| /* |
| * 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 |
| |
| /* |
| * 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_MS |
| * 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; |
| |
| /* 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; |
| |
| /* 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; |
| |
| #endif /* CPC_HEADER */ |