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<td >Qt 5.9</td><td ><a href="qtserialbus-index.html">Qt Serial Bus</a></td><td >Using VectorCAN Plugin</td></tr></table><table class="buildversion"><tr>
<td id="buildversion" width="100%" align="right">Qt 5.9.4 Reference Documentation</td>
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<h3><a name="toc">Contents</a></h3>
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<li class="level1"><a href="#creating-can-bus-devices">Creating CAN Bus Devices</a></li>
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<h1 class="title">Using VectorCAN Plugin</h1>
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<p>The VectorCAN plugin encapsulates the low-level API to work with the <a href="http://www.vector.com/">Vector Informatik</a> CAN adapters.</p>
<p>This plugin requires the Vector CAN device drivers and the vxlapi.dll (vxlapi64.dll for 64 bit builds).</p>
<a name="creating-can-bus-devices"></a>
<h2 id="creating-can-bus-devices">Creating CAN Bus Devices</h2>
<p>At first it is necessary to check that <a href="qcanbus.html">QCanBus</a> provides the desired plugin:</p>
<pre class="cpp">
<span class="keyword">if</span> (<span class="type"><a href="qcanbus.html">QCanBus</a></span><span class="operator">::</span>instance()<span class="operator">-</span><span class="operator">></span>plugins()<span class="operator">.</span>contains(<span class="type">QStringLiteral</span>(<span class="string">"vectorcan"</span>))) {
<span class="comment">// plugin available</span>
}
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<p>Where <i>vectorcan</i> is the plugin name.</p>
<p>Next, a connection to a specific interface can be established:</p>
<pre class="cpp">
<span class="type"><a href="qcanbusdevice.html">QCanBusDevice</a></span> <span class="operator">*</span>device <span class="operator">=</span> <span class="type"><a href="qcanbus.html">QCanBus</a></span><span class="operator">::</span>instance()<span class="operator">-</span><span class="operator">></span>createDevice(
<span class="type">QStringLiteral</span>(<span class="string">"vectorcan"</span>)<span class="operator">,</span> <span class="type">QStringLiteral</span>(<span class="string">"can0"</span>));
device<span class="operator">-</span><span class="operator">></span>connectDevice();
</pre>
<p>Where <i>can0</i> is the active CAN channel name. The VectorCAN plugin provides 64 channels (defined by XL_CONFIG_MAX_CHANNELS in the Vector API) from <i>can0</i> to <i>can63</i>. Some of these channels can be virtual, and therefore can be used without actual CAN hardware. To find out the virtual channels, the program "Vector Hardware Config" (vcanconf.exe) can be used, which is included in Vector's driver package.</p>
<p>The device is now open for writing and reading CAN frames:</p>
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<span class="type"><a href="qcanbusframe.html">QCanBusFrame</a></span> frame;
frame<span class="operator">.</span>setFrameId(<span class="number">8</span>);
<span class="type">QByteArray</span> payload(<span class="string">"A36E"</span>);
frame<span class="operator">.</span>setPayload(payload);
device<span class="operator">-</span><span class="operator">></span>writeFrame(frame);
</pre>
<p>The reading can be done using the <a href="qcanbusdevice.html#readFrame">readFrame()</a> method. The <a href="qcanbusdevice.html#framesReceived">framesReceived()</a> signal is emitted when at least one new frame is available for reading:</p>
<pre class="cpp">
<span class="type"><a href="qcanbusframe.html">QCanBusFrame</a></span> frame <span class="operator">=</span> device<span class="operator">-</span><span class="operator">></span>readFrame();
</pre>
<p>VectorCAN supports the following configurations that can be controlled through <a href="qcanbusdevice.html#setConfigurationParameter">setConfigurationParameter()</a>:</p>
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<thead><tr class="qt-style"><th >Configuration parameter key</th><th >Description</th></tr></thead>
<tr valign="top" class="odd"><td ><a href="qcanbusdevice.html#ConfigurationKey-enum">QCanBusDevice::BitRateKey</a></td><td >Determines the bit rate of the CAN bus connection.</td></tr>
<tr valign="top" class="even"><td ><a href="qcanbusdevice.html#ConfigurationKey-enum">QCanBusDevice::ReceiveOwnKey</a></td><td >The reception of the CAN frames on the same device that was sending the CAN frame is disabled by default. When enabling this option, all CAN frames sent to the CAN bus immediately appear in the receive buffer. This can be used to check if sending was successful.</td></tr>
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