| /* |
| * CPC CAN Interface Definitions |
| * |
| * Copyright (C) 2000-2008 EMS Dr. Thomas Wuensche |
| * |
| * This program is distributed in the hope that it will be useful, but |
| * WITHOUT ANY WARRANTY; without even the implied warranty of |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. |
| */ |
| #ifndef CPC_HEADER |
| #define CPC_HEADER |
| |
| // the maximum length of the union members within a CPC_MSG |
| // this value can be defined by the customer, but has to be |
| // >= 64 bytes |
| // however, if not defined before, we set a length of 64 byte |
| #if !defined(CPC_MSG_LEN) || (CPC_MSG_LEN < 64) |
| #undef CPC_MSG_LEN |
| #define CPC_MSG_LEN 64 |
| #endif |
| |
| // check the operating system used |
| #ifdef _WIN32 // running a Windows OS |
| |
| // define basic types on Windows platforms |
| #ifdef _MSC_VER // Visual Studio |
| typedef unsigned __int8 u8; |
| typedef unsigned __int16 u16; |
| typedef unsigned __int32 u32; |
| #else // Borland Compiler |
| typedef unsigned char u8; |
| typedef unsigned short u16; |
| typedef unsigned int u32; |
| #endif |
| // on Windows OS we use a byte alignment of 1 |
| #pragma pack(push, 1) |
| |
| // set the calling conventions for the library function calls |
| #define CALL_CONV __stdcall |
| #else |
| // Kernel headers already define this types |
| #ifndef __KERNEL__ |
| // define basic types |
| typedef unsigned char u8; |
| typedef unsigned short u16; |
| typedef unsigned int u32; |
| #endif |
| |
| // Linux does not use this calling convention |
| #define CALL_CONV |
| #endif |
| |
| // Transmission of events from CPC interfaces to PC can be individually |
| // controlled per event type. Default state is: don't transmit |
| // Control values are constructed by bit-or of Subject and Action |
| // and passed to CPC_Control() |
| |
| // Control-Values for CPC_Control() Command Subject Selection |
| #define CONTR_CAN_Message 0x04 |
| #define CONTR_Busload 0x08 |
| #define CONTR_CAN_State 0x0C |
| #define CONTR_SendAck 0x10 |
| #define CONTR_Filter 0x14 |
| #define CONTR_CmdQueue 0x18 // reserved, do not use |
| #define CONTR_BusError 0x1C |
| |
| // Control Command Actions |
| #define CONTR_CONT_OFF 0 |
| #define CONTR_CONT_ON 1 |
| #define CONTR_SING_ON 2 |
| // CONTR_SING_ON doesn't change CONTR_CONT_ON state, so it should be |
| // read as: transmit at least once |
| |
| // defines for confirmed request |
| #define DO_NOT_CONFIRM 0 |
| #define DO_CONFIRM 1 |
| |
| // event flags |
| #define EVENT_READ 0x01 |
| #define EVENT_WRITE 0x02 |
| |
| // Messages from CPC to PC contain a message object type field. |
| // The following message types are sent by CPC and can be used in |
| // handlers, others should be ignored. |
| #define CPC_MSG_T_RESYNC 0 // Normally to be ignored |
| #define CPC_MSG_T_CAN 1 // CAN data frame |
| #define CPC_MSG_T_BUSLOAD 2 // Busload message |
| #define CPC_MSG_T_STRING 3 // Normally to be ignored |
| #define CPC_MSG_T_CONTI 4 // Normally to be ignored |
| #define CPC_MSG_T_MEM 7 // Normally not to be handled |
| #define CPC_MSG_T_RTR 8 // CAN remote frame |
| #define CPC_MSG_T_TXACK 9 // Send acknowledge |
| #define CPC_MSG_T_POWERUP 10 // Power-up message |
| #define CPC_MSG_T_CMD_NO 11 // Normally to be ignored |
| #define CPC_MSG_T_CAN_PRMS 12 // Actual CAN parameters |
| #define CPC_MSG_T_ABORTED 13 // Command aborted message |
| #define CPC_MSG_T_CANSTATE 14 // CAN state message |
| #define CPC_MSG_T_RESET 15 // used to reset CAN-Controller |
| #define CPC_MSG_T_XCAN 16 // XCAN data frame |
| #define CPC_MSG_T_XRTR 17 // XCAN remote frame |
| #define CPC_MSG_T_INFO 18 // information strings |
| #define CPC_MSG_T_CONTROL 19 // used for control of interface/driver behaviour |
| #define CPC_MSG_T_CONFIRM 20 // response type for confirmed requests |
| #define CPC_MSG_T_OVERRUN 21 // response type for overrun conditions |
| #define CPC_MSG_T_KEEPALIVE 22 // response type for keep alive conditions |
| #define CPC_MSG_T_CANERROR 23 // response type for bus error conditions |
| #define CPC_MSG_T_DISCONNECTED 24 // response type for a disconnected interface |
| #define CPC_MSG_T_ERR_COUNTER 25 // RX/TX error counter of CAN controller |
| |
| #define CPC_MSG_T_FIRMWARE 100 // response type for USB firmware download |
| |
| // Messages from the PC to the CPC interface contain a command field |
| // Most of the command types are wrapped by the library functions and have therefore |
| // normally not to be used. |
| // However, programmers who wish to circumvent the library and talk directly |
| // to the drivers (mainly Linux programmers) can use the following |
| // command types: |
| |
| #define CPC_CMD_T_CAN 1 // CAN data frame |
| #define CPC_CMD_T_CONTROL 3 // used for control of interface/driver behaviour |
| #define CPC_CMD_T_CAN_PRMS 6 // set CAN parameters |
| #define CPC_CMD_T_CLEARBUF 8 // clears input queue; this is depricated, use CPC_CMD_T_CLEAR_MSG_QUEUE instead |
| #define CPC_CMD_T_INQ_CAN_PARMS 11 // inquire actual CAN parameters |
| #define CPC_CMD_T_FILTER_PRMS 12 // set filter parameter |
| #define CPC_CMD_T_RTR 13 // CAN remote frame |
| #define CPC_CMD_T_CANSTATE 14 // CAN state message |
| #define CPC_CMD_T_XCAN 15 // XCAN data frame |
| #define CPC_CMD_T_XRTR 16 // XCAN remote frame |
| #define CPC_CMD_T_RESET 17 // used to reset CAN-Controller |
| #define CPC_CMD_T_INQ_INFO 18 // miscellanous information strings |
| #define CPC_CMD_T_OPEN_CHAN 19 // open a channel |
| #define CPC_CMD_T_CLOSE_CHAN 20 // close a channel |
| #define CPC_CMD_T_CNTBUF 21 // this is depricated, use CPC_CMD_T_INQ_MSG_QUEUE_CNT instead |
| #define CPC_CMD_T_CAN_EXIT 200 // exit the CAN (disable interrupts; reset bootrate; reset output_cntr; mode = 1) |
| |
| #define CPC_CMD_T_INQ_MSG_QUEUE_CNT CPC_CMD_T_CNTBUF // inquires the count of elements in the message queue |
| #define CPC_CMD_T_INQ_ERR_COUNTER 25 // request the CAN controllers error counter |
| #define CPC_CMD_T_CLEAR_MSG_QUEUE CPC_CMD_T_CLEARBUF // clear CPC_MSG queue |
| #define CPC_CMD_T_CLEAR_CMD_QUEUE 28 // clear CPC_CMD queue |
| #define CPC_CMD_T_FIRMWARE 100 // reserved, must not be used |
| #define CPC_CMD_T_USB_RESET 101 // reserved, must not be used |
| #define CPC_CMD_T_WAIT_NOTIFY 102 // reserved, must not be used |
| #define CPC_CMD_T_WAIT_SETUP 103 // reserved, must not be used |
| #define CPC_CMD_T_ABORT 255 // Normally not to be used |
| |
| // definitions for CPC_MSG_T_INFO |
| // information sources |
| #define CPC_INFOMSG_T_UNKNOWN_SOURCE 0 |
| #define CPC_INFOMSG_T_INTERFACE 1 |
| #define CPC_INFOMSG_T_DRIVER 2 |
| #define CPC_INFOMSG_T_LIBRARY 3 |
| |
| // information types |
| #define CPC_INFOMSG_T_UNKNOWN_TYPE 0 |
| #define CPC_INFOMSG_T_VERSION 1 |
| #define CPC_INFOMSG_T_SERIAL 2 |
| |
| // definitions for controller types |
| #define PCA82C200 1 // Philips basic CAN controller, replaced by SJA1000 |
| #define SJA1000 2 // Philips basic CAN controller |
| #define AN82527 3 // Intel full CAN controller |
| #define M16C_BASIC 4 // M16C controller running in basic CAN (not full CAN) mode |
| |
| // channel open error codes |
| #define CPC_ERR_NO_FREE_CHANNEL -1 // no more free space within the channel array |
| #define CPC_ERR_CHANNEL_ALREADY_OPEN -2 // the channel is already open |
| #define CPC_ERR_CHANNEL_NOT_ACTIVE -3 // access to a channel not active failed |
| #define CPC_ERR_NO_DRIVER_PRESENT -4 // no driver at the location searched by the library |
| #define CPC_ERR_NO_INIFILE_PRESENT -5 // the library could not find the inifile |
| #define CPC_ERR_WRONG_PARAMETERS -6 // wrong parameters in the inifile |
| #define CPC_ERR_NO_INTERFACE_PRESENT -7 // 1. The specified interface is not connected |
| // 2. The interface (mostly CPC-USB) was disconnected upon operation |
| #define CPC_ERR_NO_MATCHING_CHANNEL -8 // the driver couldn't find a matching channel |
| #define CPC_ERR_NO_BUFFER_AVAILABLE -9 // the driver couldn't allocate buffer for messages |
| #define CPC_ERR_NO_INTERRUPT -10 // the requested interrupt couldn't be claimed |
| #define CPC_ERR_NO_MATCHING_INTERFACE -11 // no interface type related to this channel was found |
| #define CPC_ERR_NO_RESOURCES -12 // the requested resources could not be claimed |
| #define CPC_ERR_SOCKET -13 // error concerning TCP sockets |
| |
| // init error codes |
| #define CPC_ERR_WRONG_CONTROLLER_TYPE -14 // wrong CAN controller type within initialization |
| #define CPC_ERR_NO_RESET_MODE -15 // the controller could not be set into reset mode |
| #define CPC_ERR_NO_CAN_ACCESS -16 // the CAN controller could not be accessed |
| |
| // transmit error codes |
| #define CPC_ERR_CAN_WRONG_ID -20 // the provided CAN id is too big |
| #define CPC_ERR_CAN_WRONG_LENGTH -21 // the provided CAN length is too long |
| #define CPC_ERR_CAN_NO_TRANSMIT_BUF -22 // the transmit buffer was occupied |
| #define CPC_ERR_CAN_TRANSMIT_TIMEOUT -23 // The message could not be sent within a |
| // specified time |
| |
| // other error codes |
| #define CPC_ERR_SERVICE_NOT_SUPPORTED -30 // the requested service is not supported by the interface |
| #define CPC_ERR_IO_TRANSFER -31 // a transmission error down to the driver occurred |
| #define CPC_ERR_TRANSMISSION_FAILED -32 // a transmission error down to the interface occurred |
| #define CPC_ERR_TRANSMISSION_TIMEOUT -33 // a timeout occurred within transmission to the interface |
| #define CPC_ERR_OP_SYS_NOT_SUPPORTED -35 // the operating system is not supported |
| #define CPC_ERR_UNKNOWN -40 // an unknown error ocurred (mostly IOCTL errors) |
| |
| #define CPC_ERR_LOADING_DLL -50 // the library 'cpcwin.dll' could not be loaded |
| #define CPC_ERR_ASSIGNING_FUNCTION -51 // the specified function could not be assigned |
| #define CPC_ERR_DLL_INITIALIZATION -52 // the DLL was not initialized correctly |
| #define CPC_ERR_MISSING_LICFILE -55 // the file containing the licenses does not exist |
| #define CPC_ERR_MISSING_LICENSE -56 // a required license was not found |
| |
| // CAN state bit values. Ignore any bits not listed |
| #define CPC_CAN_STATE_BUSOFF 0x80 |
| #define CPC_CAN_STATE_ERROR 0x40 |
| |
| // Mask to help ignore undefined bits |
| #define CPC_CAN_STATE_MASK 0xc0 |
| |
| // CAN-Message representation in a CPC_MSG |
| // Message object type is CPC_MSG_T_CAN or CPC_MSG_T_RTR |
| // or CPC_MSG_T_XCAN or CPC_MSG_T_XRTR |
| typedef struct CPC_CAN_MSG { |
| u32 id; |
| u8 length; |
| u8 msg[8]; |
| } CPC_CAN_MSG_T; |
| |
| |
| // representation of the CAN parameters for the PCA82C200 controller |
| typedef struct CPC_PCA82C200_PARAMS { |
| u8 acc_code; // Acceptance-code for receive, Standard: 0 |
| u8 acc_mask; // Acceptance-mask for receive, Standard: 0xff (everything) |
| u8 btr0; // Bus-timing register 0 |
| u8 btr1; // Bus-timing register 1 |
| u8 outp_contr; // Output-control register |
| } CPC_PCA82C200_PARAMS_T; |
| |
| // representation of the CAN parameters for the SJA1000 controller |
| typedef struct CPC_SJA1000_PARAMS { |
| u8 mode; // enables single or dual acceptance filtering |
| u8 acc_code0; // Acceptance-code for receive, Standard: 0 |
| u8 acc_code1; |
| u8 acc_code2; |
| u8 acc_code3; |
| u8 acc_mask0; // Acceptance-mask for receive, Standard: 0xff (everything) |
| u8 acc_mask1; |
| u8 acc_mask2; |
| u8 acc_mask3; |
| u8 btr0; // Bus-timing register 0 |
| u8 btr1; // Bus-timing register 1 |
| u8 outp_contr; // Output-control register |
| } CPC_SJA1000_PARAMS_T; |
| |
| // representation of the CAN parameters for the M16C controller |
| // in basic CAN mode (means no full CAN) |
| typedef struct CPC_M16C_BASIC_PARAMS { |
| u8 con0; |
| u8 con1; |
| u8 ctlr0; |
| u8 ctlr1; |
| u8 clk; |
| u8 acc_std_code0; |
| u8 acc_std_code1; |
| u8 acc_ext_code0; |
| u8 acc_ext_code1; |
| u8 acc_ext_code2; |
| u8 acc_ext_code3; |
| u8 acc_std_mask0; |
| u8 acc_std_mask1; |
| u8 acc_ext_mask0; |
| u8 acc_ext_mask1; |
| u8 acc_ext_mask2; |
| u8 acc_ext_mask3; |
| } CPC_M16C_BASIC_PARAMS_T; |
| |
| // CAN params message representation |
| typedef struct CPC_CAN_PARAMS { |
| u8 cc_type; // represents the controller type |
| union { |
| CPC_M16C_BASIC_PARAMS_T m16c_basic; |
| CPC_SJA1000_PARAMS_T sja1000; |
| CPC_PCA82C200_PARAMS_T pca82c200; |
| } cc_params; |
| } CPC_CAN_PARAMS_T; |
| |
| // the following structures are slightly different for Windows and Linux |
| // To be able to use the 'Select' mechanism with Linux the application |
| // needs to know the devices file desciptor. |
| // This mechanism is not implemented within Windows and the file descriptor |
| // is therefore not needed |
| #ifdef _WIN32 |
| |
| // CAN init params message representation |
| typedef struct CPC_INIT_PARAMS { |
| CPC_CAN_PARAMS_T canparams; |
| } CPC_INIT_PARAMS_T; |
| |
| #else// Linux |
| |
| // CHAN init params representation |
| typedef struct CPC_CHAN_PARAMS { |
| int fd; |
| } CPC_CHAN_PARAMS_T; |
| |
| // CAN init params message representation |
| typedef struct CPC_INIT_PARAMS { |
| CPC_CHAN_PARAMS_T chanparams; |
| CPC_CAN_PARAMS_T canparams; |
| } CPC_INIT_PARAMS_T; |
| |
| #endif |
| |
| // structure for confirmed message handling |
| typedef struct CPC_CONFIRM { |
| u8 result; // error code |
| } CPC_CONFIRM_T; |
| |
| // structure for information requests |
| typedef struct CPC_INFO { |
| u8 source; // interface, driver or library |
| u8 type; // version or serial number |
| char msg[CPC_MSG_LEN - 2]; // string holding the requested information |
| } CPC_INFO_T; |
| |
| // OVERRUN /////////////////////////////////////// |
| // In general two types of overrun may occur. |
| // A hardware overrun, where the CAN controller |
| // lost a message, because the interrupt was |
| // not handled before the next messgae comes in. |
| // Or a software overrun, where i.e. a received |
| // message could not be stored in the CPC_MSG |
| // buffer. |
| |
| // After a software overrun has occurred |
| // we wait until we have CPC_OVR_GAP slots |
| // free in the CPC_MSG buffer. |
| #define CPC_OVR_GAP 10 |
| |
| // Two types of software overrun may occur. |
| // A received CAN message or a CAN state event |
| // can cause an overrun. |
| // Note: A CPC_CMD which would normally store |
| // its result immediately in the CPC_MSG |
| // queue may fail, because the message queue is full. |
| // This will not generate an overrun message, but |
| // will halt command execution, until this command |
| // is able to store its message in the message queue. |
| #define CPC_OVR_EVENT_CAN 0x01 |
| #define CPC_OVR_EVENT_CANSTATE 0x02 |
| #define CPC_OVR_EVENT_BUSERROR 0x04 |
| |
| // If the CAN controller lost a message |
| // we indicate it with the highest bit |
| // set in the count field. |
| #define CPC_OVR_HW 0x80 |
| |
| // structure for overrun conditions |
| typedef struct { |
| u8 event; |
| u8 count; |
| } CPC_OVERRUN_T; |
| |
| // CAN errors //////////////////////////////////// |
| // Each CAN controller type has different |
| // registers to record errors. |
| // Therefor a structure containing the specific |
| // errors is set up for each controller here |
| |
| // SJA1000 error structure |
| // see the SJA1000 datasheet for detailed |
| // explanation of the registers |
| typedef struct CPC_SJA1000_CAN_ERROR { |
| u8 ecc; // error capture code register |
| u8 rxerr; // RX error counter register |
| u8 txerr; // TX error counter register |
| } CPC_SJA1000_CAN_ERROR_T; |
| |
| // M16C error structure |
| // see the M16C datasheet for detailed |
| // explanation of the registers |
| typedef struct CPC_M16C_CAN_ERROR { |
| u8 tbd; // to be defined |
| } CPC_M16C_CAN_ERROR_T; |
| |
| // structure for CAN error conditions |
| #define CPC_CAN_ECODE_ERRFRAME 0x01 |
| typedef struct CPC_CAN_ERROR { |
| u8 ecode; |
| struct { |
| u8 cc_type; // CAN controller type |
| union { |
| CPC_SJA1000_CAN_ERROR_T sja1000; |
| CPC_M16C_CAN_ERROR_T m16c; |
| } regs; |
| } cc; |
| } CPC_CAN_ERROR_T; |
| |
| // Structure containing RX/TX error counter. |
| // This structure is used to request the |
| // values of the CAN controllers TX and RX |
| // error counter. |
| typedef struct CPC_CAN_ERR_COUNTER { |
| u8 rx; |
| u8 tx; |
| } CPC_CAN_ERR_COUNTER_T; |
| |
| // If this flag is set, transmissions from PC to CPC are protected against loss |
| #define CPC_SECURE_TO_CPC 0x01 |
| |
| // If this flag is set, transmissions from CPC to PC are protected against loss |
| #define CPC_SECURE_TO_PC 0x02 |
| |
| // If this flag is set, the CAN-transmit buffer is checked to be free before sending a message |
| #define CPC_SECURE_SEND 0x04 |
| |
| // If this flag is set, the transmission complete flag is checked |
| // after sending a message |
| // THIS IS CURRENTLY ONLY IMPLEMENTED IN THE PASSIVE INTERFACE DRIVERS |
| #define CPC_SECURE_TRANSMIT 0x08 |
| |
| // main message type used between library and application |
| typedef struct CPC_MSG { |
| u8 type; // type of message |
| u8 length; // length of data within union 'msg' |
| u8 msgid; // confirmation handle |
| u32 ts_sec; // timestamp in seconds |
| u32 ts_nsec; // timestamp in nano seconds |
| union { |
| u8 generic[CPC_MSG_LEN]; |
| CPC_CAN_MSG_T canmsg; |
| CPC_CAN_PARAMS_T canparams; |
| CPC_CONFIRM_T confirmation; |
| CPC_INFO_T info; |
| CPC_OVERRUN_T overrun; |
| CPC_CAN_ERROR_T error; |
| CPC_CAN_ERR_COUNTER_T err_counter; |
| u8 busload; |
| u8 canstate; |
| } msg; |
| } CPC_MSG_T; |
| |
| #ifdef _WIN32 |
| #pragma pack(pop) // reset the byte alignment |
| #endif |
| |
| #endif // CPC_HEADER |