A Python library for sending and receiving CAN messages via the PEAK PCan adapter.

Initial commit.

PCANBasic/PCANBasic.pas

@@ -0,0 +1,895 @@
+//  PCANBasic.pas
+//
+//  ~~~~~~~~~~~~
+//
+//  PCAN-Basic API
+//
+//  ~~~~~~~~~~~~
+//
+//  ------------------------------------------------------------------
+//  Author : Keneth Wagner
+//	Last change: 08.11.2011 Wagner
+//
+//  Language: Pascal OO
+//  ------------------------------------------------------------------
+//
+//  Copyright (C) 1999-2012  PEAK-System Technik GmbH, Darmstadt
+//  more Info at http://www.peak-system.com
+//
+unit PCANBasic;
+
+interface
+
+type
+    TPCANHandle = Byte;
+
+{$Z4}
+    /// <summary>
+    /// Represents a PCAN status/error code
+    /// </summary>
+    TPCANStatus = (
+        /// <summary>
+        /// No error
+        /// </summary>
+        PCAN_ERROR_OK           = $00000,
+        /// <summary>
+        /// Transmit buffer in CAN controller is full
+        /// </summary>
+        PCAN_ERROR_XMTFULL      = $00001,
+        /// <summary>
+        /// CAN controller was read too late
+        /// </summary>
+        PCAN_ERROR_OVERRUN      = $00002,
+        /// <summary>
+        /// Bus error: an error counter reached the 'light' limit
+        /// </summary>
+        PCAN_ERROR_BUSLIGHT     = $00004,
+        /// <summary>
+        /// Bus error: an error counter reached the 'heavy' limit
+        /// </summary>
+        PCAN_ERROR_BUSHEAVY     = $00008,
+        /// <summary>
+        /// Bus error: the CAN controller is in bus-off state
+        /// </summary>
+        PCAN_ERROR_BUSOFF       = $00010,
+        /// <summary>
+        /// Mask for all bus errors
+        /// </summary>
+        PCAN_ERROR_ANYBUSERR    = Byte(PCAN_ERROR_BUSLIGHT) Or Byte(PCAN_ERROR_BUSHEAVY) Or Byte(PCAN_ERROR_BUSOFF),
+        /// <summary>
+        /// Receive queue is empty
+        /// </summary>
+        PCAN_ERROR_QRCVEMPTY    = $00020,
+        /// <summary>
+        /// Receive queue was read too late
+        /// </summary>
+        PCAN_ERROR_QOVERRUN     = $00040,
+        /// <summary>
+        /// Transmit queue is full
+        /// </summary>
+        PCAN_ERROR_QXMTFULL     = $00080,
+        /// <summary>
+        /// Test of the CAN controller hardware registers failed (no hardware found)
+        /// </summary>
+        PCAN_ERROR_REGTEST      = $00100,
+        /// <summary>
+        /// Driver not loaded
+        /// </summary>
+        PCAN_ERROR_NODRIVER     = $00200,
+        /// <summary>
+        /// Hardware already in use by a Net
+        /// </summary>
+        PCAN_ERROR_HWINUSE      = $00400,
+        /// <summary>
+        /// A Client is already connected to the Net
+        /// </summary>
+        PCAN_ERROR_NETINUSE     = $00800,
+        /// <summary>
+        /// Hardware handle is invalid
+        /// </summary>
+        PCAN_ERROR_ILLHW        = $01400,
+        /// <summary>
+        /// Net handle is invalid
+        /// </summary>
+        PCAN_ERROR_ILLNET       = $01800,
+        /// <summary>
+        /// Client handle is invalid
+        /// </summary>
+        PCAN_ERROR_ILLCLIENT    = $01C00,
+        /// <summary>
+        /// Mask for all handle errors
+        /// </summary>
+        PCAN_ERROR_ILLHANDLE    = Byte(PCAN_ERROR_ILLHW) Or Byte(PCAN_ERROR_ILLNET) Or Byte(PCAN_ERROR_ILLCLIENT),        
+        /// <summary>
+        /// Resource (FIFO, Client, timeout) cannot be created
+        /// </summary>
+        PCAN_ERROR_RESOURCE     = $02000,
+        /// <summary>
+        /// Invalid parameter
+        /// </summary>
+        PCAN_ERROR_ILLPARAMTYPE = $04000,
+        /// <summary>
+        /// Invalid parameter value
+        /// </summary>
+        PCAN_ERROR_ILLPARAMVAL  = $08000,
+        /// <summary>
+        /// Unknow error
+        /// </summary>
+        PCAN_ERROR_UNKNOWN      = $10000,
+		/// <summary>
+        /// Invalid data, function, or action
+        /// </summary>
+        PCAN_ERROR_ILLDATA      = $20000,
+        /// <summary>
+        /// Channel is not initialized
+        /// </summary>
+        PCAN_ERROR_INITIALIZE   = $40000
+    );
+
+{$Z1}
+    /// <summary>
+    /// Represents a PCAN device
+    /// </summary>
+    TPCANDevice = (
+        /// <summary>
+        /// Undefined, unknown or not selected PCAN device value
+        /// </summary>
+        PCAN_NONE = 0,
+        /// <summary>
+        /// PCAN Non-Plug&Play devices. NOT USED WITHIN PCAN-Basic API
+        /// </summary>
+        PCAN_PEAKCAN = 1,
+        /// <summary>
+        /// PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
+        /// </summary>
+        PCAN_ISA = 2,
+        /// <summary>
+        /// PCAN-Dongle
+        /// </summary>
+        PCAN_DNG = 3,
+        /// <summary>
+        /// PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
+        /// </summary>
+        PCAN_PCI = 4,
+        /// <summary>
+        /// PCAN-USB and PCAN-USB Pro
+        /// </summary>
+        PCAN_USB = 5,
+        /// <summary>
+        /// PCAN-PC Card
+        /// </summary>
+        PCAN_PCC = 6
+    );
+
+    /// <summary>
+    /// Represents a PCAN parameter to be read or set
+    /// </summary>
+    TPCANParameter = (
+        /// <summary>
+        /// PCAN-USB device number parameter
+        /// </summary>
+        PCAN_DEVICE_NUMBER       = 1,
+        /// <summary>
+        /// PCAN-PC Card 5-Volt power parameter
+        /// </summary>
+        PCAN_5VOLTS_POWER        = 2,
+        /// <summary>
+        /// PCAN receive event handler parameter
+        /// </summary>
+        PCAN_RECEIVE_EVENT       = 3,
+        /// <summary>
+        /// PCAN message filter parameter
+        /// </summary>
+        PCAN_MESSAGE_FILTER      = 4,
+        /// <summary>
+        /// PCAN-Basic API version parameter
+        /// </summary>
+        PCAN_API_VERSION         = 5,
+        /// <summary>
+        /// PCAN device channel version parameter
+        /// </summary>
+        PCAN_CHANNEL_VERSION     = 6,
+        /// <summary>
+        /// PCAN Reset-On-Busoff parameter
+        /// </summary>
+        PCAN_BUSOFF_AUTORESET    = 7,
+        /// <summary>
+        /// PCAN Listen-Only parameter
+        /// </summary>
+        PCAN_LISTEN_ONLY         = 8,
+        /// <summary>
+        /// Directory path for trace files
+        /// </summary>
+        PCAN_LOG_LOCATION        = 9,
+        /// <summary>
+        /// Debug-Trace activation status
+        /// </summary>
+        PCAN_LOG_STATUS          = 10,
+        /// <summary>
+        /// Configuration of the debugged information (LOG_FUNCTION_***)
+        /// </summary>
+        PCAN_LOG_CONFIGURE       = 11,
+        /// <summary>
+        /// Custom insertion of text into the log file
+        /// </summary>
+        PCAN_LOG_TEXT            = 12,
+        /// <summary>
+        /// Availability status of a PCAN-Channel
+        /// </summary>
+        PCAN_CHANNEL_CONDITION   = 13,
+        /// <summary>
+        /// PCAN hardware name parameter
+        /// </summary>
+        PCAN_HARDWARE_NAME       = 14,
+        /// <summary>
+        /// Message reception status of a PCAN-Channel
+        /// </summary>        
+        PCAN_RECEIVE_STATUS      = 15,
+        /// <summary>
+        /// CAN-Controller number of a PCAN-Channel
+        /// </summary>
+        PCAN_CONTROLLER_NUMBER   = 16
+    );
+
+    /// <summary>
+    /// Represents the type of a PCAN message
+    /// </summary>
+    TPCANMessageType = (
+        /// <summary>
+        /// The PCAN message is a CAN Standard Frame (11-bit identifier)
+        /// </summary>
+        PCAN_MESSAGE_STANDARD  = $00,
+        /// <summary>
+        /// The PCAN message is a CAN Remote-Transfer-Request Frame
+        /// </summary>
+        PCAN_MESSAGE_RTR       = $01,
+        /// <summary>
+        /// The PCAN message is a CAN Extended Frame (29-bit identifier)
+        /// </summary>
+        PCAN_MESSAGE_EXTENDED  = $02,
+        /// <summary>
+        /// The PCAN message represents a PCAN status message
+        /// </summary>
+        PCAN_MESSAGE_STATUS    = $80
+    );
+
+    /// <summary>
+    /// Represents a PCAN filter mode
+    /// </summary>
+    TPCANMode = (
+        /// <summary>
+        /// Mode is Standard (11-bit identifier)
+        /// </summary>
+        PCAN_MODE_STANDARD = Byte(PCAN_MESSAGE_STANDARD),
+        /// <summary>
+        /// Mode is Extended (29-bit identifier)
+        /// </summary>
+        PCAN_MODE_EXTENDED = Byte(PCAN_MESSAGE_EXTENDED)
+    );
+
+{$Z2}
+    /// <summary>
+    /// Represents a PCAN Baud rate register value
+    /// </summary>
+    TPCANBaudrate = (
+        /// <summary>
+        /// 1 MBit/s
+        /// </summary>
+        PCAN_BAUD_1M      = $0014,
+        /// <summary>
+        /// 800 kBit/s
+        /// </summary>
+        PCAN_BAUD_800K      = $0016,
+        /// <summary>
+        /// 500 kBit/s
+        /// </summary>
+        PCAN_BAUD_500K    = $001C,
+        /// <summary>
+        /// 250 kBit/s
+        /// </summary>
+        PCAN_BAUD_250K    = $011C,
+        /// <summary>
+        /// 125 kBit/s
+        /// </summary>
+        PCAN_BAUD_125K    = $031C,
+        /// <summary>
+        /// 100 kBit/s
+        /// </summary>
+        PCAN_BAUD_100K    = $432F,
+        /// <summary>
+        /// 95,238 kBit/s
+        /// </summary>
+        PCAN_BAUD_95K      = $C34E,
+        /// <summary>
+        /// 83,333 kBit/s
+        /// </summary>
+        PCAN_BAUD_83K      = $4B14,
+        /// <summary>
+        /// 50 kBit/s
+        /// </summary>
+        PCAN_BAUD_50K     = $472F,
+        /// <summary>
+        /// 47,619 kBit/s
+        /// </summary>
+        PCAN_BAUD_47K      = $1414,
+        /// <summary>
+        /// 33,333 kBit/s
+        /// </summary>
+        PCAN_BAUD_33K      = $1D14,
+        /// <summary>
+        /// 20 kBit/s
+        /// </summary>
+        PCAN_BAUD_20K     = $532F,
+        /// <summary>
+        /// 10 kBit/s
+        /// </summary>
+        PCAN_BAUD_10K     = $672F,
+        /// <summary>
+        /// 5 kBit/s
+        /// </summary>
+        PCAN_BAUD_5K      = $7F7F
+    );
+
+{$Z1}
+    /// <summary>
+    /// Represents the type of PCAN (non plug&play) hardware to be initialized
+    /// </summary>
+    TPCANType = (
+        /// <summary>
+        /// PCAN-ISA 82C200
+        /// </summary>
+        PCAN_TYPE_ISA           = $01,
+        /// <summary>
+        /// PCAN-ISA SJA1000
+        /// </summary>
+        PCAN_TYPE_ISA_SJA       = $09,
+        /// <summary>
+        /// PHYTEC ISA
+        /// </summary>
+        PCAN_TYPE_ISA_PHYTEC    = $04,
+        /// <summary>
+        /// PCAN-Dongle 82C200
+        /// </summary>
+        PCAN_TYPE_DNG           = $02,
+        /// <summary>
+        /// PCAN-Dongle EPP 82C200
+        /// </summary>
+        PCAN_TYPE_DNG_EPP       = $03,
+        /// <summary>
+        /// PCAN-Dongle SJA1000
+        /// </summary>
+        PCAN_TYPE_DNG_SJA       = $05,
+        /// <summary>
+        /// PCAN-Dongle EPP SJA1000
+        /// </summary>
+        PCAN_TYPE_DNG_SJA_EPP   = $06
+    );
+
+    /// <summary>
+    /// Represents a PCAN message
+    /// </summary>
+    TPCANMsg = record
+        /// <summary>
+        /// 11/29-bit message identifier
+        /// </summary>
+        ID: Longword;
+        /// <summary>
+        /// Type of the message
+        /// </summary>
+        MSGTYPE: TPCANMessageType;
+        /// <summary>
+        /// Data Length Code of the message (0..8)
+        /// </summary>
+        LEN: Byte;
+        /// <summary>
+        /// Data of the message (DATA[0]..DATA[7])
+        /// </summary>
+        DATA: array[0..7] of Byte;
+    end;
+
+    /// <summary>
+    /// Represents a timestamp of a received PCAN message.
+    /// Total Microseconds = micros + 1000 * millis + 0xFFFFFFFF * 1000 * millis_overflow
+    /// </summary>
+    TPCANTimestamp = record
+        /// <summary>
+        /// Base-value: milliseconds: 0.. 2^32-1
+        /// </summary>
+        millis: Longword;
+        /// <summary>
+        /// Roll-arounds of millis
+        /// </summary>
+        millis_overflow: Word;
+        /// <summary>
+        /// Microseconds: 0..999
+        /// </summary>
+        micros: Word;
+    end;
+    PTPCANTimestamp = ^TPCANTimestamp;
+
+    /// <summary>
+    /// PCAN-Basic API class implementation
+    /// </summary>
+    TPCANBasic = class
+    public
+        class var
+            /// <summary>
+            /// Undefined/default value for a PCAN bus
+            /// </summary>
+            const PCAN_NONEBUS: TPCANHandle = $00;
+
+            /// <summary>
+            /// PCAN-ISA interface, channel 1
+            /// </summary>
+            const PCAN_ISABUS1: TPCANHandle = $21;
+            /// <summary>
+            /// PCAN-ISA interface, channel 2
+            /// </summary>
+            const PCAN_ISABUS2: TPCANHandle = $22;
+            /// <summary>
+            /// PCAN-ISA interface, channel 3
+            /// </summary>
+            const PCAN_ISABUS3: TPCANHandle = $23;
+            /// <summary>
+            /// PCAN-ISA interface, channel 4
+            /// </summary>
+            const PCAN_ISABUS4: TPCANHandle = $24;
+            /// <summary>
+            /// PCAN-ISA interface, channel 5
+            /// </summary>
+            const PCAN_ISABUS5: TPCANHandle = $25;
+            /// <summary>
+            /// PCAN-ISA interface, channel 6
+            /// </summary>
+            const PCAN_ISABUS6: TPCANHandle = $26;
+            /// <summary>
+            /// PCAN-ISA interface, channel 7
+            /// </summary>
+            const PCAN_ISABUS7: TPCANHandle = $27;
+            /// <summary>
+            /// PCAN-ISA interface, channel 8
+            /// </summary>
+            const PCAN_ISABUS8: TPCANHandle = $28;
+
+            /// <summary>
+            /// PPCAN-Dongle/LPT interface, channel 1
+            /// </summary>
+            const PCAN_DNGBUS1: TPCANHandle = $31;
+
+            /// <summary>
+            /// PCAN-PCI interface, channel 1
+            /// </summary>
+            const PCAN_PCIBUS1: TPCANHandle = $41;
+            /// <summary>
+            /// PCAN-PCI interface, channel 2
+            /// </summary>
+            const PCAN_PCIBUS2: TPCANHandle = $42;
+            /// <summary>
+            /// PCAN-PCI interface, channel 3
+            /// </summary>
+            const PCAN_PCIBUS3: TPCANHandle = $43;
+            /// <summary>
+            /// PCAN-PCI interface, channel 4
+            /// </summary>
+            const PCAN_PCIBUS4: TPCANHandle = $44;
+            /// <summary>
+            /// PCAN-PCI interface, channel 5
+            /// </summary>
+            const PCAN_PCIBUS5: TPCANHandle = $45;
+            /// <summary>
+            /// PCAN-PCI interface, channel 6
+            /// </summary>
+            const PCAN_PCIBUS6: TPCANHandle = $46;
+            /// <summary>
+            /// PCAN-PCI interface, channel 7
+            /// </summary>
+            const PCAN_PCIBUS7: TPCANHandle = $47;
+            /// <summary>
+            /// PCAN-PCI interface, channel 8
+            /// </summary>
+            const PCAN_PCIBUS8: TPCANHandle = $48;
+
+            /// <summary>
+            /// PCAN-USB interface, channel 1
+            /// </summary>
+            const PCAN_USBBUS1: TPCANHandle = $51;
+            /// <summary>
+            /// PCAN-USB interface, channel 2
+            /// </summary>
+            const PCAN_USBBUS2: TPCANHandle = $52;
+            /// <summary>
+            /// PCAN-USB interface, channel 3
+            /// </summary>
+            const PCAN_USBBUS3: TPCANHandle = $53;
+            /// <summary>
+            /// PCAN-USB interface, channel 4
+            /// </summary>
+            const PCAN_USBBUS4: TPCANHandle = $54;
+            /// <summary>
+            /// PCAN-USB interface, channel 5
+            /// </summary>
+            const PCAN_USBBUS5: TPCANHandle = $55;
+            /// <summary>
+            /// PCAN-USB interface, channel 6
+            /// </summary>
+            const PCAN_USBBUS6: TPCANHandle = $56;
+            /// <summary>
+            /// PCAN-USB interface, channel 7
+            /// </summary>
+            const PCAN_USBBUS7: TPCANHandle = $57;
+            /// <summary>
+            /// PCAN-USB interface, channel 8
+            /// </summary>
+            const PCAN_USBBUS8: TPCANHandle = $58;
+
+            /// <summary>
+            /// PCAN-PC Card interface, channel 1
+            /// </summary>
+            const PCAN_PCCBUS1: TPCANHandle = $61;
+            /// <summary>
+            /// PCAN-PC Card interface, channel 2
+            /// </summary>
+            const PCAN_PCCBUS2: TPCANHandle = $62;
+
+            /// <summary>
+            /// The PCAN parameter is not set (inactive)
+            /// </summary>
+            const PCAN_PARAMETER_OFF: Integer = 0;
+            /// <summary>
+            /// The PCAN parameter is set (active)
+            /// </summary>
+            const PCAN_PARAMETER_ON: Integer  = 1;
+            /// <summary>
+            /// The PCAN filter is closed. No messages will be received
+            /// </summary>
+            const PCAN_FILTER_CLOSE: Integer = 0;
+            /// <summary>
+            /// The PCAN filter is fully opened. All messages will be received
+            /// </summary>
+            const PCAN_FILTER_OPEN: Integer = 1;
+            /// <summary>
+            /// The PCAN filter is custom configured. Only registered
+            /// messages will be received
+            /// </summary>
+            const PCAN_FILTER_CUSTOM: Integer = 2;
+            /// <summary>
+            /// The PCAN-Channel handle is illegal, or its associated hadware is not available
+            /// </summary>
+            const PCAN_CHANNEL_UNAVAILABLE: Integer = 0;
+            /// <summary>
+            /// The PCAN-Channel handle is available to be connected (Plug&Play Hardware: it means futhermore that the hardware is plugged-in)
+            /// </summary>
+            const PCAN_CHANNEL_AVAILABLE: Integer = 1;
+            /// <summary>
+            /// The PCAN-Channel handle is valid, and is already being used
+            /// </summary>
+            const PCAN_CHANNEL_OCCUPIED: Integer = 2;
+
+            /// <summary>
+            /// Logs system exceptions / errors
+            /// </summary>
+            const LOG_FUNCTION_DEFAULT: Integer = $00;
+            /// <summary>
+            /// Logs the entries to the PCAN-Basic API functions
+            /// </summary>
+            const LOG_FUNCTION_ENTRY: Integer = $01;
+            /// <summary>
+            /// Logs the parameters passed to the PCAN-Basic API functions
+            /// </summary>
+            const LOG_FUNCTION_PARAMETERS: Integer = $02;
+            /// <summary>
+            /// Logs the exits from the PCAN-Basic API functions
+            /// </summary>
+            const LOG_FUNCTION_LEAVE: Integer = $04;
+            /// <summary>
+            /// Logs the CAN messages passed to the CAN_Write function
+            /// </summary>
+            const LOG_FUNCTION_WRITE: Integer = $08;
+            /// <summary>
+            /// Logs the CAN messages received within the CAN_Read function
+            /// </summary>
+            const LOG_FUNCTION_READ: Integer = $10;
+            /// <summary>
+            /// Logs all possible information within the PCAN-Basic API functions
+            /// </summary>            
+            const LOG_FUNCTION_ALL: Integer = $FFFF;
+
+        /// <summary>
+        /// Initializes a PCAN Channel 
+        /// </summary>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Btr0Btr1">The speed for the communication (BTR0BTR1 code)</param>
+        /// <param name="HwType">NON PLUG&PLAY: The type of hardware and operation mode</param>
+        /// <param name="IOPort">NON PLUG&PLAY: The I/O address for the parallel port</param>
+        /// <param name="Interrupt">NON PLUG&PLAY: Interrupt number of the parallel port</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function Initialize(
+            Channel: TPCANHandle; 
+            Btr0Btr1: TPCANBaudrate; 
+            HwType: TPCANType; 
+            IOPort: LongWord;
+            Interrupt: Word
+            ): TPCANStatus; overload;
+
+        /// <summary>
+        /// Initializes a PCAN Channel
+        /// </summary>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Btr0Btr1">The speed for the communication (BTR0BTR1 code)</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function Initialize(
+            Channel: TPCANHandle; 
+            Btr0Btr1: TPCANBaudrate
+            ): TPCANStatus; overload;
+
+        /// <summary>
+        /// Uninitializes one or all PCAN Channels initialized by CAN_Initialize
+        /// </summary>
+        /// <remarks>Giving the TPCANHandle value "PCAN_NONEBUS", 
+        /// uninitialize all initialized channels</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function Uninitialize(
+            Channel: TPCANHandle
+            ): TPCANStatus;
+
+        /// <summary>
+        /// Resets the receive and transmit queues of the PCAN Channel
+        /// </summary>
+        /// <remarks>A reset of the CAN controller is not performed</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function Reset(
+            Channel: TPCANHandle
+            ): TPCANStatus;
+
+        /// <summary>
+        /// Gets the current status of a PCAN Channel
+        /// </summary>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function GetStatus(
+            Channel: TPCANHandle
+            ): TPCANStatus;
+
+        /// <summary>
+        /// Reads a CAN message from the receive queue of a PCAN Channel
+        /// </summary>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="MessageBuffer">A TPCANMsg structure buffer to store the CAN message</param>
+        /// <param name="TimestampBuffer">A TPCANTimestamp structure buffer to get
+        /// the reception time of the message</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function Read(
+            Channel: TPCANHandle; 
+            var MessageBuffer: TPCANMsg; 
+            var TimestampBuffer: TPCANTimestamp
+            ):TPCANStatus; overload;
+
+        /// <summary>
+        /// Reads a CAN message from the receive queue of a PCAN Channel
+        /// </summary>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="MessageBuffer">A TPCANMsg structure buffer to store the CAN message</param>        
+        /// <returns>A TPCANStatus error code</returns>
+        class function Read(
+            Channel: TPCANHandle; 
+            var MessageBuffer: TPCANMsg
+            ): TPCANStatus; overload;
+
+        /// <summary>
+        ///  Transmits a CAN message 
+        /// </summary>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="MessageBuffer">A TPCANMsg buffer with the message to be sent</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function Write(
+            Channel: TPCANHandle; 
+            var MessageBuffer: TPCANMsg
+            ): TPCANStatus;
+
+        /// <summary>
+        /// Configures the reception filter
+        /// </summary>
+        /// <remarks>The message filter will be expanded with every call to
+        /// this function. If it is desired to reset the filter, please use
+        /// the 'SetValue' function</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="FromID">The lowest CAN ID to be received</param>
+        /// <param name="ToID">The highest CAN ID to be received</param>
+        /// <param name="Mode">Message type, Standard (11-bit identifier) or
+        /// Extended (29-bit identifier)</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function FilterMessages(
+            Channel: TPCANHandle; 
+            FromID: LongWord; 
+            ToID: LongWord; 
+            Mode: TPCANMode
+            ): TPCANStatus;
+
+        /// <summary>
+        /// Retrieves a PCAN Channel value
+        /// </summary>
+        /// <remarks>Parameters can be present or not according with the kind
+        /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+        /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Parameter">The TPCANParameter parameter to get</param>
+        /// <param name="NumericBuffer">Buffer for the parameter value</param>
+        /// <param name="BufferLength">Size in bytes of the buffer</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function GetValue(
+            Channel: TPCANHandle;
+            Parameter: TPCANParameter;
+            NumericBuffer: PLongWord;
+            BufferLength: LongWord
+            ): TPCANStatus; overload;
+
+
+        /// <summary>
+        /// Retrieves a PCAN Channel value
+        /// </summary>
+        /// <remarks>Parameters can be present or not according with the kind
+        /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+        /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Parameter">The TPCANParameter parameter to get</param>
+        /// <param name="StringBuffer">Buffer for the parameter value</param>
+        /// <param name="BufferLength">Size in bytes of the buffer</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function GetValue(
+            Channel: TPCANHandle;
+            Parameter: TPCANParameter;
+            StringBuffer: PAnsiChar;
+            BufferLength: LongWord
+            ): TPCANStatus; overload;
+
+        /// <summary>
+        /// Configures or sets a PCAN Channel value
+        /// </summary>
+        /// <remarks>Parameters can be present or not according with the kind
+        /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+        /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Parameter">The TPCANParameter parameter to set</param>
+        /// <param name="NumericBuffer">Buffer with the value to be set</param>
+        /// <param name="BufferLength">Size in bytes of the buffer</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function SetValue(
+            Channel: TPCANHandle;
+            Parameter: TPCANParameter;
+            NumericBuffer: PLongWord;
+            BufferLength: LongWord
+            ): TPCANStatus; overload;
+
+        /// <summary>
+        /// Configures or sets a PCAN Channel value
+        /// </summary>
+        /// <remarks>Parameters can be present or not according with the kind
+        /// of Hardware (PCAN Channel) being used. If a parameter is not available,
+        /// a PCAN_ERROR_ILLPARAMTYPE error will be returned</remarks>
+        /// <param name="Channel">The handle of a PCAN Channel</param>
+        /// <param name="Parameter">The TPCANParameter parameter to set</param>
+        /// <param name="StringBuffer">Buffer with the value to be set</param>
+        /// <param name="BufferLength">Size in bytes of the buffer</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function SetValue(
+            Channel: TPCANHandle;
+            Parameter: TPCANParameter;
+            StringBuffer: PAnsiChar;
+            BufferLength: LongWord
+            ): TPCANStatus; overload;
+
+        /// <summary>
+        /// Returns a descriptive text of a given TPCANStatus error
+        /// code, in any desired language
+        /// </summary>
+        /// <remarks>The current languages available for translation are:
+        /// Neutral (0x00), German (0x07), English (0x09), Spanish (0x0A),
+        /// Italian (0x10) and French (0x0C)</remarks>
+        /// <param name="Error">A TPCANStatus error code</param>
+        /// <param name="Language">Indicates a 'Primary language ID'</param>
+        /// <param name="StringBuffer">Buffer for the text (must be at least 256 in length)</param>
+        /// <returns>A TPCANStatus error code</returns>
+        class function GetErrorText(
+            Error: TPCANStatus; 
+            Language: Word; 
+            StringBuffer: PAnsiChar
+            ): TPCANStatus;
+    end;
+
+implementation
+uses SysUtils;
+const DLL_Name = 'PCANBASIC.DLL';
+
+function CAN_Initialize(Channel: TPCANHandle; Btr0Btr1: TPCANBaudrate; HwType: TPCANType; IOPort: LongWord; Interrupt: Word): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_Uninitialize(Channel: TPCANHandle): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_Reset(Channel: TPCANHandle): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_GetStatus(Channel: TPCANHandle): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_Read(Channel: TPCANHandle; var MessageBuffer: TPCANMsg; TimestampBuffer: PTPCANTimestamp):TPCANStatus; overload; stdcall;
+external DLL_Name;
+function CAN_Write(Channel: TPCANHandle; var MessageBuffer: TPCANMsg): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_FilterMessages(Channel: TPCANHandle; FromID: LongWord; ToID: LongWord; Mode: TPCANMode): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_GetValue(Channel: TPCANHandle; Parameter: TPCANParameter; Buffer: Pointer; BufferLength: LongWord): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_SetValue(Channel: TPCANHandle; Parameter: TPCANParameter; Buffer: Pointer; BufferLength: LongWord): TPCANStatus; stdcall;
+external DLL_Name;
+function CAN_GetErrorText(Error: TPCANStatus; Language: Word; StringBuffer: PAnsiChar): TPCANStatus; stdcall;
+external DLL_Name;
+
+class function TPCANBasic.Initialize(Channel: TPCANHandle; Btr0Btr1: TPCANBaudrate; HwType: TPCANType; IOPort: LongWord; Interrupt: Word): TPCANStatus;
+begin
+    Result:= CAN_Initialize(Channel,Btr0Btr1,HwType,IOPort,Interrupt);
+end;
+
+class function TPCANBasic.Initialize(Channel: TPCANHandle; Btr0Btr1: TPCANBaudrate): TPCANStatus;
+begin
+    Result:= CAN_Initialize(Channel,Btr0Btr1,TPCANType(0), 0,0);
+end;
+
+class function TPCANBasic.Uninitialize(Channel: TPCANHandle): TPCANStatus;
+begin
+    Result:= CAN_Uninitialize(Channel);
+end;
+
+class function TPCANBasic.Reset(Channel: TPCANHandle): TPCANStatus;
+begin
+    Result:= CAN_Reset(Channel);
+end;
+
+class function TPCANBasic.GetStatus(Channel: TPCANHandle): TPCANStatus;
+begin
+    Result:= CAN_GetStatus(Channel);
+end;
+
+class function TPCANBasic.Read(Channel: TPCANHandle; var MessageBuffer: TPCANMsg; var TimestampBuffer: TPCANTimestamp):TPCANStatus;
+begin
+    Result:= CAN_Read(Channel, MessageBuffer, @TimestampBuffer);
+end;
+
+class function TPCANBasic.Read(Channel: TPCANHandle; var MessageBuffer: TPCANMsg):TPCANStatus;
+begin
+    Result:= CAN_Read(Channel, MessageBuffer, nil);
+end;
+
+class function TPCANBasic.Write(Channel: TPCANHandle; var MessageBuffer: TPCANMsg): TPCANStatus;
+begin
+    Result:= CAN_Write(Channel, MessageBuffer);
+end;
+
+class function TPCANBasic.FilterMessages(Channel: TPCANHandle; FromID: LongWord; ToID: LongWord; Mode: TPCANMode): TPCANStatus;
+begin
+    Result:= CAN_FilterMessages(Channel, FromID,ToID,Mode);
+end;
+
+class function TPCANBasic.GetValue(Channel: TPCANHandle; Parameter: TPCANParameter; NumericBuffer: PLongWord; BufferLength: LongWord): TPCANStatus;
+begin
+    Result:= CAN_GetValue(Channel, Parameter, NumericBuffer, BufferLength);
+end;
+
+class function TPCANBasic.GetValue(Channel: TPCANHandle; Parameter: TPCANParameter; StringBuffer: PAnsiChar; BufferLength: LongWord): TPCANStatus;
+begin
+    Result:= CAN_GetValue(Channel, Parameter, StringBuffer, BufferLength);
+end;
+
+class function TPCANBasic.SetValue(Channel: TPCANHandle; Parameter: TPCANParameter; NumericBuffer: PLongWord; BufferLength: LongWord): TPCANStatus;
+begin
+    Result:= CAN_SetValue(Channel, Parameter, NumericBuffer, BufferLength);
+end;
+
+class function TPCANBasic.SetValue(Channel: TPCANHandle; Parameter: TPCANParameter; StringBuffer: PAnsiChar; BufferLength: LongWord): TPCANStatus;
+begin
+    Result:= CAN_SetValue(Channel, Parameter, StringBuffer, BufferLength);
+end;
+
+class function TPCANBasic.GetErrorText(Error: TPCANStatus; Language: Word; StringBuffer: PAnsiChar): TPCANStatus;
+begin
+    Result:= CAN_GetErrorText(Error, Language, StringBuffer);
+end;
+end.