358 lines
9.5 KiB
C
358 lines
9.5 KiB
C
/*
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** __ ___ ____ __ ____ __ ______ _______ __
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** | | / \ \ \ / \ / / | | / || ____|| |
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** | | / ^ \ \ \/ \/ / | | | ,----'| |__ | |
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** | | / /_\ \ \ / | | | | | __| | |
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** | `----./ _____ \ \ /\ / | | | `----.| |____ | `----.
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** |_______/__/ \__\ \__/ \__/ |__| \______||_______||_______|
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**
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** Copyright (c) 2005-2012 LAWICEL AB, Sweden
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*/
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#ifndef __LAWICELCANH__
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#define __LAWICELCANH__
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#include <windows.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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// Types
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typedef unsigned char _u8;
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typedef unsigned __int16 _u16;
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typedef unsigned __int32 _u32;
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typedef long CANHANDLE;
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typedef unsigned char CANDATA;
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// Status bits
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#define CANSTATUS_RECEIVE_FIFO_FULL 0x01
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#define CANSTATUS_TRANSMIT_FIFO_FULL 0x02
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#define CANSTATUS_ERROR_WARNING 0x04
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#define CANSTATUS_DATA_OVERRUN 0x08
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#define CANSTATUS_ERROR_PASSIVE 0x20
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#define CANSTATUS_ARBITRATION_LOST 0x40
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#define CANSTATUS_BUS_ERROR 0x80
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// Filter mask settings
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#define CANUSB_ACCEPTANCE_CODE_ALL 0x00000000
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#define CANUSB_ACCEPTANCE_MASK_ALL 0xFFFFFFFF
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// Message flags
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#define CANMSG_EXTENDED 0x80 // Extended CAN id
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#define CANMSG_RTR 0x40 // Remote frame
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// Flush flags
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#define FLUSH_WAIT 0x00
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#define FLUSH_DONTWAIT 0x01
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#define FLUSH_EMPTY_INQUEUE 0x02
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// CAN Frame
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typedef struct {
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_u32 id; // Message id
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_u32 timestamp; // timestamp in milliseconds
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_u8 flags; // [extended_id|1][RTR:1][reserver:6]
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_u8 len; // Frame size (0.8)
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_u8 data[ 8 ]; // Databytes 0..7
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} CANMsg;
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// Alternative CAN Frame
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typedef struct {
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_u32 id; // Message id
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_u32 timestamp; // timestamp in milliseconds
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_u8 flags; // [extended_id|1][RTR:1][reserver:6]
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_u8 len; // Frame size (0.8)
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} CANMsgEx;
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// Interface statistics
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typedef struct structCANUsbStatistics {
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_u32 cntReceiveFrames; // # of receive frames
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_u32 cntTransmitFrames; // # of transmitted frames
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_u32 cntReceiveData; // # of received data bytes
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_u32 cntTransmitData; // # of transmitted data bytes
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_u32 cntOverruns; // # of overruns
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_u32 cntBusWarnings; // # of bys warnings
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_u32 cntBusOff; // # of bus off's
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} CANUsbStatistics;
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// Error return codes
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#define ERROR_CANUSB_OK 1
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#define ERROR_CANUSB_GENERAL -1
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#define ERROR_CANUSB_OPEN_SUBSYSTEM -2
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#define ERROR_CANUSB_COMMAND_SUBSYSTEM -3
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#define ERROR_CANUSB_NOT_OPEN -4
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#define ERROR_CANUSB_TX_FIFO_FULL -5
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#define ERROR_CANUSB_INVALID_PARAM -6
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#define ERROR_CANUSB_NO_MESSAGE -7
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#define ERROR_CANUSB_MEMORY_ERROR -8
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#define ERROR_CANUSB_NO_DEVICE -9
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#define ERROR_CANUSB_TIMEOUT -10
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#define ERROR_CANUSB_INVALID_HARDWARE -11
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// Open flags
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#define CANUSB_FLAG_TIMESTAMP 0x0001 // Timestamp messages
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#define CANUSB_FLAG_QUEUE_REPLACE 0x0002 // If input queue is full remove
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// oldest message and insert new
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// message.
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#define CANUSB_FLAG_BLOCK 0x0004 // Block receive/transmit
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#define CANUSB_FLAG_SLOW 0x0008 // Check ACK/NACK's
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#define CANUSB_FLAG_NO_LOCAL_SEND 0x0010 // Don't send transmited frames on
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// other local channels for the same
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// interface
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// This is the define for the received callback method
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typedef void ( __stdcall * LPFNDLL_RECEIVE_CALLBACK) ( CANMsg *pMsg );
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// Prototypes
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///////////////////////////////////////////////////////////////////////////////
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// canusb_Open
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//
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// Open CAN interface to device
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//
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// Returs handle to device if open was successfull or zero
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// or negative error code on falure.
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//
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//
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// szID
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// ====
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// Serial number for adapter or NULL to open the first found.
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//
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//
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// szBitrate
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// =========
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// "10" for 10kbps
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// "20" for 20kbps
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// "50" for 50kbps
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// "100" for 100kbps
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// "250" for 250kbps
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// "500" for 500kbps
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// "800" for 800kbps
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// "1000" for 1Mbps
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//
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// or
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//
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// btr0:btr1 pair ex. "0x03:0x1c" or 3:28
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//
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// acceptance_code
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// ===============
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// Set to CANUSB_ACCEPTANCE_CODE_ALL to get all messages.
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//
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// acceptance_mask
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// ===============
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// Set to CANUSB_ACCEPTANCE_MASk_ALL to get all messages.
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//
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// flags
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// =====
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// CANUSB_FLAG_TIMESTAMP - Timestamp will be set by adapter.
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CANHANDLE WINAPI canusb_Open( LPCSTR szID,
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LPCSTR szBitrate,
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_u32 acceptance_code,
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_u32 acceptance_mask,
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_u32 flags );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_Close
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//
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// Close channel with handle h.
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//
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// Returns <= 0 on failure. >0 on success.
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int WINAPI canusb_Close( CANHANDLE h );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_Read
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//
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// Read message from channel with handle h.
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//
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// Returns <= 0 on failure. >0 on success.
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//
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int WINAPI canusb_Read( CANHANDLE h, CANMsg *msg );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_ReadEx
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//
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// Read message from channel with handle h.
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//
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// This is a version without a data-array in the structure to work with LabView
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//
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// Returns <= 0 on failure. >0 on success.
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//
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int WINAPI canusb_ReadEx( CANHANDLE h, CANMsgEx *msg, CANDATA *pData );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_ReadFirst
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//
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// Read message from channel with handle h and id "id" which satisfy flags.
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//
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// Returns <= 0 on failure. >0 on success.
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//
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int WINAPI canusb_ReadFirst( CANHANDLE h,
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_u32 id,
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_u32 flags,
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CANMsg *msg );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_ReadFirstEx
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//
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// Read message from channel with handle h and id "id" which satisfying flags.
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//
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// This is a version without a data-array in the structure to work with LabView
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//
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// Returns <= 0 on failure. >0 on success.
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//
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int WINAPI canusb_ReadFirstEx( CANHANDLE h,
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_u32 id,
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_u32 flags,
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CANMsgEx *msg,
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CANDATA *pData );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_Write
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//
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// Write message to channel with handle h.
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//
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// Returns <= 0 on failure. >0 on success.
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//
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int WINAPI canusb_Write( CANHANDLE h, CANMsg *msg );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_WriteEx
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//
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// Write message to channel with handle h.
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//
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// This is a version without a data-array in the structure to work with LabView
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//
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// Returns <= 0 on failure. >0 on success.
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//
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int WINAPI canusb_WriteEx( CANHANDLE h, CANMsgEx *msg, CANDATA *pData );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_Status
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//
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// Get Adaper status for channel with handle h.
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int WINAPI canusb_Status( CANHANDLE h );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_VersionInfo
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//
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// Get hardware/fi4rmware and driver version for channel with handle h.
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//
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// Returns <= 0 on failure. >0 on success.
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//
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//
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int WINAPI canusb_VersionInfo( CANHANDLE h, LPSTR verinfo );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_Flush
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//
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// Flush output buffer on channel with handle h.
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//
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// Returns <= 0 on failure. >0 on success.
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//
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// If flushflags is set to FLUSH_DONTWAIT the queue is just emptied and
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// there will be no wait for any frames in it to be sent
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//
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int WINAPI canusb_Flush( CANHANDLE h, _u8 flushflags );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_GetStatistics
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//
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// Get transmission statistics for channel with handle h.
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//
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// Returns <= 0 on failure. >0 on success.
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//
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//
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int WINAPI canusb_GetStatistics( CANHANDLE h, CANUsbStatistics *pStatistics );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_SetTimeouts
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//
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// Set timeouts used for blocking calls for channel with handle h.
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//
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// Returns <= 0 on failure. >0 on success.
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//
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//
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int WINAPI canusb_SetTimeouts( CANHANDLE h,
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_u32 receiveTimeout,
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_u32 transmitTimeout );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_getFirstAdapter
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//
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// Get the first found adapter that is connected to this machine.
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//
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// Returns <= 0 on failure. 0 if no adapter found. >0 if one or more adapters
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// is found.
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//
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//
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int WINAPI canusb_getFirstAdapter( char *szAdapter, int size );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_getNextAdapter
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//
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// Get the found adapter(s) in turn that is connected to this machine.
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//
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// Returns <= 0 on failure. >0 for a valid adapter return.
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//
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//
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int WINAPI canusb_getNextAdapter( char *szAdapter, int size );
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///////////////////////////////////////////////////////////////////////////////
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// canusb_setReceiveCallBack
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//
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// Set a receive call back function. Set the callback to NULL to
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// reset it.
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//
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// Returns <= 0 on failure. >0 for a valid adapter return.
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//
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//
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int WINAPI canusb_setReceiveCallBack( CANHANDLE handle,
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LPFNDLL_RECEIVE_CALLBACK fn );
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#ifdef __cplusplus
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}
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#endif
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#endif // __LAWICELCANH__
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