// This tutorial walks you through how to open a channel and send a CAN message on it.
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
// Import the canlibCLSNET namespace
using Kvaser.CanLib;
namespace SendMessage
class Program
static void Main(string[] args)
// Holds a handle to the CAN channel
int handle;
// Status returned by the Canlib calls
Canlib.canStatus status;
// The CANlib channel number we would like to use
int channelNumber = 0;
// The msg will be the body of the message we send on the CAN bus.
byte[] msg = {0, 1, 2, 3, 4, 5, 6, 7};
Console.OutputEncoding = System.Text.Encoding.UTF8;
Console.WriteLine("Initializing Canlib");
// Initialize the Canlib library with a call to
// Canlib.initializeLibrary(). This always needs to be done before
// doing anything with the library.
Console.WriteLine("Opening channel {0}", channelNumber);
// Next, we open up the channel and receive a handle to
// it. Depending on what devices you have connected to your
// computer, you might want to change the channel number. The
// canOPEN_ACCEPT_VIRTUAL flag means that it is ok to open the
// selected channel, even if it is on a virtual device.
handle = Canlib.canOpenChannel(channelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
CheckStatus((Canlib.canStatus)handle, "canOpenChannel");
Console.WriteLine("Setting channel bitrate");
// Once we have successfully opened a channel, we need to set its bitrate. We
// do this using canSetBusParams. CANlib provides a set of predefined bus parameter
// settings in the form of canBITRATE_XXX constants. For other desired bus speeds
// bus paramters have to be set manually.
// See CANlib documentation for more information on parameter settings.
status = Canlib.canSetBusParams(handle, Canlib.canBITRATE_250K, 0, 0, 0, 0);
CheckStatus(status, "canSetBusParams");
Console.WriteLine("Going on bus");
// Next, take the channel on bus using the canBusOn method. This
// needs to be done before we can send a message.
status = Canlib.canBusOn(handle);
CheckStatus(status, "canBusOn");
Console.WriteLine("Writing a message to the channel");
// We send the message using canWrite. This method takes five
// parameters: the channel handle, the message identifier, the
// message body, the message length (in bytes) and optional flags.
status = Canlib.canWrite(handle, 123, msg, 8, 0);
CheckStatus(status, "canWrite");
Console.WriteLine("Waiting for the message to be transmitted");
// After sending, we wait for at most 1000 ms for the message to be sent, using
// canWriteSync.
status = Canlib.canWriteSync(handle, 1000);
CheckStatus(status, "canWriteSync");
Console.WriteLine("Going off bus");
// Once we are done using the channel, we go off bus using the
// canBusOff method. It take the handle as the only argument.
status = Canlib.canBusOff(handle);
CheckStatus(status, "canBusOff");
Console.WriteLine("Closing channel {0}", channelNumber);
// We also close the channel using the canCloseChannel method,
// which take the handle as the only argument.
status = Canlib.canClose(handle);
CheckStatus(status, "canClose");
// Wait for the user to press a key before exiting, in case the
// console closes automatically on exit.
Console.WriteLine("Press any key to exit");
// The check method takes a canStatus (which is an enumerable) and the method
// name as a string argument. If the status is an error code, it will print it.
// Most Canlib method return a status, and checking it with a method like this
// is a useful practice to avoid code duplication.
private static void CheckStatus(Canlib.canStatus status, string method)
if (status < 0)
string errorText;
Canlib.canGetErrorText(status, out errorText);
Console.WriteLine(method + " failed: " + errorText);
- The canWriteWait method combines canWrite with canWriteSync. Try it out.
- Use some other program (such as Kvaser CanKing) to listen for messages on a
channel connected to the one used in the program. Make sure to use the same
- Change the fourth parameter in the call to canWrite to 4. What happens to
the message on the receiving side?
- Change the message identifier to something large, like 10000. What happens
on the receiving side? Then, change the fifth parameter to
Canlib.canMSG_EXT. What happens now?