add ros/catkin/driver_can_nvidia

src/ros/catkin/src/driver_can_nvidia/CMakeLists.txt

@@ -0,0 +1,113 @@
+cmake_minimum_required(VERSION 2.8.11)
+project(driver_can_nvidia)
+
+
+message(STATUS  "Enter driver_can_nvidia")
+
+
+SET(QT_PATH  /opt/qt/5.13.2/gcc_64)
+SET(AGX_QT_PATH  /usr/include/aarch64-linux-gnu/qt5)
+
+find_path(QT_EXIST   QtCore   ${QT_PATH}/include/QtCore  ${AGX_QT_PATH}/QtCore)
+
+if(QT_EXIST)
+include_directories(
+  ${QT_PATH}/include
+  ${QT_PATH}/include/QtCore
+  ${AGX_QT_PATH}
+  ${AGX_QT_PATH}/QtCore
+)
+link_directories(
+  ${QT_PATH}/lib
+)
+else()
+  message(FATAL_ERROR "Please set QT_PATH")
+endif()
+
+
+
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  pluginlib
+  sensor_msgs
+  autoware_msgs
+  adc_system_msg
+)
+find_package(Boost REQUIRED)
+find_package(Protobuf REQUIRED)
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+set(CMAKE_AUTORCC ON)
+
+
+if(CMAKE_COMPILER_IS_GNUCXX)
+    set(CMAKE_CXX_FLAGS "-fPIC ${CMAKE_CXX_FLAGS}")
+    message(STATUS "optional:-fPIC")   
+endif(CMAKE_COMPILER_IS_GNUCXX)
+
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+#find_package(Qt5Core  REQUIRED)
+#qt5_wrap_cpp(MOC src/qt_ros_test.h)
+#qt5_wrap_ui(UIC src/qt_ros_test.ui)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+##   INCLUDE_DIRS include
+#  LIBRARIES client_plugin
+   CATKIN_DEPENDS 
+    roscpp std_msgs 
+    sensor_msgs pluginlib
+  DEPENDS
+    Boost
+    Protobuf
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+##  INCLUDE_DIRS include
+  ${CMAKE_CURRENT_BINARY_DIR}/..
+  ${catkin_INCLUDE_DIRS} include
+  ${Boost_INCLUDE_DIR}
+  ${autoware_msgs_INCLUDE_DIRS}
+)
+
+## Declare a C++ executable
+add_executable(driver_can_nvidia src/main.cpp src/basecan.cpp  src/nvcan.cpp src/canctrl.cpp) 
+target_link_libraries(driver_can_nvidia ${catkin_LIBRARIES}  ${OpenCV_LIBRARIES}    ${Protobuf_LIBRARIES}   Qt5Core  )
+
+install(
+  TARGETS driver_can_nvidia
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

src/ros/catkin/src/driver_can_nvidia/package.xml

@@ -0,0 +1,68 @@
+<?xml version="1.0"?>
+<package>
+  <name>driver_can_nvidia</name>
+  <version>0.0.0</version>
+  <description>The driver_can_nvidia package for send can message</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="yuchuli@catarc.ac.cn">yuchuli</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/client_plugin</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+  <build_depend>pluginlib</build_depend>
+  <run_depend>pluginlib</run_depend>
+
+  <build_depend>sensor_msgs</build_depend>
+  <run_depend>sensor_msgs</run_depend>
+
+  <build_depend>autoware_msgs</build_depend>
+  <run_depend>autoware_msgs</run_depend>
+
+  <build_depend>adc_system_msg</build_depend>
+  <run_depend>adc_system_msg</run_depend>
+
+
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/ros/catkin/src/driver_can_nvidia/src/basecan.cpp

@@ -0,0 +1,52 @@
+#include "basecan.h"
+
+basecan::basecan()
+{
+
+}
+
+basecan::~basecan()
+{
+    qDebug(" del basecan");
+}
+
+int basecan::GetMessage(const int nch,basecan_msg *pMsg, const int nCap)
+{
+    return 0;
+}
+
+int basecan::SetMessage(const int nch, basecan_msg *pMsg)
+{
+    return 0;
+}
+
+
+void basecan::startdev()
+{
+
+}
+
+void basecan::stopdev()
+{
+
+}
+
+void basecan::CmdSend()
+{
+
+}
+
+bool basecan::IsOpen()
+{
+    return false;
+}
+
+int basecan::GetErrorCode()
+{
+    return 0;
+}
+
+std::string basecan::GetErrorString()
+{
+    return "base error.";
+}

src/ros/catkin/src/driver_can_nvidia/src/basecan.h

@@ -0,0 +1,45 @@
+#ifndef BASECAN_H
+#define BASECAN_H
+
+#include <QThread>
+
+
+class basecan_msg
+{
+  public:
+    unsigned int id;
+    bool isExtern;
+    bool isRemote;
+    unsigned char nLen;
+    unsigned char data[8];
+#ifdef SEND_STAT
+    qint64 mSetTime;  //Used for calucate send latency
+#endif
+};
+
+class basecan : public QThread
+{
+public:
+    basecan();
+    ~basecan();
+    virtual int GetMessage(const int nch,basecan_msg * pMsg,const int nCap);
+    virtual int SetMessage(const int nch,basecan_msg * pMsg); //Send Message
+
+    virtual void startdev();
+    virtual void stopdev();
+
+
+signals:
+    void SIG_CANOPENSTATE(bool bCAN,int nR,const char * strres);
+    void SIGTEST();
+
+public:
+    virtual void CmdSend();
+
+    virtual bool IsOpen();
+
+    virtual int GetErrorCode();
+    virtual std::string GetErrorString();
+};
+
+#endif // BASECAN_H

src/ros/catkin/src/driver_can_nvidia/src/canctrl.cpp

@@ -0,0 +1,243 @@
+#include "canctrl.h"
+
+#include <QTime>
+
+canctrl * gc;
+
+std::string gbaudlist[] = {"10k",
+                          "50k",
+                          "100k","125k",
+                          "250k","500k",
+                          "1000k"};
+
+static int getbaud(const char * strbaud)
+{
+    int nrtn = 5;
+    int i;
+    for(i=0;i<7;i++)
+    {
+        if(strcmp(strbaud,gbaudlist[i].data()) == 0)
+        {
+            nrtn = i;
+            break;
+        }
+    }
+    return nrtn;
+}
+
+
+
+canctrl::canctrl(const char * strmemsend0,const char * strmemsend1,const char * strmemrecv0,const char * strmemrecv1,
+                 const char *strmemsend_canstate,const char * strdevnum,const char * strbaud0, const char * strbaud1):nh_("~")
+{
+
+    ros::Rate loop_rate(100);
+    gc = this;
+
+    strncpy(mstrmemrecv0,strmemrecv0,255);
+    strncpy(mstrmemrecv1,strmemrecv1,255);
+    strncpy(mstrmemsend0,strmemsend0,255);
+    strncpy(mstrmemsend1,strmemsend1,255);
+    strncpy(mstrmemsend_canstate,strmemsend_canstate,255);
+
+    mindex[0] = 0;
+    mindex[1] = 0;
+
+    int nbaud1 = 5;
+    int nbaud2 = 5;
+    int ndevnum =atoi(strdevnum);
+    nbaud1 = getbaud(strbaud0);
+    nbaud2 = getbaud(strbaud1);
+
+    mpcan = new nvcan(&mwc, "can0","can1",this);
+    mspcan.reset(mpcan);
+   // connect(mpcan,SIGNAL(SIG_CANOPENSTATE(bool,int,const char*)),this,SLOT(onCANState(bool,int,const char*)));
+    mpcan->startdev();
+
+    mbRun = true;
+    mpthread = new std::thread(&canctrl::run,this);
+
+    std::cout<<" go hear . "<<std::endl;
+
+
+    mpub1 = nh_.advertise<adc_system_msg::canmsg>(mstrmemrecv0,1);
+    mpub2 = nh_.advertise<adc_system_msg::canmsg>(mstrmemrecv1,1);
+    
+    msub1 =  nh_.subscribe(mstrmemsend0,10,&canctrl::CallbackSend1,this);
+    msub2 =  nh_.subscribe(mstrmemsend1,10,&canctrl::CallbackSend2,this);
+
+}
+
+canctrl::~canctrl()
+{
+    mbRun = false;
+    mpthread->join();
+    mpcan->stopdev();
+}
+
+void canctrl::run()
+{
+
+    QTime xTime;
+    xTime.start();
+    int nOldTime = xTime.elapsed();
+    int i;
+
+    while(mbRun)
+    {
+        bool bCanOpen = mpcan->IsOpen();
+        if(bCanOpen)
+        {
+            basecan_msg xmsg[2500];
+            int nRec1,nRec2,nSend1,nSend2;
+            if((nRec1 =mpcan->GetMessage(0,xmsg,2500))>0)
+            {
+                int i;
+                adc_system_msg::canmsg xcanmsg;
+                for(i=0;i<nRec1;i++)
+                {
+                    adc_system_msg::canraw xcanraw;
+                    xcanraw.id = xmsg[i].id;
+                    xcanraw.bext = xmsg[i].isExtern;
+                    xcanraw.bremote = xmsg[i].isRemote;
+                    xcanraw.len = xmsg[i].nLen;
+                    xcanraw.data.resize(8);
+                    memcpy(xcanraw.data.data(),xmsg[i].data,8);
+                    xcanmsg.rawmsg.push_back(xcanraw);
+                }
+                mpub1.publish(xcanmsg);
+            //    sharecanmsg(mparecv0,xmsg,nRec1,0);
+            }
+
+            if((nRec2 =mpcan->GetMessage(1,xmsg,2500))>0)
+            {
+                 int i;
+                adc_system_msg::canmsg xcanmsg;
+                for(i=0;i<nRec1;i++)
+                {
+                    adc_system_msg::canraw xcanraw;
+                    xcanraw.id = xmsg[i].id;
+                    xcanraw.bext = xmsg[i].isExtern;
+                    xcanraw.bremote = xmsg[i].isRemote;
+                    xcanraw.len = xmsg[i].nLen;
+                    xcanraw.data.resize(8);
+                    memcpy(xcanraw.data.data(),xmsg[i].data,8);
+                    xcanmsg.rawmsg.push_back(xcanraw);
+                }
+                mpub1.publish(xcanmsg);
+             //   sharecanmsg(mparecv1,xmsg,nRec2,1);
+            }
+
+            nSend1 = 0;
+            nSend2 = 0;
+
+            mMutexcan1.lock();
+            for(i=0;i<msendmsgvector1.size();i++)
+            {
+                mpcan->SetMessage(0,&(msendmsgvector1.at(i)));
+            }
+            msendmsgvector1.clear();
+            mMutexcan1.unlock();
+
+            mMutexcan2.lock();
+            for(i=0;i<msendmsgvector2.size();i++)
+            {
+                mpcan->SetMessage(1,&(msendmsgvector2.at(i)));
+            }
+            msendmsgvector2.clear();
+            mMutexcan2.unlock();
+
+            mWaitMutex.lock();
+            mwc.wait(&mWaitMutex,100);
+            mWaitMutex.unlock();
+        }
+        else
+        {
+            if(mpcan->GetErrorCode() == 0)
+            {
+                mWaitMutex.lock();
+                mwc.wait(&mWaitMutex,100);
+                mWaitMutex.unlock();
+            }
+            else
+            {
+                std::cout<<" Error Code "<<mpcan->GetErrorCode()<<" error info: "<<mpcan->GetErrorString()<<std::endl;
+            }
+        }
+    }
+
+}
+
+void canctrl::onCANState(bool bCAN, int nR, const char *strres)
+{
+    mbCANOpen = bCAN;
+}
+
+void canctrl::sendmsg(int index,const adc_system_msg::canmsg & xmsg)
+{
+
+    if((index <0)||(index > 1))
+    {
+        std::cout<<"canctrl::sendmsg index error"<<std::endl;
+        return;
+    }
+
+    std::vector<basecan_msg> * psendmsgvector;
+    QMutex * pMutex;
+    if(index == 0)
+    {
+        pMutex = &mMutexcan1;
+        psendmsgvector = &msendmsgvector1;
+    }
+    if(index == 1)
+    {
+        pMutex = &mMutexcan2;
+        psendmsgvector = &msendmsgvector2;
+    }
+
+    if(psendmsgvector->size() > SENDMSGBUFSIZE)
+    {
+        std::cout<<"canctrl::sendmsg buf full, size is "<<psendmsgvector->size()<<std::endl;
+        return;
+    }
+
+//    qDebug("size is %d",xmsg.rawmsg_size());
+    pMutex->lock();
+    int i;
+
+    for(i=0;i<xmsg.rawmsg.size();i++)
+    {
+        basecan_msg sendmsg;
+        adc_system_msg::canraw x = xmsg.rawmsg[i];
+        sendmsg.id = x.id;
+        sendmsg.isExtern = x.bext;
+        sendmsg.isRemote = x.bremote;
+        int nlen = x.len;
+
+        if((nlen < 0) || (nlen > 8))
+        {
+            nlen = 0;
+            std::cout<<"canctrl::sendmsg nlen error"<<std::endl;
+        }
+        sendmsg.nLen = nlen;
+        if(sendmsg.nLen > 0)
+        {
+            memcpy(sendmsg.data,x.data.data(),sendmsg.nLen);
+        }
+
+        psendmsgvector->push_back(sendmsg);
+    }
+    pMutex->unlock();
+
+
+}
+
+    void canctrl::CallbackSend1(const adc_system_msg::canmsg & xmsg)
+    {
+            sendmsg(0,xmsg);
+    }
+    void canctrl::CallbackSend2(const adc_system_msg::canmsg & xmsg)
+    {
+          sendmsg(1,xmsg);
+    }
+

src/ros/catkin/src/driver_can_nvidia/src/canctrl.h

@@ -0,0 +1,74 @@
+#ifndef CANCTRL_H
+#define CANCTRL_H
+
+
+#include <QThread>
+#include <QMutex>
+
+#include <memory>
+#include <QTimer>
+#include <array>
+#include <vector>
+#include <iostream>
+#include "nvcan.h"
+#include <QDebug>
+
+#include <ros/ros.h>
+#include "adc_system_msg/canmsg.h"
+
+
+class canctrl  //public QThread
+{
+public:
+    canctrl(const char * strmemsend0,const char * strmemsend1,const char * strmemrecv0,const char * strmemrecv1,
+            const char *strmemsend_canstate,const char * strdevnum = "0",const char * strbaud0="500k",const char * strbaud1="500k");
+    ~canctrl();
+private slots:
+    void onCANState(bool bCAN,int nR,const char * strres);
+
+private:
+    void run();
+
+    basecan * mpcan;
+    std::shared_ptr<basecan> mspcan;
+    bool mbCANOpen = false;
+    bool mbRun = false;
+    std::thread * mpthread;
+
+    std::vector<basecan_msg> msendmsgvector1;
+    std::vector<basecan_msg> msendmsgvector2;
+    const int SENDMSGBUFSIZE = 3000;
+
+    QMutex mMutexcan1;
+    QMutex mMutexcan2;
+
+  //  void * mpasend0, *mpcanState, * mpasend1, * mparecv0, * mparecv1; //共享内存地址
+
+    int mindex[2];
+
+    char mstrmemsend0[256],mstrmemsend1[256],mstrmemrecv0[256],mstrmemrecv1[256],mstrmemsend_canstate[256]; //共享内存数据临时buffer
+
+
+public:
+    void sendmsg(int index,const adc_system_msg::canmsg & xmsg);
+    void sharecanmsg(void * xpa,basecan_msg * pxmsg,int ncount,int nch);
+
+private:
+    void CallbackSend1(const adc_system_msg::canmsg & xmsg);
+    void CallbackSend2(const adc_system_msg::canmsg & xmsg);
+
+private:
+    QMutex mWaitMutex;
+    QWaitCondition mwc;
+
+private:
+    ros::Publisher mpub1,mpub2;
+    ros::Subscriber msub1,msub2;
+
+private:
+    ros::NodeHandle nh_;
+
+
+};
+
+#endif // CANCTRL_H

src/ros/catkin/src/driver_can_nvidia/src/canlib.h

@@ -0,0 +1,5050 @@
+/*
+ *             Copyright 2017 by Kvaser AB, Molndal, Sweden
+ *                         http://www.kvaser.com
+ *
+ * This software is dual licensed under the following two licenses:
+ * BSD-new and GPLv2. You may use either one. See the included
+ * COPYING file for details.
+ *
+ * License: BSD-new
+ * ==============================================================================
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the \<organization\> nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+ * BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+ * IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ *
+ * License: GPLv2
+ * ==============================================================================
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA
+ *
+ *
+ * IMPORTANT NOTICE:
+ * ==============================================================================
+ * This source code is made available for free, as an open license, by Kvaser AB,
+ * for use with its applications. Kvaser AB does not accept any liability
+ * whatsoever for any third party patent or other immaterial property rights
+ * violations that may result from any usage of this source code, regardless of
+ * the combination of source code and various applications that it can be used
+ * in, or with.
+ *
+ * -----------------------------------------------------------------------------
+ */
+
+/**
+ * \file canlib.h
+ * \brief Definitions for the CANlib API.
+ * \details
+ * \defgroup grp_canlib              CANlib
+ * \brief Library for interacting with the CAN bus
+ * \defgroup can_status_codes        Status Codes
+ * \brief  Return codes from the CANlib functions
+ * \details
+ * Generally, a return code greater than or equal to zero means success.\n
+ * A value less than zero means failure.
+ *
+ * You should avoid testing for a specific error code unless it is explicitly\n
+ * stated in the documentation for the API in question that this specific error\n
+ * code is returned. Instead, check if the error code is less than zero.\n
+ * Use \ref canGetErrorText() to obtain an error message suitable for a message to the\n
+ * user, or for a line in an error log file.
+ * \ingroup grp_canlib
+ * \defgroup can_general             General
+ * \brief Initialization, reading versions and other information
+ * \ingroup grp_canlib
+ * \defgroup CAN                     CAN
+ * \brief CAN related functions
+ * \ingroup grp_canlib
+ * \defgroup ObjectBuffers           Object buffers
+ * \brief Used for auto transmit and auto response messages
+ * \ingroup grp_canlib
+ * \defgroup TimeDomainHandling      Time Domain Handling
+ * \brief Creating and handling Time Domains
+ * \ingroup grp_canlib
+ * \defgroup NamedParameterSettings  Named Parameter Settings
+ * \brief Handling of Bus Parameters and more
+ * \ingroup grp_canlib
+ * \defgroup tScript                 t-script
+ * \ingroup grp_canlib
+ * \brief Starting, stopping scripts, moving files to/from device
+ * \defgroup kv_io                  I/O Pin Handling
+ * \brief Functions related to handling I/O pins
+ * \details The kvIoXxx functions are used for configuring and controlling I/O pins on I/O modules connected to a device.
+ *
+ * I/O functions use a pin number to access each pin on connected I/O modules. Pin enumeration is product dependent.
+ *
+ * It is required to verify the configuration before it is possible to use any kvIoPinSetXxx()/kvIoPinGetXxx() function.
+ * The module configuration can be examined with kvIoGetNumberOfPins() and kvIoGetPinInfo(). If the configuration is as expected, a call to kvIoConfirmConfig() will confirm the configuration. Removing or adding I/O modules will change the configuration and the pins are re-enumerated. It is always required to confirm the new configuration after a configuration change.
+ *
+ * \ingroup grp_canlib
+ */
+
+/**
+ *  \page page_canlib CAN bus API (CANlib)
+ *
+ * CANlib is a software product from KVASER that provides support for a wide range
+ * of Kvasers CAN products. The CANlib API provides the application programmer
+ * with a quick and easy access to the CAN network while supporting a
+ * queue-oriented programming model.
+ *
+ * CANlib supports both 32-bit and 64-bit programs under Windows and Linux. For
+ * more detailed information about supported platforms, please contact \ref
+ * page_user_guide_support.
+ *
+ * Where to go from here:
+ *
+ *    - \subpage page_user_guide - introductory text on how to use CANlib and also
+ *      discusses various general topics that don't belong to any particular API
+ *      call.
+ *
+ *    - \subpage page_core_api_calls - gives you a quick overview of the most
+ *      important CANlib API calls.
+ *
+ *    - \subpage page_canlib_api_calls_grouped_by_function
+ *
+ *    Also see the \ref page_code_snippets and Examples section.
+**/
+
+#ifndef _CANLIB_H_
+#define _CANLIB_H_
+
+#include <stdlib.h>
+
+#include <stdint.h>
+
+#include "canstat.h"
+
+/** Handle to an opened circuit, created with \ref canOpenChannel(). */
+typedef int canHandle;
+
+# define canINVALID_HANDLE      (-1)
+
+/** Handle to an opened circuit, created with \ref canOpenChannel(). */
+typedef canHandle CanHandle;
+
+typedef struct canNotifyData {
+  void *tag;
+  int eventType;
+  union {
+    struct {
+      unsigned long time;
+    } busErr;
+    struct {
+      long id;
+      unsigned long time;
+    } rx;
+    struct {
+      long id;
+      unsigned long time;
+    } tx;
+    struct {
+      unsigned char busStatus;
+      unsigned char txErrorCounter;
+      unsigned char rxErrorCounter;
+      unsigned long time;
+    } status;
+  } info;
+} canNotifyData;
+
+
+/**
+ * \name canOPEN_xxx
+ * \anchor canOPEN_xxx
+ *
+ * These defines are used in \ref canOpenChannel().
+ *
+ * @{
+ */
+
+// The canWANT_xxx names are also obsolete, use canOPEN_xxx instead for new developments.
+#define canWANT_EXCLUSIVE               0x0008
+#define canWANT_EXTENDED                0x0010
+#define canWANT_VIRTUAL                 0x0020
+
+/**
+ * Don't allow sharing of this circuit between applications.
+ *
+ * This define is used in \ref canOpenChannel()
+ */
+#define canOPEN_EXCLUSIVE               0x0008
+
+/**
+ * This flag causes two things to happen:
+ *
+ * \li The call will fail if the specified circuit doesn't allow extended CAN
+ *     (CAN 2.0B).
+ *
+ * \li If no frame-type flag is specified in a call to \ref canWrite, it is assumed
+ *     that extended CAN should be used.
+ *
+ * This define is used in \ref canOpenChannel().
+ */
+#define canOPEN_REQUIRE_EXTENDED        0x0010
+
+/**
+ * Allow opening of virtual channels as well as physical channels.
+ *
+ * This define is used in \ref canOpenChannel().
+ *
+ * \sa \ref page_user_guide_virtual
+ */
+# define canOPEN_ACCEPT_VIRTUAL         0x0020
+
+/**
+ * Open the channel even if it is opened for exclusive
+ * access already.
+ *
+ * \warning Use this flag with caution.
+ *
+ * This define is used in \ref canOpenChannel().
+ */
+# define canOPEN_OVERRIDE_EXCLUSIVE     0x0040
+
+/**
+ * Fail the call if the channel cannot be opened with init access.
+ *
+ * Init access means that the CAN handle can set bit rate and CAN driver
+ * mode. At most one CAN handle may have init access to any given channel. If
+ * you try to set the bit rate or CAN driver mode for a handle to which you
+ * don't have init access, the call will silently fail (i.e. \ref canOK is
+ * returned although the call had no effect), unless you enable "access error
+ * reporting" by calling \ref canIoCtl() using \ref
+ * canIOCTL_SET_REPORT_ACCESS_ERRORS. Access error reporting is by default
+ * off. Init access is the default.
+ *
+ * This define is used in \ref canOpenChannel().
+ *
+ * \sa \ref canOPEN_NO_INIT_ACCESS, \ref canIOCTL_SET_REPORT_ACCESS_ERRORS
+ */
+# define canOPEN_REQUIRE_INIT_ACCESS    0x0080
+
+/**
+ * Don't open the handle with init access.
+ *
+ * This define is used in \ref canOpenChannel().
+ *
+ * \note A handle opened without init access will still set default bitrate
+ * when going on bus, if no other handle has opened the channel with init
+ * access at the time of the buson.
+ *
+ * \sa \ref canOPEN_REQUIRE_INIT_ACCESS
+ */
+# define canOPEN_NO_INIT_ACCESS         0x0100
+
+/**
+ * The channel will accept messages with DLC (Data Length Code) greater than
+ * 8. If this flag is not used, a message with DLC > 8 will always be
+ * reported or transmitted as a message with DLC = 8. If the
+ * \ref canOPEN_ACCEPT_LARGE_DLC flag is used, the message will be sent and/or
+ * received with the true DLC, which can be at most 15.
+ *
+ * \note The length of the message is always at most 8.
+ *
+ * This define is used in \ref canOpenChannel().
+ */
+# define canOPEN_ACCEPT_LARGE_DLC       0x0200  // DLC can be greater than 8
+
+/**
+ * The channel will use the CAN FD protocol, ISO compliant. This also means that messages with
+ * \ref canFDMSG_xxx flags can now be used.
+ *
+ * This define is used in \ref canOpenChannel().
+ */
+# define canOPEN_CAN_FD                 0x0400
+
+/**
+ * The channel will use the CAN FD NON-ISO protocol.
+ * Use this if you want to configure the can controller to be able to communicate with
+ * a can controller designed prior to the release of the CAN FD ISO specification.
+ *
+ * Non ISO mode implies:
+ * \li The stuff bit counter will not be included in the frame format.
+ * \li Initial value for CRC17 and CRC21 will be zero.
+ *
+ * This also means that messages with \ref canFDMSG_xxx flags can now be used.
+ *
+ * This define is used in \ref canOpenChannel().
+ */
+# define canOPEN_CAN_FD_NONISO          0x0800
+
+
+/**
+ * This is for internal use ONLY.
+ */
+# define canOPEN_INTERNAL_L                 0x1000
+
+/** @} */
+
+/**
+ * \ingroup CAN
+ * \name canFILTER_xxx
+ * \anchor canFILTER_xxx
+ *
+ * Flags for \ref canAccept().
+ *
+ * @{
+ */
+#define canFILTER_ACCEPT        1
+#define canFILTER_REJECT        2
+/** Sets the code for standard (11-bit) identifiers. */
+#define canFILTER_SET_CODE_STD  3
+/** Sets the mask for standard (11-bit) identifiers. */
+#define canFILTER_SET_MASK_STD  4
+/** Sets the code for extended (29-bit) identifiers. */
+#define canFILTER_SET_CODE_EXT  5
+/** Sets the mask for extended (29-bit) identifiers. */
+#define canFILTER_SET_MASK_EXT  6
+
+#define canFILTER_NULL_MASK     0L
+/** @} */
+
+
+/**
+ * \ingroup CAN
+ * \name canDRIVER_xxx
+ * \anchor canDRIVER_xxx
+ *
+ * CAN driver types - not all are supported on all cards.
+ *
+ * @{
+ */
+
+/**
+ * The "normal" driver type (push-pull). This is the default.
+ */
+#define canDRIVER_NORMAL           4
+
+/**
+ * Sets the CAN controller in Silent Mode; that is, it doesn't send anything,
+ * not even ACK bits, on the bus.  Reception works as usual.
+ *
+ * \note The values 2,3,5,6,7 are reserved values for compatibility reasons.
+ */
+#define canDRIVER_SILENT           1
+
+/**
+ * Self-reception. Not implemented.
+ */
+#define canDRIVER_SELFRECEPTION    8
+
+/**
+ * The driver is turned off. Not implemented in all types of hardware.
+ */
+#define canDRIVER_OFF              0
+
+/** @} */
+
+
+/**
+ * \ingroup CAN
+ * \anchor BAUD_xxx
+ * \anchor canBITRATE_xxx
+ * \anchor canFD_BITRATE_xxx
+ * \name canBITRATE_xxx
+ *
+ * Common bus speeds. Used in \ref canSetBusParams() and \ref canSetBusParamsC200().
+ * The values are translated in canlib, \ref canTranslateBaud().
+ *
+ * \note The \ref BAUD_xxx names are only retained for compatibility.
+ *
+ * \sa \ref section_user_guide_misc_bitrate
+ *
+ * @{
+ */
+
+
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsC200(). Indicate a bitrate of 1 Mbit/s. */
+#define canBITRATE_1M        (-1)
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsC200(). Indicate a bitrate of 500 kbit/s. */
+#define canBITRATE_500K      (-2)
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsC200(). Indicate a bitrate of 250 kbit/s. */
+#define canBITRATE_250K      (-3)
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsC200(). Indicate a bitrate of 125 kbit/s. */
+#define canBITRATE_125K      (-4)
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsC200(). Indicate a bitrate of 100 kbit/s. */
+#define canBITRATE_100K      (-5)
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsC200(). Indicate a bitrate of 62 kbit/s. */
+#define canBITRATE_62K       (-6)
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsC200(). Indicate a bitrate of 50 kbit/s. */
+#define canBITRATE_50K       (-7)
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsC200(). Indicate a bitrate of 83 kbit/s. */
+#define canBITRATE_83K       (-8)
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsC200(). Indicate a bitrate of 10 kbit/s. */
+#define canBITRATE_10K       (-9)
+
+// CAN FD Bit Rates
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsFd() when using the
+    CAN FD protocol. Indicates a bitrate of 0.5 Mbit/s and sampling point at
+    80%. */
+#define canFD_BITRATE_500K_80P     (-1000)
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsFd() when using the
+    CAN FD protocol. Indicates a bitrate of 1.0 Mbit/s and sampling point at
+    80%. */
+#define canFD_BITRATE_1M_80P       (-1001)
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsFd() when using the
+    CAN FD protocol. Indicates a bitrate of 2.0 Mbit/s and sampling point at
+    80%. */
+#define canFD_BITRATE_2M_80P       (-1002)
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsFd() when using the
+    CAN FD protocol. Indicates a bitrate of 4.0 Mbit/s and sampling point at
+    80%. */
+#define canFD_BITRATE_4M_80P       (-1003)
+/** Used in \ref canSetBusParams() and \ref canSetBusParamsFd() when using the
+    CAN FD protocol. Indicates a bitrate of 8.0 Mbit/s and sampling point at
+    60%. */
+#define canFD_BITRATE_8M_60P       (-1004)
+
+/** The \ref BAUD_xxx names are deprecated, use \ref canBITRATE_1M instead. */
+#define BAUD_1M              (-1)
+/** The \ref BAUD_xxx names are deprecated, use \ref canBITRATE_500K instead. */
+#define BAUD_500K            (-2)
+/** The \ref BAUD_xxx names are deprecated, use \ref canBITRATE_250K instead. */
+#define BAUD_250K            (-3)
+/** The \ref BAUD_xxx names are deprecated, use \ref canBITRATE_125K instead. */
+#define BAUD_125K            (-4)
+/** The \ref BAUD_xxx names are deprecated, use \ref canBITRATE_100K instead. */
+#define BAUD_100K            (-5)
+/** The \ref BAUD_xxx names are deprecated, use \ref canBITRATE_62K instead. */
+#define BAUD_62K             (-6)
+/** The \ref BAUD_xxx names are deprecated, use \ref canBITRATE_50K instead. */
+#define BAUD_50K             (-7)
+/** The \ref BAUD_xxx names are deprecated, use \ref canBITRATE_83K instead. */
+#define BAUD_83K             (-8)
+/** @} */
+
+
+//
+// Define CANLIBAPI unless it's done already.
+// (canlib.c provides its own definitions of CANLIBAPI, DLLIMPORT
+// and DLLEXPORT before including this file.)
+//
+#ifndef CANLIBAPI
+#   define CANLIBAPI
+#endif /* CANLIBAPI */
+
+
+#ifdef __cplusplus
+extern "C" {
+#endif /* __cplusplus */
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static void canInitializeLibrary(void);</b>
+ *
+ * \source_delphi   <b>procedure canInitializeLibrary;    </b>
+ * \source_end
+ * This function must be called before any other functions is used.  It will
+ * initialize the driver.
+ *
+ * You may call \ref canInitializeLibrary() more than once. The actual
+ * initialization will take place only once.
+ *
+ * Any errors encountered during library initialization will be "silent" and an
+ * appropriate \ref canERR_xxx error code will be returned later on when
+ * \ref canOpenChannel() (or any other API call that requires initialization) is
+ * called.
+ *
+ * \sa \ref section_code_snippets_caninitializelibrary
+ *
+ */
+void CANLIBAPI canInitializeLibrary (void);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canClose(int handle);</b>
+ *
+ * \source_delphi   <b>function canClose(handle: canHandle): canStatus;</b>
+ * \source_end
+ *
+ * Closes the channel associated with the handle. If no other threads
+ * are using the CAN circuit, it is taken off bus. The handle can not be
+ * used for further references to the channel, so any variable containing
+ * it should be zeroed.
+ *
+ * \ref canClose() will almost always return \ref canOK; the specified handle is closed
+ * on an best-effort basis.
+ *
+ * \param[in]  hnd  An open handle to a CAN channel.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_canclose
+ * \sa \ref canOpenChannel(), \ref canBusOn(), \ref canBusOff()
+ */
+canStatus CANLIBAPI canClose (const CanHandle hnd);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canBusOn(int handle);</b>
+ *
+ * \source_delphi   <b>function canBusOn(handle: canHandle): canStatus;    </b>
+ * \source_end
+ *
+ * Takes the specified channel on-bus.
+ *
+ * If you are using multiple handles to the same physical channel, for example
+ * if you are writing a threaded application, you must call \ref canBusOn() once for
+ * each handle. The same applies to \ref canBusOff() - the physical channel will not
+ * go off bus until the last handle to the channel goes off bus.
+ *
+ * \param[in]  hnd  An open handle to a CAN channel.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_canbuson
+ * \sa \ref canBusOff(), \ref canResetBus()
+ *
+ */
+canStatus CANLIBAPI canBusOn (const CanHandle hnd);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canBusOff(int handle);</b>
+ *
+ * \source_delphi   <b>function canBusOff(handle: canHandle): canStatus; </b>
+ * \source_end
+ *
+ * Takes the specified channel off-bus.
+ *
+ * \param[in]  hnd  An open handle to a CAN channel.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_canbusoff
+ * \sa \ref canBusOn(), \ref canResetBus()
+ *
+ */
+canStatus CANLIBAPI canBusOff (const CanHandle hnd);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canSetBusParams(int handle, int freq, int tseg1, int tseg2, int sjw, int noSamp, int syncmode); </b>
+ *
+ * \source_delphi   <b>function canSetBusParams(handle: canHandle; freq: Longint; tseg1, tseg2, sjw, noSamp, syncmode: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * This function sets the nominal bus timing parameters for the specified CAN
+ * controller.
+ *
+ * The library provides default values for \a tseg1, \a tseg2, \a sjw and \a
+ * noSamp when \a freq is specified to one of the pre-defined constants,
+ * \ref canBITRATE_xxx for classic CAN and \ref canFD_BITRATE_xxx for CAN FD.
+ *
+ * If \a freq is any other value, no default values are supplied by the
+ * library.
+ *
+ * If you are using multiple handles to the same physical channel, for example
+ * if you are writing a threaded application, you must call \ref canBusOff() once
+ * for each handle. The same applies to \ref canBusOn() - the physical channel will
+ * not go off bus until the last handle to the channel goes off bus.
+ *
+ * \note Use \ref canSetBusParamsC200() to set the bus timing parameters in the
+ *  ubiquitous 82c200 bit-timing register format.
+ *
+ * \param[in]  hnd       An open handle to a CAN controller.
+ * \param[in]  freq      Bit rate (measured in bits per second); or one of the
+ *                       predefined constants (\ref canBITRATE_xxx for classic
+ *                       CAN and \ref canFD_BITRATE_xxx for CAN FD).
+ * \param[in]  tseg1     Time segment 1, that is, the number of quanta from (but not
+ *                       including) the Sync Segment to the sampling point.
+ * \param[in]  tseg2     Time segment 2, that is, the number of quanta from the sampling
+ *                       point to the end of the bit.
+ * \param[in]  sjw       The Synchronization Jump Width.
+ * \param[in]  noSamp    The number of sampling points; can be 1 or 3.
+ * \param[in]  syncmode  Unsupported and ignored.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_bit_rate, \ref section_user_guide_misc_bitrate,
+ * \ref section_user_guide_init_bit_rate, \ref section_code_snippets_cansetbusparams
+ * \sa \ref canSetBusParamsC200(), \ref canGetBusParams()
+ *
+ */
+canStatus CANLIBAPI canSetBusParams (const CanHandle hnd,
+                                     long freq,
+                                     unsigned int tseg1,
+                                     unsigned int tseg2,
+                                     unsigned int sjw,
+                                     unsigned int noSamp,
+                                     unsigned int syncmode);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canSetBusParamsFd(int hnd, int freq_brs, int tseg1_brs, int tseg2_brs, int sjw_brs);</b>
+ *
+ * \source_delphi   <b>function canSetBusParamsFd(hnd: canHandle; freq_brs: Longint; tseg1_brs, tseg2_brs, sjw_brs: Cardinal): canStatus;</b>
+ * \source_end
+ *
+ * This function sets the data phase bus timing parameters for the specified
+ * CAN controller.
+ *
+ * The library provides default values for \a tseg1_brs, \a tseg2_brs and
+ * \a sjw_brs when \a freq_brs is specified to one of the pre-defined
+ * constants, \ref canFD_BITRATE_xxx.
+ *
+ * If \a freq_brs is any other value, no default values are supplied
+ * by the library.
+ *
+ * \param[in]  hnd        An open handle to a CAN controller.
+ * \param[in]  freq_brs   CAN FD data bit rate (measured in bits per second); or
+ *                        one of the predefined constants \ref
+ *                        canFD_BITRATE_xxx.
+ * \param[in]  tseg1_brs  Time segment 1, that is, the number of quanta from (but not
+ *                        including) the Sync Segment to the sampling point.
+ * \param[in]  tseg2_brs  Time segment 2, that is, the number of quanta from the sampling
+ *                        point to the end of the bit.
+ * \param[in]  sjw_brs    The Synchronization Jump Width.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ */
+canStatus CANLIBAPI canSetBusParamsFd(const CanHandle hnd,
+                                      long freq_brs,
+                                      unsigned int tseg1_brs,
+                                      unsigned int tseg2_brs,
+                                      unsigned int sjw_brs);
+
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canGetBusParams(int handle, out long freq, out int tseg1, out int tseg2, out int sjw, out int noSamp, out int syncmode);</b>
+ *
+ * \source_delphi   <b>function canGetBusParams(handle: canHandle; var freq: Longint; var tseg1, tseg2, sjw, noSamp, syncmode: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * This function retrieves the current nominal bus parameters for the specified
+ * channel.
+ *
+ * The anatomy of a CAN bit is discussed in detail at Kvaser's
+ * web site at <a href="http://www.kvaser.com">www.kvaser.com</a>.
+ *
+ * \param[in]  hnd       An open handle to a CAN controller.
+ * \param[out] freq      Bit rate (bits per second).
+ * \param[out] tseg1     Time segment 1, that is, the number of quanta from (but not
+ *                       including) the Sync Segment to the sampling point.
+ * \param[out] tseg2     Time segment 2, that is, the number of quanta from the sampling
+ *                       point to the end of the bit.
+ * \param[out] sjw       The Synchronization Jump Width.
+ * \param[out] noSamp    The number of sampling points; can be 1 or 3.
+ * \param[out] syncmode  Unsupported, always read as one.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_bit_rate, \ref section_user_guide_init_bit_rate
+ * \sa \ref canSetBusParams(), \ref canSetBusParamsC200()
+ *
+ */
+canStatus CANLIBAPI canGetBusParams (const CanHandle hnd,
+                                     long  *freq,
+                                     unsigned int *tseg1,
+                                     unsigned int *tseg2,
+                                     unsigned int *sjw,
+                                     unsigned int *noSamp,
+                                     unsigned int *syncmode);
+
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canGetBusParamsFd(int hnd, out long freq_brs, out int tseg1_brs, out int tseg2_brs, out int sjw_brs);</b>
+ *
+ * \source_delphi   <b>function canGetBusParamsFd(hnd: canHandle; var freq_brs: Longint; var tseg1_brs, tseg2_brs, sjw_brs: Cardinal): canStatus;</b>
+ * \source_end
+ *
+ * This function retrieves the current data bus parameters for the specified
+ * CAN FD channel.
+ *
+ * \param[in]  hnd         An open handle to a CAN FD controller.
+ * \param[out] freq_brs    Bit rate (bits per second).
+ * \param[out] tseg1_brs   Time segment 1, that is, the number of quanta from (but not
+ *                         including) the Sync Segment to the sampling point.
+ * \param[out] tseg2_brs   Time segment 2, that is, the number of quanta from the sampling
+ *                         point to the end of the bit.
+ * \param[out] sjw_brs     The Synchronization Jump Width.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ */
+canStatus CANLIBAPI canGetBusParamsFd(const CanHandle hnd,
+                                      long  *freq_brs,
+                                      unsigned int *tseg1_brs,
+                                      unsigned int *tseg2_brs,
+                                      unsigned int *sjw_brs);
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canSetBusOutputControl(int handle, int drivertype);</b>
+ *
+ * \source_delphi   <b>function canSetBusOutputControl(handle: canHandle; drivertype: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * This function sets the driver type for a CAN controller. This corresponds
+ * loosely to the bus output control register in the CAN controller, hence the
+ * name of this function. CANlib does not allow for direct manipulation of the
+ * bus output control register; instead, symbolic constants are used to select
+ * the desired driver type.
+ *
+ * \note Not all CAN driver types are supported on all cards.
+ *
+ * \param[in]  hnd         A handle to an open circuit.
+ * \param[in]  drivertype  Can driver type, \ref canDRIVER_xxx)
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canGetBusOutputControl()
+ */
+canStatus CANLIBAPI canSetBusOutputControl (const CanHandle hnd,
+                                            const unsigned int drivertype);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canGetBusOutputControl(int handle, out int drivertype);</b>
+ *
+ * \source_delphi   <b>function canGetBusOutputControl(handle: canHandle; var drivertype: Cardinal): canStatus;  </b>
+ * \source_end
+ *
+ * This function retrieves the current CAN controller driver type.
+ * This corresponds loosely to the bus output control register in the
+ * CAN controller, hence the name of this function. CANlib does not
+ * allow for direct manipulation of the bus output control register;
+ * instead, symbolic constants are used to select the desired driver
+ * type.
+ *
+ * \note Don't confuse the CAN controller driver type with the bus driver
+ *       type. The CAN controller is not connected directly to the CAN bus;
+ *       instead, it is connected to a bus transceiver circuit which interfaces
+ *       directly to the bus. The "CAN controller driver type" we are talking
+ *       about here refers to the mode which the CAN controller uses to drive
+ *       the bus transceiver circuit.
+ *
+ * \note Silent Mode is not supported by all CAN controllers.
+ *
+ * \param[in]  hnd         An open handle to a CAN circuit.
+ * \param[out] drivertype  A pointer to an unsigned int which receives the
+ *                         current driver type. The driver type can be either
+ *                         \ref canDRIVER_NORMAL or \ref canDRIVER_SILENT.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canSetBusOutputControl()
+ */
+canStatus CANLIBAPI canGetBusOutputControl (const CanHandle hnd,
+                                            unsigned int *drivertype);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canAccept(int handle, int envelope, int flag);</b>
+ *
+ * \source_delphi   <b>function canAccept(handle: canHandle; envelope: Longint; flag: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * This routine sets the message acceptance filters on a CAN channel.
+ *
+ * On some boards the acceptance filtering is done by the CAN hardware; on
+ * other boards (typically those with an embedded CPU,) the acceptance
+ * filtering is done by software. \ref canAccept() behaves in the same way for all
+ * boards, however.
+ *
+ * \ref canSetAcceptanceFilter() and \ref canAccept() both serve the same purpose but the
+ * former can set the code and mask in just one call.
+ *
+ * If you want to remove a filter, call \ref canAccept() with the mask set to 0.
+ *
+ * \note You can set the extended code and mask only on CAN boards that support
+ *       extended identifiers.
+ *
+ * \note Not all CAN boards support different masks for standard and extended
+ *       CAN identifiers.
+ *
+ * \param[in]  hnd       An open handle to a CAN circuit.
+ * \param[in]  envelope  The mask or code to set.
+ * \param[in]  flag      Any of \ref canFILTER_SET_CODE_STD,
+ *                       \ref canFILTER_SET_MASK_STD,
+ *                       \ref canFILTER_SET_CODE_EXT or
+ *                       \ref canFILTER_SET_MASK_EXT
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_filters,
+ *     \ref section_user_guide_misc_code_and_mask,
+ *     \ref section_code_snippets_can_accept
+ */
+canStatus CANLIBAPI canAccept (const CanHandle hnd,
+                               const long envelope,
+                               const unsigned int flag);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canReadStatus(int handle, out long flags);</b>
+ *
+ * \source_delphi   <b>function canReadStatus(handle: canHandle; var flags: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * Returns the status for the specified circuit. flags points to a longword
+ * which receives a combination of the \ref canSTAT_xxx flags.
+ *
+ * \note \ref canReadStatus() returns the latest known status of the specified
+ *       circuit. If a status change happens precisely when \ref canReadStatus() is
+ *       called, it may not be reflected in the returned result.
+ *
+ * \param[in]  hnd    A handle to an open circuit.
+ * \param[out] flags  Pointer to a \c DWORD which receives the status flags;
+ *                    this is a combination of any of the \ref canSTAT_xxx.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ */
+canStatus CANLIBAPI canReadStatus (const CanHandle hnd,
+                                   unsigned long *const flags);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canReadErrorCounters(int handle, out int txErr, out int rxErr, out int ovErr);</b>
+ *
+ * \source_delphi   <b>function canReadErrorCounters(handle: canHandle; var txErr, rxErr, ovErr: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * Reads the error counters of the CAN controller.
+ *
+ * \ref canReadErrorCounters() returns the latest known values of the error counters
+ * in the specified circuit. If the error counters change values precisely when
+ * \ref canReadErrorCounters() is called, it may not be reflected in the returned
+ * result.
+ *
+ * It is allowed to pass \c NULL as the value of the \a txErr, \a rxErr, and \a
+ * ovErr parameters.
+ *
+ * Use \ref canIoCtl() to clear the counters.
+ *
+ * \note Not all CAN controllers provide access to the error counters;
+ *       in this case, an educated guess is returned.
+ *
+ * \param[in]  hnd    A handle to an open circuit.
+ * \param[out] txErr  A pointer to a \c DWORD which receives the transmit error
+ *                    counter.
+ * \param[out] rxErr  A pointer to a \c DWORD which receives the receive error
+ *                    counter.
+ * \param[out] ovErr  A pointer to a \c DWORD which receives the number of
+ *                    overrun errors.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canIoCtl()
+ */
+canStatus CANLIBAPI canReadErrorCounters (const CanHandle hnd,
+                                          unsigned int *txErr,
+                                          unsigned int *rxErr,
+                                          unsigned int *ovErr);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canWrite(int handle, int id, byte[] msg, int dlc, int flag);</b>
+ *
+ * \source_delphi   <b>function canWrite(handle: canHandle; id: Longint; msg: Pointer; dlc: Cardinal; flag: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * This function sends a CAN message. The call returns immediately after queuing
+ * the message to the driver.
+ *
+ * If you are using the same channel via multiple handles, note that the
+ * default behaviour is that the different handles will "hear" each other just as
+ * if each handle referred to a channel of its own. If you open, say, channel 0
+ * from thread A and thread B and then send a message from thread A, it will be
+ * "received" by thread B.
+ * This behaviour can be changed using \ref canIOCTL_SET_LOCAL_TXECHO.
+ *
+ * \note The message has been queued for transmission when this calls return.
+ *       It has not necessarily been sent.
+ *
+ * \param[in]  hnd       A handle to an open CAN circuit.
+ * \param[in]  id        The identifier of the CAN message to send.
+ * \param[in]  msg       A pointer to the message data, or \c NULL.
+ * \param[in]  dlc       The length of the message in bytes.<br>
+                         For Classic CAN dlc can be at most 8, unless \ref canOPEN_ACCEPT_LARGE_DLC is used.<br>
+                         For CAN FD dlc can be one of the following 0-8, 12, 16, 20, 24, 32, 48, 64.
+ * \param[in]  flag      A combination of message flags, \ref canMSG_xxx
+ *                       (including \ref canFDMSG_xxx if the CAN FD protocol is
+ *                       enabled).
+ *                       Use this parameter to send extended (29-bit) frames
+ *                       and/or remote frames. Use \ref canMSG_EXT and/or
+ *                       \ref canMSG_RTR for this purpose.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_sending, \ref section_code_snippets_canwrite
+ * \sa \ref canWriteSync(), \ref canWriteWait()
+ *
+ */
+canStatus CANLIBAPI canWrite (const CanHandle hnd,
+                              long id,
+                              void *msg,
+                              unsigned int dlc,
+                              unsigned int flag);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canWriteSync(int handle, long timeout);</b>
+ *
+ * \source_delphi   <b>function canWriteSync(handle: canHandle; timeout: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * Waits until all CAN messages for the specified handle are sent, or the
+ * timeout period expires.
+ *
+ * \param[in]  hnd       A handle to an open CAN circuit.
+ * \param[in]  timeout   The timeout in milliseconds. 0xFFFFFFFF gives an
+ *                       infinite timeout.
+ *
+ * \return \ref canOK (zero) if the queue emptied before the timeout period came to
+ *         its end.
+ * \return \ref canERR_TIMEOUT (negative) not all messages were transmitted when
+ *         the timeout occurred.
+ * \return \ref canERR_PARAM (negative) This could be caused by an erroneous
+ *         parameter, or if you have turned TXACKs off (by using \ref canIoCtl())
+ *         because if you do you can't use this call. The driver simply doesn't
+ *         know when all the messages are sent!
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canWrite(), \ref canWriteWait()
+ */
+canStatus CANLIBAPI canWriteSync (const CanHandle hnd, unsigned long timeout);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canRead(int handle, out int id, byte[] msg, out int dlc, out int flag, out long time);</b>
+ *
+ * \source_delphi   <b>function canRead(handle: canHandle; var id: Longint; msg: Pointer; var dlc: Cardinal; var flag: Cardinal; var time: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * Reads a message from the receive buffer. If no message is available, the
+ * function returns immediately with return code \ref canERR_NOMSG.
+ *
+ * If you are using the same channel via multiple handles, note that the
+ * default behaviour is that the different handles will "hear" each other just as
+ * if each handle referred to a channel of its own. If you open, say, channel 0
+ * from thread A and thread B and then send a message from thread A, it will be
+ * "received" by thread B.
+ * This behaviour can be changed using \ref canIOCTL_SET_LOCAL_TXECHO.
+ *
+ * It is allowed to pass \c NULL as the value of \a id, \a msg, \a dlc, \a
+ * flag, and \a time.
+ *
+ * \param[in]  hnd   A handle to an open circuit.
+ * \param[out] id    Pointer to a buffer which receives the CAN identifier.
+ *                   This buffer will only get the identifier. To determine
+ *                   whether this identifier was standard (11-bit) or extended
+ *                   (29-bit), and/or whether it was remote or not, or if it
+ *                   was an error frame, examine the contents of the flag
+ *                   argument.
+ * \param[out] msg   Pointer to the buffer which receives the message data. This
+ *                   buffer must be large enough (i.e. 8 bytes for classic CAN
+ *                   and up to 64 bytes for CAN FD).
+ * \param[out] dlc   Pointer to a buffer which receives the message length.
+ * \param[out] flag  Pointer to a buffer which receives the message flags,
+ *                   which is a combination of the \ref canMSG_xxx (including
+ *                   \ref canFDMSG_xxx if the CAN FD protocol is enabled) and
+ *                   \ref canMSGERR_xxx values.
+ * \param[out] time  Pointer to a buffer which receives the message time stamp.
+ *
+ * \return \ref canOK (zero) if a message was read.
+ * \return \ref canERR_NOMSG (negative) if there was no message available.
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_reading, \ref
+ * section_user_guide_send_recv_mailboxes, \ref
+ * section_code_snippets_canread, \ref
+ * section_user_guide_time_accuracy_and_resolution
+ *
+ * \sa \ref canReadSpecific(), \ref canReadSpecificSkip(), \ref canReadSync(),
+ *     \ref canReadSyncSpecific(), \ref canReadWait()
+ *
+ */
+canStatus CANLIBAPI canRead (const CanHandle hnd,
+                             long *id,
+                             void *msg,
+                             unsigned int *dlc,
+                             unsigned int *flag,
+                             unsigned long *time);
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canReadWait(int handle, out int id, byte[] msg, out int dlc, out int flag, out long time, long timeout);</b>
+ *
+ * \source_delphi   <b>function canReadWait(handle: canHandle; var id: Longint; msg: Pointer; var dlc: Cardinal; var flag: Cardinal; var time: Cardinal; timeout: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * Reads a message from the receive buffer. If no message is available, the
+ * function waits until a message arrives or a timeout occurs.
+ *
+ * If you are using the same channel via multiple handles, note that the
+ * default behaviour is that the different handles will "hear" each other just as
+ * if each handle referred to a channel of its own. If you open, say, channel 0
+ * from thread A and thread B and then send a message from thread A, it will be
+ * "received" by thread B.
+ * This behaviour can be changed using \ref canIOCTL_SET_LOCAL_TXECHO.
+ *
+ * It is allowed to pass \c NULL as the value of \a id, \a msg, \a dlc, \a
+ * flag, and \a time.
+ *
+ * \param[in]   hnd    A handle to an open circuit.
+ * \param[out]  id     Pointer to a buffer which receives the CAN identifier.
+ *                     This buffer will only get the identifier. To determine
+ *                     whether this identifier was standard (11-bit) or extended
+ *                     (29-bit), and/or whether it was remote or not, or if it
+ *                     was an error frame, examine the contents of the flag
+ *                     argument.
+ * \param[out]  msg    Pointer to the buffer which receives the message data.
+ *                     This buffer must be large enough (i.e. 8 bytes for
+ *                     classic CAN and up to 64 bytes for CAN FD).
+ * \param[out]  dlc    Pointer to a buffer which receives the message length.
+ * \param[out]  flag   Pointer to a buffer which receives the message flags,
+ *                     which is a combination of the \ref canMSG_xxx (including
+ *                     \ref canFDMSG_xxx if the CAN FD protocol is enabled) and
+ *                     \ref canMSGERR_xxx values.
+ * \param[out] time    Pointer to a buffer which receives the message time stamp.
+ * \param[in]  timeout If no message is immediately available, this parameter
+ *                     gives the number of milliseconds to wait for a message
+ *                     before returning. 0xFFFFFFFF gives an infinite timeout.
+ *
+ * \return \ref canOK (zero) if a message was read.
+ * \return \ref canERR_NOMSG (negative) if there was no message available.
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canRead(), \ref canReadSpecific(), \ref canReadSpecificSkip(),
+ *  \ref canReadSyncSpecific(), \ref canReadSync()
+ *
+ * \sa \ref section_user_guide_time_accuracy_and_resolution
+ */
+canStatus CANLIBAPI canReadWait (const CanHandle hnd,
+                                 long *id,
+                                 void *msg,
+                                 unsigned int  *dlc,
+                                 unsigned int  *flag,
+                                 unsigned long *time,
+                                 unsigned long timeout);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canReadSpecific(int handle, int id, byte[] msg, out int dlc, out int flag, out long time);</b>
+ *
+ * \source_delphi   <b>function canReadSpecific(handle: canHandle; id: Longint; msg: Pointer; var dlc: Cardinal; var flag: Cardinal; var time: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * Reads a message with a specified identifier from the receive buffer. Any
+ * preceding message not matching the specified identifier will be kept
+ * in the receive buffer. If no message with the specified identifier is
+ * available, the function returns immediately with an error code.
+ *
+ * If you are using the same channel via multiple handles, note that the
+ * default behaviour is that the different handles will "hear" each other just as
+ * if each handle referred to a channel of its own. If you open, say, channel 0
+ * from thread A and thread B and then send a message from thread A, it will be
+ * "received" by thread B.
+ * This behaviour can be changed using \ref canIOCTL_SET_LOCAL_TXECHO.
+ *
+ * It is allowed to pass \c NULL as the value of \a msg, \a dlc, \a
+ * flag, and \a time.
+ *
+ * \note Use \ref canReadSpecific only if you for some reason must keep the unread
+ *       messages in the queue. If this is not the case, consider using
+ *       \ref canReadSpecificSkip() or \ref canRead() for better performance.
+ *
+ * \param[in]   hnd    A handle to an open circuit.
+ * \param[in]   id     The desired CAN identifier.
+ * \param[out]  msg    Pointer to the buffer which receives the message data.
+ *                     This buffer must be large enough (i.e. 8 bytes for
+ *                     classic CAN and up to 64 bytes for CAN FD).
+ * \param[out]  dlc    Pointer to a buffer which receives the message length.
+ * \param[out]  flag   Pointer to a buffer which receives the message flags,
+ *                     which is a combination of the \ref canMSG_xxx (including
+ *                     \ref canFDMSG_xxx if the CAN FD protocol is enabled) and
+ *                     \ref canMSGERR_xxx values.
+ * \param[out] time    Pointer to a buffer which receives the message time stamp.
+ *
+ * \return \ref canOK (zero) if a message was read.
+ * \return \ref canERR_NOMSG (negative) if a matching message was not found.
+ *         There might be other messages in the queue, though.
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_mailboxes, \ref
+ * section_user_guide_send_recv_reading, \ref
+ * section_user_guide_time_accuracy_and_resolution
+ * \sa \ref canRead(), \ref canReadSpecificSkip(), \ref canReadSync(), \ref canReadSyncSpecific(),
+ * \ref canReadWait()
+ *
+ */
+canStatus CANLIBAPI canReadSpecific (const CanHandle hnd, long id, void * msg,
+                                     unsigned int * dlc, unsigned int * flag,
+                                     unsigned long * time);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canReadSync(int handle, long timeout);</b>
+ *
+ * \source_delphi   <b>function canReadSync(handle: canHandle; timeout: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * Waits until the receive buffer contains at least one message or a timeout
+ * occurs.
+ *
+ * If you are using the same channel via multiple handles, note that the
+ * default behaviour is that the different handles will "hear" each other just as
+ * if each handle referred to a channel of its own. If you open, say, channel 0
+ * from thread A and thread B and then send a message from thread A, it will be
+ * "received" by thread B.
+ * This behaviour can be changed using \ref canIOCTL_SET_LOCAL_TXECHO.
+ *
+ * \param[in]  hnd      A handle to an open circuit.
+ * \param[in]  timeout  The timeout in milliseconds. 0xFFFFFFFF gives an
+ *                      infinite timeout.
+ *
+ * \return \ref canOK (zero) if the queue contains the desired message.
+ * \return \ref canERR_TIMEOUT (negative) if a timeout occurs before a message
+ *         arrived.
+ * \return \ref canERR_xxx (negative) if the call fails.
+ *
+ * \sa \ref canRead(), \ref canReadSpecific(), \ref canReadSpecificSkip(),
+ * \ref canReadSyncSpecific(), \ref canReadWait()
+ */
+canStatus CANLIBAPI canReadSync (const CanHandle hnd, unsigned long timeout);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canReadSyncSpecific(int handle, int id, long timeout);</b>
+ *
+ * \source_delphi   <b>function canReadSyncSpecific(handle: canHandle; id: Longint; timeout: Cardinal): canStatus;  </b>
+ * \source_end
+ *
+ * Waits until the receive queue contains a message with the specified id, or a
+ * timeout occurs..
+ *
+ * If you are using the same channel via multiple handles, note that the
+ * default behaviour is that the different handles will "hear" each other just as
+ * if each handle referred to a channel of its own. If you open, say, channel 0
+ * from thread A and thread B and then send a message from thread A, it will be
+ * "received" by thread B.
+ * This behaviour can be changed using \ref canIOCTL_SET_LOCAL_TXECHO.
+ *
+ * \param[in]  hnd      A handle to an open circuit.
+ * \param[in]  id       The desired message identifier.
+ * \param[in]  timeout  The timeout in milliseconds. 0xFFFFFFFF gives an
+ *                      infinite timeout.
+ *
+ * \return \ref canOK (zero) if the queue contains the desired message.
+ * \return \ref canERR_TIMEOUT (negative) if a timeout occurs before the specified
+ *         message arrived.
+ * \return \ref canERR_xxx (negative) if the call fails.
+ *
+ * \sa \ref canRead(), \ref canReadSpecific(), \ref canReadSpecificSkip(),
+ * \ref canReadSync(), \ref canReadWait()
+ */
+canStatus CANLIBAPI canReadSyncSpecific (const CanHandle hnd,
+                                         long id,
+                                         unsigned long timeout);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canReadSpecificSkip(int hnd, int id, byte[] msg, out int dlc, out int flag, out long time);</b>
+ *
+ * \source_delphi   <b>function canReadSpecificSkip(handle: canHandle; id: Longint; msg: Pointer; var dlc: Cardinal; var flag: Cardinal; var time: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * Reads a message with a specified identifier from the receive buffer. Any
+ * preceding message not matching the specified identifier will be removed
+ * in the receive buffer. If no message with the specified identifier is
+ * available, the function returns immediately with an error code.
+ *
+ * If you are using the same channel via multiple handles, note that the
+ * default behaviour is that the different handles will "hear" each other just as
+ * if each handle referred to a channel of its own. If you open, say, channel 0
+ * from thread A and thread B and then send a message from thread A, it will be
+ * "received" by thread B.
+ * This behaviour can be changed using \ref canIOCTL_SET_LOCAL_TXECHO.
+ *
+ * It is allowed to pass \c NULL as the value of \a msg, \a dlc, \a
+ * flag, and \a time.
+ *
+ * \param[in]   hnd    A handle to an open circuit.
+ * \param[in]   id     The desired CAN identifier.
+ * \param[out]  msg    Pointer to the buffer which receives the message data.
+ *                     This buffer must be large enough (i.e. 8 bytes for
+ *                     classic CAN and up to 64 bytes for CAN FD).
+ * \param[out]  dlc    Pointer to a buffer which receives the message length.
+ * \param[out]  flag   Pointer to a buffer which receives the message flags,
+ *                     which is a combination of the \ref canMSG_xxx (including
+ *                     \ref canFDMSG_xxx if the CAN FD protocol is enabled) and
+ *                     \ref canMSGERR_xxx values.
+ * \param[out] time    Pointer to a buffer which receives the message time stamp.
+ *
+ * \return \ref canOK (zero) if a matching message was found.
+ * \return \ref canERR_NOMSG if there was no matching message available. All other
+           messages (if any!) were discarded.
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_reading, \ref
+ * section_user_guide_time_accuracy_and_resolution
+ * \sa \ref canRead(), \ref canReadSpecific(), \ref canReadSync(),
+ * \ref canReadSyncSpecific(), \ref canReadWait()
+ */
+canStatus CANLIBAPI canReadSpecificSkip (const CanHandle hnd,
+                                         long id,
+                                         void * msg,
+                                         unsigned int * dlc,
+                                         unsigned int * flag,
+                                         unsigned long * time);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canSetNotify(int handle, IntPtr win_handle, int aNotifyFlags);</b>
+ *
+ * \source_delphi   <b>function canSetNotify(handle: canHandle; aHWnd: HWND; aNotifyFlags: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * This function associates a callback function with the CAN circuit.
+ *
+ * \param[in] hnd          A handle to an open CAN circuit.
+ * \param[in] callback     Handle to callback routine.
+ * \param[in] notifyFlags  The events specified with \ref canNOTIFY_xxx, for
+ *                         which callback should be called.
+ * \param[in] tag          Pointer to user defined data. Passed to callback in the \ref canNotifyData struct.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ */
+canStatus CANLIBAPI canSetNotify (const CanHandle hnd,
+                                  void (*callback)(canNotifyData *),
+                                  unsigned int notifyFlags,
+                                  void *tag);
+
+/**
+ * \ingroup CAN
+ *
+ * Returns raw handle/file descriptor for use in system calls.
+ * \note Use this function with caution.
+ *
+ * \param[in]  hnd   CanHandle
+ * \param[out] pvFd  Pointer to raw can data.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ */
+canStatus CANLIBAPI canGetRawHandle (const CanHandle hnd, void *pvFd);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canTranslateBaud(ref int freq, out int tseg1, out int tseg2, out int sjw, out int nosamp, out int syncMode);</b>
+ *
+ * \source_delphi   <b>function canTranslateBaud(var freq: Longint; var tseg1, tseg2, sjw, noSamp, syncMode: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * This function translates the \ref canBITRATE_xxx constants to their corresponding
+ * bus parameter values. At return, this \a freq contains the actual bit rate
+ * (in bits per second). \a TSeg1 is the number of quanta (less one) in a bit
+ * before the sampling point. \a TSeg2 is the number of quanta after the
+ * sampling point.
+ *
+ * \param[in,out] freq      A pointer to a \c DWORD which contains the \ref canBITRATE_xxx
+ *                          constant to translate. The bitrate constant value is
+ *                          overwritten with the frequency value.
+ * \param[out]    tseg1     A pointer to a buffer which receives the Time segment 1,
+ *                          that is, the number of quanta from (but not including)
+ *                          the Sync Segment to the sampling point.
+ * \param[out]    tseg2     A pointer to a buffer which receives the Time segment 2,
+ *                          that is, the number of quanta from the sampling point to
+ *                          the end of the bit.
+ * \param[out]    sjw       A pointer to a buffer which receives the Synchronization
+ *                          Jump Width.
+ * \param[out]    nosamp    A pointer to a buffer which receives the number of
+ *                          sampling points.
+ * \param[out]    syncMode  Unsupported, always read as zero. May be set to NULL.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canSetBusParams()
+ */
+canStatus CANLIBAPI canTranslateBaud (long *const freq,
+                                      unsigned int *const tseg1,
+                                      unsigned int *const tseg2,
+                                      unsigned int *const sjw,
+                                      unsigned int *const nosamp,
+                                      unsigned int *const syncMode);
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static Canlib.canStatus canGetErrorText(Canlib.canStatus err, out string buf_str);</b>
+ *
+ * \source_delphi   <b>function canGetErrorText(err: canStatus; buf: PChar; bufsiz: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * This function translates an error code (\ref canERR_xxx)
+ * to a human-readable, English text.
+ *
+ * \param[in]     err     The error code.
+ * \param[out]    buf     The buffer which is to receive the text, which is a
+ *                        zero-terminated string (provided the buffer is large enough.)
+ * \param[in]     bufsiz  The length of the input buffer.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_cangeterrortext
+ *
+ */
+canStatus CANLIBAPI canGetErrorText (canStatus err, char *buf, unsigned int bufsiz);
+
+/**
+ * \ingroup  can_general
+ *
+ * \source_cs       <b>static short canGetVersion();</b>
+ *
+ * \source_delphi   <b>function canGetVersion: Word;     </b>
+ * \source_end
+ *
+
+ * This API call returns the version of the CANlib API DLL (canlib32.dll).  The
+ * most significant byte is the major version number and the least significant
+ * byte is the minor version number.
+ *
+ * The actual version of the different driver files can be obtained by studying
+ * the version resources in each of the files.
+ *
+ * \note The version number of the canlib32.dll file is not related to the
+ *       product version of CANlib you are using. CANlib consists of several
+ *       driver and DLL files. To obtain the product version, use
+ *       \ref canGetVersionEx().
+ *
+ * \return version number of canlib32.dll
+ *
+ * \note Linux returns version number from libcanlib.so
+ *
+ * \sa \ref section_user_guide_build_driver_version
+ * \sa \ref canGetVersionEx()
+ *
+ */
+unsigned short CANLIBAPI canGetVersion (void);
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static Canlib.canStatus canIoCtl(int handle, int func, int val);<br>
+      static Canlib.canStatus canIoCtl(int handle, int func, out int val);<br>
+      static Canlib.canStatus canIoCtl(int handle, int func, out string str_buf);<br>
+      static Canlib.canStatus canIoCtl(int handle, int func, ref object obj_buf);</b>
+ *
+ * \source_delphi   <b>function canIoCtl(handle: canHandle; func: Cardinal; buf: Pointer; buflen: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * This API call performs several different functions; these are described
+ * below. The functions are handle-specific unless otherwise noted; this means
+ * that they affect only the handle you pass to \ref canIoCtl(), whereas other open
+ * handles will remain unaffected.  The contents of \a buf after the call is
+ * dependent on the function code you specified.
+ *
+ * \param[in]     hnd     A handle to an open circuit.
+ * \param[in]     func    A \ref canIOCTL_xxx function code
+ * \param[in,out] buf     Pointer to a buffer containing function-dependent data;
+                          or a \c NULL pointer for certain function codes. The
+                          buffer can be used for both input and output
+                          depending on the function code. See \ref canIOCTL_xxx.
+ * \param[in]     buflen  The length of the buffer.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ */
+canStatus CANLIBAPI canIoCtl (const CanHandle hnd,
+                              unsigned int func,
+                              void *buf,
+                              unsigned int buflen);
+
+
+/**
+ * \ingroup Obsolete
+ *
+ * \source_cs       <b>static canStatus canReadTimer(int hnd, long time);</b>
+ *
+ * \source_delphi   <b>function canReadTimer(handle: canHandle; var time: NativeUInt): canStatus;     </b>
+ * \source_end
+ *
+ * \warning Obsolete! \ref kvReadTimer() should be used instead.
+ */
+canStatus CANLIBAPI canReadTimer (const CanHandle hnd, unsigned long *time);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static int canOpenChannel(int channel, int flags);</b>
+ *
+ * \source_delphi   <b>function canOpenChannel(channel: Integer; flags: Integer): canHandle;     </b>
+ * \source_end
+ *
+ * Opens a CAN channel (circuit) and returns a handle which is used
+ * in subsequent calls to CANlib.
+ *
+ *
+ * Channel numbering is dependent on the installed hardware. The first channel
+ * always has number 0.
+ *
+ * For example,
+ *
+ * \li If you have a single LAPcan, the channels are numbered 0 and 1.
+ *
+ * \li If you have a USBcan Professional, the channels are numbered 0-1
+ *     according to the labels on the cables.
+ *
+ * \li The virtual channels come after all physical channels.
+ *
+ * If you are using multiple threads, note that the returned handle is usable
+ * only in the context of the thread that created it. That is, you must call
+ * \ref canOpenChannel() in each of the threads in your application that uses the
+ * CAN bus. You can open the same channel from multiple threads, but you must
+ * call \ref canOpenChannel() once per thread.
+ *
+ * If you are using the same channel via multiple handles, note that the
+ * default behaviour is that the different handles will "hear" each other just as
+ * if each handle referred to a channel of its own. If you open, say, channel 0
+ * from thread A and thread B and then send a message from thread A, it will be
+ * "received" by thread B.
+ * This behaviour can be changed using \ref canIOCTL_SET_LOCAL_TXECHO.
+ *
+ * \note The handle returned may be zero which is perfectly valid.
+ *
+ * \param[in]  channel  The number of the channel. Channel numbering is hardware
+ *                      dependent.
+ * \param[in]  flags    A combination of \ref canOPEN_xxx flags
+ *
+ * \return Returns a handle to the opened circuit, or \ref canERR_xxx
+ *         (negative) if the call failed.
+ *
+ * \sa \ref section_code_snippets_canopenchannel,  \ref page_user_guide_virtual
+ * \sa \ref canGetNumberOfChannels(), \ref canGetChannelData(), \ref canIoCtl()
+ *
+ */
+CanHandle CANLIBAPI canOpenChannel (int channel, int flags);
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static Canlib.canStatus canGetNumberOfChannels(out int channelCount);</b>
+ *
+ * \source_delphi   <b>function canGetNumberOfChannels(var channelCount: Integer): canStatus;     </b>
+ * \source_end
+ *
+ * This function returns the number of available CAN channels in the
+ * computer. The virtual channels are included in this number.
+ *
+ * \param[out] channelCount  A pointer to a \c DWORD which will receive the current
+ *                           number of channels.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_cangetchanneldata, \ref page_user_guide_virtual
+ * \sa \ref canGetChannelData()
+ */
+canStatus CANLIBAPI canGetNumberOfChannels (int *channelCount);
+
+
+/**
+ * \name kvREMOTE_TYPExxx
+ * \anchor kvREMOTE_TYPExxx
+ *
+ * Remote type, returned when using \ref canCHANNELDATA_REMOTE_TYPE
+ * @{
+ */
+#define kvREMOTE_TYPE_NOT_REMOTE  0 ///<
+#define kvREMOTE_TYPE_WLAN        1 ///<
+#define kvREMOTE_TYPE_LAN         2 ///<
+/** @} */
+
+/**
+ * \name kvLOGGER_TYPE_xxx
+ * \anchor kvLOGGER_TYPE_xxx
+ *
+ * Logger type, returned when using \ref canCHANNELDATA_LOGGER_TYPE
+ * @{
+ */
+#define kvLOGGER_TYPE_NOT_A_LOGGER  0 ///<
+#define kvLOGGER_TYPE_V1            1 ///<
+#define kvLOGGER_TYPE_V2            2 ///<
+/** @} */
+
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static Canlib.canStatus canGetChannelData(int channel, int item, out object buffer);</b>
+ *
+ * \source_delphi   <b>function canGetChannelData(channel, item: Integer; var buffer; bufsize: size_t): canStatus;     </b>
+ * \source_end
+ *
+ * This function can be used to retrieve certain pieces of information about a channel.
+ *
+ * \note You must pass a channel number and not a channel handle.
+ *
+ * \param[in]  channel  The number of the channel you are interested in. Channel
+ *                        numbers are integers in the interval beginning at 0
+ *                        (zero) and ending at the value returned by
+ *                        \ref canGetNumberOfChannels() minus 1.
+ * \param[in]  item  This parameter specifies what data to obtain for the
+ *                        specified channel. The value is one of the constants
+ *                        \ref canCHANNELDATA_xxx.
+ * \param[out] buffer     The address of a buffer which is to receive the data.
+ * \param[in]  bufsize    The size of the buffer to which the buffer parameter
+ *                        points.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_cangetchanneldata
+ * \sa \ref canGetNumberOfChannels()
+ */
+canStatus CANLIBAPI canGetChannelData (int channel,
+                                       int item,
+                                       void *buffer,
+                                       size_t bufsize);
+
+/**
+ * \ingroup can_general
+ * \anchor canCHANNELDATA_xxx
+ * \name canCHANNELDATA_xxx
+ *
+ * These defines are used in \ref canGetChannelData().
+ *
+ *  @{
+ */
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer that receives the
+   * capabilities of the CAN controller; this is a combination of the \ref
+   * canCHANNEL_CAP_xxx flags.
+   */
+#define canCHANNELDATA_CHANNEL_CAP                1
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer that receives the
+   * capabilities of the CAN transceiver; this is a combination of the
+   * \ref canDRIVER_CAP_xxx flags.
+   * \note Not implemented in linux.
+   */
+#define canCHANNELDATA_TRANS_CAP                  2
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer returns a combination of \ref canCHANNEL_IS_xxx flags.
+   */
+#define canCHANNELDATA_CHANNEL_FLAGS              3   // available, etc
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer that receives the hardware
+   * type of the card. This value is any one of the \ref canHWTYPE_xxx
+   * constants.
+   */
+#define canCHANNELDATA_CARD_TYPE                  4
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer that receives the card's
+   * number in the computer. Each card type is numbered separately. For
+   * example, the first LAPcan card in a machine will have number 0, the second
+   * LAPcan number 1, etc.
+   */
+#define canCHANNELDATA_CARD_NUMBER                5
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer which receives the channel
+   * number on the card.
+   */
+#define canCHANNELDATA_CHAN_NO_ON_CARD            6
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 64-bit (8 bytes) area which receives the serial
+   * number of the card. If the card doesn't have a serial number, 0 is
+   * returned. The serial number is an 8-byte unsigned integer. Currently, no
+   * products are using all 8 bytes; at most 4 bytes are used.
+   */
+#define canCHANNELDATA_CARD_SERIAL_NO             7
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 64-bit (8 bytes) area which receives the serial
+   * number of the transceiver. The serial number is an 8-byte unsigned
+   * integer. If the transceiver doesn't have a serial number, 0 is returned.
+   * \note Not implemented in linux.
+   */
+#define canCHANNELDATA_TRANS_SERIAL_NO            8
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 64-bit (8 bytes) area which receives the firmware
+   * revision number on the card. This number consists of four 16-bit words:
+   * the major revision, the minor revision, the release number and the build
+   * number, listed in order from the most significant to the least
+   * significant.
+   */
+#define canCHANNELDATA_CARD_FIRMWARE_REV          9
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 64-bit (8 bytes) area which receives the hardware
+   * revision number on the card. This number consists of four 16-bit words;
+   * the two most significant are always 0, and the two least significant are
+   * the major revision and the minor revision, listed in order from the most
+   * significant to the least significant.
+   */
+#define canCHANNELDATA_CARD_HARDWARE_REV          10
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 8-byte area which receives the UPC (EAN) number for
+   * the card. If there is no UPC number, the buffer is filled with zeros. The
+   * UPC (EAN) number is coded as a BCD string with the LSB first, so
+   * e.g. 733-0130-00122-0 is coded as 0x30001220 0x00073301.
+   */
+#define canCHANNELDATA_CARD_UPC_NO                11
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 8-byte area which receives the UPC (EAN) number for
+   * the transceiver. If there is no UPC number, the buffer is filled with
+   * zeros. The UPC (EAN) number is coded as a BCD string with the LSB first,
+   * so e.g. 733-0130-00122-0 is coded as 0x30001220 0x00073301.
+   * \note Not implemented in linux.
+   */
+#define canCHANNELDATA_TRANS_UPC_NO               12
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to an area which receives a zero-terminated string with a
+   * clear-text name of the channel.
+   *
+   * \note Use of this item code is no longer recommended. The returned
+   * channel name doesn't contain the exact hardware type (it just contains
+   * the device family) and uses zero-based channel numbering, which is not
+   * user friendly.  Instead, use e.g. \ref canCHANNELDATA_DEVDESCR_ASCII and
+   * \ref canCHANNELDATA_CHAN_NO_ON_CARD to build your own channel name.
+   *
+   * \sa \ref canCHANNELDATA_DEVNAME_ASCII
+   */
+#define canCHANNELDATA_CHANNEL_NAME               13
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to an array of 4 16-bit unsigned integers which receives
+   * the file version number of the second-level DLL driver file, i.e. the DLL
+   * that interfaces between canlib32.dll and the driver proper.
+   *
+   * Contents depening on index:
+   *
+   * \li 0: 0
+   * \li 1: The build number
+   * \li 2: The minor revision number
+   * \li 3: The major revision number
+   */
+# define canCHANNELDATA_DLL_FILE_VERSION          14
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to an array of 4 16-bit unsigned integers which receives
+   * the product version number of the second-level DLL driver file, i.e. the
+   * DLL that interfaces between canlib32.dll and the driver proper.
+   *
+   * Contents depending on index:
+   *
+   * \li 0: 0
+   * \li 1: 1
+   * \li 2: The minor revision number
+   * \li 3: The major revision number
+   */
+# define canCHANNELDATA_DLL_PRODUCT_VERSION       15
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer which receives a number that
+   * identifies the second-level DLL driver file, i.e. the DLL that interfaces
+   * between canlib32.dll and the driver proper.
+   *
+   * Values:
+   *
+   * \li 1: kvalapw.dll - used with CANlib up to 2.29.
+   *
+   * \li 2: kvalapw2.dll - used with CANlib from 3.0 and on.
+   * \note Not implemented in linux.
+   */
+# define canCHANNELDATA_DLL_FILETYPE              16
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer which receives the CAN
+   * transceiver type of the specified channel.  This value is one of the
+   * \ref canTRANSCEIVER_TYPE_xxx
+   */
+# define canCHANNELDATA_TRANS_TYPE                17
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer which receives an address
+   * indicating where the device is located on its underlying bus. The
+   * interpretation of this number is bus-specific. If the address is unknown
+   * or the bus driver does not support an address, the bus driver leaves this
+   * member at its default value of 0xFFFFFFFF.
+   *
+   * The following list describes the information certain bus drivers store in
+   * the Address field for their child devices:
+   *
+   * \li ISA: Does not supply an address. Defaults to 0xFFFFFFFF.
+   *
+   * \li PC Card (PCMCIA): The socket number (typically 0x00 or 0x40)
+   *
+   * \li PCI: The device number in the high word and the function number in the
+   *          low word.
+   *
+   * \li USB: The port number.
+   * \note Not implemented in linux.
+   */
+# define canCHANNELDATA_DEVICE_PHYSICAL_POSITION  18
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer which receives a number
+   * associated with the device that can be displayed in the user
+   * interface. This number is typically a user-perceived slot number, such as
+   * a number printed next to the slot on the board, or some other number that
+   * makes locating the physical device easier for the user. For buses with no
+   * such convention, or when the UI number is unknown, 0xFFFFFFFF is returned.
+   * \note Not implemented in linux.
+   */
+# define canCHANNELDATA_UI_NUMBER                 19
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer which is set to 0, if the
+   * legacy time synchronization is not currently enabled for the specified
+   * channel, and 1, if the legacy time synchronization is currently enabled
+   * for the specified channel.
+   *
+   * Legacy time synchronization is a mechanism that will keep the PC and CAN
+   * channel clocks in sync. The synchronization is done in the driver, which
+   * periodically calculates the difference between the PC clock and the CAN
+   * device clock and compensates for the clock drift by recalculating the CAN
+   * message time stamps. You need to enable clock synchronization in the
+   * Control Panel using the Kvaser Hardware applet.
+   *
+   * \note Legacy time synchronization is implemented only on LAPcan and LAPcan
+   * II. It is not related to Kvaser MagiSync&tm; which is implemented in the
+   * high-end members of the Kvaser Leaf family. Kvaser MagiSync&tm; is always
+   * enabled and allows for much more accurate time synchronization.
+   * \note Not implemented in linux.
+   *
+   */
+# define canCHANNELDATA_TIMESYNC_ENABLED          20
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to an array of four 16-bit unsigned integers which
+   * receives the file version number of the kernel-mode driver.
+   *
+   * Contents depending on index:
+   *
+   * \li 0: The build number
+   * \li 1: 0
+   * \li 2: The minor revision number
+   * \li 3: The major revision number
+   */
+# define canCHANNELDATA_DRIVER_FILE_VERSION       21
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   *  \a buffer points to an array of four 16-bit unsigned integers which
+   *  receives the product version number of the kernel-mode driver.
+   *
+   * Contents depending on index:
+   *
+   * \li 0: 0
+   * \li 1: 0
+   * \li 2: The minor revision number
+   * \li 3: The major revision number
+   */
+# define canCHANNELDATA_DRIVER_PRODUCT_VERSION    22
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a buffer which receives the device manufacturer's name
+   * as a zero-terminated Unicode string.
+   * \note Not implemented in linux.
+   */
+# define canCHANNELDATA_MFGNAME_UNICODE           23
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a buffer which receives the device manufacturer's name
+   * as a zero-terminated ASCII string.
+   */
+# define canCHANNELDATA_MFGNAME_ASCII             24
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a buffer which receives the product name of the device
+   * as a zero-terminated Unicode string.
+   * \note Not implemented in linux.
+   */
+# define canCHANNELDATA_DEVDESCR_UNICODE          25
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a buffer which receives the product name of the device
+   * as a zero-terminated ASCII string.
+   */
+# define canCHANNELDATA_DEVDESCR_ASCII            26
+
+ /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a buffer which receives the name of the device
+   * driver (e.g. "kcanl") as a zero-terminated ASCII string.
+   *
+   * \note The device driver names have no special meanings and may change
+   * from a release to another.
+   */
+# define canCHANNELDATA_DRIVER_NAME               27
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer that receives the quality of
+   * the channel, where the quality is measured in percent of optimal quality.
+   *
+   * For WLAN, -90 dBm and -35 dBm are considered 0% and 100%, respectively.
+   *
+   * The quality is 100% for any directly connected channel (USB, PCI etc.).
+   * \note Not implemented in linux.
+   */
+#  define canCHANNELDATA_CHANNEL_QUALITY           28
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer point to a 32-bit unsigned integer that receives the roundtrip
+   * time which is measured in milliseconds.
+   * \note Not implemented in linux.
+   */
+#  define canCHANNELDATA_ROUNDTRIP_TIME            29
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer that receives the
+   * \ref kvBUSTYPE_GROUP_xxx bus type.
+   * \note Not implemented in Linux.
+   */
+#  define canCHANNELDATA_BUS_TYPE                  30
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a CHAR array of at least 32 characters which receives
+   * the current device name as a \c NULL terminated ASCII string.
+   *
+   * If device name is not set or the device does not support this
+   * functionality, an error will be returned.
+   * \note Not implemented in linux.
+   */
+#  define canCHANNELDATA_DEVNAME_ASCII             31
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer that contains the time in
+   * milliseconds since the last communication occurred.
+   *
+   * For WLAN devices, this is the time since the last keep-alive message.
+   * \note Not implemented in linux.
+   */
+#  define canCHANNELDATA_TIME_SINCE_LAST_SEEN      32
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer that receives the
+   * current WLAN operational mode of the remote capable device;
+   * \ref canCHANNEL_OPMODE_xxx.
+   * \note Not implemented in linux.
+   */
+#  define canCHANNELDATA_REMOTE_OPERATIONAL_MODE   33
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a buffer which receives the remote profile name
+   * of the device as a zero-terminated ASCII string.
+   * \note Not implemented in linux.
+   */
+#  define canCHANNELDATA_REMOTE_PROFILE_NAME   34
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a buffer which receives the remote host name
+   * of the device as a zero-terminated ASCII string.
+   * \note Not implemented in linux.
+   */
+#  define canCHANNELDATA_REMOTE_HOST_NAME   35
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a buffer which receives the mac address
+   * of the device as a zero-terminated ASCII string.
+   * \note Not implemented in linux.
+   */
+#  define canCHANNELDATA_REMOTE_MAC   36
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer which receives
+   * maximum bitrate of the device. Zero value means no limit on
+   * bitrate.
+   */
+#  define canCHANNELDATA_MAX_BITRATE   37
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer that receives the
+   * capabilities mask of the CAN channel. This mask specifies
+   * which capabilities corresponding device is guaranteed
+   * to support/not support at the moment, see \ref canCHANNEL_CAP_xxx
+   * for info about flags.
+   */
+#  define canCHANNELDATA_CHANNEL_CAP_MASK  38
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer that is 1 if
+   * the channel(device) is currently connected as a remote device. 0 if it is not
+   * currently a remote device.
+   * \note Not implemented in linux.
+   */
+#  define canCHANNELDATA_IS_REMOTE  40
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer that returns the type of remote connection.
+   * See \ref kvREMOTE_TYPExxx for returned values.
+   * \note Not implemented in linux.
+   */
+#  define canCHANNELDATA_REMOTE_TYPE  41
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to a 32-bit unsigned integer that returns the logger type of the device.
+   * See \ref kvLOGGER_TYPE_xxx for returned values.
+   * \note Not implemented in linux.
+   */
+#  define canCHANNELDATA_LOGGER_TYPE  42
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to an array of six 32-bit unsigned integers that receives
+   * hardware status codes for the device.
+   *
+   * \note This is only intended for internal use.
+   */
+#  define canCHANNELDATA_HW_STATUS  43
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer points to an array of two 32-bit unsigned integers that returns
+   * the feature eanLo and feature eanHi of the device.
+   *
+   * \note This is only intended for internal use.
+   */
+#  define canCHANNELDATA_FEATURE_EAN  44
+
+  /**
+   * This define is used in \ref canGetChannelData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \a buffer is a user supplied byte array of length 'bufsize' (at
+   * least one byte long) to which the null terminated UTF-8 coded
+   * channel name will be placed.
+   */
+#define canCHANNELDATA_CUST_CHANNEL_NAME  39
+
+ /** @} */
+
+
+/**
+ * \name canCHANNEL_IS_xxx
+ * \anchor canCHANNEL_IS_xxx
+ *
+ * These channelFlags are used in \ref canGetChannelData() and in conjunction with \ref
+ * canCHANNELDATA_CHANNEL_FLAGS.
+ *  @{
+ */
+/** Used with \ref canCHANNELDATA_CHANNEL_FLAGS, indicates that the channel is
+    opened exclusively. */
+#define canCHANNEL_IS_EXCLUSIVE         0x0001
+/** Used with \ref canCHANNELDATA_CHANNEL_FLAGS, indicates that the channel is
+    active (either opened in LIN mode or on-bus in CAN mode. */
+#define canCHANNEL_IS_OPEN              0x0002
+
+/** Used with \ref canCHANNELDATA_CHANNEL_FLAGS, indicates that the channel has
+ *  been opened as CAN FD.  */
+#define canCHANNEL_IS_CANFD             0x0004
+
+//#define canCHANNEL_IS_CANFD_NON_ISO          0x0008 Reserved for when needed
+
+/** Used with \ref canCHANNELDATA_CHANNEL_FLAGS, indicates that the channel has
+    been opened as LIN.  */
+#define canCHANNEL_IS_LIN               0x0010
+
+/** Used with \ref canCHANNELDATA_CHANNEL_FLAGS, indicates that the channel has
+    been opened as a LIN master.  */
+#define canCHANNEL_IS_LIN_MASTER        0x0020
+
+/** Used with \ref canCHANNELDATA_CHANNEL_FLAGS, indicates that the channel has
+    been opened as a LIN slave.  */
+#define canCHANNEL_IS_LIN_SLAVE         0x0040
+
+
+ /** @} */
+
+
+/**
+ * \name canHWTYPE_xxx
+ * \anchor canHWTYPE_xxx
+ *
+ * The following constants can be returned from \ref canGetChannelData(), using the
+ * \ref canCHANNELDATA_CARD_TYPE item code. They identify the hardware type for
+ * the channel specified in the call to \ref canGetChannelData().
+ *
+ * \note They indicate a hardware type, but not necessarily a specific
+ * product. For example, \ref canHWTYPE_LAPCAN is returned both for LAPcan and
+ * LAPcan II. (You can use \ref canGetChannelData() to obtain the UPC/EAN code for
+ * the device. This number uniquely identifies the product.)
+ *
+ *  @{
+ */
+#define canHWTYPE_NONE                0  ///< Unknown or undefined
+#define canHWTYPE_VIRTUAL             1  ///< The virtual CAN bus
+#define canHWTYPE_LAPCAN              2  ///< LAPcan Family
+#define canHWTYPE_CANPARI             3  ///< CANpari (obsolete).
+#define canHWTYPE_PCCAN               8  ///< PCcan Family
+#define canHWTYPE_PCICAN              9  ///< PCIcan Family
+#define canHWTYPE_USBCAN             11  ///< USBcan (obsolete).
+#define canHWTYPE_PCICAN_II          40  ///< PCIcan II family
+#define canHWTYPE_USBCAN_II          42  ///< USBcan II, USBcan Rugged, Kvaser Memorator
+#define canHWTYPE_SIMULATED          44  ///< Simulated CAN bus for Kvaser Creator (obsolete).
+#define canHWTYPE_ACQUISITOR         46  ///< Kvaser Acquisitor (obsolete).
+#define canHWTYPE_LEAF               48  ///< Kvaser Leaf Family
+#define canHWTYPE_PC104_PLUS         50  ///< Kvaser PC104+
+#define canHWTYPE_PCICANX_II         52  ///< Kvaser PCIcanx II
+#define canHWTYPE_MEMORATOR_II       54  ///< Kvaser Memorator Professional family
+#define canHWTYPE_MEMORATOR_PRO      54  ///< Kvaser Memorator Professional family
+#define canHWTYPE_USBCAN_PRO         56  ///< Kvaser USBcan Professional
+#define canHWTYPE_IRIS               58  ///< Obsolete name, use canHWTYPE_BLACKBIRD instead
+#define canHWTYPE_BLACKBIRD          58  ///< Kvaser BlackBird
+#define canHWTYPE_MEMORATOR_LIGHT    60  ///< Kvaser Memorator Light
+#define canHWTYPE_MINIHYDRA          62  ///< Obsolete name, use canHWTYPE_EAGLE instead
+#define canHWTYPE_EAGLE              62  ///< Kvaser Eagle family
+#define canHWTYPE_BAGEL              64  ///< Obsolete name, use canHWTYPE_BLACKBIRD_V2 instead
+#define canHWTYPE_BLACKBIRD_V2       64  ///< Kvaser BlackBird v2
+#define canHWTYPE_MINIPCIE           66  ///< Kvaser Mini PCI Express
+#define canHWTYPE_USBCAN_KLINE       68  ///< USBcan Pro HS/K-Line
+#define canHWTYPE_ETHERCAN           70  ///< Kvaser Ethercan
+#define canHWTYPE_USBCAN_LIGHT       72  ///< Kvaser USBcan Light
+#define canHWTYPE_USBCAN_PRO2        74  ///< Kvaser USBcan Pro 5xHS and variants
+#define canHWTYPE_PCIE_V2            76  ///< Kvaser PCIEcan 4xHS and variants
+#define canHWTYPE_MEMORATOR_PRO2     78  ///< Kvaser Memorator Pro 5xHS and variants
+#define canHWTYPE_LEAF2              80  ///< Kvaser Leaf Pro HS v2 and variants
+#define canHWTYPE_MEMORATOR_V2       82  ///< Kvaser Memorator (2nd generation)
+#define canHWTYPE_CANLINHYBRID       84  ///< Kvaser Hybrid CAN/LIN
+
+
+/** @} */
+
+/**
+ * \name canCHANNEL_CAP_xxx
+ * \anchor canCHANNEL_CAP_xxx
+ *
+ * Channel capabilities.
+ */
+#define canCHANNEL_CAP_EXTENDED_CAN      0x00000001L ///< Can use extended identifiers
+#define canCHANNEL_CAP_BUS_STATISTICS    0x00000002L ///< Can report busload etc
+#define canCHANNEL_CAP_ERROR_COUNTERS    0x00000004L ///< Can return error counters
+#define canCHANNEL_CAP_RESERVED_2        0x00000008L ///< Obsolete, only used by LAPcan driver
+#define canCHANNEL_CAP_GENERATE_ERROR    0x00000010L ///< Can send error frames
+#define canCHANNEL_CAP_GENERATE_OVERLOAD 0x00000020L ///< Can send CAN overload frame
+#define canCHANNEL_CAP_TXREQUEST         0x00000040L ///< Can report when a CAN messsage transmission is initiated
+#define canCHANNEL_CAP_TXACKNOWLEDGE     0x00000080L ///< Can report when a CAN messages has been transmitted
+#define canCHANNEL_CAP_VIRTUAL           0x00010000L ///< Virtual CAN channel
+#define canCHANNEL_CAP_SIMULATED         0x00020000L ///< Simulated CAN channel
+#define canCHANNEL_CAP_RESERVED_1        0x00040000L ///< Obsolete, use canCHANNEL_CAP_REMOTE_ACCESS or \ref canGetChannelData() instead.
+#define canCHANNEL_CAP_CAN_FD            0x00080000L ///< CAN-FD ISO compliant channel
+#define canCHANNEL_CAP_CAN_FD_NONISO     0x00100000L ///< CAN-FD NON-ISO compliant channel
+#define canCHANNEL_CAP_SILENT_MODE       0x00200000L ///< Channel supports Silent mode
+#define canCHANNEL_CAP_SINGLE_SHOT       0x00400000L ///< Channel supports Single Shot messages
+#define canCHANNEL_CAP_LOGGER            0x00800000L ///< Channel has logger capabilities.
+#define canCHANNEL_CAP_REMOTE_ACCESS     0x01000000L ///< Channel has remote capabilities
+#define canCHANNEL_CAP_SCRIPT            0x02000000L ///< Channel has script capabilities.
+#define canCHANNEL_CAP_LIN_HYBRID        0x04000000L ///< Channel has LIN capabilities.
+#define canCHANNEL_CAP_IO_API            0x08000000L ///< Channel has IO API capabilities.
+#define canCHANNEL_CAP_DIAGNOSTICS       0x10000000L ///< Channel has diagnostic capabilities.
+
+/**
+ * \name canCHANNEL_OPMODE_xxx
+ * \anchor canCHANNEL_OPMODE_xxx
+ *
+ * Current WLAN operational mode.
+ * \note Not implemented in linux.
+ *
+ *  @{
+ */
+/**
+ * Not applicable, or unknown
+ */
+#define canCHANNEL_OPMODE_NONE                 1
+
+/**
+ * Infrastructure mode
+ */
+#define canCHANNEL_OPMODE_INFRASTRUCTURE       2
+
+/**
+ * Reserved value, do not use
+ */
+#define canCHANNEL_OPMODE_RESERVED             3
+
+/**
+ * Adhoc mode
+ */
+#define canCHANNEL_OPMODE_ADHOC                4
+/** @} */
+
+/**
+ *  \name canDRIVER_CAP_xxx
+ *  \anchor canDRIVER_CAP_xxx
+ *
+ *  Driver (transceiver) capabilities.
+ *  @{
+ */
+/** Used with \ref canCHANNELDATA_TRANS_CAP */
+#define canDRIVER_CAP_HIGHSPEED             0x00000001L
+/** @} */
+
+/**
+ * \ingroup can_general
+ * \name canIOCTL_xxx
+ * \anchor canIOCTL_xxx
+ *
+ * These defines are used in \ref canIoCtl().
+ *
+ * @{
+ */
+
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf and \a buflen refers to this
+   * functions arguments.
+   *
+   * Tells CANlib to "prefer" extended identifiers; that is, if you send a
+   * message with \ref canWrite() and don't specify \ref canMSG_EXT nor \ref canMSG_STD,
+   * \ref canMSG_EXT will be assumed. The contents of \a buf and \a buflen are
+   * ignored. \ref canRead() et al will set \ref canMSG_EXT and/or \ref canMSG_STD as usual
+   * and are not affected by this call.
+   *
+   * \note Not implemented in linux.
+   */
+#define canIOCTL_PREFER_EXT             1
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf and \a buflen refers to this
+   * functions arguments.
+   *
+   * Tells CANlib to "prefer" standard identifiers; that is, if you send a
+   * message with \ref canWrite() and don't specify \ref canMSG_EXT nor \ref canMSG_STD,
+   * \ref canMSG_STD will be assumed. The contents of \a buf and \a buflen are
+   * ignored. \ref canRead() et al will set \ref canMSG_EXT and/or \ref canMSG_STD as usual
+   * and are not affected by this call.
+   *
+   * \note Not implemented in linux.
+   */
+#define canIOCTL_PREFER_STD             2
+
+  /**
+   * The following canIOCTL code is deprecated.
+   * It is recommended to use \ref canIOCTL_RESET_OVERRUN_COUNT to reset overrun status
+   * (Note that CAN error counters are never updated on device and will be briefly
+   * changed back to their original values after this call)
+   *
+   * This define is used in \ref canIoCtl(), \a buf and \a buflen refers to this
+   * functions arguments.
+   *
+   * Tells CANlib to clear the CAN error counters. The contents of \a buf and \a
+   * buflen are ignored. CAN error counters on device side are NOT updated.
+   *
+   *
+   * \note Not implemented in linux.
+   */
+#define canIOCTL_CLEAR_ERROR_COUNTERS   5
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a DWORD which contains the desired time-stamp clock
+   * resolution in microseconds. The default value is 1000 microseconds, i.e.
+   * one millisecond.
+   *
+   * \note The accuracy of the clock isn't affected.
+   */
+#define canIOCTL_SET_TIMER_SCALE        6
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a DWORD which contains
+   *
+   * \li 0: to turn Transmit Acknowledges off.
+   * \li 1: to turn Transmit Acknowledges on.
+   * \li 2: to turn Transmit Acknowledges off, even for the driver's internal
+   * usage. This might enhance performance but will cause some other APIs to
+   * stop working (for example, the current size of the transmit queue can not
+   * be read when this mode is active.)
+   *
+   * The default value is 0, Transmit Acknowledge is off.
+   */
+#define canIOCTL_SET_TXACK              7
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points at a \c DWORD which receives the current RX queue level. The
+   * returned value is approximative (this is because not all hardware supports
+   * retrieving the queue levels. In that case a best-effort guess is
+   * returned. Also note that a device with embedded CPU will report its queue
+   * levels to the host computer after a short delay that depends on the bus
+   * traffic intensity, and consequently the value returned by the call to
+   * \ref canIoCtl() might be a few milliseconds old.)
+   */
+#define canIOCTL_GET_RX_BUFFER_LEVEL              8
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points at a \c DWORD which receives the current TX queue level. The
+   * returned value is approximative (this is because not all hardware supports
+   * retrieving the queue levels. In that case a best-effort guess is
+   * returned. Also note that a device with embedded CPU will report its queue
+   * levels to the host computer after a short delay that depends on the bus
+   * traffic intensity, and consequently the value returned by the call to
+   * \ref canIoCtl() might be a few milliseconds old.)
+   */
+#define canIOCTL_GET_TX_BUFFER_LEVEL              9
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf and \a buflen refers to this
+   * functions arguments.
+   *
+   * Discard the current contents of the RX queue. The values of \a buf and \a
+   * buflen are ignored.
+   *
+   * \note This is the same thing as calling \ref canFlushReceiveQueue()
+   */
+#define canIOCTL_FLUSH_RX_BUFFER                  10
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf and \a buflen refers to this
+   * functions arguments.
+   *
+   * Discard the current contents of the TX queue. The values of \a buf and \a
+   * buflen are ignored.
+   *
+   * \note This is the same thing as calling \ref canFlushTransmitQueue().
+   */
+#define canIOCTL_FLUSH_TX_BUFFER                  11
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a \c DWORD which contains the desired time-stamp clock
+   * resolution in microseconds. Note that the accuracy of the clock isn't
+   * affected. The default value is 1000 microseconds, i.e. one millisecond.
+   */
+#define canIOCTL_GET_TIMER_SCALE                  12
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a \c DWORD which contains
+   *
+   * \li \c 0 to turn Transmit Requests off.
+   * \li \c 1 to turn Transmit Requests on.
+   *
+   * Default value is \c 0, Transmit Requests off.
+   */
+#define canIOCTL_SET_TXRQ                         13
+
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \note Not yet implemented.
+   */
+#define canIOCTL_SET_BYPASS_MODE                  15
+
+  /**
+   * This define is used in \ref canIoCtl().
+   *
+   * \note This is only intended for internal use.
+   */
+#define canIOCTL_SET_WAKEUP                       16
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a HANDLE which receives the Windows handle related to the
+   * CANlib handle.
+   *
+   * \note Not implemented in linux.
+   */
+# define canIOCTL_GET_DRIVERHANDLE                17
+
+  /**
+   * This define is used in \ref canIoCtl().
+   *
+   * \note This is only intended for internal use.
+   */
+# define canIOCTL_MAP_RXQUEUE                     18
+
+  /**
+   * This define is used in \ref canIoCtl().
+   *
+   *  \note This is only intended for internal use.
+   */
+# define canIOCTL_GET_WAKEUP                      19
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a unsigned char which contains
+   *
+   * \li \c 0 to turn access error reporting off, and
+   * \li \c 1 to turn access error reporting on.
+   *
+   * Default value is \c 0, access error reporting off.
+   */
+# define canIOCTL_SET_REPORT_ACCESS_ERRORS        20
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a unsigned char which receives the current setting of the access
+   * error reporting (0 or 1.)
+   */
+# define canIOCTL_GET_REPORT_ACCESS_ERRORS        21
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * Connects the handle to the virtual bus number (0..31) which the \a buf
+   * points to.
+   *
+   * \note Not implemented in linux.
+   */
+# define canIOCTL_CONNECT_TO_VIRTUAL_BUS          22
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * Disconnects the handle from the virtual bus number (0..31) which the \a buf
+   * points to.
+   *
+   * \note Not implemented in linux.
+   */
+# define canIOCTL_DISCONNECT_FROM_VIRTUAL_BUS     23
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a \ref canUserIoPortData struct that contains a port number
+   * and a port value to set. This is used by special hardware only.
+   *
+   * \note Not implemented in linux.
+   */
+# define canIOCTL_SET_USER_IOPORT                 24
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a \ref canUserIoPortData struct that contains a port
+   *  number. After the call, the struct will contain the current value of the
+   *  I/O port. This is used by special hardware only.
+   *
+   * \note Not implemented in linux.
+   */
+# define canIOCTL_GET_USER_IOPORT                 25
+
+  /**
+   * This define is used in \ref canIoCtl().
+   *
+   * \note This is only intended for internal use.
+   */
+# define canIOCTL_SET_BUFFER_WRAPAROUND_MODE      26
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * Use this function code to set the size of the receive buffer for a
+   * specific handle. \a buf points to an unsigned integer which contains the
+   * new size (number of messages) of the receive buffer.
+   *
+   * \note The receive buffer consumes system non-paged pool memory, which is a
+   *       limited resource. Do not increase the receive buffer size unless you
+   *       have good reasons to do so.
+   *
+   * \note You can't use this function code when the channel is on bus.
+   *
+   * \note Not implemented in linux.
+   */
+# define canIOCTL_SET_RX_QUEUE_SIZE               27
+
+  /**
+   * This define is used in \ref canIoCtl().
+   *
+   * \note This is only intended for internal use.
+   */
+# define canIOCTL_SET_USB_THROTTLE                28
+
+  /**
+   * This define is used in \ref canIoCtl().
+   *
+   * \note This is only intended for internal use.
+   */
+# define canIOCTL_GET_USB_THROTTLE                29
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a DWORD. If the value is zero, the CAN clock will not be
+   * reset at buson for the handle. Otherwise, the CAN clock will be reset at
+   * buson.
+   *
+   * Default value is \c 1, the CAN clock will be reset at buson.
+   */
+# define canIOCTL_SET_BUSON_TIME_AUTO_RESET       30
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * Returns the state of the Transmit Acknowledge as a DWORD in \a buf:
+   *
+   * \li 0: Transmit Acknowledges is turned off.
+   * \li 1: Transmit Acknowledges is turned on.
+   * \li 2: Transmit Acknowledges is turned off, even for the driver's internal
+   *        usage.
+   */
+# define canIOCTL_GET_TXACK                       31
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to an unsigned byte. If the value is zero, the local transmit
+   * echo is turned off for the handle. Otherwise, local transmit echo is turned
+   * on.
+   *
+   * Local transmit echo is turned on by default on all handles.  This means
+   * that if two handles are open on the same channel, and a message is
+   * transmitted on the first handle, it will be received as a normal message
+   * on the second handle. Use the \ref canIOCTL_SET_LOCAL_TXECHO function code to
+   * turn this function off, if it is not desired on a certain handle.
+   */
+# define canIOCTL_SET_LOCAL_TXECHO                32
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to an unsigned byte. If the value is zero, the reporting of
+   * error frames is turned off for the handle. Otherwise, error frame reporting
+   * is turned on.
+   *
+   * Default value is \c 1, error frame reporting is turned on.
+   *
+   * \note Not implemented in linux.
+   */
+#  define canIOCTL_SET_ERROR_FRAMES_REPORTING      33
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a 32-bit unsigned integer that receives the quality of
+   * the channel, where the quality is measured in percent of optimal quality.
+   *
+   * For a WLAN, -90 dBm and -35 dBm are considered 0% and 100%, respectively.
+   *
+   * The quality is 100% for any directly connected channel (USB, PCI etc.).
+   *
+   * \note Not implemented in linux.
+   */
+# define canIOCTL_GET_CHANNEL_QUALITY             34
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a \c DWORD that contains the roundtrip time measured in
+   * milliseconds.
+   *
+   * \note Not implemented in linux.
+   */
+#  define canIOCTL_GET_ROUNDTRIP_TIME              35
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a \c DWORD that contains the \ref kvBUSTYPE_GROUP_xxx bus type.
+   *
+   * \note Not implemented in linux.
+   */
+#  define canIOCTL_GET_BUS_TYPE                    36
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a CHAR array of at least 32 characters which receives the
+   * current device name as a \c NULL terminated ASCII string.
+   *
+   * If device name is not set or the device does not support this
+   * functionality, an error will be returned.
+   *
+   * \note Not implemented in linux.
+   */
+#  define canIOCTL_GET_DEVNAME_ASCII               37
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a \c DWORD that contains the time in milliseconds since the last
+   * communication occurred.
+   *
+   * For WLAN devices, this is the time since the last keep-alive message.
+   *
+   * \note Not implemented in linux.
+   */
+#  define canIOCTL_GET_TIME_SINCE_LAST_SEEN        38
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * Obtain the time reference list for MagiSync devices.
+   *
+   * \a buf points to an array of pairs of 64-bit ints, one of which
+   * will contain the reference number and the other one the timestamp
+   * in nanoseconds.
+   *
+   * \note This function is subject to change in future releases and is
+   * not supported by Kvaser.
+   */
+#  define canIOCTL_GET_TREF_LIST                   39
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * \a buf points to a \c DWORD that contains the number of microseconds
+   * the minimum CAN message transmit interval should be set to, or 0xffffffff
+   * to fetch the current setting.
+   * The minimum interval can not be set to more than one second.
+   *
+   * When a CAN channel goes bus on, the minimum interval is set to zero.
+   * I.e. CAN transmissions happen at the maximum speed the device is capable of.
+   *
+   * If the device does not support this functionality, or if an invalid
+   * minimum interval is requested, an error will be returned.
+   *
+   * \note The minimum CAN messages transmit interval applies to the physical CAN
+   * channel. It will thus affect all messages transmitted, even those sent
+   * using other CANlib handles to the same physical channel. The interval
+   * is defined as the time from the successful completion of one transmit
+   * to the beginning of the next one.
+   */
+#  define canIOCTL_TX_INTERVAL                     40
+
+   /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * Some hardware have a bitrate limit, which must be met when using any of \a canSetBusParams(),
+   * \a canSetBusParamsC200() and \a canSetBusParamsFd() functions.
+   * The bitrate limit can be overridden with this IOCTL.
+   * \a buf points to a \c long value that contains a user defined bitrate.
+   * A value of 0 means that the device should use its own default bitrate limit.<br>
+   * To find out which devices that have a bitrate limit, see \ref canCHANNELDATA_MAX_BITRATE.
+   */
+#  define canIOCTL_SET_BRLIMIT                            43
+
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * This ioctl can be used to set the responsitivity of some devices.
+   * \a buf points to a \c DWORD that should contain a value between 0 and 100.
+   * A value of 0 means that the device should be very responsive and a value
+   * of 100 means that the device generates less CPU load or requires more bandwidth.
+   * Note that not all
+   * devices support this. Some hardware will accept this command but neglect it.
+   * This can be found out by reading the scaled throttle.
+   *
+   * \note Not implemented in linux.
+   */
+#  define canIOCTL_SET_THROTTLE_SCALED                    41
+
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * This ioctl can be used to set the responsitivity of some devices.
+   * \a buf points to a \c DWORD that should contain a value between 0 and 100.
+   * A value of 0 means that the device should be very responsive and a value
+   * of 100 means that the device generates less CPU load or requires more bandwidth.
+   * Note that not all
+   * devices support this. Some hardware will accept this command but neglect it.
+   * This can be found out by reading the scaled throttle.
+   *
+   * \note Not implemented in linux.
+   */
+#  define canIOCTL_GET_THROTTLE_SCALED                    42
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to this
+   * functions argument.
+   *
+   * This ioctl resets overrun count and flags, \sa \ref canReadStatus \sa \ref canGetBusStatistics
+   */
+#  define canIOCTL_RESET_OVERRUN_COUNT                          44
+
+  /**
+   * This define is used in \ref canIoCtl(), \a buf mentioned below refers to an
+   * argument of that function.
+   *
+   * Set the current LIN access mode returned in \ref canCHANNELDATA_CHANNEL_FLAGS.
+   *
+   * \note This is only intended for internal use.
+   */
+#  define canIOCTL_LIN_MODE                               45
+ /** @} */
+
+/** Used in \ref canIOCTL_SET_USER_IOPORT and \ref canIOCTL_GET_USER_IOPORT. */
+typedef struct {
+  unsigned int portNo;     ///< Port number used in e.g. \ref canIOCTL_SET_USER_IOPORT
+  unsigned int portValue;  ///< Port value used in e.g. \ref canIOCTL_SET_USER_IOPORT
+} canUserIoPortData;
+
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canSetBusParamsC200(int hnd, byte btr0, byte btr1);</b>
+ *
+ * \source_delphi   <b>function canSetBusParamsC200(hnd: canHandle; btr0, btr1: byte): canStatus;     </b>
+ * \source_end
+ *
+ * This function sets the bus timing parameters using the same
+ * convention as the 82c200 CAN controller (which is the same as many
+ * other CAN controllers, for example, the 82527.)
+ *
+ * To calculate the bit timing parameters, you can use the bit timing
+ * calculator that is included with CANlib SDK. Look in the BIN directory.
+ *
+ * 82c200 Bit Timing
+ *
+ * \li \a btr0 [b7..b6]: SJW - 1
+ * \li \a btr0 [b5..b0]: Prescaler -1
+ * \li \a btr1 [b7]: \c 1: 3 samples, \c 0: 1 samples
+ * \li \a btr1 [b6..b4]: tseg2 - 1
+ * \li \a btr1 [b3..b0]: tseg1 - 2
+ *
+ * \note CANlib will always behave as if the clock frequency is 16 MHz. It does
+ * not matter if the device has a different physical clock, since this will be
+ * compensated for by the driver.
+ *
+ * \param[in] hnd   A handle to an open CAN circuit.
+ * \param[in] btr0  The desired bit timing, formatted as the contents of the
+ *                  BTR0 register in the 82c200.
+ * \param[in] btr1  The desired bit timing, formatted as the contents of the
+ *                  BTR1 register in the 82c200.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ *
+ * \sa \ref section_code_snippets_bit_rate, \ref section_user_guide_misc_bitrate
+ * \sa \ref canSetBusParams()
+ */
+canStatus CANLIBAPI canSetBusParamsC200 (const CanHandle hnd, unsigned char btr0, unsigned char btr1);
+
+
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canSetDriverMode(int hnd, int lineMode, int resNet);</b>
+ *
+ * \source_delphi   <b>function canSetDriverMode(hnd: canHandle; lineMode, resNet: Integer): canStatus;     </b>
+ * \source_end
+ *
+ * This function sets the current CAN bus driver mode. This is
+ * typically a mode like sleep, wakeup, standby, fast mode, etc. The
+ * different modes are almost always hardware dependent and requires
+ * special DRVcan cables. As an example, the DRVcan S implements J2411
+ * compliant single-wire CAN and supports four line modes, namely
+ * Normal, Sleep, Fast and Wakeup.
+ *
+ * Standard ISO 11898 CAN do not support any of these bus driver modes.
+ *
+ * \note The bus driver mode is typically used to control things like one- or
+ * two-wire mode, sleep mode, and so on. It requires special support in the CAN
+ * driver circuit.
+ *
+ * \param[in] hnd       An open handle to a CAN circuit.
+ * \param[in] lineMode  An int which defines the line mode,
+ *                      \ref canTRANSCEIVER_LINEMODE_xxx.
+ * \param[in] resNet    An int which defines the resnet mode. Set this parameter to
+ *                      \ref canTRANSCEIVER_RESNET_NA unless you have good reasons to set it
+ *                      to something else.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canGetDriverMode()
+ *
+ * \note Not implemented in linux.
+ */
+canStatus CANLIBAPI canSetDriverMode (const CanHandle hnd, int lineMode, int resNet);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canGetDriverMode(int hnd, out int lineMode, out int resNet);</b>
+ *
+ * \source_delphi   <b>function canGetDriverMode(hnd: canHandle; var lineMode: Integer; var resNet: Integer): canStatus;     </b>
+ * \source_end
+ *
+ * This function retrieves the current CAN bus driver mode. This is typically a
+ * mode like sleep, wakeup, standby, fast mode, etc. The different modes are
+ * almost always hardware dependent and requires special DRVcan cables. As an
+ * example, the DRVcan S implements J2411 compliant single-wire CAN and
+ * supports four line modes, namely Normal, Sleep, Fast and Wakeup.
+ *
+ * Standard ISO 11898 CAN do not support any of these bus driver modes.
+ *
+ * \note The bus driver mode is typically used to control things like one- or
+ * two-wire mode, sleep mode, and so on. It requires special support in the CAN
+ * driver circuit.
+ *
+ * \param[in]  hnd       An open handle to a CAN circuit.
+ * \param[out] lineMode  A pointer to an int which receives the current line
+ *                       mode (\ref canTRANSCEIVER_LINEMODE_xxx).
+ * \param[out] resNet    A pointer to an int which receives the current resnet
+ *                       mode.  This value is usually
+ *                       \ref canTRANSCEIVER_RESNET_NA except for special DRVcan
+ *                       cables.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canSetDriverMode()
+ *
+ * \note Not implemented in linux.
+ *
+ */
+canStatus CANLIBAPI canGetDriverMode (const CanHandle hnd, int *lineMode, int *resNet);
+
+/**
+ * \name canVERSION_CANLIB32_xxx
+ * \anchor canVERSION_CANLIB32_xxx
+ * @{
+ * Item codes for canGetVersionEx().
+ */
+
+  /**
+   * This define is used in \ref canGetVersionEx() and controls which version number
+   * that returned.
+   *
+   * Version number of the canlib32.dll file coded as an unsigned 16-bit word
+   * with the major version number in the upper byte and the minor version
+   * number in the lower byte. This version number is not related to the
+   * product version number of the whole CANlib.  For example, canlib32.dll
+   * belonging to CANlib 2.27 would return 0x305.
+   *
+   * \note Linux returns version of libcanlib.so.
+   */
+#define canVERSION_CANLIB32_VERSION     0
+
+  /**
+   * This define is used in \ref canGetVersionEx() and controls what type of version
+   * number that is returned.
+   *
+   * Product version number of CANlib coded as an unsigned 16-bit word
+   * with the major version number in the upper byte and the minor version
+   * number in the lower byte. The product version number corresponds to the
+   * version number of the whole CANlib. For example, CANlib 2.27 would return
+   * 0x21B.
+   */
+#define canVERSION_CANLIB32_PRODVER     1
+
+  /**
+   * This define is used in \ref canGetVersionEx() and controls what type of version
+   * number that is returned.
+   *
+   * Product version number of canlib32.dll coded as an unsigned 32-bit word
+   * where the bytes contain (in order from the most significant to the least
+   * significant byte) 0, major version number, minor version number, and the
+   * minor version letter. (The minor version letter is the ASCII code for the
+   * letter, or 0 (zero) if no letter). For example, CANlib 3.8 would return
+   * 0x00030800 and CANlib 3.8a would return 0x00030861.
+   */
+#define canVERSION_CANLIB32_PRODVER32   2
+
+  /**
+   * This define is used in \ref canGetVersionEx() and controls what type of version
+   * number that is returned.
+   *
+   * Returns 1 if the present version is a beta (preview) release, or 0 if it
+   * is an official release.
+   *
+   * \note In Linux, this depends on the define CANLIB_BETA
+   *
+   */
+#define canVERSION_CANLIB32_BETA        3
+/** @} */
+
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static int canGetVersionEx(int itemCode);</b>
+ *
+ * \source_delphi   <b>function canGetVersionEx(itemCode: Cardinal): Cardinal;     </b>
+ * \source_end
+ *
+ * This function returns various version numbers from the driver routines.
+ *
+ * \param[in] itemCode  Specifies which version number to retrieve. See
+ *                      \ref canVERSION_CANLIB32_xxx
+ *
+ * \return The return value is desired version number.
+ *
+ * \sa \ref section_user_guide_build_driver_version
+ */
+unsigned int CANLIBAPI canGetVersionEx (unsigned int itemCode);
+
+
+/**
+ * \ingroup ObjectBuffers
+ *
+ * \source_cs       <b>static Canlib.canStatus canObjBufFreeAll(int handle);</b>
+ *
+ * \source_delphi   <b>function canObjBufFreeAll(handle: canHandle): canStatus;     </b>
+ * \source_end
+ *
+ * Deallocates all object buffers on the specified handle. The
+ * buffers cannot be referenced after this operation.
+ *
+ * \param[in]  hnd  An open handle to a CAN circuit.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_obj_buf
+ * \sa \ref canObjBufFree(), \ref canObjBufAllocate()
+ */
+canStatus CANLIBAPI canObjBufFreeAll (const CanHandle hnd);
+
+/**
+ * \ingroup ObjectBuffers
+ *
+ * \source_cs       <b>static Canlib.canStatus canObjBufAllocate(int handle, int type);</b>
+ *
+ * \source_delphi   <b>function canObjBufAllocate(handle: canHandle; tp: Integer): canStatus;     </b>
+ * \source_end
+ *
+ * Allocates an object buffer associated with a handle to a CAN
+ * circuit.
+ *
+ * \param[in] hnd   An open handle to a CAN circuit.
+ * \param[in] type  The type of the buffer. Must be one of \ref canOBJBUF_TYPE_xxx
+ *
+ * \return A buffer index (zero or positive) if success.
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_obj_buf
+ * \sa \ref canObjBufFree(), \ref canObjBufFreeAll()
+ */
+canStatus CANLIBAPI canObjBufAllocate (const CanHandle hnd, int type);
+
+ /**
+  * \name canOBJBUF_TYPE_xxx
+  * \anchor canOBJBUF_TYPE_xxx
+  *
+  * Used in \ref canObjBufAllocate().
+  *
+  * @{
+  */
+#define canOBJBUF_TYPE_AUTO_RESPONSE            0x01 ///< The buffer is an auto-response buffer.
+#define canOBJBUF_TYPE_PERIODIC_TX              0x02 ///< The buffer is an auto-transmit buffer.
+ /** @} */
+
+/**
+ * \ingroup ObjectBuffers
+ *
+ * \source_cs       <b>static Canlib.canStatus canObjBufFree(int handle, int idx);</b>
+ *
+ * \source_delphi   <b>function canObjBufFree(handle: canHandle; idx: Integer): canStatus;      </b>
+ * \source_end
+ *
+ * Deallocates the object buffer with the specified index. The buffer
+ * can not be referenced after this operation.
+ *
+ * \param[in] hnd  An open handle to a CAN circuit.
+ * \param[in] idx  The object buffer to deallocate.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_obj_buf
+ * \sa \ref canObjBufFreeAll(), \ref canObjBufAllocate(),
+ */
+canStatus CANLIBAPI canObjBufFree (const CanHandle hnd, int idx);
+
+// Writes CAN data to the object buffer with the specified index.
+
+/**
+ * \ingroup ObjectBuffers
+ *
+ * \source_cs       <b>static Canlib.canStatus canObjBufWrite(int handle, int idx, int id, byte[] msg, int dlc, int flags);</b>
+ *
+ * \source_delphi   <b>function canObjBufWrite(handle: canHandle; idx, id: Integer; var msg; dlc, flags: cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * Defines the contents of a specific object buffer.
+ *
+ * \param[in] hnd   An open handle to a CAN circuit.
+ * \param[in] idx   The index of the object buffer whose contents is to be
+ *                  defined.
+ * \param[in] id    The CAN identifier of the message.
+ * \param[in] msg   Points to the contents of the message.
+ * \param[in] dlc   The length of the message in bytes.<br>
+                    For Classic CAN dlc can be at most 8, unless \ref canOPEN_ACCEPT_LARGE_DLC is used.<br>
+                    For CAN FD dlc can be one of the following 0-8, 12, 16, 20, 24, 32, 48, 64.
+ * \param[in] flags Message flags; a combination of the \ref canMSG_xxx flags.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_obj_buf
+ */
+canStatus CANLIBAPI canObjBufWrite (const CanHandle hnd,
+                                    int idx,
+                                    int id,
+                                    void* msg,
+                                    unsigned int dlc,
+                                    unsigned int flags);
+
+/**
+ * \ingroup ObjectBuffers
+ *
+ * \source_cs       <b>static Canlib.canStatus canObjBufSetFilter(int handle, int idx, int code, int mask);</b>
+ *
+ * \source_delphi   <b>function canObjBufSetFilter(handle: canHandle; idx: Integer; code, mask: Cardinal): canStatus;      </b>
+ * \source_end
+ *
+ * Defines a message reception filter on the specified object buffer.
+ * Messages not matching the filter are discarded.
+ *
+ * \note For an auto response buffer, set the code and mask that together define
+ * the identifier(s) that trigger(s) the automatic response.
+ *
+ * \param[in] hnd   An open handle to a CAN circuit.
+ * \param[in] idx   The index of the object buffer on which the filter is to be
+ *                  set.
+ * \param[in] code  The acceptance code in the filter.
+ * \param[in] mask  The acceptance mask in the filter.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_misc_code_and_mask,
+ *     \ref section_user_guide_send_recv_obj_buf
+ */
+canStatus CANLIBAPI canObjBufSetFilter (const CanHandle hnd,
+                                        int idx,
+                                        unsigned int code,
+                                        unsigned int mask);
+
+/**
+ * \ingroup ObjectBuffers
+ *
+ * \source_cs       <b>static Canlib.canStatus canObjBufSetFlags(int handle, int idx, int flags);</b>
+ *
+ * \source_delphi   <b>function canObjBufSetFlags(handle: canHandle; idx: Integer; flags: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * Sets object buffer flags on a specified object buffer.
+ *
+ * \param[in] hnd    An open handle to a CAN circuit.
+ * \param[in] idx    The buffer on which the flags are to be set.
+ * \param[in] flags  Specifies a combination of zero or more of the
+ *                   \ref canOBJBUF_AUTO_RESPONSE_xxx flag values
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_obj_buf
+ */
+canStatus CANLIBAPI canObjBufSetFlags (const CanHandle hnd,
+                                       int idx,
+                                       unsigned int flags);
+
+/**
+ * \name canOBJBUF_AUTO_RESPONSE_xxx
+ * \anchor canOBJBUF_AUTO_RESPONSE_xxx
+ *
+ * These defines are used in \ref canObjBufSetFlags().
+ *
+ * @{
+ */
+ /**
+  * This define is used in \ref canObjBufSetFlags().
+  *
+  * For auto-response buffers only. When this flag is in effect, the buffer
+  * will auto-respond to remote requests only.  If this flag is not in effect,
+  * the buffer will auto-respond to both remote requests and ordinary data
+  * frames.
+  *
+  */
+# define canOBJBUF_AUTO_RESPONSE_RTR_ONLY        0x01
+ /** @} */
+
+/**
+ * \ingroup ObjectBuffers
+ *
+ * \source_cs       <b>static Canlib.canStatus canObjBufSetPeriod(int hnd, int idx, int period);</b>
+ *
+ * \source_delphi   <b>function canObjBufSetPeriod(handle: canHandle; idx: Integer; period: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * The \ref canObjBufSetPeriod function sets the transmission period for an auto
+ * transmission object buffer.
+ *
+ * \param[in] hnd     An open handle to a CAN channel.
+ * \param[in] idx     The index of a CAN object buffer.
+ * \param[in] period  The transmission interval, in microseconds.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_obj_buf
+ */
+canStatus CANLIBAPI canObjBufSetPeriod (const CanHandle hnd,
+                                        int idx,
+                                        unsigned int period);
+
+/**
+ * \ingroup ObjectBuffers
+ *
+ * \source_cs       <b>static Canlib.canStatus canObjBufSetMsgCount(int hnd, int idx, int count);</b>
+ *
+ * \source_delphi   <b>function canObjBufSetMsgCount(handle: canHandle; idx: Integer; count: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * The \ref canObjBufSetMsgCount function sets the message count for an auto
+ * transmit object buffer.
+ *
+ * \param[in] hnd    An open handle to a CAN channel.
+ * \param[in] idx    The index of a CAN object buffer.
+ * \param[in] count  The message count.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_obj_buf
+ */
+canStatus CANLIBAPI canObjBufSetMsgCount (const CanHandle hnd,
+                                          int idx,
+                                          unsigned int count);
+
+/**
+ * \ingroup ObjectBuffers
+ *
+ * \source_cs       <b>static Canlib.canStatus canObjBufEnable(int handle, int idx);</b>
+ *
+ * \source_delphi   <b>function canObjBufEnable(handle: canHandle; idx: Integer): canStatus;     </b>
+ * \source_end
+ *
+ * Enables the object buffer with the specified index.
+ *
+ * \param[in] hnd  An open handle to a CAN circuit.
+ * \param[in] idx  The index of the object buffer to enable.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_obj_buf
+ * \sa \ref canObjBufDisable()
+ */
+canStatus CANLIBAPI canObjBufEnable (const CanHandle hnd, int idx);
+
+/**
+ * \ingroup ObjectBuffers
+ *
+ * \source_cs       <b>static Canlib.canStatus canObjBufDisable(int handle, int idx);</b>
+ *
+ * \source_delphi   <b>function canObjBufDisable(handle: canHandle; idx: Integer): canStatus;     </b>
+ * \source_end
+ *
+ * Disables the object buffer with the specified index.
+ *
+ * \param[in] hnd  An open handle to a CAN circuit.
+ * \param[in] idx  The index of the buffer.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_obj_buf
+ * \sa \ref canObjBufEnable()
+ */
+canStatus CANLIBAPI canObjBufDisable (const CanHandle hnd, int idx);
+
+/**
+ * \ingroup ObjectBuffers
+ *
+ * \source_cs       <b>static Canlib.canStatus canObjBufSendBurst(int hnd, int idx, int burstlen);</b>
+ *
+ * \source_delphi   <b>function canObjBufSendBurst(handle: canHandle; idx: Integer; burstLen: Cardinal): canStatus;      </b>
+ * \source_end
+ *
+ * The canObjBufSendBurst function sends a burst of CAN messages. You have to
+ * set up an object buffer first with the message to send. The messages will be
+ * sent as fast as possible from the hardware.
+ *
+ * This function is inteneded for certain diagnostic applications.
+ *
+ * \param[in] hnd       An open handle to a CAN channel.
+ * \param[in] idx       The index of a CAN object buffer.
+ * \param[in] burstlen  The number of messages to send.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_user_guide_send_recv_obj_buf
+ */
+canStatus CANLIBAPI canObjBufSendBurst (const CanHandle hnd,
+                                        int idx,
+                                        unsigned int burstlen);
+
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canResetBus(int handle);</b>
+ *
+ * \source_delphi   <b>function canResetBus(handle: canHandle): canStatus;     </b>
+ * \source_end
+ *
+ * This function tries to reset a CAN bus controller by taking the channel off
+ * bus and then on bus again (if it was on bus before the call to \ref canResetBus().)
+ *
+ * This function will affect the hardware (and cause a real reset of the CAN
+ * chip) only if \a hnd is the only handle open on the channel. If there
+ * are other open handles, this operation will not affect the hardware.
+ *
+ * \param[in] hnd  A handle to an open circuit.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canBusOn(), \ref canBusOff()
+ */
+canStatus CANLIBAPI canResetBus (const CanHandle hnd);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canWriteWait(int handle, int id, byte[] msg, int dlc, int flag, long timeout);</b>
+ *
+ * \source_delphi   <b>function canWriteWait(handle: canHandle; id: Longint; var msg; dlc, flag, timeout: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * This function sends a CAN message. It returns when the message is sent, or
+ * the timeout expires.
+ *
+ * This is a convenience function that combines \ref canWrite() and \ref canWriteSync().
+ *
+ * If you are using the same channel via multiple handles, note that the
+ * default behaviour is that the different handles will "hear" each other just as
+ * if each handle referred to a channel of its own. If you open, say, channel 0
+ * from thread A and thread B and then send a message from thread A, it will be
+ * "received" by thread B.
+ * This behaviour can be changed using \ref canIOCTL_SET_LOCAL_TXECHO.
+ *
+ * \param[in]  hnd       A handle to an open CAN circuit.
+ * \param[in]  id        The identifier of the CAN message to send.
+ * \param[in]  msg       A pointer to the message data, or \c NULL.
+ * \param[in]  dlc       The length of the message in bytes.<br>
+                         For Classic CAN dlc can be at most 8, unless \ref
+                         canOPEN_ACCEPT_LARGE_DLC is used.<br> For CAN FD dlc
+                         can be one of the following 0-8, 12, 16, 20, 24, 32,
+                         48, 64.
+ * \param[in]  flag      A combination of message flags, \ref canMSG_xxx.
+ *                       Use this parameter to send extended (29-bit) frames
+ *                       and/or remote frames. Use \ref canMSG_EXT and/or
+ *                       \ref canMSG_RTR for this purpose.
+ * \param[in] timeout    The timeout, in milliseconds. 0xFFFFFFFF gives an
+ *                       infinite timeout.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ */
+canStatus CANLIBAPI canWriteWait (const CanHandle hnd,
+                                  long id,
+                                  void *msg,
+                                  unsigned int dlc,
+                                  unsigned int flag,
+                                  unsigned long timeout);
+
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static Canlib.canStatus canUnloadLibrary();</b>
+ *
+ * \source_delphi   <b>function canUnloadLibrary: Integer;     </b>
+ * \source_end
+ *
+ * \ref canUnloadLibrary() will close all open handles and free allocated memory.
+ *
+ * Calling \ref canUnloadLibrary() makes any open \ref CanHandle invalid. The proper
+ * procedure for using \ref canUnloadLibrary() is:
+ *
+ *   -# Close all active handles using \ref canBusOff() and \ref canClose().
+ *   -# At this point all handles earlier returned by \ref canOpenChannel() should be freed.
+ *   -# Call \ref canUnloadLibrary().
+ *   -# Call \ref canInitializeLibrary().
+ *   -# You can now setup your handles to Kvaser devices from scratch
+ *      (ie. \ref canOpenChannel(), \ref canSetBusParams(), \ref canBusOn(), etc).
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canInitializeLibrary()
+ */
+canStatus CANLIBAPI canUnloadLibrary (void);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canSetAcceptanceFilter(int hnd, int code, int mask, int is_extended);</b>
+ *
+ * \source_delphi   <b>function canSetAcceptanceFilter(handle: canHandle; code, mask: Cardinal; is_extended: Integer): canStatus;     </b>
+ * \source_end
+ *
+ * This routine sets the message acceptance filters on a CAN channel.
+ *
+ * Format of \a code and \a mask:
+ *
+ * \li A binary 1 in a mask means "the corresponding bit in the code is
+ *     relevant"
+ * \li A binary 0 in a mask means "the corresponding bit in the code is not
+ *     relevant"
+ * \li A relevant binary 1 in a code means "the corresponding bit in the
+ *     identifier must be 1"
+ * \li A relevant binary 1 in a code means "the corresponding bit in the
+ *     identifier must be 1"
+ *
+ * In other words, the message is accepted if ((code XOR id) AND mask) == 0.
+ *
+ * \a extended should be set to:
+ *
+ * \li \c 0 (FALSE): if the code and mask shall apply to 11-bit CAN identifiers.
+ * \li \c 1 (TRUE): if the code and mask shall apply to 29-bit CAN identifiers.
+ *
+ * If you want to remove a filter, call \ref canSetAcceptanceFilter() with the mask
+ * set to \c 0.
+ *
+ * On some boards the acceptance filtering is done by the CAN hardware; on
+ * other boards (typically those with an embedded CPU,) the acceptance
+ * filtering is done by software.  \ref canSetAcceptanceFilter() behaves in the same
+ * way for all boards, however.
+ *
+ * \ref canSetAcceptanceFilter() and \ref canAccept() both serve the same purpose but the
+ * former can set the code and mask in just one call.
+ *
+ * \note You can set the extended code and mask only on CAN boards that support
+ *       extended identifiers.
+ *
+ * \note Not all CAN boards support different masks for standard and
+ *       extended CAN identifiers.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in] hnd          An open handle to a CAN circuit.
+ * \param[in] code         The acceptance code to set.
+ * \param[in] mask         The acceptance mask to set.
+ * \param[in] is_extended  Select 29-bit CAN identifiers.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_can_accept,
+ *     \ref section_user_guide_misc_code_and_mask
+ * \sa  \ref canAccept()
+ */
+canStatus CANLIBAPI canSetAcceptanceFilter (const CanHandle hnd,
+                                            unsigned int code,
+                                            unsigned int mask,
+                                            int is_extended);
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canFlushReceiveQueue(int hnd);</b>
+ *
+ * \source_delphi   <b>function canFlushReceiveQueue(handle: canHandle): canStatus;     </b>
+ * \source_end
+ *
+ * This function removes all received messages from the handle's receive queue.
+ * Other handles open to the same channel are not affected by this
+ * operation. That is, only the messages belonging to the handle you are
+ * passing to \ref canFlushReceiveQueue are discarded.
+ *
+ * \note This call has the same effect as calling \ref canIoCtl() with a function
+ * code of \ref canIOCTL_FLUSH_RX_BUFFER.
+ *
+ * \param[in] hnd  A handle to an open circuit.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canFlushTransmitQueue()
+ */
+canStatus CANLIBAPI canFlushReceiveQueue (const CanHandle hnd);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canFlushTransmitQueue(int hnd);</b>
+ *
+ * \source_delphi   <b>function canFlushTransmitQueue(handle: canHandle): canStatus;     </b>
+ * \source_end
+ *
+ * This function removes all messages pending transmission from the
+ * transmit queue of the circuit.
+ *
+ * \note If there are other handles open to the same circuit, they are also
+ * flushed.
+ *
+ * \note This call has the same effect as calling \ref canIoCtl() with a function
+ * code of \ref canIOCTL_FLUSH_TX_BUFFER.
+ *
+ * \param[in] hnd  A handle to an open circuit.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canFlushReceiveQueue()
+ */
+canStatus CANLIBAPI canFlushTransmitQueue (const CanHandle hnd);
+
+
+  /**
+   * \anchor kvLED_ACTION_xxx
+   * \name kvLED_ACTION_xxx
+   *
+   * The following constants can be used together with the \ref kvFlashLeds() function.
+   *
+   * @{
+   */
+#define kvLED_ACTION_ALL_LEDS_ON    0 ///< Turn all LEDs on.
+#define kvLED_ACTION_ALL_LEDS_OFF   1 ///< Turn all LEDs off.
+#define kvLED_ACTION_LED_0_ON       2 ///< Turn LED 0 on.
+#define kvLED_ACTION_LED_0_OFF      3 ///< Turn LED 0 off.
+#define kvLED_ACTION_LED_1_ON       4 ///< Turn LED 1 on.
+#define kvLED_ACTION_LED_1_OFF      5 ///< Turn LED 1 off.
+#define kvLED_ACTION_LED_2_ON       6 ///< Turn LED 2 on.
+#define kvLED_ACTION_LED_2_OFF      7 ///< Turn LED 2 off.
+#define kvLED_ACTION_LED_3_ON       8 ///< Turn LED 3 on.
+#define kvLED_ACTION_LED_3_OFF      9 ///< Turn LED 3 off.
+#define kvLED_ACTION_LED_4_ON      10 ///< Turn LED 4 on.
+#define kvLED_ACTION_LED_4_OFF     11 ///< Turn LED 4 off.
+#define kvLED_ACTION_LED_5_ON      12 ///< Turn LED 5 on.
+#define kvLED_ACTION_LED_5_OFF     13 ///< Turn LED 5 off.
+#define kvLED_ACTION_LED_6_ON      14 ///< Turn LED 6 on.
+#define kvLED_ACTION_LED_6_OFF     15 ///< Turn LED 6 off.
+#define kvLED_ACTION_LED_7_ON      16 ///< Turn LED 7 on.
+#define kvLED_ACTION_LED_7_OFF     17 ///< Turn LED 7 off.
+#define kvLED_ACTION_LED_8_ON      18 ///< Turn LED 8 on.
+#define kvLED_ACTION_LED_8_OFF     19 ///< Turn LED 8 off.
+#define kvLED_ACTION_LED_9_ON      20 ///< Turn LED 9 on.
+#define kvLED_ACTION_LED_9_OFF     21 ///< Turn LED 9 off.
+#define kvLED_ACTION_LED_10_ON     22 ///< Turn LED 10 on.
+#define kvLED_ACTION_LED_10_OFF    23 ///< Turn LED 10 off.
+#define kvLED_ACTION_LED_11_ON     24 ///< Turn LED 11 on.
+#define kvLED_ACTION_LED_11_OFF    25 ///< Turn LED 11 off.
+
+  /** @} */
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static Canlib.canStatus kvFlashLeds(int hnd, int action, int timeout);</b>
+ *
+ * \source_delphi   <b>function kvFlashLeds(handle: canHandle; action: Integer; timeout: Integer): canStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvFlashLeds function will turn the LEDs on the device on or off.
+ *
+ * \param[in] hnd
+ * \param[in] action   One of the \ref kvLED_ACTION_xxx constants, defining
+ *                     which LED to turn on or off.
+ * \param[in] timeout  Specifies the time, in milliseconds, during which the
+ *                     action is to be carried out. When the timeout expires,
+ *                     the LED(s) will return to its ordinary function.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ */
+canStatus CANLIBAPI kvFlashLeds (const CanHandle hnd, int action, int timeout);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canRequestChipStatus(int hnd);</b>
+ *
+ * \source_delphi   <b>function canRequestChipStatus(handle: canHandle): canStatus;     </b>
+ * \source_end
+ *
+ * This function is a dummy implementation for code portability. The Linux
+ * implementation of \ref canReadStatus() will return the latest status without
+ * need of an additional call to canRequestChipStatus(), unlike the Windows
+ * counterpart.
+ *
+ * \param[in] hnd An open handle to a CAN channel.
+ *
+ * \return \ref canOK (zero)
+ *
+ * \sa \ref canReadStatus()
+ */
+canStatus CANLIBAPI canRequestChipStatus (const CanHandle hnd);
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canRequestBusStatistics(int hnd);</b>
+ *
+ * \source_delphi   <b>function canRequestBusStatistics(handle: canHandle): canStatus;     </b>
+ * \source_end
+ *
+ * The \ref canRequestBusStatistics function requests bus statistics from the
+ * hardware. The bus statistics figures can be retrieved later by a call to the
+ * \ref canGetBusStatistics function.
+ *
+ * \note The time between a call to \ref canRequestBusStatistics() and the point in
+ * time where the bus statistics is actually available via a call to
+ * \ref canGetBusStatistics() is not defined. Typically, you would call
+ * \ref canRequestBusStatistics() from your application periodically (for example,
+ * once per second) to request the data from the driver and then call
+ * \ref canGetBusStatistics() with the same rate to obtain the latest reported data.
+ *
+ * \param[in] hnd   An open handle to a CAN channel.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canGetBusStatistics()
+ */
+canStatus CANLIBAPI canRequestBusStatistics (const CanHandle hnd);
+
+  /**
+   * This struct is returned by \ref canGetBusStatistics()
+   *
+   * The values are cleared when the corresponding channel goes on bus.
+   */
+typedef struct canBusStatistics_s {
+  unsigned long  stdData;   ///< Number of received standard (11-bit identifiers) data frames.
+  unsigned long  stdRemote; ///< Number of received standard (11-bit identifiers) remote frames.
+  unsigned long  extData;   ///< Number of received extended (29-bit identifiers) data frames.
+  unsigned long  extRemote; ///< Number of received extended (29-bit identifiers) remote frames.
+  unsigned long  errFrame;  ///< Number of error frames
+
+  /**
+   * The bus load, expressed as an integer in the interval 0 - 10000
+   * representing 0.00% - 100.00% bus load.
+   */
+  unsigned long  busLoad;
+  unsigned long  overruns;  ///< The number of overruns detected by the hardware, firmware or driver.
+} canBusStatistics;
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canGetBusStatistics(int hnd, out Canlib.canBusStatistics stat);</b>
+ *
+ * \source_delphi   <b>function canGetBusStatistics(handle: canHandle; var stat: canBusStatistics; bufsiz: size_t): canStatus;     </b>
+ * \source_end
+ *
+ * The \ref canGetBusStatistics() function retrieves the latest bus statistics
+ * figures reported by the driver.  You request the bus statistics from the
+ * driver by calling the \ref canRequestBusStatistics() function.
+ *
+ * \param[in]  hnd     An open handle to a CAN channel.
+ * \param[out] stat    A pointer to a \ref canBusStatistics struct that will receive
+ *                     the bus statistics figures.
+ * \param[in]  bufsiz  The size, in bytes, of the stat buffer.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canRequestBusStatistics()
+ */
+canStatus CANLIBAPI canGetBusStatistics (const CanHandle hnd,
+                                         canBusStatistics *stat,
+                                         size_t bufsiz);
+
+
+/**
+ * \ingroup CAN
+ *
+ * \source_cs       <b>static Canlib.canStatus canGetHandleData(int hnd, int item, out object buffer);</b>
+ *
+ * \source_delphi   <b>function canGetHandleData(handle: canHandle; item: Integer; var Buffer; bufsize: size_t): canStatus;     </b>
+ * \source_end
+ *
+ * \note This function can be used to retrieve certain pieces of information about an open handle to a CANlib channel.
+ *
+ * \param[in]  hnd      An open handle to a CAN channel.
+ * \param[in]  item     This parameter specifies what data to obtain for the specified handle. The value is one of the constants \ref canCHANNELDATA_xxx
+ * \param[out] buffer   The address of a buffer which is to receive the data.
+ * \param[in]  bufsize  The size of the buffer to which the buffer parameter points.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canGetChannelData()
+ */
+canStatus CANLIBAPI canGetHandleData (const CanHandle hnd,
+                                      int item,
+                                      void *buffer,
+                                      size_t bufsize);
+
+/** Used for time domain handling. */
+typedef void *kvTimeDomain;
+
+/** Contains status codes according to \ref canSTAT_xxx. */
+typedef canStatus kvStatus;
+
+/**
+ *
+ * Used for time domain handling.
+ */
+typedef struct kvTimeDomainData_s {
+  int nMagiSyncGroups;        ///< number of MagiSync&tm; groups
+  int nMagiSyncedMembers;     ///< number of MagiSync&tm; members
+  int nNonMagiSyncCards;      ///< number of non MagiSync&tm; interfaces
+  int nNonMagiSyncedMembers;  ///< number of non MagiSync&tm; members
+} kvTimeDomainData;
+
+/**
+ * \ingroup TimeDomainHandling
+ *
+ * \source_cs       <b>static Canlib.canStatus kvTimeDomainCreate(out object domain);</b>
+ *
+ * \source_delphi   <b>function kvTimeDomainCreate(var domain: kvTimeDomain): kvStatus;     </b>
+ * \source_end
+ *
+ * This routine creates an empty time domain.
+ *
+ * The variable is set by this function and then used in later calls to
+ * other functions using a \ref kvTimeDomain.
+ *
+ * Time domains created by \ref kvTimeDomainCreate() can be destroyed with a
+ * call to \ref kvTimeDomainDelete().
+ *
+ * \note A time domain is a set of channels with a common time base.
+ *
+ * \param[out] domain  A pointer to a caller allocated, opaque variable of type
+ *                     \ref kvTimeDomain that holds data to identify a particular
+ *                     time domain.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvtimedomainxxx
+ * \sa \ref kvTimeDomainDelete()
+ */
+kvStatus CANLIBAPI kvTimeDomainCreate (kvTimeDomain *domain);
+
+/**
+ * \ingroup TimeDomainHandling
+ *
+ * \source_cs       <b>static Canlib.canStatus kvTimeDomainDelete(object domain);</b>
+ *
+ * \source_delphi   <b>function kvTimeDomainDelete(domain: kvTimeDomain): kvStatus;     </b>
+ * \source_end
+ *
+ * This is a cleanup routine that deletes all members of a domain and then
+ * deletes the domain itself.
+ *
+ * \note A time domain is a set of channels with a common time base.
+ *
+ * \param[in] domain  An opaque variable set by \ref kvTimeDomainCreate() that
+ *                    identifies the domain to be deleted.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvtimedomainxxx
+ * \sa \ref kvTimeDomainCreate()
+ */
+kvStatus CANLIBAPI kvTimeDomainDelete (kvTimeDomain domain);
+
+/**
+ * \ingroup TimeDomainHandling
+ *
+ * \source_cs       <b>static Canlib.canStatus kvTimeDomainResetTime(object domain);</b>
+ *
+ * \source_delphi   <b>function kvTimeDomainResetTime(domain: kvTimeDomain): kvStatus;     </b>
+ * \source_end
+ *
+ * This routine resets the time on all members of a time domain.
+ *
+ * After a call to this routine timestamps from all channels with MagiSync&tm;
+ * running have no offset at all any longer. The same applies for channels that
+ * reside on the same physical interface.
+ *
+ * \note A time domain is a set of channels with a common time base.
+ *
+ * \param[in] domain  An opaque variable set by \ref kvTimeDomainCreate() that
+ *                    identifies the domain to reset the time on.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvtimedomainxxx
+ * \sa \ref kvTimeDomainCreate()
+ */
+kvStatus CANLIBAPI kvTimeDomainResetTime (kvTimeDomain domain);
+
+/**
+ * \ingroup TimeDomainHandling
+ *
+ * \source_cs       <b>static Canlib.canStatus kvTimeDomainGetData(object domain, Canlib.kvTimeDomainData data);</b>
+ *
+ * \source_delphi   <b>function kvTimeDomainGetData(domain: kvTimeDomain; var data: kvTimeDomainData; bufsiz: size_t): kvStatus;     </b>
+ * \source_end
+ *
+ * This routine collects some data on a time domain.
+ *
+ * \note A time domain is a set of channels with a common time base.
+ *
+ * \param[in]  domain  An opaque variable set by \ref kvTimeDomainCreate() that
+ *                     identifies the domain to add a handle to.
+ * \param[out] data    A pointer to a \ref kvTimeDomainData that is to be filled by
+ *                     the function.
+ * \param[in]  bufsiz  The size in bytes of the \ref kvTimeDomainData struct.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvtimedomainxxx
+ * \sa \ref kvTimeDomainCreate()
+ */
+kvStatus CANLIBAPI kvTimeDomainGetData (kvTimeDomain domain,
+                                        kvTimeDomainData *data,
+                                        size_t bufsiz);
+
+/**
+ * \ingroup TimeDomainHandling
+ *
+ * \source_cs       <b>static Canlib.canStatus kvTimeDomainAddHandle(object domain, int handle);</b>
+ *
+ * \source_delphi   <b>function kvTimeDomainAddHandle(domain: kvTimeDomain; handle: canHandle): kvStatus;     </b>
+ * \source_end
+ *
+ * This routine adds an open channel handle to a domain.
+ *
+ * \note A time domain is a set of channels with a common time base.
+ *
+ * \param[in] domain  An opaque variable set by \ref kvTimeDomainCreate()
+ *                    that identifies the domain to add a handle to.
+ * \param[in] hnd     A handle to an open channel.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvtimedomainxxx
+ * \sa \ref kvTimeDomainCreate(), \ref kvTimeDomainRemoveHandle()
+ */
+kvStatus CANLIBAPI kvTimeDomainAddHandle(kvTimeDomain domain,
+                                         const CanHandle hnd);
+
+/**
+ * \ingroup TimeDomainHandling
+ *
+ * \source_cs       <b>static Canlib.canStatus kvTimeDomainRemoveHandle(object domain, int handle);</b>
+ *
+ * \source_delphi   <b>function kvTimeDomainRemoveHandle(domain: kvTimeDomain; handle: canHandle): kvStatus;     </b>
+ * \source_end
+ *
+ * This routine removes an open channel handle from a domain.
+ *
+ * \note A time domain is a set of channels with a common time base.
+ *
+ * \param[in] domain  An opaque variable set by \ref kvTimeDomainCreate()
+ *                    that identifies the domain to remove a handle from.
+ * \param[in] hnd     A handle to an open channel.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref kvTimeDomainCreate(), \ref kvTimeDomainAddHandle()
+ */
+kvStatus CANLIBAPI kvTimeDomainRemoveHandle (kvTimeDomain domain,
+                                             const CanHandle hnd);
+
+/**
+ * \ref kvCallback_t is used by the function \ref kvSetNotifyCallback()
+ *
+ * The callback function is called with the following arguments:
+ * \li hnd - the handle of the CAN channel where the event happened.
+ * \li context - the context pointer you passed to \ref kvSetNotifyCallback().
+ * \li notifyEvent - one of the \ref canNOTIFY_xxx notification codes.
+ *
+ * \note It is really the \ref canNOTIFY_xxx codes, and not the
+ *  \ref canEVENT_xxx codes that the \ref canSetNotify() API is using.
+ *
+ */
+typedef void (CANLIBAPI *kvCallback_t) (CanHandle hnd, void* context, unsigned int notifyEvent);
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static Canlib.canStatus kvSetNotifyCallback(int hnd, Canlib.kvCallbackDelegate callback, IntPtr context, uint notifyFlags);</b>
+ *
+ * \source_delphi   <b>function kvSetNotifyCallback(handle: canHandle; callback: kvCallback_t; context: Pointer; notifyFlags: Cardinal): canStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvSetNotifyCallback() function registers a callback function which is
+ * called when certain events occur.
+ *
+ * You can register at most one callback function per handle at any time.
+ *
+ * To remove the callback, call \ref kvSetNotifyCallback() with a \c NULL pointer in
+ * the callback argument.
+ *
+ * \note The callback function is called in the context of a high-priority
+ * thread created by CANlib. You should take precaution not to do any time
+ * consuming tasks in the callback.  You must also arrange the synchronization
+ * between the callback and your other threads yourself.
+ *
+ * \param[in] hnd          An open handle to a CAN channel.
+ * \param[in] callback     A pointer to a callback function of type
+ *                         \ref kvCallback_t
+ * \param[in] context      A pointer to arbitrary user-defined context data which
+ *                         is passed to the callback function.
+ * \param[in] notifyFlags  One or more of the \ref canNOTIFY_xxx flags.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canSetNotify()
+ */
+kvStatus CANLIBAPI kvSetNotifyCallback (const CanHandle hnd,
+                                        kvCallback_t callback,
+                                        void* context,
+                                        unsigned int notifyFlags);
+
+/**
+ * \name kvBUSTYPE_xxx
+ * \anchor kvBUSTYPE_xxx
+ *
+ *  Bus types, returned by \ref kvGetSupportedInterfaceInfo().
+ * \note Not inplemented in linux.
+ * @{
+ */
+
+/**
+* Unkown bus type.
+* \note Not inplemented in linux.
+*/
+#define kvBUSTYPE_NONE          0
+
+/**
+* Bus of type PCI.
+* \note Not inplemented in linux.
+*/
+#define kvBUSTYPE_PCI           1
+
+/**
+* Bus of type PCMCIA
+* \note Not inplemented in linux.
+*/
+#define kvBUSTYPE_PCMCIA        2
+
+/**
+* Bus of type USB
+* \note Not inplemented in linux.
+*/
+#define kvBUSTYPE_USB           3
+
+/**
+* Bus of type WLAN
+* \note Not inplemented in linux.
+*/
+#define kvBUSTYPE_WLAN          4
+
+/**
+* Bus of type PCI Express
+* \note Not inplemented in linux.
+*/
+#define kvBUSTYPE_PCI_EXPRESS   5
+
+/**
+* Bus of type ISA
+* \note Not inplemented in linux.
+*/
+#define kvBUSTYPE_ISA           6
+
+/**
+* Bus of type virtual
+* \note Not inplemented in linux.
+*/
+#define kvBUSTYPE_VIRTUAL       7
+
+/**
+* Bus of type PC104+
+* \note Not inplemented in linux.
+*/
+#define kvBUSTYPE_PC104_PLUS    8
+
+/**
+* Bus of type LAN
+* \note Not inplemented in linux.
+*/
+#define kvBUSTYPE_LAN           9
+/** @} */
+
+/**
+ * \name kvBUSTYPE_GROUP_xxx
+ * \anchor kvBUSTYPE_GROUP_xxx
+ *
+ * Bus type group, returned when using \ref canCHANNELDATA_BUS_TYPE
+ * This is a grouping of the individual \ref kvBUSTYPE_xxx.
+ * \note Not implemented in linux.
+ * @{
+ */
+
+/**
+* \ref kvBUSTYPE_VIRTUAL
+* \note Not implemented in linux.
+*/
+#define kvBUSTYPE_GROUP_VIRTUAL  1
+
+/**
+* \ref kvBUSTYPE_USB
+* \note Not implemented in linux.
+*/
+#define kvBUSTYPE_GROUP_LOCAL    2
+
+/**
+* \ref kvBUSTYPE_WLAN, \ref kvBUSTYPE_LAN
+* \note Not implemented in linux.
+*/
+#define kvBUSTYPE_GROUP_REMOTE   3
+/**
+* \ref kvBUSTYPE_PCI, \ref kvBUSTYPE_PCMCIA, ...
+* \note Not implemented in linux.
+*/
+#define kvBUSTYPE_GROUP_INTERNAL 4
+/** @} */
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static Canlib.canStatus kvGetSupportedInterfaceInfo(int index, out string hwName, out int hwType, out int hwBusType);</b>
+ *
+ * \source_delphi   <b>function kvGetSupportedInterfaceInfo(index: Integer; hwName: PChar; nameLen: size_t; var hwType: Integer; var hwBusType: Integer): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvGetSupportedInterfaceInfo function returns information about the
+ * different supported hardware types in the installed version of CANlib.
+ *
+ * This function is used to enumerate all the supported hardware types in the
+ * installed version of CANlib. It does not return a complete list of all
+ * supported devices, nor does it return a list of the presently installed
+ * hardware. The returned data indicates which device families are supported.
+ *
+ * For example, a returned set of data might be:
+ * \li \a hwType = \ref canHWTYPE_MEMORATOR_PRO
+ * \li \a hwBusType = \ref kvBUSTYPE_USB
+ * \li \a hwName = \c "Kvaser Memorator Professional"
+ *
+ * This means that
+ * \li the presently installed version of CANlib supports members in the Kvaser
+ *     Memorator Pro family (e.g. the HS/HS and the HS/LS),
+ * \li the members of the Kvaser Memorator Pro family are USB devices,
+ * \li the members of the Kvaser Memorator Pro family use the
+ *     \ref canHWTYPE_MEMORATOR_PRO hardware type.
+ *
+ * The \ref kvGetSupportedInterfaceInfo() function is intended to help
+ * application designers build a bus-oriented display of the different
+ * installed and/or supported Kvaser devices in the computer.
+ *
+ * \note Not inplemented in linux.
+ *
+ * \param[in] index       Use this parameter to enumerate the different supported
+ *                        hardware types. Start with index = 0, and then call
+ *                        \ref kvGetSupportedInterfaceInfo again() with index =
+ *                        1,2,3,... until the function returns an error code.
+ * \param[out] hwName     A pointer to a buffer that will receive the name of the
+ *                        hardware family, as a zero-terminated ASCII string.
+ * \param[in]  nameLen    The length of the hwName buffer.
+ * \param[out] hwType     Pointer to a 32-bit integer that will receive the
+ *                        hardware type (one of the \ref canHWTYPE_xxx
+ *                        constants.)
+ * \param[out] hwBusType  Pointer to a 32-bit integer that will receive the bus
+ *                        type (one of the \ref kvBUSTYPE_xxx constants.)
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canBusOn(), \ref canResetBus()
+ */
+kvStatus CANLIBAPI kvGetSupportedInterfaceInfo (int index,
+                                                char *hwName,
+                                                size_t nameLen,
+                                                int *hwType,
+                                                int *hwBusType);
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static Canlib.canStatus kvReadDeviceCustomerData(int hnd, int userNumber, int itemNumber, byte[] data, int bufsize);</b>
+ *
+ * \source_delphi   <b>function kvReadDeviceCustomerData(hnd: canHandle; userNumber, itemNumber: Integer; var data; bufsize: size_t): kvStatus;     </b>
+ * \source_end
+ *
+ * Reading customer data works with Kvaser Leaf (of all
+ * types), Kvaser USBcan Professional, Kvaser Memorator Professional, Kvaser Eagle and
+ * Kvaser Memorator Light. To write customer data use external tools.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in]  hnd        An open handle to a CAN channel.
+ * \param[in]  userNumber Assigned by Kvaser.
+ * \param[in]  itemNumber Must be zero (reserved)
+ * \param[out] data       A pointer to a buffer of up to 8 bytes where
+ *                        the result will be placed.
+ * \param[in]  bufsiz     The size of the buffer that data points at.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ */
+kvStatus CANLIBAPI kvReadDeviceCustomerData (const CanHandle hnd,
+                                             int userNumber,
+                                             int itemNumber,
+                                             void *data,
+                                             size_t bufsiz);
+
+/**
+ * \ingroup tScript
+ * \name kvENVVAR_TYPE_xxx
+ * \anchor kvENVVAR_TYPE_xxx
+ *
+ * These defines are used in \ref kvScriptEnvvarOpen().
+ *  @{
+ */
+  /**
+   * This define is used in \ref kvScriptEnvvarOpen().
+   *
+   * It defines the type of the envvar as \c int.
+   */
+#define kvENVVAR_TYPE_INT       1
+
+  /**
+   * This define is used in \ref kvScriptEnvvarOpen().
+   *
+   * It defines the type of the envvar as \c float.
+   */
+#define kvENVVAR_TYPE_FLOAT     2
+
+  /**
+   * This define is used in \ref kvScriptEnvvarOpen().
+   *
+   * It defines the type of the envvar as \c string.
+   */
+#define kvENVVAR_TYPE_STRING    3
+ /** @} */
+
+/**
+ * \ingroup tScript
+ * \name kvEVENT_xxx
+ * \anchor kvEVENT_xxx
+ *
+ * These defines are used in \ref kvScriptSendEvent().
+ *  @{
+ */
+
+  /**
+   * This define is used in  \ref kvScriptSendEvent().
+   *
+   * It defines an event of type "key pressed".
+   */
+#define kvEVENT_TYPE_KEY        1
+ /** @} */
+
+  /**
+   *
+   * A handle to a t-script envvar.
+   * Returned by the function \ref kvScriptEnvvarOpen().
+   */
+
+  typedef int64_t kvEnvHandle;
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptStart(int hnd, int slotNo);</b>
+ *
+ * \source_delphi   <b>function kvScriptStart(const hnd: canHandle; slotNo: integer): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvScriptStart() function starts a loaded script.
+ *
+ * \param[in] hnd     An open handle to a CAN channel.
+ * \param[in] slotNo  The slot with the loaded script we want to start.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvscriptstart
+ * \sa \ref kvScriptLoadFile(), \ref kvScriptStop()
+ */
+kvStatus CANLIBAPI kvScriptStart (const CanHandle hnd, int slotNo);
+
+/**
+ * Script stop modes. Used by \ref kvScriptStop().
+ * \anchor kvSCRIPT_STOP_xxx
+ * \name kvSCRIPT_STOP_xxx
+ * @{
+ */
+#define kvSCRIPT_STOP_NORMAL         0 /**< Stop a running script */
+#define kvSCRIPT_STOP_FORCED        -9 /**< Request termination of a hanged script */
+/** @} */
+
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptStop(int hnd, int slotNo, int mode);</b>
+ *
+ * \source_delphi   <b>function kvScriptStop(const hnd: canHandle; slotNo: integer; mode: integer): kvStatus;     </b>
+ * \source_end
+ *
+ *  The \ref kvScriptStop() function stops a started script.
+ *
+ * \param[in] hnd     An open handle to a CAN channel.
+ * \param[in] slotNo  The slot with the loaded and running script we want to stop.
+ * \param[in] mode    Stop mode of type \ref kvSCRIPT_STOP_xxx
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvscriptstart
+ * \sa \ref kvScriptLoadFile(), \ref kvScriptStart()
+ */
+kvStatus CANLIBAPI kvScriptStop (const CanHandle hnd, int slotNo, int mode);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptUnload(int hnd, int slotNo);</b>
+ *
+ * \source_delphi   <b>function kvScriptUnload(const hnd: canHandle; slotNo: integer): kvStatus;     </b>
+ * \source_end
+ *
+ *  The \ref kvScriptUnload() function unloads a stopped script.
+ *
+ * \param[in] hnd     An open handle to a CAN channel.
+ * \param[in] slotNo  The slot with the loaded and stopped script we want to unload.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref kvScriptLoadFile(), \ref kvScriptStop()
+ */
+kvStatus CANLIBAPI kvScriptUnload (const CanHandle hnd, int slotNo);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptSendEvent(int hnd, int slotNo, int eventType, int eventNo, uint data);</b>
+ *
+ * \source_delphi   <b>function kvScriptSendEvent(const hnd: canHandle; slotNo: integer; eventType: integer; eventNo: integer; data: Cardinal): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvScriptSendEvent() function sends an event of a type, and an event
+ * number and associated data to a script running in a specific slot.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in] hnd        An open handle to a CAN channel.
+ * \param[in] slotNo     The slot where the script was loaded and is running.
+ * \param[in] eventType  The event to send, of type \ref kvEVENT_xxx
+ * \param[in] eventNo    The event's number.
+ * \param[in] data       The event's data.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvscriptsendevent
+ */
+kvStatus CANLIBAPI kvScriptSendEvent (const CanHandle hnd,
+                                      int slotNo,
+                                      int eventType,
+                                      int eventNo,
+                                      unsigned int data);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static long kvScriptEnvvarOpen(int hnd, string envvarName, out int envvarType, out int envvarSize);</b>
+ *
+ * \source_delphi   <b>function kvScriptEnvvarOpen(const hnd: canHandle; envvarName: PChar; var envvarType: Integer; var envvarSize: Integer): \ref kvEnvHandle;     </b>
+ * \source_end
+ *
+ * The \ref kvScriptEnvvarOpen() opens an existing envvar and returns a handle to it.
+ *
+ * \param[in]  hnd         An open handle to a CAN channel.
+ * \param[in]  envvarName  The envvar's name; a pointer to a \c NULL terminated
+ *                         array of chars.
+ * \param[out] envvarType  A pointer to a 32-bit integer that will receive the
+ *                         \ref kvENVVAR_TYPE_xxx type.
+ * \param[out] envvarSize  A pointer to a 32-bit integer that will receive the
+ *                         size of the envvar in bytes.
+ *
+ * \note Not implemented in linux.
+ *
+ * \return A \ref kvEnvHandle handle (positive) to an envvar if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvscriptenvvarxxx
+ * \sa \ref kvScriptEnvvarClose()
+ */
+kvEnvHandle CANLIBAPI kvScriptEnvvarOpen (const CanHandle hnd,
+                                          char* envvarName,
+                                          int *envvarType,
+                                          int *envvarSize); // returns scriptHandle
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptEnvvarClose(long eHnd);</b>
+ *
+ * \source_delphi   <b>function kvScriptEnvvarClose(const eHnd: kvEnvHandle): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvScriptEnvvarClose() function closes an open envvar.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in] eHnd  An open handle to an envvar.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref kvScriptEnvvarOpen()
+ */
+kvStatus CANLIBAPI kvScriptEnvvarClose (kvEnvHandle eHnd);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptEnvvarSetInt(long eHnd, int val);</b>
+ *
+ * \source_delphi   <b>function kvScriptEnvvarSetInt(const eHnd: kvEnvHandle; val: Integer): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvScriptEnvvarSetInt() sets the value of an \c int envvar.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in] eHnd  An open handle to an envvar.
+ * \param[in] val   The new value.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvscriptenvvarxxx
+ * \sa \ref kvScriptEnvvarOpen(), \ref kvScriptEnvvarGetInt(), \ref kvScriptEnvvarSetFloat(),
+ * \ref kvScriptEnvvarSetData()
+ */
+kvStatus CANLIBAPI kvScriptEnvvarSetInt (kvEnvHandle eHnd, int val);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptEnvvarGetInt(long eHnd, out int val);</b>
+ *
+ * \source_delphi   <b>function kvScriptEnvvarGetInt(const eHnd: kvEnvHandle; var val: Integer): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvScriptEnvvarGetInt() function retrieves the value of an \c int envvar.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in]  eHnd An open handle to an envvar.
+ * \param[out] val  The current value.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvscriptenvvarxxx
+ * \sa \ref kvScriptEnvvarOpen(), \ref kvScriptEnvvarSetInt(), \ref kvScriptEnvvarGetFloat(),
+ * \ref kvScriptEnvvarGetData()
+ *
+ */
+kvStatus CANLIBAPI kvScriptEnvvarGetInt (kvEnvHandle eHnd, int *val);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptEnvvarSetFloat(long eHnd, float val);</b>
+ *
+ * \source_delphi   <b>function kvScriptEnvvarSetFloat(const eHnd: kvEnvHandle; val: Single): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvScriptEnvvarSetFloat() sets the value of a \c float envvar.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in] eHnd  An open handle to an envvar.
+ * \param[in] val   The new value.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvscriptenvvarxxx
+ * \sa \ref kvScriptEnvvarOpen(), \ref kvScriptEnvvarGetFloat(), \ref kvScriptEnvvarSetInt(),
+ * \ref kvScriptEnvvarSetData()
+ */
+kvStatus CANLIBAPI kvScriptEnvvarSetFloat (kvEnvHandle eHnd, float val);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptEnvvarGetFloat(long eHnd, out float val);</b>
+ *
+ * \source_delphi   <b>function kvScriptEnvvarGetFloat(const eHnd: kvEnvHandle; var val: Single): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvScriptEnvvarGetFloat() function retrieves the value of a \c float envvar.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in]  eHnd  An open handle to an envvar.
+ * \param[out] val   A pointer to a \c float where the retrieved result should be
+ *                   stored.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvscriptenvvarxxx
+ * \sa \ref kvScriptEnvvarOpen(), \ref kvScriptEnvvarSetFloat(), \ref kvScriptEnvvarGetInt(),
+ * \ref kvScriptEnvvarGetData()
+ */
+kvStatus CANLIBAPI kvScriptEnvvarGetFloat (kvEnvHandle eHnd, float *val);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptEnvvarSetData(long eHnd, byte[] buf, int start_index, int data_len);</b>
+ *
+ * \source_delphi   <b>function kvScriptEnvvarSetData(const eHnd: kvEnvHandle; var buf; start_index: Integer; data_len: Integer): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvScriptEnvvarSetData() function sets a range of data bytes in an envvar.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in] eHnd         An open handle to an envvar.
+ * \param[in] buf          A pointer to a data area with the new values.
+ * \param[in] start_index  The start index of the envvar's data range that we
+ *                         want to update.
+ * \param[in] data_len     The length in bytes of the envvar's data range that
+ *                         we want to update.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvscriptenvvarxxx
+ * \sa \ref kvScriptEnvvarOpen(), \ref kvScriptEnvvarGetData(), \ref kvScriptEnvvarSetInt(),
+ * \ref kvScriptEnvvarSetFloat()
+ */
+kvStatus CANLIBAPI kvScriptEnvvarSetData (kvEnvHandle eHnd,
+                                          void *buf,
+                                          int start_index,
+                                          int data_len);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptEnvvarGetData(long eHnd, out byte[] buf, int start_index, int data_len);</b>
+ *
+ * \source_delphi   <b>function kvScriptEnvvarGetData(const eHnd: kvEnvHandle; var buf; start_index: Integer; data_len: Integer): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvScriptEnvvarGetData() function retrieves a range of data bytes from an envvar.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in]  eHnd         An open handle to an envvar.
+ * \param[out] buf          A pointer to a data area where the retrieved data
+ *                          range should be stored.
+ * \param[in]  start_index  The start index of the data range.
+ * \param[in]  data_len     The length in bytes of the data range.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvscriptenvvarxxx
+ * \sa \ref kvScriptEnvvarOpen(), \ref kvScriptEnvvarSetData(), \ref kvScriptEnvvarGetInt(),
+ * \ref kvScriptEnvvarGetFloat()
+ */
+kvStatus CANLIBAPI kvScriptEnvvarGetData (kvEnvHandle eHnd,
+                                          void *buf,
+                                          int start_index,
+                                          int data_len);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptLoadFileOnDevice(int hnd, int slotNo, ref string localFile);</b>
+ *
+ * \source_delphi   <b>function kvScriptLoadFileOnDevice(hnd: canHandle; slotNo: Integer; localFile: PChar): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvScriptLoadFileOnDevice() function loads a compiled script file (.txe)
+ * stored on the device (SD card) into a script slot on the device.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in] hnd        An open handle to a CAN channel.
+ * \param[in] slotNo     The slot where to load the script.
+ * \param[in] localFile  The script file name; a pointer to a \c NULL terminated
+ *                       array of chars.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvscriptstart
+ * \sa \ref kvScriptLoadFile(), \ref kvFileCopyToDevice(), \ref kvScriptStart(),
+ * \ref kvScriptStop()
+ */
+kvStatus CANLIBAPI kvScriptLoadFileOnDevice (const CanHandle hnd,
+                                             int slotNo,
+                                             char *localFile);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptLoadFile(int hnd, int slotNo, ref string filePathOnPC);</b>
+ *
+ * \source_delphi   <b>function kvScriptLoadFile(hnd: canHandle; slotNo: Integer; filePathOnPC: PChar): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvScriptLoadFile() function loads a compiled script file (.txe) stored
+ * on the host (PC) into a script slot on the device.
+ *
+ * \param[in] hnd           An open handle to a CAN channel.
+ * \param[in] slotNo        The slot where to load the script.
+ * \param[in] filePathOnPC  The script file name; a pointer to a \c NULL
+ *                          terminated array of chars.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref section_code_snippets_kvscriptstart
+ * \sa \ref kvScriptLoadFileOnDevice(), \ref kvFileCopyToDevice(), \ref kvScriptStart(),
+ * \ref kvScriptStop()
+ */
+kvStatus CANLIBAPI kvScriptLoadFile (const CanHandle hnd,
+                                     int slotNo,
+                                     char *filePathOnPC);
+
+
+
+/**
+ * Script status flag bits. Used by \ref kvScriptStatus().
+ * \anchor kvSCRIPT_STATUS_xxx
+ * \name kvSCRIPT_STATUS_xxx
+ * @{
+ */
+#define kvSCRIPT_STATUS_LOADED      1 /**< The slot is loaded with a script */
+#define kvSCRIPT_STATUS_RUNNING     2 /**< The slot is running a script. */
+/** @} */
+
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptStatus(int hnd, int slot, out unsigned int status);</b>
+ *
+ * \source_delphi   <b>function kvScriptStatus(hnd: canHandle; slot: integer; var status: Cardinal): kvStatus;</b>
+ * \source_end
+ *
+ * The \ref kvScriptStatus() function reads the current status of a script slot.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in] hnd           An open handle to a CAN channel.
+ * \param[in] slot          The slot which status we want.
+ * \param[out] status       The script status, as \ref kvSCRIPT_STATUS_xxx flag bits
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ */
+kvStatus CANLIBAPI kvScriptStatus(const CanHandle hnd,
+                                  int  slot,
+                                  unsigned int *status);
+
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptGetMaxEnvvarSize(int hnd, int *envvarSize);</b>
+ *
+ * \source_delphi   <b>function kvScriptGetMaxEnvvarSize(hnd: canHandle; var envvarSize: Integer): kvStatus;</b>
+ * \source_end
+ *
+ * The \ref kvScriptGetMaxEnvvarSize() function returns the maximum size of an envvar.
+ *
+ * \note Not implemented in linux.
+ *
+ * \param[in] hnd           An open handle to a CAN channel.
+ * \param[out] envvarSize   The maximum size of an envvar.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ */
+kvStatus CANLIBAPI kvScriptGetMaxEnvvarSize(int hnd, int *envvarSize);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvScriptTxeGetData(string filePathOnPC, int item, out object buffer);</b>
+ *
+ * \source_delphi   <b>function kvScriptTxeGetData(filePathOnPC: PChar; item: Integer; var buffer; var bufsize: Cardinal): canStatus;</b>
+ * \source_end
+ *
+ * This function can be used to retrieve information from a compiled script file (.txe).
+ *
+ * \param[in] filePathOnPC  The compiled script file name; a pointer to a \c NULL
+ *                          terminated array of chars.
+ *
+ * \param[in] item          This parameter specifies what data to obtain. Valid values are one of the constants
+ *                          \ref canTXEDATA_xxx.
+ * \param[out] buffer       The address of a buffer which is to receive the data.
+ * \param[in,out] bufsize   The size of the buffer to which the buffer parameter
+ *                          points. When the function returns, bufsize contains the number of bytes copied into the buffer.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * If the buffer specified by \a buffer and \a bufsize is not large enough to hold the data requested,
+ * the function returns \ref canERR_BUFFER_TOO_SMALL and stores the required buffer size in the integer pointed to by \a bufsize.
+ * The content of buffer is undefined.
+ *
+ * If parameter \a buffer is NULL, and bufsize is non-NULL, the function returns \ref canOK and stores the required
+ * buffer size in the integer pointed to by \a bufsize.
+ *
+ */
+kvStatus CANLIBAPI kvScriptTxeGetData(const char *filePathOnPC,
+                                      int item,
+                                      void *buffer,
+                                      unsigned int *bufsize);
+
+/**
+ * \ingroup tScript
+ * \anchor canTXEDATA_xxx
+ * \name canTXEDATA_xxx
+ *
+ * These defines are used in \ref kvScriptTxeGetData().
+ *
+ *  @{
+ */
+
+  /**
+   * This define is used in \ref kvScriptTxeGetData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \source_cs <b>buffer contains a uint[3] array.</b>
+   *
+   * \a buffer points to an array of 3 32-bit unsigned integers which receives
+   * the three part version number of the compiled script file (.txe) file format.
+   *
+   * Contents
+   *
+   * \li 0: major
+   * \li 1: minor
+   * \li 2: build
+   */
+#define canTXEDATA_FILE_VERSION               1
+
+  /**
+   * This define is used in \ref kvScriptTxeGetData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \source_cs <b>buffer contains a uint[3] array.</b>
+   *
+   * \a buffer points to an array of 3 32-bit unsigned integers which receives
+   * the three part version number of the compiler used to create the compiled script file (.txe).
+   *
+   * Contents
+   *
+   * \li 0: major
+   * \li 1: minor
+   * \li 2: build
+   */
+#define canTXEDATA_COMPILER_VERSION      2
+
+  /**
+   * This define is used in \ref kvScriptTxeGetData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \source_cs <b>buffer contains a DateTime object.</b>
+   *
+   * \a buffer points to an array of 6 32-bit unsigned integers which receives
+   * the compilation date in Coordinated Universal Time (UTC) of the compiled script file (.txe).
+   *
+   * Contents
+   *
+   * \li 0: year
+   * \li 1: mon
+   * \li 2: day
+   * \li 3: hour
+   * \li 4: min
+   * \li 5: sec
+   */
+#define canTXEDATA_DATE                  3
+
+  /**
+   * This define is used in \ref kvScriptTxeGetData(), \a buffer
+   * mentioned below refers to this functions argument.
+   *
+   * \source_cs <b>buffer contains a string.</b>
+   *
+   * \a buffer points to an area which receives a zero-terminated string with a
+   * description of the compiled script file (.txe).
+   * If no description is available then bufsize is set to zero and no data is written into buffer.
+   */
+#define canTXEDATA_DESCRIPTION           4
+
+/**
+ * This define is used in \ref kvScriptTxeGetData(), \a buffer
+ * mentioned below refers to this functions argument.
+ *
+ * \source_cs <b>buffer contains a string.</b>
+ *
+ * \a buffer points to an area which receives a list containing the names and content of all source files which were
+ * used to generate the compiled script file (.txe).
+ *
+ * The name followed by the content of each source file is written into \a buffer as consecutive zero-terminated strings.
+ *
+ * If no source code is available or the container is encrypted, then bufsize is set to zero and no data is written into buffer.
+ */
+#define canTXEDATA_SOURCE               5
+
+/**
+ * This define is used in \ref kvScriptTxeGetData(), \a buffer
+ * mentioned below refers to this functions argument.
+ *
+ * \source_cs <b>buffer contains a uint.</b>
+ *
+ * \a buffer points to a single unsigned integer which receives the size of the compiled code of the
+ * compiled script file (.txe).
+ */
+#define canTXEDATA_SIZE_OF_CODE          6
+
+/**
+ * This define is used in \ref kvScriptTxeGetData(), \a buffer
+ * mentioned below refers to this functions argument.
+ *
+ * \source_cs <b>buffer contains a bool.</b>
+ *
+ * \a buffer points to a single unsigned integer which will receive a non-zero value if the compiled script file (.txe) contents
+ * is encrypted.
+ */
+#define canTXEDATA_IS_ENCRYPTED           7
+
+
+/** @} */
+
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvFileCopyToDevice(int hnd, string hostFileName, string deviceFileName);</b>
+ *
+ * \source_delphi   <b>function kvFileCopyToDevice(hnd: canHandle; hostFileName: PChar; deviceFileName: PChar): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvFileCopyToDevice() function copies an arbitrary file from the host to
+ * the device.
+ *
+ * \param[in] hnd             An open handle to a CAN channel.
+ * \param[in] hostFileName    The host file name; a pointer to a \c NULL terminated
+ *                            array of chars.
+ * \param[in] deviceFileName  The target device file name; a pointer to a \c NULL
+ *                            terminated array of chars.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref kvFileCopyFromDevice(), \ref kvFileDelete()
+ */
+kvStatus CANLIBAPI kvFileCopyToDevice (const CanHandle hnd,
+                                       char *hostFileName,
+                                       char *deviceFileName);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvFileCopyFromDevice(int hnd, string deviceFileName, string hostFileName);</b>
+ *
+ * \source_delphi   <b>function kvFileCopyFromDevice(hnd: canHandle; deviceFileName: PChar; hostFileName: PChar): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvFileCopyFromDevice() function copies an arbitrary file from the device
+ * to the host.
+ *
+ * \param[in] hnd             An open handle to a CAN channel.
+ * \param[in] deviceFileName  The device file name; a pointer to a \c NULL
+ *                            terminated array of chars.
+ * \param[in] hostFileName    The target host file name; a pointer to a \c NULL terminated
+ *                            array of chars.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref kvFileCopyToDevice()
+ */
+kvStatus CANLIBAPI kvFileCopyFromDevice (const CanHandle hnd,
+                                         char *deviceFileName,
+                                         char *hostFileName);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvFileDelete(int hnd, string deviceFileName);</b>
+ *
+ * \source_delphi   <b>function kvFileDelete(hnd: canHandle; deviceFileName: PChar): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvFileDelete() function deletes a file on the device.
+ *
+ * \note Deleting system files is not recommended.
+ *
+ * \param[in] hnd             An open handle to a CAN channel.
+ * \param[in] deviceFileName  The file on the device to delete; a pointer
+ *                            to a \c NULL terminated array of chars.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref kvFileCopyToDevice()
+ */
+kvStatus CANLIBAPI kvFileDelete (const CanHandle hnd, char *deviceFileName);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvFileGetName(int hnd, int fileNo, out string name);</b>
+ *
+ * \source_delphi   <b>function kvFileGetName(hnd: canHandle; fileNo: Integer; name: PChar; namelen: Integer): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvFileGetName() function returns the name of the file with
+ *   number \a fileNo.
+ *
+ * \param[in]  hnd      An open handle to a CAN channel.
+ * \param[in]  fileNo   The number of the file.
+ * \param[out] name     A buffer that will contain the name of the
+ *                      file. The name is a zero-terminated ASCII string.
+ * \param[in]  namelen  The length, in bytes, of the \a name buffer.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref kvFileGetCount(), \ref kvFileGetSystemData()
+ */
+kvStatus CANLIBAPI kvFileGetName (const CanHandle hnd,
+                                  int fileNo,
+                                  char *name,
+                                  int namelen);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvFileGetCount(int hnd, out int count);</b>
+ *
+ * \source_delphi   <b>function kvFileGetCount(hnd: canHandle; var count: Integer): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvFileGetCount() function returns the number of files.
+ *
+ * \param[in]  hnd    An open handle to a CAN channel.
+ * \param[out] count  A pointer to a 32-bit integer that will receive
+ *                    the file count.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref kvFileGetName(), \ref kvFileGetSystemData()
+ */
+kvStatus CANLIBAPI kvFileGetCount (const CanHandle hnd, int *count);
+
+/**
+ * \ingroup tScript
+ *
+ * \source_cs       <b>static Canlib.canStatus kvFileGetSystemData(int hnd, int itemCode, out int result);</b>
+ *
+ * \source_delphi   <b>function kvFileGetSystemData(hnd: canHandle; itemCode: Integer; var result: Integer): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvFileGetSystemData() function is used for reading disk parameters,
+ * e.g. size, max number of (user) files, etc.
+ *
+ * \note Not yet implemented
+ *
+ * \param[in]  hnd       An open handle to a CAN channel.
+ * \param[in]  itemCode  The item we want information on.
+ * \param[out] result    A pointer to a 32-bit integer that will
+ *                       receive the result.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ */
+kvStatus CANLIBAPI kvFileGetSystemData (const CanHandle hnd,
+                                        int itemCode,
+                                        int *result);
+
+/**
+ * \ingroup can_general
+ * \anchor kvDEVICE_MODE_xxx
+ * \name kvDEVICE_MODE_xxx
+ *
+ * These defines are used in \ref kvDeviceSetMode() and \ref kvDeviceGetMode().
+ *
+ * \note The mode is device specific, which means that not all modes are
+ * implemented in all products.
+ *
+ *  @{
+ */
+   /**
+   * This define is used in \ref kvDeviceSetMode() and \ref kvDeviceGetMode().
+   *
+   * Device is running or should be running in interface mode.
+   */
+#define kvDEVICE_MODE_INTERFACE      0x00
+  /**
+   * This define is used in \ref kvDeviceSetMode() and \ref kvDeviceGetMode().
+   *
+   * Device is running or should be running in logger mode.
+   */
+#define kvDEVICE_MODE_LOGGER      0x01
+ /** @} */
+
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static Canlib.canStatus kvDeviceSetMode(int hnd, int mode);</b>
+ *
+ * \source_delphi   <b>function kvDeviceSetMode(hnd: canHandle; mode: Integer): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvDeviceSetMode() sets the mode.
+ *
+ * \note The mode is device specific, which means that not all modes are
+ * implemented in all products.
+ *
+ * \param[in] hnd   An open handle to a CAN channel.
+ * \param[in] mode  One of the \ref kvDEVICE_MODE_xxx constants,
+ *                  defining which mode to use.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref kvDeviceGetMode()
+ */
+kvStatus CANLIBAPI kvDeviceSetMode (const CanHandle hnd, int mode);
+
+/**
+ * \ingroup can_general
+ *
+ * \source_cs       <b>static Canlib.canStatus kvDeviceGetMode(int hnd, out int result);</b>
+ *
+ * \source_delphi   <b>function kvDeviceGetMode(hnd: canHandle; var mode: Integer): kvStatus;     </b>
+ * \source_end
+ *
+ * The \ref kvDeviceGetMode() reads the current device's specific mode.
+ *
+ * \note The mode is device specific, which means that not all modes are
+ * implemented in all products.
+ *
+ * \param[in]  hnd     An open handle to a CAN channel.
+ * \param[out] result  A pointer to a 32-bit integer that will receive the
+ *                     \ref kvDEVICE_MODE_xxx value.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref kvDeviceSetMode()
+ */
+kvStatus CANLIBAPI kvDeviceGetMode (const CanHandle hnd, int *result);
+
+
+/**
+ * \ingroup can_general
+ *
+ * The \ref kvReadTimer reads the hardware clock on the specified device and returns
+ * the value.
+ *
+ * When the call to \ref kvReadTimer() returns, the time value is already
+ * obsolete. The time required for the device firmware, any intermediary buses
+ * (like USB,) and the operating system to return the time value is not
+ * defined.
+ *
+ * This call should be used instead of \ref canReadTimer() because it can return an
+ * error code if it fails.
+ *
+ * \param[in]  hnd   An open handle to a CAN channel.
+ * \param[out] time  A pointer to a 32-bit unsigned integer that will receive
+ *                   the time value.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref canReadTimer(), \ref kvReadTimer64()
+ */
+
+kvStatus CANLIBAPI kvReadTimer (const CanHandle hnd, unsigned int *time);
+/**
+ * \ingroup can_general
+ *
+ * The \ref kvReadTimer64 reads the hardware clock on the specified device and
+ * returns the value.
+ *
+ * When the call to \ref kvReadTimer64() returns, the time value is already
+ * obsolete. The time required for the device firmware, any intermediary buses
+ * (like USB,) and the operating system to return the time value is not
+ * defined.
+ *
+ * This call should be used instead of \ref canReadTimer() because it can return an
+ * error code if it fails.
+ *
+ * \param[in]  hnd   An open handle to a CAN channel.
+ * \param[out] time  A pointer to a 64-bit unsigned integer that will receive the
+ *                   time value.
+ *
+ * \return \ref canOK (zero) if success
+ * \return \ref canERR_xxx (negative) if failure
+ *
+ * \sa \ref kvReadTimer(), \ref canReadTimer()
+ */
+kvStatus CANLIBAPI kvReadTimer64 (const CanHandle hnd, uint64_t *time);
+
+
+#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+#include "obsolete.h"
+
+
+
+
+#endif /*  _CANLIB_H_ */

src/ros/catkin/src/driver_can_nvidia/src/main.cpp

@@ -0,0 +1,32 @@
+#include "ros/ros.h"
+
+
+#include <QMutex>
+
+#include <nav_msgs/Odometry.h>
+#include <geometry_msgs/PointStamped.h>
+#include <geometry_msgs/TwistStamped.h>
+#include <geometry_msgs/PoseStamped.h>
+
+#include "adc_system_msg/canmsg.h"
+
+#include "autoware_msgs/VehicleCmd.h"
+#include "autoware_msgs/ControlCommandStamped.h"
+
+#include <thread>
+
+#include "canctrl.h"
+
+int main(int argc, char *argv[])
+{
+	ros::init(argc, argv, "driver_can_nvidia");
+//	ros::NodeHandle n;
+ //   ros::NodeHandle private_nh("~");
+//	ros::Rate loop_rate(100);
+    
+
+//canctrl  * pcanctrl = new canctrl("cansen0","cansend1","canrecv0","canrecv1","can_state");
+canctrl  xcanctrl("/can_msg","cansend1","canrecv0","canrecv1","can_state");
+ros::spin();
+
+}

src/ros/catkin/src/driver_can_nvidia/src/nvcan.cpp

@@ -0,0 +1,548 @@
+#include "nvcan.h"
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdint.h>
+#include <unistd.h>
+#include <string.h>
+#include <signal.h>
+#include <ctype.h>
+#include <libgen.h>
+#include <time.h>
+#include <errno.h>
+
+#include <sys/time.h>
+#include <sys/types.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <sys/uio.h>
+#include <net/if.h>
+
+
+#include <linux/can.h>
+#include <linux/can/raw.h>
+
+#include <QDateTime>
+
+#include <iostream>
+#include  <thread>
+
+#include "canctrl.h"
+
+/* for hardware timestamps - since Linux 2.6.30 */
+#ifndef SO_TIMESTAMPING
+#define SO_TIMESTAMPING 37
+#endif
+
+/* from #include <linux/net_tstamp.h> - since Linux 2.6.30 */
+#define SOF_TIMESTAMPING_SOFTWARE (1<<4)
+#define SOF_TIMESTAMPING_RX_SOFTWARE (1<<3)
+#define SOF_TIMESTAMPING_RAW_HARDWARE (1<<6)
+
+#define MAXSOCK 16    /* max. number of CAN interfaces given on the cmdline */
+#define MAXIFNAMES 30 /* size of receive name index to omit ioctls */
+#define MAXCOL 6      /* number of different colors for colorized output */
+#define ANYDEV "any"  /* name of interface to receive from any CAN interface */
+#define ANL "\r\n"    /* newline in ASC mode */
+
+#define SILENT_INI 42 /* detect user setting on commandline */
+#define SILENT_OFF 0  /* no silent mode */
+#define SILENT_ANI 1  /* silent mode with animation */
+#define SILENT_ON  2  /* silent mode (completely silent) */
+
+#include <QTime>
+
+#define BUF_SIZE 1000
+
+std::string CANNAME[] = {"can0","can1"};
+
+nvcan::nvcan(QWaitCondition * pwc, const char * strcan0name,const char * strcan1name,void * pcanctrl)
+{
+    mpwc = pwc;
+    mpcanctrl = pcanctrl;
+//    qDebug("nvcan");
+//    connect(this,SIGNAL(SIG_CANOPENSTATE(bool,int,const char*)),this,SLOT(onMsg(bool,int,const char*)));
+
+    CANNAME[0] = strcan0name;
+    CANNAME[1] = strcan1name;
+
+
+    std::cout<<"Prepare Initialize."<<std::endl;
+
+//    QTimer * timer1 = new QTimer();
+ //   connect(timer1,SIGNAL(timeout()),this,SLOT(TimerSecond()));
+  //  timer1->start(1000);
+
+
+}
+
+int nvcan::ExecOpen(int &s, const char *strcanname)
+{
+    struct sockaddr_can addr;
+    struct ifreq ifr;
+    s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+    if (s < 0) {
+        std::cout<<"Create Socket Error."<<std::endl;
+     //   mfault->SetFaultState(2,1,"Create Socket Error.");
+     //   emit SIG_CANOPENSTATE(false,-1,"Create Socket Error");
+        return -1;
+    }
+
+    addr.can_family = AF_CAN;
+
+    memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
+    strncpy(ifr.ifr_name, strcanname, IFNAMSIZ);
+
+    if (ioctl(s, SIOCGIFINDEX, &ifr) < 0) {
+        std::cout<<"SIOCGIFINDEX."<<std::endl;
+     //   mfault->SetFaultState(2,2,"SIOCGIFINDEX.");
+     //   emit SIG_CANOPENSTATE(false,-2,"SIOCGIFINDEX");
+        return -2;
+    }
+    addr.can_ifindex = ifr.ifr_ifindex;
+
+    if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
+        std::cout<<"bind error. "<<std::endl;
+     //   mfault->SetFaultState(2,3,"bind error.");
+     //   emit SIG_CANOPENSTATE(false,-3,"bind error");
+        return -3;
+    }
+
+    return 0;
+}
+
+int nvcan::ExecRecv(int & s,fd_set & rdfs,int nch)
+{
+    char ctrlmsg[CMSG_SPACE(sizeof(struct timeval) + 3*sizeof(struct timespec) + sizeof(__u32))];
+    struct sockaddr_can addr;
+    struct timeval timeout_config = { 0, 0 };
+    timeout_config.tv_sec= 0;
+    timeout_config.tv_usec = 0;;
+    struct iovec iov;
+    struct msghdr msg;
+    struct canfd_frame frame;
+    int nbytes, i, maxdlen;
+
+    iov.iov_base = &frame;
+    msg.msg_name = &addr;
+    msg.msg_iov = &iov;
+    msg.msg_iovlen = 1;
+    msg.msg_control = &ctrlmsg;
+//    int ret = select(s, &rdfs, NULL, NULL, &timeout_config);
+//    if (ret < 0) {
+//        emit SIG_CANOPENSTATE(false,-4,"select error");
+//        mfault->SetFaultState(2,4,"select error.");
+//        std::cout<<"select error."<<std::endl;
+//        mbCANOpen = false;
+//        return 0;
+//    }
+
+//       std::cout<<"time: "<<QDateTime::currentMSecsSinceEpoch()<<" ret : "<<ret<<std::endl;
+
+    bool bRecv = false;
+
+    if (FD_ISSET(s, &rdfs)) {
+
+
+
+        /* these settings may be modified by recvmsg() */
+        iov.iov_len = sizeof(frame);
+        msg.msg_namelen = sizeof(addr);
+        msg.msg_controllen = sizeof(ctrlmsg);
+        msg.msg_flags = 0;
+
+        mMutexRW.lock();
+        nbytes = recvmsg(s, &msg, 0);
+        mMutexRW.unlock();
+
+ //       std::cout<<"nbytes: "<<nbytes<<std::endl;
+        if (nbytes < 0) {
+            //                   if ((errno == ENETDOWN) && !down_causes_exit) {
+            if ((errno == ENETDOWN)) {
+                std::cout<<"interface down."<<std::endl;
+             //   mivlog->error("interface down" );
+             //   mfault->SetFaultState(1, 0, "interface down");
+            //  emit SIG_CANOPENSTATE(false,-5,"can card down");
+                //                   fprintf(stderr, "%s: interface down\n", CANNAME[i].data());
+                return -1;
+            }
+            return 0;
+            //                    perror("read");
+            //                    return 1;
+        }
+
+        if ((size_t)nbytes == CAN_MTU)
+            maxdlen = CAN_MAX_DLEN;
+        else if ((size_t)nbytes == CANFD_MTU)
+            maxdlen = CANFD_MAX_DLEN;
+        else {
+            std::cout<<"read incomplete message."<<std::endl;    
+         //   mivlog->warn("read incomplete message");
+            return 0;
+        }
+
+        mMutexSecondCount.lock();
+        mnSecond_RecvCount[nch]++;
+        mMutexSecondCount.unlock();
+        bRecv = true;
+        mMutex.lock();
+
+        basecan_msg msg;
+        msg.id = frame.can_id&0x1fffffff;
+        if((frame.can_id&0x80000000)!= 0)msg.isExtern = true;
+        else msg.isExtern = false;
+        if((frame.can_id&0x40000000)!= 0)msg.isRemote = true;
+        else msg.isRemote = false;
+        msg.nLen = frame.len;
+        if((frame.len<9)&&(frame.len>0))memcpy(msg.data,frame.data,frame.len);
+        if(mMsgRecvBuf[i].size()<BUF_SIZE)
+        {
+            mMsgRecvBuf[i].push_back(msg);
+        }
+
+        mMutex.unlock();
+
+        mpwc->wakeAll();
+      //  canctrl * pcantrl = (canctrl * )mpcanctrl;
+      //  pcantrl->NotifyRecv();
+
+
+
+    }
+
+    if(bRecv == false)return 0;
+    return 1;
+
+}
+
+
+void nvcan::TimerSecond()
+{
+    qint64 xSecond_RecvCount[2];
+    qint64 xSecond_SendCount[2];
+    std::vector<qint64> xvectorsendlat[2];
+    qint64 xLatency[2];
+    qint64 xLatencyMax[2];
+    int i;
+
+    //Copy Data And Reset.
+    mMutexSecondCount.lock();
+    for(i=0;i<2;i++)
+    {
+        xSecond_RecvCount[i] = mnSecond_RecvCount[i];
+        xSecond_SendCount[i] = mnSecond_SendCount[i];
+        xvectorsendlat[i] = mvectorsendlat[i];
+        mnSecond_RecvCount[i] = 0;
+        mnSecond_SendCount[i] = 0;
+        mvectorsendlat[i].clear();
+    }
+    mMutexSecondCount.unlock();
+
+   //Calulate Average Latency And Maximum Latency
+    for(i=0;i<2;i++)
+    {
+        xLatency[i] = 0;
+        xLatencyMax[i] = 0;
+        int j;
+        for(j=0;j<((int)xvectorsendlat[i].size());j++)
+        {
+            qint64 xlat = xvectorsendlat[i].at(j);
+            xLatency[i] = xLatency[i] + xlat;
+            if(xlat > xLatencyMax[i])xLatencyMax[i] =xlat;
+        }
+        if(xvectorsendlat[i].size()  > 0)
+        {
+            xLatency[i] = xLatency[i]/xvectorsendlat[i].size();
+        }
+    }
+
+    //Print
+    std::cout<<"Second Count:"<<std::endl;
+    std::cout<<"       "<<"ch0 Recv Count: "<<xSecond_RecvCount[0]<<std::endl;
+    std::cout<<"       "<<"ch1 Recv Count: "<<xSecond_RecvCount[1]<<std::endl;
+    std::cout<<"       "<<"ch0 Send Count: "<<xSecond_SendCount[0]<<std::endl;
+    std::cout<<"       "<<"    Latency Max: "<<xLatencyMax[0]<<" Avg:"<<xLatency[0]<<std::endl;
+    std::cout<<"       "<<"ch1 Send Count: "<<xSecond_SendCount[1]<<std::endl;
+    std::cout<<"       "<<"    Latency Max: "<<xLatencyMax[1]<<" Avg:"<<xLatency[1]<<std::endl;
+
+
+}
+
+int nvcan::ExecSend(int * s,struct canfd_frame & framesend,int nch,qint64 xMsgSetTime)
+{
+    int nretry = 0;
+
+    bool bSend = false;
+    //write retry 5 times
+    while(nretry<5)
+    {
+        if (write(*s, &framesend,16) != 16) {
+            std::cout<<"write error 1"<<std::endl;
+         //   mivlog->error("write error 1");
+            nretry++;
+            perror("write error.");
+            std::this_thread::sleep_for(std::chrono::microseconds(100));
+        }
+        else
+        {
+            bSend = true;
+
+            qint64 nLat = QDateTime::currentMSecsSinceEpoch() - xMsgSetTime;
+            mMutexSecondCount.lock();
+            mnSecond_SendCount[nch]++;
+            mvectorsendlat[nch].push_back(nLat);
+            mMutexSecondCount.unlock();
+            break;
+        }
+
+    }
+    if(bSend)return 1;
+    return -1;
+
+}
+
+void nvcan::run()
+{
+
+    int currmax = 2;
+    fd_set rdfs;
+    int s[MAXSOCK];
+    int i;
+
+    std::cout<<"Initializing."<<std::endl;
+ //   mfault->SetFaultState(0,0,"Initializing.");
+    
+    for(i=0;i<currmax;i++)
+    {
+
+        if(ExecOpen(s[i],CANNAME[i].data()) != 0)
+        {
+            std::cout<<"Open CAN "<<CANNAME[i]<<" Fail"<<std::endl;
+            return;
+        }
+        continue;
+    }
+
+    mps = &s[0];
+    mbCANOpen = true;
+    std::cout<<"open can successfully."<<std::endl;
+ //   mivlog->verbose("open can succesfully.");
+ //   mfault->SetFaultState(0,0,"CAN OK.");
+//    emit SIG_CANOPENSTATE(true,0,"open can card successfully");
+
+    std::cout<<"can open succesfully."<<std::endl;
+
+
+    mbRunning = true;
+
+    bool bRecv;
+
+    struct timeval timeout_config = { 0, 0 };
+
+   // while((!QThread::isInterruptionRequested())&&(mbCANOpen))
+    while((mbthreadrun)&&(mbCANOpen))
+    {
+        FD_ZERO(&rdfs);
+        for (i=0; i<currmax; i++)
+            FD_SET(s[i], &rdfs);
+
+
+        int ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, &timeout_config);
+
+        bRecv = false;
+
+        int nrecv1 = ExecRecv(s[0],rdfs,0);
+        if(nrecv1 >0)bRecv = true;
+        else
+        {
+            if(nrecv1<0)std::cout<<"CAN Recv Error."<<std::endl;
+        }
+        int nrecv2 = ExecRecv(s[1],rdfs,1);
+        if(nrecv2 >0)bRecv = true;
+        else
+        {
+            if(nrecv2<0)std::cout<<"CAN Recv Error."<<std::endl;
+        }
+
+        if(bRecv)continue;
+
+        mWaitMutex.lock();
+        mwc.wait(&mWaitMutex,1);
+        mWaitMutex.unlock();
+
+        struct canfd_frame framesend[2500];
+        qint64 sendsettime[2500];
+
+        for(int nch =0;nch<currmax;nch++)
+        {
+            int nsend = 0;
+            mMutex.lock();
+            int nbufsize = mMsgSendBuf[nch].size();
+            if(nbufsize>2500)nbufsize = 2500;
+            for(i=0;i<nbufsize;i++)
+            {
+                if(i>=2500)break;
+                memcpy(framesend[i].data,mMsgSendBuf[nch].at(i).data,8);
+                framesend[i].can_id = mMsgSendBuf[nch].at(i).id;
+                if(mMsgSendBuf[nch].at(i).isExtern)
+                {
+                    framesend[i].can_id = framesend[i].can_id|0x80000000;
+                }
+                else
+                {
+                    framesend[i].can_id = framesend[i].can_id&0x7ff;
+                }
+                if(mMsgSendBuf[nch].at(i).isRemote)
+                {
+                    framesend[i].can_id= framesend[i].can_id|0x40000000;
+                }
+
+                framesend[i].len = mMsgSendBuf[nch].at(i).nLen;
+            #ifdef SEND_STAT
+                sendsettime[i] = mMsgSendBuf[nch].at(i).mSetTime;
+            #endif
+
+                nsend++;
+            }
+            mMsgSendBuf[nch].clear();
+            mMutex.unlock();
+
+            if(nsend > 0)
+            {
+                for(i=0;i<nsend;i++)
+                {
+                    int nretry = 0;
+
+                    bool bSend = false;
+                    //write retry 5 times
+                    while(nretry<5)
+                    {
+                        if (write(s[nch], &framesend[i],16) != 16) {
+                            std::cout<<"write error 1"<<std::endl;
+                         //   mivlog->error("write error 1");
+                            nretry++;
+                            perror("write error.");
+                            std::this_thread::sleep_for(std::chrono::microseconds(100));
+                        }
+                        else
+                        {
+                            bSend = true;
+
+                        #ifdef SEND_STAT
+                            qint64 nLat = QDateTime::currentMSecsSinceEpoch() - sendsettime[i];
+                            mMutexSecondCount.lock();
+                            mnSecond_SendCount[nch]++;
+                            mvectorsendlat[nch].push_back(nLat);
+                            mMutexSecondCount.unlock();
+                        #endif
+                            break;
+                        }
+
+                    }
+  //                  std::cout<<" i "<<i<<" send "<<std::endl;
+  //                  ExecSend(&(s[nch]),framesend[i],nch,sendsettime[i]);
+                }
+            }
+
+
+        }
+
+
+
+    }
+
+    for (i=0; i<currmax; i++)
+    {
+        close(s[i]);
+    }
+    std::cout<<"nvcan thread close."<<std::endl;
+ //   qDebug("nvcan thread close.");
+    mbRunning = false;
+}
+
+void nvcan::startdev()
+{
+ //   start();
+    mbthreadrun = true;
+    mpthread = new std::thread(&nvcan::run,this);
+}
+
+void nvcan::stopdev()
+{
+    mbthreadrun = false;
+    mpthread->join();
+    /*
+    requestInterruption();
+    QTime xTime;
+    xTime.start();
+    while(xTime.elapsed()<100)
+    {
+        if(mbRunning == false)
+        {
+            std::cout<<"can close "<<std::endl;
+            break;
+        }
+    }*/
+}
+
+int nvcan::GetMessage(const int nch,basecan_msg *pMsg, const int nCap)
+{
+    if((nch>1)||(nch < 0))return -1;
+    if(mMsgRecvBuf[nch].size() == 0)return 0;
+
+    int nRtn;
+    nRtn = nCap;
+    mMutex.lock();
+    if(nRtn > mMsgRecvBuf[nch].size())nRtn = mMsgRecvBuf[nch].size();
+    int i;
+    for(i=0;i<nRtn;i++)
+    {
+        memcpy(&pMsg[i],&(mMsgRecvBuf[nch].at(i)),sizeof(basecan_msg));
+    }
+
+    std::vector<basecan_msg>::iterator iter;
+    iter = mMsgRecvBuf[nch].begin();
+    for(i=0;i<nRtn;i++)
+    {
+        iter = mMsgRecvBuf[nch].erase(iter);
+    }
+
+    mMutex.unlock();
+
+    return nRtn;
+
+}
+
+int nvcan::SetMessage(const int nch, basecan_msg *pMsg)
+{
+    if((nch>1)||(nch < 0))return -1;
+
+    mMutex.lock();
+    if(mMsgSendBuf[nch].size() > BUF_SIZE)
+    {
+        std::cout<<"buffer full."<<std::endl;
+        mMutex.unlock();
+        return -2;
+    }
+
+    if(mMsgRecvBuf[nch].size() > 100)
+    {
+        std::cout<<"buffer data more 100"<<std::endl;
+    }
+
+
+    mMsgSendBuf[nch].push_back(*pMsg);
+    mMutex.unlock();
+    return 0;
+}
+
+void nvcan::CmdSend()
+{
+    mwc.wakeAll();
+}
+
+void nvcan::onMsg(bool bCAN, int nR, const char *strres)
+{
+ //   mivlog->verbose("msg is %s ",strres);
+}
+

src/ros/catkin/src/driver_can_nvidia/src/nvcan.h

@@ -0,0 +1,84 @@
+#ifndef NVCAN_H
+#define NVCAN_H
+#include "basecan.h"
+
+#include <vector>
+#include <QMutex>
+
+#include <thread>
+
+#include <QWaitCondition>
+#include <QMutex>
+#include <QTimer>
+
+
+
+class nvcan : public basecan
+{
+public:
+    nvcan(QWaitCondition * pwc, const char * strcan0name,const char * strcan1name,void * pcanctrl);
+public:
+    void startdev();
+    void stopdev();
+
+    int GetMessage(const int nch,basecan_msg * pMsg,const int nCap);
+    int SetMessage(const int nch,basecan_msg * pMsg);
+
+    virtual void CmdSend();
+
+private slots:
+    void onMsg(bool bCAN,int nR,const char * strres);
+
+    void TimerSecond();
+
+private:
+    void run();
+    int * mps = 0;
+
+
+    std::vector<basecan_msg> mMsgRecvBuf[2];
+
+    std::vector<basecan_msg> mMsgSendBuf[2];
+
+    QMutex mMutex;
+
+    bool mbCANOpen = false;
+    bool mbRunning = false;
+    int mnDevNum;
+
+private:
+    bool mbSendRun = true;
+
+    QWaitCondition mwc;
+    QMutex mWaitMutex;
+
+    std::thread * mpsendthread;
+
+    QMutex mMutexRW;
+
+private:
+
+    int mnSecond_RecvCount[2];
+    int mnSecond_SendCount[2];
+
+    std::vector<qint64> mvectorsendlat[2];
+
+    QMutex mMutexSecondCount;
+
+private:
+    int ExecOpen(int & s,const char * strcanname);
+    int ExecRecv(int & s,fd_set & rdfs,int nch);
+    int ExecSend(int * s ,struct canfd_frame & framesend,int nch,qint64 xMsgSetTime);
+
+private:
+    void * mpcanctrl;
+
+     QWaitCondition * mpwc ;
+
+     std::thread * mpthread;
+     bool mbthreadrun = true;
+
+
+};
+
+#endif // NVCAN_H

src/ros/catkin/src/rtk_hcp2/src/main.cpp

@@ -161,7 +161,7 @@ void SerialGPSDecodeSen(QString strsen)
    if(!checknmeasen(strsen.toLatin1().data(),strsen.length()))
    {
        int nPos = strsen.indexOf('$',10);
-       if(nPos > 0)
+       if(nPos >= 0)
        {
            QString strnewsen = strsen.right(strsen.size()-nPos);
 //           qDebug("new sen is %s",strnewsen.toLatin1().data());