CAN@net NT
C-API ixcan
USER MANUAL
4.02.0332.20003 1.0 en-US ENGLISH
Important User Information
Disclaimer
The information in this document is for informational purposes only. Please inform HMS Industrial Networks of any
inaccuracies or omissions found in this document. HMS Industrial Networks disclaims any responsibility or liability
for any errors that may appear in this document.
HMS Industrial Networks reserves the right to modify its products in line with its policy of continuous product
development. The information in this document shall therefore not be construed as a commitment on the part of
HMS Industrial Networks and is subject to change without notice. HMS Industrial Networks makes no commitment
to update or keep current the information in this document.
The data, examples and illustrations found in this document are included for illustrative purposes and are only
intended to help improve understanding of the functionality and handling of the product. In view of the wide range
of possible applications of the product, and because of the many variables and requirements associated with any
particular implementation, HMS Industrial Networks cannot assume responsibility or liability for actual use based on
the data, examples or illustrations included in this document nor for any damages incurred during installation of the
product. Those responsible for the use of the product must acquire sufficient knowledge in order to ensure that the
product is used correctly in their specific application and that the application meets all performance and safety
requirements including any applicable laws, regulations, codes and standards. Further, HMS Industrial Networks will
under no circumstances assume liability or responsibility for any problems that may arise as a result from the use of
undocumented features or functional side effects found outside the documented scope of the product. The effects
caused by any direct or indirect use of such aspects of the product are undefined and may include e.g. compatibility
issues and stability issues.
CAN@net NT User Manual
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Table of Contents
Page
1 User Guide ........................................................................................................................... 3
1.1 Target Audience............................................ ......................... .. ....................... .. ............... 3
1.2 Related Documents ....................... .................................................... ......................... .. ....3
1.3 Document History .. .. ....................... .. ....................... .. ......................................................3
1.4 Trademark Information . ......................... ........................................................................... 3
1.5 Conventions...... .. ....................... .. ......................... .................................................... ......4
2 Description of the ixcan API for C ...................................................................................... 5
2.1 Processing of Messages. ......................... ........................................................................... 5
2.1.1 TCP Stream Handling . . ... . .... . .... . .... . ... . .... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . . ... . .... . .... . . 5
2.1.2 Command/Response Handling .. . .... . .... . .... . .... . ... . .... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . . . 5
2.1.3 Receive and Transmit Handling.. . .... . .... . ... . .... . .... . .... . .... . ... . . ... . .... . .... . .... . ... . .... . .... . .... . .. 5
2.1.4 CAN Status .... . .... . .... . ... . .... . .... . .... . .... . .... .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . .... . 6
2.2 Limitations of the ixcan API.............. ......................... ......................... ................................ 6
2.3 Ports of the ixcan API to Other Targets ........................... .. ....................... .. ....................... .. . 6
3 Using the C API ixcan with the CAN@net NT .................................................................... 7
3.1 Exclusive Access..... .. ....................... .. ....................... .. ......................................................7
3.1.1 Configuring the ASCII Gateway Mode . . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . .... . ... . .... . .... . .... . 7
3.1.2 Typical Sequence .. .... . ... . .... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . . ... . .... . .... . .... . .... . ... . .... . 8
3.1.3 Configuring Message Filters .... . ... . . ... . .... . .... . .... . .... . ... . . ... . .... . .... . .... . .... . ... . .... . .... . .... . .... 8
3.1.4 Connection Monitoring ... . .... . ... . .... . .... . .... . ... . . ... . .... . .... . .... . .... . ... . .... . .... . .... . .... . .... . ... . . 9
3.2 Remote Access . ......................... ............................................................................... ..... 10
3.2.1 Configuring Remote Access .... . .... . .... . .... . ... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . .... . .. 10
3.2.2 Restrictions in Remote Access ... . .... . .... . .... . .... . ... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . 10
3.2.3 Typical Sequence .. .... . ... . .... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . . ... . .... . .... . .... . .... . ... . ... 11
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4 API Functions ..................................................................................................................... 12
4.1 ixcan API for C ............. ............................................................................... ................... 12
4.1.1 ixcan_get_api_version . . .... . ... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . . ... . .. 12
4.1.2 ixcan_open . . .... . .... . .... . ... . . ... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . 12
4.1.3 ixcan_close... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . .... . ... . . ... . .... . .... 12
4.1.4 ixcan_identify . .... . .... . ... . .... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . ... 13
4.1.5 ixcan_initialize_can... . .... . ... . .... . .... . .... . .... . ... . . ... . .... . .... . .... . .... . ... . .... . .... . .... . .... . .... . ... 13
4.1.6 ixcan_initialize_can_custom ... . .... . .... . .... . ... . .... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .. 14
4.1.7 ixcan_add_filter... . .... . ... . .... . .... . .... . .... . .... . ... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . ... 15
4.1.8 ixcan_clr_filter .... . .... . .... . .... . ... . . ... . .... . .... . .... . .... . ... . . ... . .... . .... . .... . ... . .... . .... . .... . .... . .. 15
4.1.9 ixcan_start_can ... . ... . .... . .... . .... . ... . . ... . .... . .... . .... . .... . ... . .... . .... . .... . .... . .... . ... . .... . .... . ... 16
4.1.10 ixcan_stop_can.... . .... . ... . .... . .... . .... . .... . ... . .... . .... . .... . ... . .... . .... . .... . .... . .... . ... . .... . .... . ... 16
4.1.11 ixcan_can_status... . .... . .... . .... . ... . .... . .... . .... . .... . ... . . ... . .... . .... . .... . .... . ... . .... . .... . .... . ... . .. 17
4.1.12 ixcan_receive... . .... . .... . .... . ... . .... . .... . .... . .... .... . .... . .... . .... . ... . .... . .... . .... . .... . .... . ... . .... . . 17
4.1.13 ixcan_send ... . . ... . .... . .... . .... . .... . ... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . .... . .... . .... . ... 18
4.1.14 ixcan_additional_error_info.. . .... . .... . ... . .... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . . ... . .... . .... 18
4.2 Socket Abstraction Unit. ......................... ......................... ................................................ 19
4.2.1 ixsocket_open .... . .... . .... . ... . .... . .... . .... . .... . ... . . ... . .... . .... . .... . .... . ... . .... . .... . .... . .... . .... . ... 19
4.2.2 ixsocket_close . ... . .... . .... . .... . .... . ... . . ... . .... . .... . .... . .... . ... . .... . .... . .... . .... . ... . .... . .... . .... . ... 19
4.2.3 ixsocket_send ... . .... . .... . ... . .... . .... . .... . ... . .... . .... . .... . .... . ... . . ... . .... . .... . .... . .... . ... . .... . .... . 20
4.2.4 ixsocket_receive ... . ... . .... . .... . .... . ... . .... . .... . .... . .... . ... . . ... . .... . .... . .... . .... . ... . .... . .... . .... . .. 20
5 Data Types ......................................................................................................................... 21
5.1 ixcan_api_version_t........... ......................... .. ....................... .. ......................... ................ 21
5.2 ixcan_identification_t .. .................................................... ......................... .. .................... 21
5.3 ixcan_can_msg_t ....................... ............................................................................... ..... 22
5.4 ixcan_can_timing_register_t ..... ......................... .............................................................. 22
6 List of Error Codes ............................................................................................................. 23
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User Guide 3 (24)
1 User Guide
Please read the manual carefully. Make sure you fully understand the manual before using the
product.
1.1 Target Audience
This manual addresses trained personnel who are familiar with ASCII, CAN, CAN FD, the
applicable national standards and programming in C. This manual answers common questions
concerning the development of applications according to the ASCII Gateway Mode of the
CAN@net NT.
1.2 Related Documents
Document
Software Design Guide CAN@net NT 100/200/420 Generic Protocol for Gateway
Mode
User Manual CAN-Gateway Configurator
User Manual CAN@net NT 100/200/420
Author
HMS
HMS
HMS
1.3 Document History
Version
1.0
Date
April 2020
1.4 Trademark Information
Ixxat®is a registered trademark of HMS Industrial Networks. All other trademarks mentioned in
this document are the property of their respective holders.
Description
First version
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User Guide 4 (24)
1.5 Conventions
Instructions and results are structured as follows:
► instruction 1
► instruction 2
→ result 1
→ result 2
Lists are structured as follows:
• item 1
• item 2
Bold typeface indicates interactive parts such as connectors and switches on the hardware, or
menus and buttons in a graphical user interface.
This font is used to indicate program code and other
kinds of data input/output such as configuration scripts.
This is a cross-reference within this document: Conventions, p. 4
This is an external link (URL): www.hms-networks.com
This is additional information which may facilitate installation and/or operation.
This instruction must be followed to avoid a risk of reduced functionality and/or damage
to the equipment, or to avoid a network security risk.
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Description of the ixcan API for C 5 (24)
2 Description of the ixcan API for C
HMS recommends to read the User Manual CAN@net NT 100/200/420 Generic Protocol 2.1 for Gateway
Mode V6, because the ixcan API for C is using the Generic ASCII protocol.
The C-API ixcan converts the API calls into corresponding ASCII commands according to the ASCII
Gateway Mode of the CAN@net NT and the received ASCII commands to corresponding API calls.
The assembled commands are sent via the TCP/IP socket to the device.
2.1 Processing of Messages
2.1.1 TCP Stream Handling
The communication from and to the CAN@net NT is handled as TCP stream, therefore only
complete messages can be processed. Wether a message is complete or not, the host identifies
based on the end of line termination (dependent on the operating system and the respective
settings in the CAN-Gateway Configurator with \r\n, \r, or \n).
To guarantee that messages are completely transferred (until end of line termination) to the
CAN@net NT, the unit ixcom.c stores the bytes of a message that are not sent and retries to
send these remaining bytes within the next call of the function ixcom_send(), before
transmitting new data. In this case the function returns IXERR_E_SOCKET_SEND_BUFFER_
FULL. Since there is no additional CAN transmit queue implemented on top of the OS socket
queue, the handling is required in case the OS socket only stores parts of the message due to a
full transmit queue. A full transmit queue is typically indicated by the OS socket function send
returning less transmitted bytes than requested to be sent. In case the buffered bytes still cannot
be sent completely, the new data is rejected and the remaining bytes of the message are tried to
be transmitted with the next call of ixcom_send() again. The transmitting of the data is
retried until the complete message is transmitted successfully.
2.1.2 Command/Response Handling
As the ASCII interface only handles one command after the other, the command execution is
blocked until the response is received. In case of multi threading to the API, the command
execution is protected by critical sections and mutexes.
The ixcan API is prepared to be thread safe by using macros that are defined in ixos.h. To
enabled or disable the macros see IXOS_cfg_SUPPORT_MULTITHREADING in ixos.h.
2.1.3 Receive and Transmit Handling
On reception of the character stream via TCP/IP socket the data is copied to a socket receive
queue inside ixcom.c. From within this receive queue the stream is parsed for a complete
command by checking for the end of line termination. The command is then parsed and
dispatched. In case of received CAN messages, for example, these messages are converted into
binary CAN messages and stored in the CAN receive queue. The CAN receive queue can be read
by the application with the function ixcan_receive(). On reception of a command
response (success or failure) the message is also parsed and handled based on the command/
response.
The transmit and receive handling is done inside read_comchannel_and_dispatch()
inside ixcan.c.
read_comchannel_and_dispatch() is triggered inside ixscheduler().
ixscheduler() is triggered inside the ixcan API functions ixcan_can_status(),
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Description of the ixcan API for C 6 (24)
ixcan_receive(), ixcan_send(), and functions that are sending a command and waiting
for a command response from the CAN@net NT.
2.1.4 CAN Status
The CAN status is polled cyclically (none blocking) from within ixscheduler(). The requests
for the CAN status of all available CAN ports are assembled within one request. The responses
are sent one by one by the CAN@net NT. The responses are parsed and stored inside the CAN
status buffers on ixcan side. Calling ixcan_can_status() returns the buffered status.
To keep track of the correct number of free entries in the transmit CAN queue of the CAN@net
NT, the number of triggered CAN messages since the last request of the CAN status is counted
and used as correction value when receiving the CAN status response. Note that in remote
access, when the Bridge and the ASCII interface are sharing the CAN transmit queue, that the
free counter might be changed meanwhile due to the running bridge.
2.2 Limitations of the ixcan API
Auto baud rate detection and cyclic transmission are not supported by the ixcan API. To use auto
baud rate detection and cyclic transmission use the generic protocol in ASCII Gateway Mode (see
User Manual CAN@net NT 100/200/420 Generic Protocol for Gateway Mode V6).
2.3 Ports of the ixcan API to Other Targets
The core sources are written in plain C.
The operating, compiler and IDE specifics are encapsulated in the following files:
• ixos.h
• ixos.c (only required for certain targets)
• ixsocket.c (socket abstraction unit, abstracts the OS specific socket API calls)
The files are located in OS specific folders. Only the required macros for the ixcan API for C are
implemented to keep the files small and easy to port. For example no abstraction to create and
destroy tasks is implemented here.
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3 Using the C API ixcan with the CAN@net NT
HMS recommends to read the User Manual CAN@net NT 100/200/420 Generic Protocol 2.1 for Gateway
Mode V6, because the ixcan API for C is using the Generic ASCII protocol.
The use of the C API ixcan is only possible in ASCII Gateway and Bridge operational modes.
The C API ixcan can access the CAN@net NT in two ways:
• exclusive access in ASCII Gateway operational mode
• remote access in Bridge operational modes (shared)
3.1 Exclusive Access
For exclusive access the operational mode ASCII Gateway must be selected. In the ASCII Gateway
mode the CAN control and the settings of CAN filters is the responsibility of the application that
uses the ixcan API for C.
3.1.1 Configuring the ASCII Gateway Mode
► Connect the device to the host computer and to power supply (for more information see
User Manual of the device in use).
► Make sure that the latest CAN-Gateway Configurator is installed (check within support area
on www.ixxat.com).
► Start the CAN-Gateway Configurator and connect the device in use (for more information
see User Manual CAN-Gateway Configurator).
► Select operational mode ASCII Gateway mode.
► In the configuration tree select Interface.
► If checkbox Only for specified device is enabled, enter the serial number of the device to
which the configuration can be written.
► Configure the protocol line ending (4).
► Define the IP port (5).
► In the toolbar open menu Target and select Write configuration to target to write the
device configuration to the connected CAN NT device.
► Create the application with ixcan API for C.
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3.1.2 Typical Sequence
• Configuration of ASCII Gateway Mode in the CAN-Gateway Configurator
• ixcan_open()
• ixcan_identify()
• ixcan_stop_can() (CAN controller must be stopped before initializing)
• ixcan_initialize()
• ixcan_add_filter() (all filters are closed by default)
• ixcan_start_can()
• ixcan_can_status() (cyclic call)
• ixcan_receive() (cyclic call)
• ixcan_send()
• ixcan_additional_error_info()
• ixcan_close()
3.1.3 Configuring Message Filters
With the initialization the CAN controller loses its filter settings and all messages are
rejected. Configure the filter after initialization.
If a message passes several filters, this message is received several times.
All filters are closed by default and therefore no CAN messages are received. Defining message
filters with the ixcan API is only possible with exclusive access when the ixcan API has CAN
control. Received messages that match the mask/value filter are passed through. Other
messages are discarded.
► Add a filter with function ixcan_add_filter().
► In parameter mode define the format (standard or extended).
► Define the messages that pass the filter with parameters value and mask.
The mask value specifies the bit-position of the identifier, which must be checked (1 means “to
be checked”).
Binary representation of mask:
• binary positions with value 1 are relevant for the filter
• binary positions with value 0 are not relevant for the filter
Binary representation of identifier:
• Defines the values for the positions that are marked as relevant (1) in mask.
• Values in positions that are marked as not relevant (0) in mask are ignored.
See Examples for Mask/Value Filters, p. 9.
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Deleting Message Filters
It is possible to delete all filter entries of a CAN port. Deleting individual entries is not possible.
► Make sure, that the CAN controller is in state stopped.
► Call ixcan_clr_filter to delete all entries for 11 bit and 29 bit identifiers.
► In parameter can_port define the CAN port number.
Examples for Mask/Value Filters
Example 11 Bit Identifier
hex bin
Value
Mask
Result
Example 29 Bit Identifier
Value
Mask
Result
0x100 0001:0000:0000
0x700 0111:0000:0000
0x1XX 0001:XXXX:XXXX
Any identifier between 0x100 and 0x1FF passes the filter, as only the first 3 bits of the mask are
marked as relevant.
hex bin
0x10003344 0001:0000:0000:0000:0011:0011:0100:0100
0x1F00FFFF 0001:1111:0000:0000:1111:1111:1111:1111
0x10003344 0001:0000:XXXX:XXXX:0011:0011:0100:0100
All identifiers with 0x10xx3344 (positions xx can be any number) pass the filter.
3.1.4 Connection Monitoring
Connection monitoring with PING REQUEST is only possible with exclusive access in
ASCII Gateway Mode. If the ixcan API only has remote access the ixcan API does not
request the connection monitoring, even when enabled, to prevent the CAN@net NT
from performing a reset of the Bridge when the connection to the host is lost or closed.
The CAN@net NT supports connection monitoring to check if the connection between the host
and CAN@net NT is up and running. The ixcan API cyclically transmits the command PING
REQUEST that is triggered by ixscheduler(). The CAN@net NT answers to a PING
REQUEST with a PING RESPONSE. The first PING REQUEST activates the connection
monitoring. If no further PING REQUEST is received in the defined time (timeout), the
CAN@net NT is disconnected and CAN and TCP server are reset.
► To enable and disable the connection monitoring see IXCAN_PING_REQ_ENABLE in
ixcan_cfg.h.
– 0 = disabled (e.g. during debugging to prevent the CAN@net from performing a reset
on timeout)
– 1 = enabled
→ If enabled, the first reception of the command PING REQUEST starts the monitoring
mechanism on the CAN@net NT.
→ When a timeout occurs the CAN@net NT is disconnected and CAN and TCP server are
reset.
→ Defined value for timeout is 3 seconds.
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3.2 Remote Access
If Remote access is enabled, a device that is used in Bridge mode can be accessed in ASCII
Gateway mode simultaneously. The CAN controller must be configured and started by the Bridge
mode configuration in the CAN-Gateway Configurator.
The CAN controller is controlled via the CAN@net NT Bridge configuration and all ASCII
commands related to the control are blocked, this means the CAN controller cannot be stopped
or modified via the C-API ixcan. Cyclic messages cannot be defined via ASCII commands in
remote access. CAN messages can be sent and received via the ASCII protocol. To receive CAN
messages on the host side via ASCII commands, the messages must be added in the Mapping
table of the Bridge configuration. The ASCII device commands can also be used in Remote access.
3.2.1 Configuring Remote Access
► Connect the device to the host computer and to power supply (for more information see
User Manual of the device in use).
► Make sure that the latest CAN-Gateway Configurator is installed (check within support area
on www.ixxat.com).
► Start the CAN-Gateway Configurator and connect the device in use (for more information
see User Manual CAN-Gateway Configurator).
► Select the desired Bridge operational mode.
► In the configuration tree select General and enable the Remote access in the drop-down list
Remote access.
► In the configuration tree select Remote Access and configure the protocol line ending and
the IP port if needed.
To access several devices via remote access in a CAN-Ethernet-CAN bridge:
► Enable and configure the Remote Access for the Master and each Slave individually.
► Define the IP port to establish the remote connections and the protocol line ending for
each device individually.
► In the configuration tree select Mapping Table and add the messages to be received via
ASCII interface/C-API (for more information see User Manual CAN-Gateway Configurator).
To receive CAN messages on the host side via ASCII, the messages must be added in the
Mapping table of the Bridge configuration (CAN filter).
► In the toolbar open menu Target and select Write configuration to target to write the
device configuration to the connected CAN NT device.
► In CAN-Ethernet-CAN bridges write the configuration to each device.
3.2.2 Restrictions in Remote Access
In Remote access the CAN transmit queue of the CAN NT device is used by the Bridge and by the
ASCII interface. Therefore the reported free entries in the CAN transmit queue may have
changed since the last status was read from the CAN device.
CAN@net NT User Manual
The CAN receive queue inside the API is not cleared when starting or stopping CAN. To
flush the CAN receive queue, the queue must be read with function ixcan_receive
().
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3.2.3 Typical Sequence
• Configurations in the CAN-Gateway Configurator:
– configuring the Bridge operational mode
– enabling Remote access
– configuring bus off recovery mode (e.g. using Action Rules)
– adding messages to be received via ASCII interface to the Mapping table (CAN filter)
• ixcan_open()
• ixcan_identify()
• ixcan_can_status() (cyclic call)
• ixcan_receive() (to keep the internal scheduler running either ixcan_can_status
() or ixcan_receive() must be called cyclically)
• ixcan_send()
• ixcan_additional_error_info()
• ixcan_close()
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API Functions
4 API Functions
4.1 ixcan API for C
4.1.1 ixcan_get_api_version
Returns the version number of the ixcan API.
void ixcan_get_api_version(ixcan_api_version_t *p_api_version);
Parameter
Parameter
p_api_version
Return Value
No return values.
4.1.2 ixcan_open
Opens the communication interface and initializes the channel instance data.
void* ixcan_open(uint16_t protocol,
Dir. Description
[out] Pointer to the structure to store the version information
const char *p_ip_address,
uint16_t ip_port,
int *p_error);
12 (24)
Parameter
Parameter
protocol [in] Select the protocol to be used to connect to the CAN device, possible value:
p_ip_address [in] Pointer to string that contains the IP address of the CAN@net NT (format similar
ip_port
p_error
Return Value
Return value Description
!=NULL
NULL
4.1.3 ixcan_close
Closes the communication interface.
int ixcan_close(void *p_channel);
Parameter
Parameter
p_channel [in] Pointer to channel instance data
Dir. Description
IXCOM_PROTOCOL_ASCII_TCP_IP: ASCII interface via TCP IP
to “192.168.0.5”)
[in] IP port (e.g. 19228)
[out] Pointer to store error return value (only valid when return value of function is
NULL). For more information about error value see List of Error Codes, p. 23.
Pointer to channel instance data. This pointer is then used by other function calls to
access the CAN@net NT.
Error occurred (see parameter p_error for details)
Dir. Description
Return Value
Return value Description
IXERR_S_OK
<IXERR_S_OK
CAN@net NT User Manual
No error occurred
Error occurred (seeList of Error Codes, p. 23 for more information)
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API Functions
Remark
The function only closes the communication interface but does not change the state of the CAN
controller. The application has to call for example ixcan_stop_can() in advance (ixcan_
stop_can() is only allowed when ixcan API has CAN control).
In case monitoring with PING request is enabled the CAN device detects a monitoring timeout
and performs a reset automatically (only when ixcan API has CAN control).
4.1.4 ixcan_identify
Gets information about the connected Ixxat CAN device.
int ixcan_identify(void *p_channel,
Parameter
Parameter
p_channel [in] Pointer to channel instance data
p_identification [out] Pointer to the identification structure
Return Value
Return value Description
IXERR_S_OK
<IXERR_S_OK
13 (24)
ixcan_identification_t *p_identification);
Dir. Description
No error occurred
Error occurred (seeList of Error Codes, p. 23 for more information)
4.1.5 ixcan_initialize_can
Initializes the CAN controller. Calling the function is only allowed when ixcan API has CAN control.
int ixcan_initialize_can(void *p_channel,
Parameter
Parameter
p_channel [in] Pointer to channel instance data
can_port
mode [in] CAN bus mode, bit encoded, possible values:
bitrateA [in] Classic CAN: Bit rate value in KBaud, valid values: 5, 10, 20, 50, 100, 125, 250, 500,
bitrateD [in] Only CAN FD: Bit rate value in KBaud for data phase, valid values: 500, 1000, 2000,
Dir. Description
[in] CAN port number (1 to IXCAN_MAX_FIELD_BUS_INTERFACES)
uint16_t can_port,
uint8_t mode,
uint16_t bitrateA,
uint16_t bitrateD);
IXCAN_CANINIT_MODE_STANDARD: Tx active on CAN bus
IXCAN_CANINIT_MODE_LISTEN: Listen only on CAN bus
IXCAN_CANINIT_MODE_CAN: Classic CAN mode
IXCAN_CANINIT_MODE_CANFD: CAN FD mode (only CAN FD)
IXCAN_CANINIT_MODE_ISO: ISO mode (only CAN FD)
IXCAN_CANINIT_MODE_NONISO: non ISO mode (only CAN FD)
800, 1000
CAN FD: Bit rate value in KBaud for arbitration phase, valid values: 5, 10, 20, 50,
100, 125, 250, 500, 800, 1000
4000, 5000, 6667, 8000, 10000
Return Value
Return value Description
IXERR_S_OK
<IXERR_S_OK
CAN@net NT User Manual
No error occurred
Error occurred (seeList of Error Codes, p. 23 for more information)
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API Functions
4.1.6 ixcan_initialize_can_custom
Initializes the CAN controller with user defined register values. Calling the function is only
allowed when ixcan API has CAN control.
int ixcan_initialize_can_custom
(void *p_channel,
uint16_t can_port,
uint8_t mode,
const ixcan_can_timing_register_t *p_can_timing_regA,
const ixcan_can_timing_register_t *p_can_timing_regD);
Parameter
Parameter
p_channel [in] Pointer to channel instance data
can_port
mode [in] CAN bus mode, bit encoded, possible values:
p_can_timing_regA
p_can_timing_regD
Dir. Description
[in] CAN port number (1 to IXCAN_MAX_FIELD_BUS_INTERFACES)
IXCAN_CANINIT_MODE_STANDARD: Tx active on CAN bus
IXCAN_CANINIT_MODE_LISTEN: Listen only on CAN bus
IXCAN_CANINIT_MODE_CAN: Classic CAN mode
IXCAN_CANINIT_MODE_CANFD: CAN FD mode (only CAN FD)
IXCAN_CANINIT_MODE_ISO: ISO mode (only CAN FD)
IXCAN_CANINIT_MODE_NONISO: non ISO mode (only CAN FD)
IXCAN_CANINIT_MODE_CALC_TDO: TDO is calculated by CAN device (only
CAN FD)
IXCAN_CANINIT_MODE_SET_TDO: TDO is set in parameter p_can_timing_
regD in tdo(only CAN FD)
[in] Classic CAN: Bit rate value register encoded
CAN FD: Bit rate value register encoded for arbitration phase
brp: baud rate prescaler
sjw: synchronization jump width
tseg1: time segment 1
tseg2: time segment 2
tdo: not used for arbitration phase
[in] Only CAN FD: Bit rate value register encoded for data phase
brp: baud rate prescaler
sjw: synchronization jump width
tseg1: time segment 1
tseg2: time segment 2
tdo: transceiver delay offset. Value is only used if IXCAN_CANINIT_MODE_
SET_TDO is set in parameter mode. If not the tdo value is calculated by the CAN
device (tdo = (tseg1+1)*brp).
14 (24)
Return Value
Return value Description
IXERR_S_OK
<IXERR_S_OK
Remark
Check in the CAN-Gateway configurator if the values result in a usable baud rate. With the
integrated calculator all necessary register values for a desired baud rate can be calculated.
CAN@net NT User Manual
No error occurred
Error occurred (seeList of Error Codes, p. 23 for more information)
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API Functions
4.1.7 ixcan_add_filter
Adds an 11 bit or 29 bit message filter. By default all filters are closed. To add a filter, the CAN
controller has to be in state stopped. Calling the function is only allowed when ixcan API has CAN
control.
int ixcan_add_filter(void *p_channel,
Parameter
Parameter
p_channel [in] Pointer to channel instance data
can_port
mode [in] Define the CAN format:
value [in] Value for identifier to match
mask [in] Value of mask
Return Value
Return value Description
IXERR_S_OK
<IXERR_S_OK
15 (24)
uint16_t can_port,
uint8_t mode,
uint32_t value,
uint32_t mask);
Dir. Description
[in] CAN port number (1 to IXCAN_MAX_FIELD_BUS_INTERFACES)
IXCAN_CAN_FORMAT_STD_FRAME: Standard CAN frame format
IXCAN_CAN_FORMAT_EXT_FRAME: Extended CAN frame format
No error occurred
Error occurred (seeList of Error Codes, p. 23 for more information)
Remark
For examples and more information seeConfiguring Message Filters, p. 8.
4.1.8 ixcan_clr_filter
Deletes all filter entries for 11 bit and 29 bit identifiers. CAN controller has to be in state stopped.
Calling the function is only allowed when ixcan API has CAN control.
int ixcan_clr_filter(void *p_channel,
Parameter
Parameter
p_channel [in] Pointer to channel instance data
can_port
Return Value
Return value
IXERR_S_OK
<IXERR_S_OK
uint16_t can_port);
Dir. Description
[in] CAN port number (1 to IXCAN_MAX_FIELD_BUS_INTERFACES)
Description
No error occurred
Error occurred (seeList of Error Codes, p. 23 for more information)
CAN@net NT User Manual
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API Functions
4.1.9 ixcan_start_can
Start the CAN controller. Calling the function is only allowed when ixcan API has CAN control.
int ixcan_start_can(void *p_channel,
Parameter
Parameter
p_channel [in] Pointer to channel instance data
can_port
Return Value
Return value Description
IXERR_S_OK
<IXERR_S_OK
4.1.10 ixcan_stop_can
Stops the CAN controller. Calling the function is only allowed when ixcan API has CAN control.
int ixcan_stop_can(void *p_channel,
16 (24)
uint16_t can_port);
Dir. Description
[in] CAN port number (1 to IXCAN_MAX_FIELD_BUS_INTERFACES)
No error occurred
Error occurred (seeList of Error Codes, p. 23 for more information)
uint16_t can_port);
Parameter
Parameter
p_channel [in] Pointer to channel instance data
can_port
Dir. Description
[in] CAN port number (1 to IXCAN_MAX_FIELD_BUS_INTERFACES)
Return Value
Return value Description
IXERR_S_OK
<IXERR_S_OK
No error occurred
Error occurred (seeList of Error Codes, p. 23 for more information)
Remark
Only stop the CAN controller when the IXCAN_CAN_STATUS_TXPENDING flag is not set, to
guarantee that all outstanding transmit requests are sent.
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API Functions
4.1.11 ixcan_can_status
Gets CAN status information.
int ixcan_can_status(void *p_channel,
Parameter
Parameter
p_channel [in] Pointer to channel instance data
can_port
p_can_sts
Return Value
Return value Description
IXERR_S_OK
<IXERR_S_OK
17 (24)
uint16_t can_port,
uint16_t *p_can_sts);
Dir. Description
[in] CAN port number (1 to IXCAN_MAX_FIELD_BUS_INTERFACES)
[out] Pointer to stored CAN status information. The bit coded status flags can be
combined.
IXCAN_CAN_STATUS_INIT: State init (stopped) when set, otherwise state
running
IXCAN_CAN_STATUS_TXPENDING: transmit pending
IXCAN_CAN_STATUS_OVERRUN: data overrun (data loss between CAN
controller and API)
IXCAN_CAN_STATUS_ERRWARNING: error warning
IXCAN_CAN_STATUS_BUSOFF: state bus off
IXCAN_CAN_STATUS_INVALID: state and free entries of queue are invalid
(status data from device not yet available).
No error occurred
Error occurred (seeList of Error Codes, p. 23 for more information)
Remark
When device is working in shared mode and the CAN control is on the CAN device side, a bus-off
might not be reported when the CAN device has already restarted the CAN controller before the
status is read by the application with ixcan_can_status().
In case of an overrun of the CAN message receive queue inside the API, the overrun bit inside
ixcan_can_sts_t->sts (IXCAN_CAN_STATUS_RXOVERRUN) is set, as done when the
CAN device is reporting a data overrun. Data overrun is cleared when read.
4.1.12 ixcan_receive
Receives a single CAN message.
int ixcan_receive(void *p_channel,
Parameter
Parameter
p_channel [in] Pointer to channel instance data
can_port
can_msg
Return Value
Return value Description
IXERR_S_OK
IXERR_S_MSG_RECEIVED
<IXERR_S_OK
uint16_t can_port,
ixcan_can_msg_t *can_msg);
Dir. Description
[in] CAN port number (1 to IXCAN_MAX_FIELD_BUS_INTERFACES)
[out] Pointer to the received CAN message
No message available in the receive queue.
Message received
Error occurred (seeList of Error Codes, p. 23 for more information)
CAN@net NT User Manual
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API Functions
Remark
To make sure, that all received messages are read, repeat the function call as long as IXERR_S_
MSG_RECEIVED is returned.
4.1.13 ixcan_send
Requests to transmit a single CAN message.
int ixcan_send(void *p_channel,
Parameter
Parameter
p_channel [in] Pointer to channel instance data
can_port
p_can_msg
Return Value
Return value Description
IXERR_S_OK
IXCAN_E_CAN_TX_FIFO_
FULL
<IXERR_S_OK
18 (24)
uint16_t can_port,
const ixcan_can_msg_t *p_can_msg);
Dir. Description
[in] CAN port number (1 to IXCAN_MAX_FIELD_BUS_INTERFACES)
[in] Pointer to a CAN message to be transmitted
No error occurred
No space left in transmit queue
Error occurred (seeList of Error Codes, p. 23 for more information)
Remark
For CAN FD message p_can_msg->num_bytes has to match the granularity of CAN FD Data
Length Code (DLC) to avoid potentially uninitialized payload data. Valid ranges/values are: <=8,
12, 16, 20, 24, 32, 48, 64.
4.1.14 ixcan_additional_error_info
Provides additional error information in case an error is issued by the ASCII interface. Only the
first occurred error since the last call of this function is returned. Further errors are discarded.
void ixcan_additional_error_info(void *p_channel,
Parameter
Parameter
p_channel [in] Pointer to channel instance data
p_error_code [out] Pointer to the stored error code received via ASCII interface. Code 255 indicates
p_error_string
buffer_size [in] Size of error string buffer
Dir. Description
that no additional error information is available. For available additional error
information in case a of code !=255 see User Manual CAN@net NT 100/200/420
Generic Protocol 2.1 for Gateway Mode V6 for more information.
[out] Pointer to a buffer of 100 bytes size to store an error string received via ASCII
interface.
uint8_t *p_error_code,
char *p_error_string,
uint8_t buffer_size)
Remark
Can be used for debugging purposes during development.
CAN@net NT User Manual
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API Functions
4.2 Socket Abstraction Unit
The socket abstraction unit abstracts the OS specific socket API calls and is included in file
ixsocket.h.
4.2.1 ixsocket_open
Opens a socket communication channel.
int ixsocket_open(const char *p_ip_address,
uint16_t ip_port,
ixos_sockethdl_t *p_sockethdl);
Parameter
Parameter
p_ip_address [in] Communication IP address (e.g. "192.168.100.101")
ip_port
p_sockethdl [out] Pointer to store the socket handle
Return Value
Return value Description
IXERR_S_OK
<IXERR_S_OK
Dir. Description
[in] Port (e.g. 19228)
No error occurred
Error occurred (seeList of Error Codes, p. 23 for more information)
19 (24)
4.2.2 ixsocket_close
Closes a socket communication channel.
int ixsocket_close(ixos_sockethdl_t *p_sockethdl);
Parameter
Parameter
p_sockethdl [in] Pointer to the socket handle (see ixsocket_open)
Return Value
Return value Description
IXERR_S_OK
<IXERR_S_OK
Dir. Description
No error occurred
Error occurred (seeList of Error Codes, p. 23 for more information)
CAN@net NT User Manual
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API Functions
4.2.3 ixsocket_send
Sends a data buffer to the socket.
int ixsocket_send(ixos_sockethdl_t *p_sockethdl,
Parameter
Parameter
p_sockethdl [in] Pointer to the socket handle
p_data [in] Pointer to data to be sent
p_size
Return Value
Return value Description
IXERR_S_OK
<IXERR_S_OK
Remark
When multi threading is used, the code in this function must be thread safe to allow
simultaneous calls to different socket handles. If not protected by the OS socket library. a
protection mechanism must be added.
char *p_data,
uint32_t *p_size);
Dir. Description
[in/out]
In: number of bytes in the data to be sent
Out: number of sent bytes (only valid when return value is IXERR_S_OK)
No error occurred
Error occurred (seeList of Error Codes, p. 23 for more information)
20 (24)
If the socket is configured as non-blocking and returns an error code of the kind Would block
ixsocket_send() returns IXERR_k_OK, but sets the number of sent bytes to zero.
4.2.4 ixsocket_receive
Reads data from the socket.
int ixsocket_receive(ixos_sockethdl_t *p_sockethdl,
Parameter
Parameter
p_sockethdl [in] Pointer to the socket handle
p_data [out] Pointer to store read data
buffer_size [in] Maximum size of data buffer
Return Value
Return value Description
IXERR_S_OK (0)
<IXERR_S_OK
>IXERR_S_OK
char *p_data,
uint32_t buffer_size);
Dir. Description
No message received
Error occurred (seeList of Error Codes, p. 23 for more information)
Number of received bytes
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Data Types
5 Data Types
5.1 ixcan_api_version_t
Describes the API version.
typedef struct _ixcan_api_version
{
uint16_t api_version_major;
uint16_t api_version_minor;
uint16_t api_version_build;
} ixcan_api_version_t
21 (24)
Memeber
api_version_major
api_version_minor
api_version_build Build API version number
Description
Major API version number
Minor API version number
5.2 ixcan_identification_t
Describes the device identification.
typedef struct _ixcan_identification
{
char dev_type_string[IXCAN_MAX_SIZE_DEV_TYPESTRING];
uint16_t dev_type;
uint8_t dev_version_major;
uint8_t dev_version_minor;
uint8_t dev_version_revision;
uint8_t dev_protocol_major;
uint8_t dev_protocol_minor;
uint8_t dev_shared_mode;
uint8_t dev_interfaces[IXCAN_MAX_FIELD_BUS_INTERFACES];
uint8_t dev_identification_completed;
} ixcan_identification_t
Memeber Description
dev_type_string
dev_type Device type identification
dev_version_major Major firmware version number
dev_version_minor Minor firmware version number
dev_version_revision Revision firmware version number
dev_protocol_major Major ASCII protocol version number
dev_protocol_minor Minor ASCII protocol version number
dev_shared_mode Flag that indicates if ASCII interface has exclusive access to the CAN controller or
dev_interfaces Type of field bus interfaces
dev_identification_completed Device identification completed
Device type string
IXCAN_DEVTYPE_CANATNET_NT100: CAN@net NT 100
IXCAN_DEVTYPE_CANATNET_NT200: CAN@net NT 200
IXCAN_DEVTYPE_CANATNET_NT420: CAN@net NT 420
IXCAN_DEVTYPE_UNKNKOWN: unknown by ixcan API
shared access with for example a Local Bridge.
TRUE: shared access, CAN device has CAN control
FALSE: exclusive access, ixcan API has CAN control
IXCAN_FIELDBUS_NONE: no fieldbus
IXCAN_FIELDBUS_CAN: CAN controller
IXCAN_FIELDBUS_CANFD: CAN FD controller
IXCAN_FIELDBUS_UNKNOWN: Unknown by ixcan API
TRUE: all identification data is read.
FALSE: acquiring identification data
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Data Types
5.3 ixcan_can_msg_t
Describes the structure of a CAN messages.
typedef struct _ixcan_can_msg
{
uint32_t identifier;
uint8_t num_bytes;
uint8_t format;
uint8_t reserved;
uint8_t payload[IXCAN_MAX_NUM_CAN_PAYLOAD];
} ixcan_can_msg_t
22 (24)
Memeber
identifier CAN identifier
num_bytes Number of payload bytes (Classic CAN: <=8, for CAN FD: <=8, 12, 16, 20, 24, 32, 48,
format CAN format flags, bit encoded, can be combined. One bit encodes two states (e.g.
reserved Reserved for alignment
payload CAN payload
Description
64)
Bit 0 encodes if Standard CAN frame (bit cleared) or Extended bit frame (bit set),
possible values:
IXCAN_CAN_FORMAT_STD_FRAME 0x00: Bit 0 Standard frame
IXCAN_CAN_FORMAT_EXT_FRAME 0x01: Bit 0 Extended frame
IXCAN_CAN_FORMAT_DATA_FRAME 0x00: Bit 1 Data frame
IXCAN_CAN_FORMAT_RTR_FRAME 0x02: Bit 1 Remote frame
IXCAN_CAN_FORMAT_CAN 0x00: Bit 4 Classic CAN frame
IXCAN_CAN_FORMAT_CANFD 0x10: Bit 4 CAN FD frame
IXCAN_CAN_FORMAT_MSK_STD_EXT IXCAN_CAN_FORMAT_EXT_FRAME:
Mask Standard/Extended
IXCAN_CAN_FORMAT_MSK_DATA_RTR IXCAN_CAN_FORMAT_RTR_FRAME:
Mask Data/Remote
IXCAN_CAN_FORMAT_MSK_CAN_CAN_FD IXCAN_CAN_FORMAT_CANFD:
Mask CAN/CAN-FD
See file ixcan_api.h for more information.
5.4 ixcan_can_timing_register_t
Describes the CAN register settings.
typedef struct _ixcan_can_timing_register
{
uint16_t brp;
uint8_t sjw;
uint8_t tseg1;
uint8_t tseg2;
uint8_t tdo;
} ixcan_can_timing_register_t
Memeber
brp Baud rate prescaler
sjw
tseg1 Time segment 1
tseg2 Time segment 2
tdo Transceiver delay compensation offset (only for CAN FD data phase)
CAN@net NT User Manual
Description
Synchronization jump width
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List of Error Codes 23 (24)
6 List of Error Codes
The list of error codes is included in file ixerr.h.
The return values of the ixcan API functions are coded as follows:
• Successful functions return value code 0.
• Errors return a negative value code.
• Additional information returns a positive value code.
Error code
0
1
2
-1
-2
-3
-4
-5
-6
-7
-8
-9
-10
-11
-12
-13
-14
-15
-16
-17
Error
IXERR_S_OK
IXERR_S_MSG_RECEIVED
IXERR_S_WAITING_FOR_CMD_RESP
IXERR_E_ERROR
IXERR_E_BUFFER_TO_SMALL
IXERR_E_SOCKET_ERROR
IXERR_E_SOCKET_OPEN
IXERR_E_SOCKET_CLOSING
IXERR_E_SOCKET_SEND_FAILURE_GEN
IXERR_E_SOCKET_SEND_BUFFER_FULL
IXERR_E_SOCKET_CONNECTION_ABORTED
IXCAN_E_CMD_REQ_UNKNOWN
IXCAN_E_CMD_RESP_TIMEOUT
IXCAN_E_CMD_RESP_ERROR
IXCAN_E_CMD_ASSEMBLY
IXCAN_E_INVALID_PARAMETER
IXCAN_E_INVALID_PROTOCOL_PARAMETER
IXCAN_E_DATA_NO_VALID
IXCAN_E_CAN_TX_FIFO_FULL
IXCAN_E_NO_MULTITHREADING
Description
No error occurred
Message received
Waiting for command response from device
Generic error
Buffer too small to copy all data
Generic socket error
Unable to open the socket
Error closing the socket
Data could not be sent (generic)
Data could not be sent (x buffer full)
Connection aborted
Command request unknown
Command response timeout reached
Command response error
Error generating ASCII command
Invalid parameter
Invalid value received by ASCII response
Invalid data
Transmit queue full
API seems to be called by different threads without
enabled feature in ixcan API
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