Autopilot/SIASUN.Autopilot.Device/CANbus/PCANBasic.cs

//  PCANBasic.cs
//
//  ~~~~~~~~~~~~
//
//  PCAN-Basic API
//
//  ~~~~~~~~~~~~
//
//  ------------------------------------------------------------------
//  Author : Keneth Wagner
//	Last change: 28.10.2019 Wagner
//
//  Language: C# 1.0
//  ------------------------------------------------------------------
//
//  Copyright (C) 1999-2019  PEAK-System Technik GmbH, Darmstadt
//  more Info at http://www.peak-system.com 
//
using System;
using System.Text;
using System.Runtime.InteropServices;

namespace SIASUN.Autopilot.Device
{    
    using TPCANHandle = System.UInt16;    
    using TPCANBitrateFD = System.String;
	using TPCANTimestampFD = System.UInt64;
	
    #region Enumerations
    /// <summary>
    /// Represents a PCAN status/error code
    /// </summary>
    [Flags]
    public enum TPCANStatus : uint
    {
        /// <summary>
        /// No error
        /// </summary>
        PCAN_ERROR_OK           = 0x00000,
        /// <summary>
        /// Transmit buffer in CAN controller is full
        /// </summary>
        PCAN_ERROR_XMTFULL      = 0x00001,
        /// <summary>
        /// CAN controller was read too late        
        /// </summary>
        PCAN_ERROR_OVERRUN      = 0x00002,  
        /// <summary>
        /// Bus error: an error counter reached the 'light' limit
        /// </summary>
        PCAN_ERROR_BUSLIGHT     = 0x00004,  
        /// <summary>
        /// Bus error: an error counter reached the 'heavy' limit
        /// </summary>
        PCAN_ERROR_BUSHEAVY     = 0x00008,  
        /// <summary>
        /// Bus error: an error counter reached the 'warning' limit
        /// </summary>
        PCAN_ERROR_BUSWARNING   = PCAN_ERROR_BUSHEAVY,
        /// <summary>
        /// Bus error: the CAN controller is error passive
        /// </summary>
        PCAN_ERROR_BUSPASSIVE   = 0x40000,		
        /// <summary>
        /// Bus error: the CAN controller is in bus-off state
        /// </summary>
        PCAN_ERROR_BUSOFF       = 0x00010,  
        /// <summary>
        /// Mask for all bus errors
        /// </summary>
        PCAN_ERROR_ANYBUSERR = (PCAN_ERROR_BUSWARNING | PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF | PCAN_ERROR_BUSPASSIVE),
        /// <summary>
        /// Receive queue is empty
        /// </summary>
        PCAN_ERROR_QRCVEMPTY    = 0x00020,  
        /// <summary>
        /// Receive queue was read too late
        /// </summary>
        PCAN_ERROR_QOVERRUN     = 0x00040,  
        /// <summary>
        /// Transmit queue is full
        /// </summary>
        PCAN_ERROR_QXMTFULL     = 0x00080,  
        /// <summary>
        /// Test of the CAN controller hardware registers failed (no hardware found)
        /// </summary>
        PCAN_ERROR_REGTEST      = 0x00100,
        /// <summary>
        /// Driver not loaded
        /// </summary>
        PCAN_ERROR_NODRIVER     = 0x00200,
        /// <summary>
        /// Hardware already in use by a Net
        /// </summary>
        PCAN_ERROR_HWINUSE      = 0x00400,
        /// <summary>
        /// A Client is already connected to the Net
        /// </summary>
        PCAN_ERROR_NETINUSE     = 0x00800,
        /// <summary>
        /// Hardware handle is invalid
        /// </summary>
        PCAN_ERROR_ILLHW        = 0x01400,
        /// <summary>
        /// Net handle is invalid
        /// </summary>
        PCAN_ERROR_ILLNET       = 0x01800,
        /// <summary>
        /// Client handle is invalid
        /// </summary>
        PCAN_ERROR_ILLCLIENT    = 0x01C00,
        /// <summary>
        /// Mask for all handle errors
        /// </summary>
        PCAN_ERROR_ILLHANDLE    = (PCAN_ERROR_ILLHW | PCAN_ERROR_ILLNET | PCAN_ERROR_ILLCLIENT),
        /// <summary>
        /// Resource (FIFO, Client, timeout) cannot be created
        /// </summary>
        PCAN_ERROR_RESOURCE     = 0x02000,
        /// <summary>
        /// Invalid parameter
        /// </summary>
        PCAN_ERROR_ILLPARAMTYPE = 0x04000,
        /// <summary>
        /// Invalid parameter value
        /// </summary>
        PCAN_ERROR_ILLPARAMVAL  = 0x08000,
        /// <summary>
        /// Unknown error
        /// </summary>
        PCAN_ERROR_UNKNOWN      = 0x10000,
        /// <summary>
        /// Invalid data, function, or action.
        /// </summary>
        PCAN_ERROR_ILLDATA      = 0x20000,
        /// <summary>
        /// Driver object state is wrong for the attempted operation
        /// </summary>
        PCAN_ERROR_ILLMODE = 0x80000,
        /// <summary>
        /// An operation was successfully carried out, however, irregularities were registered
        /// </summary>
        PCAN_ERROR_CAUTION = 0x2000000,
        /// <summary>
        /// Channel is not initialized
        /// <remarks>Value was changed from 0x40000 to 0x4000000</remarks>
        /// </summary>
        PCAN_ERROR_INITIALIZE = 0x4000000,
        /// <summary>
        /// Invalid operation
        /// <remarks>Value was changed from 0x80000 to 0x8000000</remarks>
        /// </summary>
        PCAN_ERROR_ILLOPERATION = 0x8000000,
    }

    /// <summary>
    /// Represents a PCAN device
    /// </summary>
    public enum TPCANDevice : byte
    {
        /// <summary>
        /// Undefined, unknown or not selected PCAN device value
        /// </summary>
        PCAN_NONE = 0,
        /// <summary>
        /// PCAN Non-PnP 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>
        /// PCAN Virtual hardware. NOT USED WITHIN PCAN-Basic API
        /// </summary>
        PCAN_VIRTUAL = 7,
        /// <summary>
        /// PCAN Gateway devices
        /// </summary>
        PCAN_LAN = 8
    }

    /// <summary>
    /// Represents a PCAN parameter to be read or set
    /// </summary>
    public enum TPCANParameter : byte
    {
        /// <summary>
        /// Device identifier parameter
        /// </summary>
        PCAN_DEVICE_ID           = 1,
        /// <summary>
        /// DEPRECATED parameter. Use PCAN_DEVICE_ID instead
        /// </summary>
        [Obsolete]
        PCAN_DEVICE_NUMBER = PCAN_DEVICE_ID,
        /// <summary>
        /// 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 log files
        /// </summary>
        PCAN_LOG_LOCATION        = 9,
        /// <summary>
        /// Debug-Log 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>
        /// Directory path for PCAN trace files
        /// </summary>
        PCAN_TRACE_LOCATION      = 17,
        /// <summary>
        /// CAN tracing activation status
        /// </summary>
        PCAN_TRACE_STATUS        = 18,
        /// <summary>
        /// Configuration of the maximum file size of a CAN trace
        /// </summary>
        PCAN_TRACE_SIZE          = 19,
        /// <summary>
        /// Configuration of the trace file storing mode (TRACE_FILE_***)
        /// </summary>
        PCAN_TRACE_CONFIGURE     = 20,
        /// <summary>
        /// Physical identification of a USB based PCAN-Channel by blinking its associated LED
        /// </summary>
        PCAN_CHANNEL_IDENTIFYING = 21,
        /// <summary>
        /// Capabilities of a PCAN device (FEATURE_***)
        /// </summary>
        PCAN_CHANNEL_FEATURES    = 22,
        /// <summary>
        /// Using of an existing bit rate (PCAN-View connected to a channel)
        /// </summary>
        PCAN_BITRATE_ADAPTING    = 23,
        /// <summary>
        /// Configured bit rate as Btr0Btr1 value
        /// </summary>
        PCAN_BITRATE_INFO        = 24,
        /// <summary>
        /// Configured bit rate as TPCANBitrateFD string
        /// </summary>
        PCAN_BITRATE_INFO_FD     = 25,
        /// <summary>
        /// Configured nominal CAN Bus speed as Bits per seconds
        /// </summary>
        PCAN_BUSSPEED_NOMINAL    = 26,  
        /// <summary>
        /// Configured CAN data speed as Bits per seconds
        /// </summary>
        PCAN_BUSSPEED_DATA       = 27,
        /// <summary>
        /// Remote address of a LAN channel as string in IPv4 format
        /// </summary>
        PCAN_IP_ADDRESS          = 28,
        /// <summary>
        /// Status of the Virtual PCAN-Gateway Service 
        /// </summary>
        PCAN_LAN_SERVICE_STATUS  = 29,
        /// <summary>
        /// Status messages reception status within a PCAN-Channel
        /// </summary>
        PCAN_ALLOW_STATUS_FRAMES = 30,
        /// <summary>
        /// RTR messages reception status within a PCAN-Channel
        /// </summary>
        PCAN_ALLOW_RTR_FRAMES = 31,
        /// <summary>
        /// Error messages reception status within a PCAN-Channel
        /// </summary>
        PCAN_ALLOW_ERROR_FRAMES = 32,
        /// <summary>
        /// Delay, in microseconds, between sending frames
        /// </summary>
        PCAN_INTERFRAME_DELAY = 33,
        /// <summary>
        /// Filter over code and mask patterns for 11-Bit messages
        /// </summary>
        PCAN_ACCEPTANCE_FILTER_11BIT = 34,
        /// <summary>
        /// Filter over code and mask patterns for 29-Bit messages
        /// </summary>
        PCAN_ACCEPTANCE_FILTER_29BIT = 35,
        /// <summary>
        /// Output mode of 32 digital I/O pin of a PCAN-USB Chip. 1: Output-Active 0 : Output Inactive
        /// </summary>
        PCAN_IO_DIGITAL_CONFIGURATION = 36,
        /// <summary>
        /// Value assigned to a 32 digital I/O pins of a PCAN-USB Chip
        /// </summary>
        PCAN_IO_DIGITAL_VALUE = 37,
        /// <summary>
        /// Value assigned to a 32 digital I/O pins of a PCAN-USB Chip - Multiple digital I/O pins to 1 = High
        /// </summary>
        PCAN_IO_DIGITAL_SET = 38,
        /// <summary>
        /// Clear multiple digital I/O pins to 0
        /// </summary>
        PCAN_IO_DIGITAL_CLEAR = 39,
        /// <summary>
        /// Get value of a single analog input pin
        /// </summary>
        PCAN_IO_ANALOG_VALUE = 40,
        /// <summary>
        /// Get the version of the firmware used by the device associated with a PCAN-Channel
        /// </summary>
        PCAN_FIRMWARE_VERSION = 41,
        /// <summary>
        /// Get the amount of PCAN channels attached to a system
        /// </summary>
        PCAN_ATTACHED_CHANNELS_COUNT = 42,
        /// <summary>
        /// Get information about PCAN channels attached to a system
        /// </summary>
        PCAN_ATTACHED_CHANNELS = 43,
    }

    /// <summary>
    /// Represents the type of a PCAN message
    /// </summary>
    [Flags]
    public enum TPCANMessageType : byte
    {
        /// <summary>
        /// The PCAN message is a CAN Standard Frame (11-bit identifier)
        /// </summary>
        PCAN_MESSAGE_STANDARD  = 0x00,
        /// <summary>
        /// The PCAN message is a CAN Remote-Transfer-Request Frame
        /// </summary>
        PCAN_MESSAGE_RTR       = 0x01,
        /// <summary>
        /// The PCAN message is a CAN Extended Frame (29-bit identifier)
        /// </summary>
        PCAN_MESSAGE_EXTENDED  = 0x02,
        /// <summary>
        /// The PCAN message represents a FD frame in terms of CiA Specs
        /// </summary>
        PCAN_MESSAGE_FD = 0x04,
        /// <summary>
        /// The PCAN message represents a FD bit rate switch (CAN data at a higher bit rate)
        /// </summary>
        PCAN_MESSAGE_BRS = 0x08,
        /// <summary>
        /// The PCAN message represents a FD error state indicator(CAN FD transmitter was error active)
        /// </summary>
        PCAN_MESSAGE_ESI = 0x10,
        /// <summary>
        /// The PCAN message represents an error frame
        /// </summary>
        PCAN_MESSAGE_ERRFRAME = 0x40,
        /// <summary>
        /// The PCAN message represents a PCAN status message
        /// </summary>
        PCAN_MESSAGE_STATUS    = 0x80,
    }

    /// <summary>
    /// Represents a PCAN filter mode
    /// </summary>
    public enum TPCANMode : byte
    {
        /// <summary>
        /// Mode is Standard (11-bit identifier)
        /// </summary>
        PCAN_MODE_STANDARD = TPCANMessageType.PCAN_MESSAGE_STANDARD,
        /// <summary>
        /// Mode is Extended (29-bit identifier)
        /// </summary>
        PCAN_MODE_EXTENDED = TPCANMessageType.PCAN_MESSAGE_EXTENDED,
    }

    /// <summary>
    /// Represents a PCAN Baud rate register value
    /// </summary>
    public enum TPCANBaudrate : ushort
    {
        /// <summary>
        /// 1 MBit/s
        /// </summary>
        PCAN_BAUD_1M      = 0x0014,
        /// <summary>
        /// 800 KBit/s
        /// </summary>
        PCAN_BAUD_800K    = 0x0016,
        /// <summary>
        /// 500 kBit/s
        /// </summary>
        PCAN_BAUD_500K    = 0x001C,
        /// <summary>
        /// 250 kBit/s
        /// </summary>
        PCAN_BAUD_250K    = 0x011C,
        /// <summary>
        /// 125 kBit/s
        /// </summary>
        PCAN_BAUD_125K    = 0x031C,
        /// <summary>
        /// 100 kBit/s
        /// </summary>
        PCAN_BAUD_100K    = 0x432F,
        /// <summary>
        /// 95,238 KBit/s
        /// </summary>
        PCAN_BAUD_95K     = 0xC34E,
        /// <summary>
        /// 83,333 KBit/s
        /// </summary>
        PCAN_BAUD_83K     = 0x852B,
        /// <summary>
        /// 50 kBit/s
        /// </summary>
        PCAN_BAUD_50K     = 0x472F,
        /// <summary>
        /// 47,619 KBit/s
        /// </summary>
        PCAN_BAUD_47K     = 0x1414,
        /// <summary>
        /// 33,333 KBit/s
        /// </summary>
        PCAN_BAUD_33K     = 0x8B2F,
        /// <summary>
        /// 20 kBit/s
        /// </summary>
        PCAN_BAUD_20K     = 0x532F,
        /// <summary>
        /// 10 kBit/s
        /// </summary>
        PCAN_BAUD_10K     = 0x672F,
        /// <summary>
        /// 5 kBit/s
        /// </summary>
        PCAN_BAUD_5K      = 0x7F7F,
    }

    /// <summary>
    /// Represents the type of PCAN (Non-PnP) hardware to be initialized
    /// </summary>
    public enum TPCANType : byte
    {
        /// <summary>
        /// PCAN-ISA 82C200
        /// </summary>
        PCAN_TYPE_ISA           = 0x01,
        /// <summary>
        /// PCAN-ISA SJA1000
        /// </summary>
        PCAN_TYPE_ISA_SJA       = 0x09,
        /// <summary>
        /// PHYTEC ISA 
        /// </summary>
        PCAN_TYPE_ISA_PHYTEC    = 0x04,
        /// <summary>
        /// PCAN-Dongle 82C200
        /// </summary>
        PCAN_TYPE_DNG           = 0x02,
        /// <summary>
        /// PCAN-Dongle EPP 82C200
        /// </summary>
        PCAN_TYPE_DNG_EPP       = 0x03,
        /// <summary>
        /// PCAN-Dongle SJA1000
        /// </summary>
        PCAN_TYPE_DNG_SJA       = 0x05,
        /// <summary>
        /// PCAN-Dongle EPP SJA1000
        /// </summary>
        PCAN_TYPE_DNG_SJA_EPP   = 0x06,
    }
    #endregion

    #region Structures
    /// <summary>
    /// Represents a PCAN message
    /// </summary>
    public struct TPCANMsg
    {
        /// <summary>
        /// 11/29-bit message identifier
        /// </summary>
        public uint ID;
        /// <summary>
        /// Type of the message
        /// </summary>
        [MarshalAs(UnmanagedType.U1)]
        public TPCANMessageType MSGTYPE;  
        /// <summary>
        /// Data Length Code of the message (0..8)
        /// </summary>
        public byte LEN;      
        /// <summary>
        /// Data of the message (DATA[0]..DATA[7])
        /// </summary>
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
        public byte[] DATA;   
    }

    /// <summary>
    /// Represents a timestamp of a received PCAN message.
    /// Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow
    /// </summary>
    public struct TPCANTimestamp
    {
        /// <summary>
        /// Base-value: milliseconds: 0.. 2^32-1
        /// </summary>
        public uint millis;             
        /// <summary>
        /// Roll-arounds of millis
        /// </summary>
        public ushort millis_overflow;  
        /// <summary>
        /// Microseconds: 0..999
        /// </summary>
        public ushort micros;
    }

    /// <summary>
    /// Represents a PCAN message from a FD capable hardware
    /// </summary>
    public struct TPCANMsgFD
    {
        /// <summary>
        /// 11/29-bit message identifier
        /// </summary>
        public uint ID;
        /// <summary>
        /// Type of the message
        /// </summary>
        [MarshalAs(UnmanagedType.U1)]
        public TPCANMessageType MSGTYPE;
        /// <summary>
        /// Data Length Code of the message (0..15)
        /// </summary>
        public byte DLC;
        /// <summary>
        /// Data of the message (DATA[0]..DATA[63])
        /// </summary>
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
        public byte[] DATA;
    }

    /// <summary>
    /// Describes an available PCAN channel
    /// </summary>
    public struct TPCANChannelInformation
    {
        /// <summary>
        /// PCAN channel handle
        /// </summary>
        [MarshalAs(UnmanagedType.U2)]
        public TPCANHandle channel_handle;
        /// <summary>
        /// Kind of PCAN device
        /// </summary>
        [MarshalAs(UnmanagedType.U1)]
        public TPCANDevice device_type;
        /// <summary>
        /// CAN-Controller number
        /// </summary>
        public byte controller_number;
        /// <summary>
        /// Device capabilities flag (see FEATURE_*)
        /// </summary>
        public uint device_features;
        /// <summary>
        /// Device name
        /// </summary>
        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = PCANBasic.MAX_LENGTH_HARDWARE_NAME)]
        public string device_name;
        /// <summary>
        /// Device number
        /// </summary>
        public uint device_id;
        /// <summary>
        /// Availability status of a PCAN-Channel
        /// </summary>
        public uint channel_condition;
    }
    #endregion

    #region PCANBasic class
    /// <summary>
    /// PCAN-Basic API class implementation
    /// </summary>
    public static class PCANBasic
    {
        #region PCAN-BUS Handles Definition
        /// <summary>
        /// Undefined/default value for a PCAN bus
        /// </summary>
        public const TPCANHandle PCAN_NONEBUS = 0x00;
        
        /// <summary>
        /// PCAN-ISA interface, channel 1
        /// </summary>
        public const TPCANHandle PCAN_ISABUS1 = 0x21;
        /// <summary>
        /// PCAN-ISA interface, channel 2
        /// </summary>
        public const TPCANHandle PCAN_ISABUS2 = 0x22;
        /// <summary>
        /// PCAN-ISA interface, channel 3
        /// </summary>
        public const TPCANHandle PCAN_ISABUS3 = 0x23;
        /// <summary>
        /// PCAN-ISA interface, channel 4
        /// </summary>
        public const TPCANHandle PCAN_ISABUS4 = 0x24;
        /// <summary>
        /// PCAN-ISA interface, channel 5
        /// </summary>
        public const TPCANHandle PCAN_ISABUS5 = 0x25;
        /// <summary>
        /// PCAN-ISA interface, channel 6
        /// </summary>
        public const TPCANHandle PCAN_ISABUS6 = 0x26;
        /// <summary>
        /// PCAN-ISA interface, channel 7
        /// </summary>
        public const TPCANHandle PCAN_ISABUS7 = 0x27;
        /// <summary>
        /// PCAN-ISA interface, channel 8
        /// </summary>
        public const TPCANHandle PCAN_ISABUS8 = 0x28;
        
        /// <summary>
        /// PPCAN-Dongle/LPT interface, channel 1 
        /// </summary>
        public const TPCANHandle PCAN_DNGBUS1 = 0x31;

        /// <summary>
        /// PCAN-PCI interface, channel 1
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS1 = 0x41;
        /// <summary>
        /// PCAN-PCI interface, channel 2
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS2 = 0x42;
        /// <summary>
        /// PCAN-PCI interface, channel 3
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS3 = 0x43;
        /// <summary>
        /// PCAN-PCI interface, channel 4
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS4 = 0x44;
        /// <summary>
        /// PCAN-PCI interface, channel 5
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS5 = 0x45;
        /// <summary>
        /// PCAN-PCI interface, channel 6
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS6 = 0x46;
        /// <summary>
        /// PCAN-PCI interface, channel 7
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS7 = 0x47;
        /// <summary>
        /// PCAN-PCI interface, channel 8
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS8 = 0x48;
        /// <summary>
        /// PCAN-PCI interface, channel 9
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS9 = 0x409;
        /// <summary>
        /// PCAN-PCI interface, channel 10
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS10 = 0x40A;
        /// <summary>
        /// PCAN-PCI interface, channel 11
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS11 = 0x40B;
        /// <summary>
        /// PCAN-PCI interface, channel 12
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS12 = 0x40C;
        /// <summary>
        /// PCAN-PCI interface, channel 13
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS13 = 0x40D;
        /// <summary>
        /// PCAN-PCI interface, channel 14
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS14 = 0x40E;
        /// <summary>
        /// PCAN-PCI interface, channel 15
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS15 = 0x40F;
        /// <summary>
        /// PCAN-PCI interface, channel 16
        /// </summary>
        public const TPCANHandle PCAN_PCIBUS16 = 0x410;

        /// <summary>
        /// PCAN-USB interface, channel 1
        /// </summary>
        public const TPCANHandle PCAN_USBBUS1 = 0x51;
        /// <summary>
        /// PCAN-USB interface, channel 2
        /// </summary>
        public const TPCANHandle PCAN_USBBUS2 = 0x52;
        /// <summary>
        /// PCAN-USB interface, channel 3
        /// </summary>
        public const TPCANHandle PCAN_USBBUS3 = 0x53;
        /// <summary>
        /// PCAN-USB interface, channel 4
        /// </summary>
        public const TPCANHandle PCAN_USBBUS4 = 0x54;
        /// <summary>
        /// PCAN-USB interface, channel 5
        /// </summary>
        public const TPCANHandle PCAN_USBBUS5 = 0x55;
        /// <summary>
        /// PCAN-USB interface, channel 6
        /// </summary>
        public const TPCANHandle PCAN_USBBUS6 = 0x56;
        /// <summary>
        /// PCAN-USB interface, channel 7
        /// </summary>
        public const TPCANHandle PCAN_USBBUS7 = 0x57;
        /// <summary>
        /// PCAN-USB interface, channel 8
        /// </summary>
        public const TPCANHandle PCAN_USBBUS8 = 0x58;
        /// <summary>
        /// PCAN-USB interface, channel 9
        /// </summary>
        public const TPCANHandle PCAN_USBBUS9 = 0x509;
        /// <summary>
        /// PCAN-USB interface, channel 10
        /// </summary>
        public const TPCANHandle PCAN_USBBUS10 = 0x50A;
        /// <summary>
        /// PCAN-USB interface, channel 11
        /// </summary>
        public const TPCANHandle PCAN_USBBUS11 = 0x50B;
        /// <summary>
        /// PCAN-USB interface, channel 12
        /// </summary>
        public const TPCANHandle PCAN_USBBUS12 = 0x50C;
        /// <summary>
        /// PCAN-USB interface, channel 13
        /// </summary>
        public const TPCANHandle PCAN_USBBUS13 = 0x50D;
        /// <summary>
        /// PCAN-USB interface, channel 14
        /// </summary>
        public const TPCANHandle PCAN_USBBUS14 = 0x50E;
        /// <summary>
        /// PCAN-USB interface, channel 15
        /// </summary>
        public const TPCANHandle PCAN_USBBUS15 = 0x50F;
        /// <summary>
        /// PCAN-USB interface, channel 16
        /// </summary>
        public const TPCANHandle PCAN_USBBUS16 = 0x510;

        /// <summary>
        /// PCAN-PC Card interface, channel 1
        /// </summary>
        public const TPCANHandle PCAN_PCCBUS1 = 0x61;
        /// <summary>
        /// PCAN-PC Card interface, channel 2
        /// </summary>
        public const TPCANHandle PCAN_PCCBUS2 = 0x62;

        /// <summary>
        /// PCAN-LAN interface, channel 1
        /// </summary>
        public const TPCANHandle PCAN_LANBUS1 = 0x801;
        /// <summary>
        /// PCAN-LAN interface, channel 2
        /// </summary>
        public const TPCANHandle PCAN_LANBUS2 = 0x802;
        /// <summary>
        /// PCAN-LAN interface, channel 3
        /// </summary>
        public const TPCANHandle PCAN_LANBUS3 = 0x803;
        /// <summary>
        /// PCAN-LAN interface, channel 4
        /// </summary>
        public const TPCANHandle PCAN_LANBUS4 = 0x804;
        /// <summary>
        /// PCAN-LAN interface, channel 5
        /// </summary>
        public const TPCANHandle PCAN_LANBUS5 = 0x805;
        /// <summary>
        /// PCAN-LAN interface, channel 6
        /// </summary>
        public const TPCANHandle PCAN_LANBUS6 = 0x806;
        /// <summary>
        /// PCAN-LAN interface, channel 7
        /// </summary>
        public const TPCANHandle PCAN_LANBUS7 = 0x807;
        /// <summary>
        /// PCAN-LAN interface, channel 8
        /// </summary>
        public const TPCANHandle PCAN_LANBUS8 = 0x808;
        /// <summary>
        /// PCAN-LAN interface, channel 9
        /// </summary>
        public const TPCANHandle PCAN_LANBUS9 = 0x809;
        /// <summary>
        /// PCAN-LAN interface, channel 10
        /// </summary>
        public const TPCANHandle PCAN_LANBUS10 = 0x80A;
        /// <summary>
        /// PCAN-LAN interface, channel 11
        /// </summary>
        public const TPCANHandle PCAN_LANBUS11 = 0x80B;
        /// <summary>
        /// PCAN-LAN interface, channel 12
        /// </summary>
        public const TPCANHandle PCAN_LANBUS12 = 0x80C;
        /// <summary>
        /// PCAN-LAN interface, channel 13
        /// </summary>
        public const TPCANHandle PCAN_LANBUS13 = 0x80D;
        /// <summary>
        /// PCAN-LAN interface, channel 14
        /// </summary>
        public const TPCANHandle PCAN_LANBUS14 = 0x80E;
        /// <summary>
        /// PCAN-LAN interface, channel 15
        /// </summary>
        public const TPCANHandle PCAN_LANBUS15 = 0x80F;
        /// <summary>
        /// PCAN-LAN interface, channel 16
        /// </summary>
        public const TPCANHandle PCAN_LANBUS16 = 0x810;
        #endregion

        #region FD Bit rate parameters
        /// <summary>
        /// Clock frequency in Herz (80000000, 60000000, 40000000, 30000000, 24000000, 20000000)
        /// </summary>
        public const string PCAN_BR_CLOCK = "f_clock";
        /// <summary>
        /// Clock frequency in Megaherz (80, 60, 40, 30, 24, 20)
        /// </summary>
        public const string PCAN_BR_CLOCK_MHZ = "f_clock_mhz";		
        /// <summary>
        /// Clock prescaler for nominal time quantum
        /// </summary>
        public const string PCAN_BR_NOM_BRP = "nom_brp";
        /// <summary>
        /// TSEG1 segment for nominal bit rate in time quanta
        /// </summary>
        public const string PCAN_BR_NOM_TSEG1 = "nom_tseg1";
        /// <summary>
        /// TSEG2 segment for nominal bit rate in time quanta
        /// </summary>
        public const string PCAN_BR_NOM_TSEG2 = "nom_tseg2";
        /// <summary>
        /// Synchronization Jump Width for nominal bit rate in time quanta
        /// </summary>
        public const string PCAN_BR_NOM_SJW = "nom_sjw";
        /// <summary>
        /// Sample point for nominal bit rate
        /// </summary>
        public const string PCAN_BR_NOM_SAMPLE = "nom_sam";
        /// <summary>
        /// Clock prescaler for highspeed data time quantum
        /// </summary>
        public const string PCAN_BR_DATA_BRP = "data_brp";
        /// <summary>
        /// TSEG1 segment for fast data bit rate in time quanta
        /// </summary>
        public const string PCAN_BR_DATA_TSEG1 = "data_tseg1";
        /// <summary>
        /// TSEG2 segment for fast data bit rate in time quanta
        /// </summary>
        public const string PCAN_BR_DATA_TSEG2 = "data_tseg2";
        /// <summary>
        /// Synchronization Jump Width for highspeed data bit rate in time quanta
        /// </summary>
        public const string PCAN_BR_DATA_SJW = "data_sjw";
        /// <summary>
        /// Secondary sample point delay for highspeed data bit rate in cyles
        /// </summary>
        public const string PCAN_BR_DATA_SAMPLE = "data_ssp_offset";
        #endregion

        #region Parameter values definition
        /// <summary>
        /// The PCAN parameter is not set (inactive)
        /// </summary>
        public const int PCAN_PARAMETER_OFF = 0;
        /// <summary>
        /// The PCAN parameter is set (active)
        /// </summary>
        public const int PCAN_PARAMETER_ON = 1;
        /// <summary>
        /// The PCAN filter is closed. No messages will be received
        /// </summary>
        public const int PCAN_FILTER_CLOSE = 0;
        /// <summary>
        /// The PCAN filter is fully opened. All messages will be received
        /// </summary>
        public const int PCAN_FILTER_OPEN = 1;
        /// <summary>
        /// The PCAN filter is custom configured. Only registered 
        /// messages will be received
        /// </summary>
        public const int PCAN_FILTER_CUSTOM = 2;
        /// <summary>
        /// The PCAN-Channel handle is illegal, or its associated hardware is not available
        /// </summary>
        public const int PCAN_CHANNEL_UNAVAILABLE = 0;
        /// <summary>
        /// The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in)
        /// </summary>
        public const int PCAN_CHANNEL_AVAILABLE = 1;
        /// <summary>
        /// The PCAN-Channel handle is valid, and is already being used
        /// </summary>
        public const int PCAN_CHANNEL_OCCUPIED = 2;
        /// <summary>
        /// The PCAN-Channel handle is already being used by a PCAN-View application, but is available to connect
        /// </summary>
        public const int PCAN_CHANNEL_PCANVIEW = (PCAN_CHANNEL_AVAILABLE | PCAN_CHANNEL_OCCUPIED);

        /// <summary>
        /// Logs system exceptions / errors
        /// </summary>
        public const int LOG_FUNCTION_DEFAULT = 0x00;
        /// <summary>
        /// Logs the entries to the PCAN-Basic API functions 
        /// </summary>
        public const int LOG_FUNCTION_ENTRY = 0x01;
        /// <summary>
        /// Logs the parameters passed to the PCAN-Basic API functions 
        /// </summary>
        public const int LOG_FUNCTION_PARAMETERS = 0x02;
        /// <summary>
        /// Logs the exits from the PCAN-Basic API functions 
        /// </summary>
        public const int LOG_FUNCTION_LEAVE = 0x04;
        /// <summary>
        /// Logs the CAN messages passed to the CAN_Write function
        /// </summary>
        public const int LOG_FUNCTION_WRITE = 0x08;
        /// <summary>
        /// Logs the CAN messages received within the CAN_Read function
        /// </summary>
        public const int LOG_FUNCTION_READ = 0x10;
        /// <summary>
        /// Logs all possible information within the PCAN-Basic API functions
        /// </summary>
        public const int LOG_FUNCTION_ALL = 0xFFFF;

        /// <summary>
        /// A single file is written until it size reaches PAN_TRACE_SIZE
        /// </summary>
        public const int TRACE_FILE_SINGLE = 0x00;
        /// <summary>
        /// Traced data is distributed in several files with size PAN_TRACE_SIZE
        /// </summary>
        public const int TRACE_FILE_SEGMENTED = 0x01;
        /// <summary>
        /// Includes the date into the name of the trace file
        /// </summary>
        public const int TRACE_FILE_DATE = 0x02;
        /// <summary>
        /// Includes the start time into the name of the trace file
        /// </summary>
        public const int TRACE_FILE_TIME = 0x04;
        /// <summary>
        /// Causes the overwriting of available traces (same name)
        /// </summary>
        public const int TRACE_FILE_OVERWRITE = 0x80;

        /// <summary>
        /// Device supports flexible data-rate (CAN-FD)
        /// </summary>
        public const int FEATURE_FD_CAPABLE = 0x01;
		/// <summary>
		/// Device supports a delay between sending frames (FPGA based USB devices)
		/// </summary>
		public const int FEATURE_DELAY_CAPABLE = 0x02;
        /// <summary>
        /// Device supports I/O functionality for electronic circuits (USB-Chip devices)
        /// </summary>
        public const int FEATURE_IO_CAPABLE = 0x04;

        /// <summary>
        /// The service is not running
        /// </summary>
        public const int SERVICE_STATUS_STOPPED = 0x01;
        /// <summary>
        /// The service is running
        /// </summary>
        public const int SERVICE_STATUS_RUNNING = 0x04;
        #endregion

        #region Other Constants
        /// <summary>
        /// Maximum length of the name of a device: 32 characters + terminator
        /// </summary>
        public const int MAX_LENGTH_HARDWARE_NAME = 33;
        /// <summary>
        /// Maximum length of a version string: 17 characters + terminator
        /// </summary>
        public const int MAX_LENGTH_VERSION_STRING = 18;
        #endregion

        #region PCANBasic API Implementation
        /// <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-PnP: The type of hardware and operation mode</param>
        /// <param name="IOPort">Non-PnP: The I/O address for the parallel port</param>
        /// <param name="Interrupt">Non-PnP: Interrupt number of the parallel por</param>
        /// <returns>A TPCANStatus error code</returns>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Initialize")]
        public static extern TPCANStatus Initialize(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            [MarshalAs(UnmanagedType.U2)]
            TPCANBaudrate Btr0Btr1,
            [MarshalAs(UnmanagedType.U1)]
            TPCANType HwType, 
            UInt32 IOPort, 
            UInt16 Interrupt);

        /// <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>        
        public static TPCANStatus Initialize(
            TPCANHandle Channel,
            TPCANBaudrate Btr0Btr1)
        {
            return Initialize(Channel, Btr0Btr1, (TPCANType)0, 0, 0);
        }

        /// <summary>
        /// Initializes a FD capable PCAN Channel 
        /// </summary>
        /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
        /// <param name="BitrateFD">The speed for the communication (FD bit rate string)</param>
        /// <remarks> See PCAN_BR_* values
        /// Bit rate string must follow the following construction rules:
        /// * parameters and values must be separated by '='
        /// * Couples of Parameter/value must be separated by ','
        /// * Following Parameter must be filled out: f_clock, data_brp, data_sjw, data_tseg1, data_tseg2,
        ///   nom_brp, nom_sjw, nom_tseg1, nom_tseg2.
        /// * Following Parameters are optional (not used yet): data_ssp_offset, nom_sam</remarks>
        /// <example>f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1</example>
        /// <returns>A TPCANStatus error code</returns>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_InitializeFD")]
        public static extern TPCANStatus InitializeFD(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            TPCANBitrateFD BitrateFD);

        /// <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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Uninitialize")]
        public static extern TPCANStatus Uninitialize(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel);

        /// <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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Reset")]
        public static extern TPCANStatus Reset(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel);

        /// <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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetStatus")]
        public static extern TPCANStatus GetStatus(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel);

        /// <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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Read")]
        public static extern TPCANStatus Read(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            out TPCANMsg MessageBuffer,
            out TPCANTimestamp TimestampBuffer);

        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Read")]
        private static extern TPCANStatus Read(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            out TPCANMsg MessageBuffer,
            IntPtr bufferPointer);

        /// <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>
        public static TPCANStatus Read(
            TPCANHandle Channel,
            out TPCANMsg MessageBuffer)
        {
            return Read(Channel, out MessageBuffer, IntPtr.Zero);
        }

        /// <summary>
        /// Reads a CAN message from the receive queue of a FD capable PCAN Channel 
        /// </summary>
        /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
        /// <param name="MessageBuffer">A TPCANMsgFD structure buffer to store the CAN message</param>
        /// <param name="TimestampBuffer">A TPCANTimestampFD buffer to get the
        /// reception time of the message</param>
        /// <returns>A TPCANStatus error code</returns>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_ReadFD")]
        public static extern TPCANStatus ReadFD(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            out TPCANMsgFD MessageBuffer,
            out TPCANTimestampFD TimestampBuffer);

        [DllImport("PCANBasic.dll", EntryPoint = "CAN_ReadFD")]
        private static extern TPCANStatus ReadFD(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            out TPCANMsgFD MessageBuffer,
            IntPtr TimestampBuffer);

        /// <summary>
        /// Reads a CAN message from the receive queue of a FD capable PCAN Channel 
        /// </summary>
        /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
        /// <param name="MessageBuffer">A TPCANMsgFD structure buffer to store the CAN message</param>
        /// <returns>A TPCANStatus error code</returns>
        public static TPCANStatus ReadFD(
            TPCANHandle Channel,
            out TPCANMsgFD MessageBuffer)
        {
            return ReadFD(Channel, out MessageBuffer, IntPtr.Zero);
        }

        /// <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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_Write")]
        public static extern TPCANStatus Write(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            ref TPCANMsg MessageBuffer);

        /// <summary>
        /// Transmits a CAN message over a FD capable PCAN Channel
        /// </summary>
        /// <param name="Channel">The handle of a FD capable PCAN Channel</param>
        /// <param name="MessageBuffer">A TPCANMsgFD buffer with the message to be sent</param>
        /// <returns>A TPCANStatus error code</returns>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_WriteFD")]
        public static extern TPCANStatus WriteFD(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            ref TPCANMsgFD MessageBuffer);

        /// <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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_FilterMessages")]
        public static extern TPCANStatus FilterMessages(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            UInt32 FromID,
            UInt32 ToID,
            [MarshalAs(UnmanagedType.U1)]
            TPCANMode Mode);

        /// <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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetValue")]
        public static extern TPCANStatus GetValue(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            [MarshalAs(UnmanagedType.U1)]
            TPCANParameter Parameter,
            StringBuilder StringBuffer,            
            UInt32 BufferLength);

        /// <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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetValue")]
        public static extern TPCANStatus GetValue(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            [MarshalAs(UnmanagedType.U1)]
            TPCANParameter Parameter,
            out UInt32 NumericBuffer,
            UInt32 BufferLength);

        /// <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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetValue")]
        public static extern TPCANStatus GetValue(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            [MarshalAs(UnmanagedType.U1)]
            TPCANParameter Parameter,
            out UInt64 NumericBuffer,
            UInt32 BufferLength);

        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetValue")]
        private static extern TPCANStatus GetValue(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            [MarshalAs(UnmanagedType.U1)]
            TPCANParameter Parameter,
            [MarshalAs(UnmanagedType.LPArray, SizeParamIndex = 3)]
            [In, Out]TPCANChannelInformation[] ChannelsBuffer,
            UInt32 BufferLength);

        /// <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="ChannelsBuffer">Buffer for the parameter value</param>
        /// <returns>A TPCANStatus error code</returns>
        public static TPCANStatus GetValue(
            TPCANHandle Channel,
            TPCANParameter Parameter,
            TPCANChannelInformation[] ChannelsBuffer)
        {
            if (ChannelsBuffer == null)
                return TPCANStatus.PCAN_ERROR_ILLPARAMVAL;
            return GetValue(Channel, Parameter, ChannelsBuffer, (uint)(ChannelsBuffer.Length * Marshal.SizeOf(typeof(TPCANChannelInformation))));
        }

        /// <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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_SetValue")]
        public static extern TPCANStatus SetValue(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            [MarshalAs(UnmanagedType.U1)]
            TPCANParameter Parameter,
            ref UInt32 NumericBuffer,
            UInt32 BufferLength);

        /// <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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_SetValue")]
        public static extern TPCANStatus SetValue(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            [MarshalAs(UnmanagedType.U1)]
            TPCANParameter Parameter,
            ref UInt64 NumericBuffer,
            UInt32 BufferLength);

        /// <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"></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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_SetValue")]
        public static extern TPCANStatus SetValue(
            [MarshalAs(UnmanagedType.U2)]
            TPCANHandle Channel,
            [MarshalAs(UnmanagedType.U1)]
            TPCANParameter Parameter,
            [MarshalAs(UnmanagedType.LPStr,SizeParamIndex=3)]
            string StringBuffer,
            UInt32 BufferLength);

        /// <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>
        [DllImport("PCANBasic.dll", EntryPoint = "CAN_GetErrorText")]
        public static extern TPCANStatus GetErrorText(
            [MarshalAs(UnmanagedType.U4)]
            TPCANStatus Error,
            UInt16 Language,
            StringBuilder StringBuffer);
        #endregion
    }
    #endregion
}