Once configured, the CAN I/O interface offers different data points to be connected with the model.
The driver's connectable points depend on its configuration (number of channels, number of messages in each channel, if a message is to be transmitted or received, etc.).
The following lists the driver connectable points for channels, transmission messages, and reception messages.
Channel Connectable Points
| Connection Point | Direction | Description |
|---|---|---|
| Empty Transmit Buffer | From model to driver | If set to 1, software transmission buffer of the channel is emptied. |
| Empty Receive Buffer | From model to driver | If set to 1, software reception buffer of the channel is emptied. |
Status
| Connection Point | Direction | Description |
|---|---|---|
| API Fail | From driver to model | 1 is displayed if there is a hardware API error related to the channel. |
| Tx Buffer Overflow | From driver to model | 1 is displayed if there is an overflow of the hardware transmission buffer of the channel. |
Flags
| Connection Point | Direction | Description |
|---|---|---|
| STAT_ERROR_PASSIVE | From driver to model | 1 is displayed if the bus is in a passive state (at least one bus error counter has passed a threshold). The channel will now transmit Passive Error Flags on the bus. |
| STAT_BUS_OFF | From driver to model | 1 is displayed if the bus is off (the Tx errors counter value has passed a threshold). The channel will not be able to send messages anymore. |
| STAT_ERROR_WARNING | From driver to model | 1 is displayed if at least one bus error counter has passed a certain threshold. |
| STAT_ERROR_ACTIVE | From driver to model | 1 is displayed if the bus is in an active error state. The channel will now transmit Active Error Flags on the bus. |
| STAT_TX_PENDING | From driver to model | 1 is displayed if there are messages pending transmission. |
| STAT_RX_PENDING | From driver to model | 1 is displayed if there are messages in the receive buffer. |
| STAT_TXERR | From driver to model | 1 is displayed if there is at least one Tx error. |
| STAT_RXERR | From driver to model | 1 is displayed if there is at least one Rx error. |
| STAT_HW_OVERRUN | From driver to model | 1 is displayed if there is at least one hardware buffer overflow. |
| STAT_SW_OVERRUN | From driver to model | 1 is displayed if there is at least one software buffer overflow. |
The thresholds are determined by the platform used.
- Software buffers refer to temporary buffers that hold data going to or from the hardware.
- Hardware buffers are the buffers present in the hardware.
Error Counters
| Connection Point | Direction | Description |
|---|---|---|
| Tx Errors | From driver to model | Value of the transmission errors counter. |
| Rx Errors | From driver to model | Value of the reception errors counter. |
| Overflow Errors | From driver to model | Value of the overflow errors counter. |
Transmission Message Connectable Points
| Connection Point | Direction | Description |
|---|---|---|
| Enable Message | From model to driver | If set to 1, the transmission of the message is enabled. Only available for non-cyclical messages. |
| Total Sent | From driver to model | Number of frames sent. |
| ID | From model to driver | CAN identifier of the message to transmit. Only available if the message is configured with a dynamic ID. |
| Queue Count | From driver to model | Utilization of the transmission buffer, shown as a percentage. |
Status
| Connection Point | Direction | Description |
|---|---|---|
| FIFO Full | From driver to model | 1 is displayed if software transmission buffer of the message is full. |
| API Fail | From driver to model | 1 is displayed if a hardware API error related to the message is detected. |
| Tx Buffer Overflow | From driver to model | 1 is displayed if overflow of the hardware transmission buffer of the message is detected. |
Flags
| Connection Point | Direction | Description |
|---|---|---|
| MSG_RTR | From model to driver | If set to 1, the transmitted message is a Remote Transmission Request. |
| MSG_STD | From model to driver | If set to 1, the message ID can be forced to be standard ID. |
Data
The number and names of signal connectable points of a message to be transmitted depend on the message configuration.
Reception Message Connectable Points
| Connection Point | Direction | Description |
|---|---|---|
| Enable Message | From model to driver | If set to 1, the reception of the message is enabled. |
| Valid Frame Count | From driver to model | Number of valid frames of this message received in one time step. |
| Total Received | From driver to model | Number of frames received. |
| Queue Count | From driver to model | Utilization of the reception buffer, shown as a percentage. |
Status
| Connection Point | Direction | Description |
|---|---|---|
| FIFO Full | From driver to model | 1 is displayed if the software reception buffer of the message is full. |
| API Fail | From driver to model | 1 is displayed if a hardware API error related to the message is detected. |
| No Message | From driver to model | 1 is displayed if no message has been received. |
The following connectable points are available for each buffered frame:
| Connection Point | Direction | Description |
|---|---|---|
| ID | From driver to model | CAN identifier of the received message. |
| Number of Bytes Received | From driver to model | Number of bytes of the received message. |
| Timestamp | From driver to model | Timestamp of the received message, in microseconds. It can be used to know the time difference between two consecutive messages. |
Flags
| Connection Point | Direction | Description If set to 1 ... |
|---|---|---|
| MSG_RTR | From driver to model | The received message is a Remote Transmission Request. |
| MSG_STD | From driver to model | The received message has a standard ID. |
| MSG_EXT | From driver to model | The received message has an extended ID. |
| MSG_WAKEUP | From driver to model | This message is received in Wakeup mode. |
| MSG_NERR | From driver to model | A wire fault on the bus occurred (CANL / CANH interrupted wire, CANL / CANL short-circuited). |
| MSG_ERROR_FRAME | From driver to model | This message is an error frame. |
| MSG_TXACK | From driver to model | This message is a Tx Acknowledge. |
| MSG_TXRQ | From driver to model | This message is a Tx Request. |
| MSG_DELAY_MSG | From driver to model | Message is NOT sent on the bus. The transmission of messages is delayed. |
| MSGERR_HW_OVERRUN | From driver to model | Hardware buffer overflow detected. |
| MSGERR_SW_OVERRUN | From driver to model | Software buffer overflow detected. |
| MSGERR_STUFF | From driver to model | Bit stuffing error detected. |
| MSGERR_FORM | From driver to model | Frame format error detected. |
| MSGERR_CRC | From driver to model | CRC calculation error detected. |
| MSGERR_BIT0 | From driver to model | Dominant bit is not properly sent. |
| MSGERR_BIT1 | From driver to model | Recessive bit is not properly sent. |
Data
The number and names of signal connectable points of a message to be received depends on the message configuration.
Example
Here is an example of how sensors can be configured to exchange CAN information between the driver and the model.
ADD PIC
Please note that unused columns have been collapsed.