CAN | Connections

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

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

Connection Point	Direction	Description
API Fail	From driver to model	1 is displayed if a hardware API error is 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

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

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

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

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

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

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

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

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 ...

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 depend 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.

Please note that unused columns have been collapsed.