/* * 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