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A Python library for sending and receiving CAN messages via the PEAK PCan adapter.

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Attribute VB_Name = "PCANBasic"
' PCANBasic.bas
'
' ~~~~~~~~~~~~
'
' PCAN-Basic API
'
' ~~~~~~~~~~~~
'
' ------------------------------------------------------------------
' Author : Keneth Wagner
' Last change: 08.11.2011 Wagner
'
' Language: Visual Basic 6.0
' ------------------------------------------------------------------
'
' Copyright (C) 1999-2012 PEAK-System Technik GmbH, Darmstadt
' more Info at http://www.peak-system.com
'
'///////////////////////////////////////////////////////////
'/ Value definitions
'///////////////////////////////////////////////////////////
' Currently defined and supported PCAN channels
'
Public Const PCAN_NONEBUS As Byte = &H0 ' Undefined/default value for a PCAN bus
Public Const PCAN_ISABUS1 As Byte = &H21 ' PCAN-ISA interface, channel 1
Public Const PCAN_ISABUS2 As Byte = &H22 ' PCAN-ISA interface, channel 2
Public Const PCAN_ISABUS3 As Byte = &H23 ' PCAN-ISA interface, channel 3
Public Const PCAN_ISABUS4 As Byte = &H24 ' PCAN-ISA interface, channel 4
Public Const PCAN_ISABUS5 As Byte = &H25 ' PCAN-ISA interface, channel 5
Public Const PCAN_ISABUS6 As Byte = &H26 ' PCAN-ISA interface, channel 6
Public Const PCAN_ISABUS7 As Byte = &H27 ' PCAN-ISA interface, channel 7
Public Const PCAN_ISABUS8 As Byte = &H28 ' PCAN-ISA interface, channel 8
Public Const PCAN_DNGBUS1 As Byte = &H31 ' PCAN-Dongle/LPT interface, channel 1
Public Const PCAN_PCIBUS1 As Byte = &H41 ' PCAN-PCI interface, channel 1
Public Const PCAN_PCIBUS2 As Byte = &H42 ' PCAN-PCI interface, channel 2
Public Const PCAN_PCIBUS3 As Byte = &H43 ' PCAN-PCI interface, channel 3
Public Const PCAN_PCIBUS4 As Byte = &H44 ' PCAN-PCI interface, channel 4
Public Const PCAN_PCIBUS5 As Byte = &H45 ' PCAN-PCI interface, channel 5
Public Const PCAN_PCIBUS6 As Byte = &H46 ' PCAN-PCI interface, channel 6
Public Const PCAN_PCIBUS7 As Byte = &H47 ' PCAN-PCI interface, channel 7
Public Const PCAN_PCIBUS8 As Byte = &H48 ' PCAN-PCI interface, channel 8
Public Const PCAN_USBBUS1 As Byte = &H51 ' PCAN-USB interface, channel 1
Public Const PCAN_USBBUS2 As Byte = &H52 ' PCAN-USB interface, channel 2
Public Const PCAN_USBBUS3 As Byte = &H53 ' PCAN-USB interface, channel 3
Public Const PCAN_USBBUS4 As Byte = &H54 ' PCAN-USB interface, channel 4
Public Const PCAN_USBBUS5 As Byte = &H55 ' PCAN-USB interface, channel 5
Public Const PCAN_USBBUS6 As Byte = &H56 ' PCAN-USB interface, channel 6
Public Const PCAN_USBBUS7 As Byte = &H57 ' PCAN-USB interface, channel 7
Public Const PCAN_USBBUS8 As Byte = &H58 ' PCAN-USB interface, channel 8
Public Const PCAN_PCCBUS1 As Byte = &H61 ' PCAN-PC Card interface, channel 1
Public Const PCAN_PCCBUS2 As Byte = &H62 ' PCAN-PC Card interface, channel 2
' Represent the PCAN error and status codes
'
Public Const PCAN_ERROR_OK As Long = &H0 ' No error
Public Const PCAN_ERROR_XMTFULL As Long = &H1 ' Transmit buffer in CAN controller is full
Public Const PCAN_ERROR_OVERRUN As Long = &H2 ' CAN controller was read too late
Public Const PCAN_ERROR_BUSLIGHT As Long = &H4 ' Bus error: an error counter reached the 'light' limit
Public Const PCAN_ERROR_BUSHEAVY As Long = &H8 ' Bus error: an error counter reached the 'heavy' limit
Public Const PCAN_ERROR_BUSOFF As Long = &H10 ' Bus error: the CAN controller is in bus-off state
Public Const PCAN_ERROR_ANYBUSERR = (PCAN_ERROR_BUSLIGHT Or PCAN_ERROR_BUSHEAVY Or PCAN_ERROR_BUSOFF) ' Mask for all bus errors
Public Const PCAN_ERROR_QRCVEMPTY As Long = &H20 ' Receive queue is empty
Public Const PCAN_ERROR_QOVERRUN As Long = &H40 ' Receive queue was read too late
Public Const PCAN_ERROR_QXMTFULL As Long = &H80 ' Transmit queue is full
Public Const PCAN_ERROR_REGTEST As Long = &H100 ' Test of the CAN controller hardware registers failed (no hardware found)
Public Const PCAN_ERROR_NODRIVER As Long = &H200 ' Driver not loaded
Public Const PCAN_ERROR_HWINUSE As Long = &H400 ' Hardware already in use by a Net
Public Const PCAN_ERROR_NETINUSE As Long = &H800 ' A Client is already connected to the Net
Public Const PCAN_ERROR_ILLHW As Long = &H1400 ' Hardware handle is invalid
Public Const PCAN_ERROR_ILLNET As Long = &H1800 ' Net handle is invalid
Public Const PCAN_ERROR_ILLCLIENT As Long = &H1C00 ' Client handle is invalid
Public Const PCAN_ERROR_ILLHANDLE = (PCAN_ERROR_ILLHW Or PCAN_ERROR_ILLNET Or PCAN_ERROR_ILLCLIENT) ' Mask for all handle errors
Public Const PCAN_ERROR_RESOURCE As Long = &H2000 ' Resource (FIFO, Client, timeout) cannot be created
Public Const PCAN_ERROR_ILLPARAMTYPE As Long = &H4000 ' Invalid parameter
Public Const PCAN_ERROR_ILLPARAMVAL As Long = &H8000 ' Invalid parameter value
Public Const PCAN_ERROR_UNKNOWN As Long = &H10000 ' Unknow error
Public Const PCAN_ERROR_ILLDATA As Long = &H20000 ' Invalid data, function, or action
Public Const PCAN_ERROR_INITIALIZE As Long = &H40000 ' Channel is not initialized
' PCAN devices
'
Public Const PCAN_NONE = &H0 ' Undefined, unknown or not selected PCAN device value
Public Const PCAN_PEAKCAN = &H1 ' PCAN Non-Plug&Play devices. NOT USED WITHIN PCAN-Basic API
Public Const PCAN_ISA = &H2 ' PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
Public Const PCAN_DNG = &H3 ' PCAN-Dongle
Public Const PCAN_PCI = &H4 ' PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
Public Const PCAN_USB = &H5 ' PCAN-USB and PCAN-USB Pro
Public Const PCAN_PCC = &H6 ' PCAN-PC Card
' PCAN parameters
'
Public Const PCAN_DEVICE_NUMBER = &H1 ' PCAN-USB device number parameter
Public Const PCAN_5VOLTS_POWER = &H2 ' PCAN-PC Card 5-Volt power parameter
Public Const PCAN_RECEIVE_EVENT = &H3 ' PCAN receive event handler parameter
Public Const PCAN_MESSAGE_FILTER = &H4 ' PCAN message filter parameter
Public Const PCAN_API_VERSION = &H5 ' PCAN-Basic API version parameter
Public Const PCAN_CHANNEL_VERSION = &H6 ' PCAN device channel version parameter
Public Const PCAN_BUSOFF_AUTORESET = &H7 ' PCAN Reset-On-Busoff parameter
Public Const PCAN_LISTEN_ONLY = &H8 ' PCAN Listen-Only parameter
Public Const PCAN_LOG_LOCATION = &H9 ' Directory path for trace files
Public Const PCAN_LOG_STATUS = &HA ' Debug-Trace activation status
Public Const PCAN_LOG_CONFIGURE = &HB ' Configuration of the debugged information (LOG_FUNCTION_***)
Public Const PCAN_LOG_TEXT = &HC ' Custom insertion of text into the log file
Public Const PCAN_CHANNEL_CONDITION = &HD ' Availability status of a PCAN-Channel
Public Const PCAN_HARDWARE_NAME = &HE ' PCAN hardware name parameter
Public Const PCAN_RECEIVE_STATUS = &HF ' Message reception status of a PCAN-Channel
Public Const PCAN_CONTROLLER_NUMBER = &H10 ' CAN-Controller number of a PCAN-Channel
' PCAN parameter values
'
Public Const PCAN_PARAMETER_OFF = &H0 ' The PCAN parameter is not set (inactive)
Public Const PCAN_PARAMETER_ON = &H1 ' The PCAN parameter is set (active)
Public Const PCAN_FILTER_CLOSE = &H0 ' The PCAN filter is closed. No messages will be received
Public Const PCAN_FILTER_OPEN = &H1 ' The PCAN filter is fully opened. All messages will be received
Public Const PCAN_FILTER_CUSTOM = &H2 ' The PCAN filter is custom configured. Only registered messages will be received
Public Const PCAN_CHANNEL_UNAVAILABLE = &H0 ' The PCAN-Channel handle is illegal, or its associated hadware is not available
Public Const PCAN_CHANNEL_AVAILABLE = &H1 ' The PCAN-Channel handle is available to be connected (Plug&Play Hardware: it means futhermore that the hardware is plugged-in)
Public Const PCAN_CHANNEL_OCCUPIED = &H2 ' The PCAN-Channel handle is valid, and is already being used
Public Const LOG_FUNCTION_DEFAULT = &H0 ' Logs system exceptions / errors
Public Const LOG_FUNCTION_ENTRY = &H1 ' Logs the entries to the PCAN-Basic API functions
Public Const LOG_FUNCTION_PARAMETERS = &H2 ' Logs the parameters passed to the PCAN-Basic API functions
Public Const LOG_FUNCTION_LEAVE = &H4 ' Logs the exits from the PCAN-Basic API functions
Public Const LOG_FUNCTION_WRITE = &H8 ' Logs the CAN messages passed to the CAN_Write function
Public Const LOG_FUNCTION_READ = &H10 ' Logs the CAN messages received within the CAN_Read function
Public Const LOG_FUNCTION_ALL = &HFFFF ' Logs all possible information within the PCAN-Basic API functions
' PCAN message types
'
Public Const PCAN_MESSAGE_STANDARD = &H0 ' The PCAN message is a CAN Standard Frame (11-bit identifier)
Public Const PCAN_MESSAGE_RTR = &H1 ' The PCAN message is a CAN Remote-Transfer-Request Frame
Public Const PCAN_MESSAGE_EXTENDED = &H2 ' The PCAN message is a CAN Extended Frame (29-bit identifier)
Public Const PCAN_MESSAGE_STATUS = &H80 ' The PCAN message represents a PCAN status message
' Frame Type / Initialization Mode
'
Public Const PCAN_MODE_STANDARD = PCAN_MESSAGE_STANDARD
Public Const PCAN_MODE_EXTENDED = PCAN_MESSAGE_EXTENDED
' Baud rate codes = BTR0/BTR1 register values for the CAN controller.
' You can define your own Baud rate with the BTROBTR1 register.
' Take a look at www.peak-system.com for our free software "BAUDTOOL"
' to calculate the BTROBTR1 register for every baudrate and sample point.
'
Public Const PCAN_BAUD_1M = &H14 ' 1 MBit/s
Public Const PCAN_BAUD_800K = &H16 ' 800 kBit/s
Public Const PCAN_BAUD_500K = &H1C ' 500 kBit/s
Public Const PCAN_BAUD_250K = &H11C ' 250 kBit/s
Public Const PCAN_BAUD_125K = &H31C ' 125 kBit/s
Public Const PCAN_BAUD_100K = &H432F ' 100 kBit/s
Public Const PCAN_BAUD_95K = &HC34E ' 95,238 kBit/s
Public Const PCAN_BAUD_83K = &H4B14 ' 83,333 kBit/s
Public Const PCAN_BAUD_50K = &H472F ' 50 kBit/s
Public Const PCAN_BAUD_47K = &H1414 ' 47,619 kBit/s
Public Const PCAN_BAUD_33K = &H1D14 ' 33,333 kBit/s
Public Const PCAN_BAUD_20K = &H532F ' 20 kBit/s
Public Const PCAN_BAUD_10K = &H672F ' 10 kBit/s
Public Const PCAN_BAUD_5K = &H7F7F ' 5 kBit/s
Public Const PCAN_TYPE_ISA = &H1 ' PCAN-ISA 82C200
Public Const PCAN_TYPE_ISA_SJA = &H9 ' PCAN-ISA SJA1000
Public Const PCAN_TYPE_ISA_PHYTEC = &H4 ' PHYTEC ISA
Public Const PCAN_TYPE_DNG = &H2 ' PCAN-Dongle 82C200
Public Const PCAN_TYPE_DNG_EPP = &H3 ' PCAN-Dongle EPP 82C200
Public Const PCAN_TYPE_DNG_SJA = &H5 ' PCAN-Dongle SJA1000
Public Const PCAN_TYPE_DNG_SJA_EPP = &H6 ' PCAN-Dongle EPP SJA1000
' CAN message
Public Type TPCANMsg
ID As Long ' 11/29-bit message identifier
MsgType As Byte ' Type of the message
LEN As Byte ' Data Length Code of the message (0..8)
DATA(7) As Byte ' Data of the message (DATA[0]..DATA[7])
End Type
Public Type TPCANTimestamp
millis As Long ' base-value: milliseconds: 0.. 2^32-1
millis_overflow As Integer ' roll-arounds of millis
micros As Integer ' microseconds: 0..999
End Type
''' <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 PLUG&PLAY: The type of hardware and operation mode"</param>
''' <param name="IOPort">"NON PLUG&PLAY: The I/O address for the parallel port"</param>
''' <param name="Interupt">"NON PLUG&PLAY: Interrupt number of the parallel port"</param>
''' <returns>"A TPCANStatus error code"</returns>
Public Declare Function CAN_Initialize Lib "PCANBasic.DLL" _
(ByVal channel As Byte, _
ByVal Btr0Btr1 As Integer, _
Optional ByVal HwType As Byte = 0, _
Optional ByVal IOPort As Long = 0, _
Optional ByVal Interrupt As Integer = 0) As Long
''' <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>
Public Declare Function CAN_Uninitialize Lib "PCANBasic.DLL" _
(ByVal Channel As Byte) As Long
''' <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>
Public Declare Function CAN_Reset Lib "PCANBasic.DLL" _
(ByVal Channel As Byte) As Long
''' <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>
Public Declare Function CAN_GetStatus Lib "PCANBasic.DLL" _
(ByVal Channel As Byte) As Long
''' <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. If this value is not desired, this parameter
''' should be passed as NULL"</param>
''' <returns>"A TPCANStatus error code"</returns>
Public Declare Function CAN_Read Lib "PCANBasic.DLL" _
(ByVal Channel As Byte, _
ByRef MessageBuffer As TPCANMsg, _
ByRef TimestampBuffer As TPCANTimestamp) As Long
''' <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>
Public Declare Function CAN_Write Lib "PCANBasic.DLL" _
(ByVal Channel As Byte, _
ByRef MessageBuffer As TPCANMsg) As Long
''' <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 CAN_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>
Public Declare Function CAN_FilterMessages Lib "PCANBasic.DLL" _
(ByVal Channel As Byte, _
ByVal FromID As Long, _
ByVal ToID As Long, _
ByVal Mode As Byte) As Long
''' <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="Buffer">"Buffer for the parameter value"</param>
''' <param name="BufferLength">"Size in bytes of the buffer"</param>
''' <returns>"A TPCANStatus error code"</returns>
Public Declare Function CAN_GetValue Lib "PCANBasic.DLL" _
(ByVal Channel As Byte, _
ByVal Parameter As Byte, _
ByRef Buffer As Any, _
ByVal BufferLength As Long) As Long
''' <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="Buffer">"Buffer with the value to be set"</param>
''' <param name="BufferLength">"Size in bytes of the buffer"</param>
''' <returns>"A TPCANStatus error code"</returns>
Public Declare Function CAN_SetValue Lib "PCANBasic.DLL" _
(ByVal Channel As Byte, _
ByVal Parameter As Byte, _
ByRef Buffer As Any, _
ByVal BufferLength As Long) As Long
' <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="Buffer">"Buffer for a null terminated char array"</param>
' <returns>"A TPCANStatus error code"</returns>
Public Declare Function CAN_GetErrorText Lib "PCANBasic.DLL" _
(ByVal ErrorCode As Long, _
ByVal Language As Integer, _
ByVal Buffer As String) As Long

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// PCANBasic.cs
//
// ~~~~~~~~~~~~
//
// PCAN-Basic API
//
// ~~~~~~~~~~~~
//
// ------------------------------------------------------------------
// Author : Keneth Wagner
// Last change: 08.11.2011 Wagner
//
// Language: C# 1.0
// ------------------------------------------------------------------
//
// Copyright (C) 1999-2012 PEAK-System Technik GmbH, Darmstadt
// more Info at http://www.peak-system.com
//
using System;
using System.Text;
using System.Runtime.InteropServices;
namespace Peak.Can.Basic
{
using TPCANHandle = System.Byte;
#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: 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_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF),
/// <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>
/// Unknow error
/// </summary>
PCAN_ERROR_UNKNOWN = 0x10000,
/// <summary>
/// Invalid data, function, or action.
/// </summary>
PCAN_ERROR_ILLDATA = 0x20000,
/// <summary>
/// Channel is not initialized
/// </summary>
PCAN_ERROR_INITIALIZE = 0x40000,
}
/// <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-Plug&Play 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>
/// Represents a PCAN parameter to be read or set
/// </summary>
public enum TPCANParameter : byte
{
/// <summary>
/// PCAN-USB device number parameter
/// </summary>
PCAN_DEVICE_NUMBER = 1,
/// <summary>
/// PCAN-PC Card 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 trace files
/// </summary>
PCAN_LOG_LOCATION = 9,
/// <summary>
/// Debug-Trace 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>
/// 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 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 = 0x4B14,
/// <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 = 0x1D14,
/// <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 plug&play) 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 + 0xFFFFFFFF * 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;
}
#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-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-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;
#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 hadware is not available
/// </summary>
public const int PCAN_CHANNEL_UNAVAILABLE = 0;
/// <summary>
/// The PCAN-Channel handle is available to be connected (Plug&Play Hardware: it means futhermore 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>
/// 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;
#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 PLUG&PLAY: The type of hardware and operation mode</param>
/// <param name="IOPort">NON PLUG&PLAY: The I/O address for the parallel port</param>
/// <param name="Interrupt">NON PLUG&PLAY: 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.U1)]
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>
/// 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.U1)]
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.U1)]
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.U1)]
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.U1)]
TPCANHandle Channel,
out TPCANMsg MessageBuffer,
out TPCANTimestamp TimestampBuffer);
[DllImport("PCANBasic.dll", EntryPoint = "CAN_Read")]
private static extern TPCANStatus Read(
[MarshalAs(UnmanagedType.U1)]
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>
/// 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.U1)]
TPCANHandle Channel,
ref TPCANMsg 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.U1)]
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.U1)]
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.U1)]
TPCANHandle Channel,
[MarshalAs(UnmanagedType.U1)]
TPCANParameter Parameter,
out 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.U1)]
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"></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.U1)]
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
}

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// PCANBasic.h
//
// ~~~~~~~~~~~~
//
// PCAN-Basic API
//
// ~~~~~~~~~~~~
//
// ------------------------------------------------------------------
// Author : Keneth Wagner
// Last change: 08.11.2011 Wagner
//
// Language: ANSI-C
// ------------------------------------------------------------------
//
// Copyright (C) 1999-2012 PEAK-System Technik GmbH, Darmstadt
// more Info at http://www.peak-system.com
//
#ifndef __PCANBASICH__
#define __PCANBASICH__
////////////////////////////////////////////////////////////
// Value definitions
////////////////////////////////////////////////////////////
// Currently defined and supported PCAN channels
//
#define PCAN_NONEBUS 0x00 // Undefined/default value for a PCAN bus
#define PCAN_ISABUS1 0x21 // PCAN-ISA interface, channel 1
#define PCAN_ISABUS2 0x22 // PCAN-ISA interface, channel 2
#define PCAN_ISABUS3 0x23 // PCAN-ISA interface, channel 3
#define PCAN_ISABUS4 0x24 // PCAN-ISA interface, channel 4
#define PCAN_ISABUS5 0x25 // PCAN-ISA interface, channel 5
#define PCAN_ISABUS6 0x26 // PCAN-ISA interface, channel 6
#define PCAN_ISABUS7 0x27 // PCAN-ISA interface, channel 7
#define PCAN_ISABUS8 0x28 // PCAN-ISA interface, channel 8
#define PCAN_DNGBUS1 0x31 // PCAN-Dongle/LPT interface, channel 1
#define PCAN_PCIBUS1 0x41 // PCAN-PCI interface, channel 1
#define PCAN_PCIBUS2 0x42 // PCAN-PCI interface, channel 2
#define PCAN_PCIBUS3 0x43 // PCAN-PCI interface, channel 3
#define PCAN_PCIBUS4 0x44 // PCAN-PCI interface, channel 4
#define PCAN_PCIBUS5 0x45 // PCAN-PCI interface, channel 5
#define PCAN_PCIBUS6 0x46 // PCAN-PCI interface, channel 6
#define PCAN_PCIBUS7 0x47 // PCAN-PCI interface, channel 7
#define PCAN_PCIBUS8 0x48 // PCAN-PCI interface, channel 8
#define PCAN_USBBUS1 0x51 // PCAN-USB interface, channel 1
#define PCAN_USBBUS2 0x52 // PCAN-USB interface, channel 2
#define PCAN_USBBUS3 0x53 // PCAN-USB interface, channel 3
#define PCAN_USBBUS4 0x54 // PCAN-USB interface, channel 4
#define PCAN_USBBUS5 0x55 // PCAN-USB interface, channel 5
#define PCAN_USBBUS6 0x56 // PCAN-USB interface, channel 6
#define PCAN_USBBUS7 0x57 // PCAN-USB interface, channel 7
#define PCAN_USBBUS8 0x58 // PCAN-USB interface, channel 8
#define PCAN_PCCBUS1 0x61 // PCAN-PC Card interface, channel 1
#define PCAN_PCCBUS2 0x62 // PCAN-PC Card interface, channel 2
// Represent the PCAN error and status codes
//
#define PCAN_ERROR_OK 0x00000 // No error
#define PCAN_ERROR_XMTFULL 0x00001 // Transmit buffer in CAN controller is full
#define PCAN_ERROR_OVERRUN 0x00002 // CAN controller was read too late
#define PCAN_ERROR_BUSLIGHT 0x00004 // Bus error: an error counter reached the 'light' limit
#define PCAN_ERROR_BUSHEAVY 0x00008 // Bus error: an error counter reached the 'heavy' limit
#define PCAN_ERROR_BUSOFF 0x00010 // Bus error: the CAN controller is in bus-off state
#define PCAN_ERROR_ANYBUSERR (PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF) // Mask for all bus errors
#define PCAN_ERROR_QRCVEMPTY 0x00020 // Receive queue is empty
#define PCAN_ERROR_QOVERRUN 0x00040 // Receive queue was read too late
#define PCAN_ERROR_QXMTFULL 0x00080 // Transmit queue is full
#define PCAN_ERROR_REGTEST 0x00100 // Test of the CAN controller hardware registers failed (no hardware found)
#define PCAN_ERROR_NODRIVER 0x00200 // Driver not loaded
#define PCAN_ERROR_HWINUSE 0x00400 // Hardware already in use by a Net
#define PCAN_ERROR_NETINUSE 0x00800 // A Client is already connected to the Net
#define PCAN_ERROR_ILLHW 0x01400 // Hardware handle is invalid
#define PCAN_ERROR_ILLNET 0x01800 // Net handle is invalid
#define PCAN_ERROR_ILLCLIENT 0x01C00 // Client handle is invalid
#define PCAN_ERROR_ILLHANDLE (PCAN_ERROR_ILLHW | PCAN_ERROR_ILLNET | PCAN_ERROR_ILLCLIENT) // Mask for all handle errors
#define PCAN_ERROR_RESOURCE 0x02000 // Resource (FIFO, Client, timeout) cannot be created
#define PCAN_ERROR_ILLPARAMTYPE 0x04000 // Invalid parameter
#define PCAN_ERROR_ILLPARAMVAL 0x08000 // Invalid parameter value
#define PCAN_ERROR_UNKNOWN 0x10000 // Unknow error
#define PCAN_ERROR_ILLDATA 0x20000 // Invalid data, function, or action.
#define PCAN_ERROR_INITIALIZE 0x40000 // Channel is not initialized
// PCAN devices
//
#define PCAN_NONE 0x00 // Undefined, unknown or not selected PCAN device value
#define PCAN_PEAKCAN 0x01 // PCAN Non-Plug&Play devices. NOT USED WITHIN PCAN-Basic API
#define PCAN_ISA 0x02 // PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
#define PCAN_DNG 0x03 // PCAN-Dongle
#define PCAN_PCI 0x04 // PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
#define PCAN_USB 0x05 // PCAN-USB and PCAN-USB Pro
#define PCAN_PCC 0x06 // PCAN-PC Card
// PCAN parameters
//
#define PCAN_DEVICE_NUMBER 0x01 // PCAN-USB device number parameter
#define PCAN_5VOLTS_POWER 0x02 // PCAN-PC Card 5-Volt power parameter
#define PCAN_RECEIVE_EVENT 0x03 // PCAN receive event handler parameter
#define PCAN_MESSAGE_FILTER 0x04 // PCAN message filter parameter
#define PCAN_API_VERSION 0x05 // PCAN-Basic API version parameter
#define PCAN_CHANNEL_VERSION 0x06 // PCAN device channel version parameter
#define PCAN_BUSOFF_AUTORESET 0x07 // PCAN Reset-On-Busoff parameter
#define PCAN_LISTEN_ONLY 0x08 // PCAN Listen-Only parameter
#define PCAN_LOG_LOCATION 0x09 // Directory path for trace files
#define PCAN_LOG_STATUS 0x0A // Debug-Trace activation status
#define PCAN_LOG_CONFIGURE 0x0B // Configuration of the debugged information (LOG_FUNCTION_***)
#define PCAN_LOG_TEXT 0x0C // Custom insertion of text into the log file
#define PCAN_CHANNEL_CONDITION 0x0D // Availability status of a PCAN-Channel
#define PCAN_HARDWARE_NAME 0x0E // PCAN hardware name parameter
#define PCAN_RECEIVE_STATUS 0x0F // Message reception status of a PCAN-Channel
#define PCAN_CONTROLLER_NUMBER 0x10 // CAN-Controller number of a PCAN-Channel
// PCAN parameter values
//
#define PCAN_PARAMETER_OFF 0x00 // The PCAN parameter is not set (inactive)
#define PCAN_PARAMETER_ON 0x01 // The PCAN parameter is set (active)
#define PCAN_FILTER_CLOSE 0x00 // The PCAN filter is closed. No messages will be received
#define PCAN_FILTER_OPEN 0x01 // The PCAN filter is fully opened. All messages will be received
#define PCAN_FILTER_CUSTOM 0x02 // The PCAN filter is custom configured. Only registered messages will be received
#define PCAN_CHANNEL_UNAVAILABLE 0x00 // The PCAN-Channel handle is illegal, or its associated hadware is not available
#define PCAN_CHANNEL_AVAILABLE 0x01 // The PCAN-Channel handle is available to be connected (Plug&Play Hardware: it means futhermore that the hardware is plugged-in)
#define PCAN_CHANNEL_OCCUPIED 0x02 // The PCAN-Channel handle is valid, and is already being used
#define LOG_FUNCTION_DEFAULT 0x00 // Logs system exceptions / errors
#define LOG_FUNCTION_ENTRY 0x01 // Logs the entries to the PCAN-Basic API functions
#define LOG_FUNCTION_PARAMETERS 0x02 // Logs the parameters passed to the PCAN-Basic API functions
#define LOG_FUNCTION_LEAVE 0x04 // Logs the exits from the PCAN-Basic API functions
#define LOG_FUNCTION_WRITE 0x08 // Logs the CAN messages passed to the CAN_Write function
#define LOG_FUNCTION_READ 0x10 // Logs the CAN messages received within the CAN_Read function
#define LOG_FUNCTION_ALL 0xFFFF // Logs all possible information within the PCAN-Basic API functions
// PCAN message types
//
#define PCAN_MESSAGE_STANDARD 0x00 // The PCAN message is a CAN Standard Frame (11-bit identifier)
#define PCAN_MESSAGE_RTR 0x01 // The PCAN message is a CAN Remote-Transfer-Request Frame
#define PCAN_MESSAGE_EXTENDED 0x02 // The PCAN message is a CAN Extended Frame (29-bit identifier)
#define PCAN_MESSAGE_STATUS 0x80 // The PCAN message represents a PCAN status message
// Frame Type / Initialization Mode
//
#define PCAN_MODE_STANDARD PCAN_MESSAGE_STANDARD
#define PCAN_MODE_EXTENDED PCAN_MESSAGE_EXTENDED
// Baud rate codes = BTR0/BTR1 register values for the CAN controller.
// You can define your own Baud rate with the BTROBTR1 register.
// Take a look at www.peak-system.com for our free software "BAUDTOOL"
// to calculate the BTROBTR1 register for every baudrate and sample point.
//
#define PCAN_BAUD_1M 0x0014 // 1 MBit/s
#define PCAN_BAUD_800K 0x0016 // 800 kBit/s
#define PCAN_BAUD_500K 0x001C // 500 kBit/s
#define PCAN_BAUD_250K 0x011C // 250 kBit/s
#define PCAN_BAUD_125K 0x031C // 125 kBit/s
#define PCAN_BAUD_100K 0x432F // 100 kBit/s
#define PCAN_BAUD_95K 0xC34E // 95,238 kBit/s
#define PCAN_BAUD_83K 0x4B14 // 83,333 kBit/s
#define PCAN_BAUD_50K 0x472F // 50 kBit/s
#define PCAN_BAUD_47K 0x1414 // 47,619 kBit/s
#define PCAN_BAUD_33K 0x1D14 // 33,333 kBit/s
#define PCAN_BAUD_20K 0x532F // 20 kBit/s
#define PCAN_BAUD_10K 0x672F // 10 kBit/s
#define PCAN_BAUD_5K 0x7F7F // 5 kBit/s
#define PCAN_TYPE_ISA 0x01 // PCAN-ISA 82C200
#define PCAN_TYPE_ISA_SJA 0x09 // PCAN-ISA SJA1000
#define PCAN_TYPE_ISA_PHYTEC 0x04 // PHYTEC ISA
#define PCAN_TYPE_DNG 0x02 // PCAN-Dongle 82C200
#define PCAN_TYPE_DNG_EPP 0x03 // PCAN-Dongle EPP 82C200
#define PCAN_TYPE_DNG_SJA 0x05 // PCAN-Dongle SJA1000
#define PCAN_TYPE_DNG_SJA_EPP 0x06 // PCAN-Dongle EPP SJA1000
////////////////////////////////////////////////////////////
// Type definitions
////////////////////////////////////////////////////////////
#define TPCANHandle BYTE // Represents a PCAN hardware channel handle
#define TPCANStatus DWORD // Represents a PCAN status/error code
#define TPCANParameter BYTE // Represents a PCAN parameter to be read or set
#define TPCANDevice BYTE // Represents a PCAN device
#define TPCANMessageType BYTE // Represents the type of a PCAN message
#define TPCANType BYTE // Represents the type of PCAN hardware to be initialized
#define TPCANMode BYTE // Represents a PCAN filter mode
#define TPCANBaudrate WORD // Represents a PCAN Baud rate register value
////////////////////////////////////////////////////////////
// Structure definitions
////////////////////////////////////////////////////////////
// Represents a PCAN message
//
typedef struct tagTPCANMsg
{
DWORD ID; // 11/29-bit message identifier
TPCANMessageType MSGTYPE; // Type of the message
BYTE LEN; // Data Length Code of the message (0..8)
BYTE DATA[8]; // Data of the message (DATA[0]..DATA[7])
} TPCANMsg;
// Represents a timestamp of a received PCAN message
// Total Microseconds = micros + 1000 * millis + 0xFFFFFFFF * 1000 * millis_overflow
//
typedef struct tagTPCANTimestamp
{
DWORD millis; // Base-value: milliseconds: 0.. 2^32-1
WORD millis_overflow; // Roll-arounds of millis
WORD micros; // Microseconds: 0..999
} TPCANTimestamp;
#ifdef __cplusplus
extern "C" {
#endif
////////////////////////////////////////////////////////////
// PCAN-Basic API function declarations
////////////////////////////////////////////////////////////
/// <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 PLUG&PLAY: The type of hardware and operation mode"</param>
/// <param name="IOPort">"NON PLUG&PLAY: The I/O address for the parallel port"</param>
/// <param name="Interupt">"NON PLUG&PLAY: Interrupt number of the parallel port"</param>
/// <returns>"A TPCANStatus error code"</returns>
TPCANStatus __stdcall CAN_Initialize(
TPCANHandle Channel,
TPCANBaudrate Btr0Btr1,
TPCANType HwType = 0,
DWORD IOPort = 0,
WORD Interrupt = 0);
/// <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>
TPCANStatus __stdcall CAN_Uninitialize(
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>
TPCANStatus __stdcall CAN_Reset(
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>
TPCANStatus __stdcall CAN_GetStatus(
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. If this value is not desired, this parameter
/// should be passed as NULL"</param>
/// <returns>"A TPCANStatus error code"</returns>
TPCANStatus __stdcall CAN_Read(
TPCANHandle Channel,
TPCANMsg* MessageBuffer,
TPCANTimestamp* TimestampBuffer);
/// <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>
TPCANStatus __stdcall CAN_Write(
TPCANHandle Channel,
TPCANMsg* 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 CAN_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>
TPCANStatus __stdcall CAN_FilterMessages(
TPCANHandle Channel,
DWORD FromID,
DWORD ToID,
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="Buffer">"Buffer for the parameter value"</param>
/// <param name="BufferLength">"Size in bytes of the buffer"</param>
/// <returns>"A TPCANStatus error code"</returns>
TPCANStatus __stdcall CAN_GetValue(
TPCANHandle Channel,
TPCANParameter Parameter,
void* Buffer,
DWORD 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="Buffer">"Buffer with the value to be set"</param>
/// <param name="BufferLength">"Size in bytes of the buffer"</param>
/// <returns>"A TPCANStatus error code"</returns>
TPCANStatus __stdcall CAN_SetValue(
TPCANHandle Channel,
TPCANParameter Parameter,
void* Buffer,
DWORD 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="Buffer">"Buffer for a null terminated char array"</param>
/// <returns>"A TPCANStatus error code"</returns>
TPCANStatus __stdcall CAN_GetErrorText(
TPCANStatus Error,
WORD Language,
LPSTR Buffer);
#ifdef __cplusplus
}
#endif
#endif

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// PCANBasic.pas
//
// ~~~~~~~~~~~~
//
// PCAN-Basic API
//
// ~~~~~~~~~~~~
//
// ------------------------------------------------------------------
// Author : Keneth Wagner
// Last change: 08.11.2011 Wagner
//
// Language: Pascal OO
// ------------------------------------------------------------------
//
// Copyright (C) 1999-2012 PEAK-System Technik GmbH, Darmstadt
// more Info at http://www.peak-system.com
//
unit PCANBasic;
interface
type
TPCANHandle = Byte;
{$Z4}
/// <summary>
/// Represents a PCAN status/error code
/// </summary>
TPCANStatus = (
/// <summary>
/// No error
/// </summary>
PCAN_ERROR_OK = $00000,
/// <summary>
/// Transmit buffer in CAN controller is full
/// </summary>
PCAN_ERROR_XMTFULL = $00001,
/// <summary>
/// CAN controller was read too late
/// </summary>
PCAN_ERROR_OVERRUN = $00002,
/// <summary>
/// Bus error: an error counter reached the 'light' limit
/// </summary>
PCAN_ERROR_BUSLIGHT = $00004,
/// <summary>
/// Bus error: an error counter reached the 'heavy' limit
/// </summary>
PCAN_ERROR_BUSHEAVY = $00008,
/// <summary>
/// Bus error: the CAN controller is in bus-off state
/// </summary>
PCAN_ERROR_BUSOFF = $00010,
/// <summary>
/// Mask for all bus errors
/// </summary>
PCAN_ERROR_ANYBUSERR = Byte(PCAN_ERROR_BUSLIGHT) Or Byte(PCAN_ERROR_BUSHEAVY) Or Byte(PCAN_ERROR_BUSOFF),
/// <summary>
/// Receive queue is empty
/// </summary>
PCAN_ERROR_QRCVEMPTY = $00020,
/// <summary>
/// Receive queue was read too late
/// </summary>
PCAN_ERROR_QOVERRUN = $00040,
/// <summary>
/// Transmit queue is full
/// </summary>
PCAN_ERROR_QXMTFULL = $00080,
/// <summary>
/// Test of the CAN controller hardware registers failed (no hardware found)
/// </summary>
PCAN_ERROR_REGTEST = $00100,
/// <summary>
/// Driver not loaded
/// </summary>
PCAN_ERROR_NODRIVER = $00200,
/// <summary>
/// Hardware already in use by a Net
/// </summary>
PCAN_ERROR_HWINUSE = $00400,
/// <summary>
/// A Client is already connected to the Net
/// </summary>
PCAN_ERROR_NETINUSE = $00800,
/// <summary>
/// Hardware handle is invalid
/// </summary>
PCAN_ERROR_ILLHW = $01400,
/// <summary>
/// Net handle is invalid
/// </summary>
PCAN_ERROR_ILLNET = $01800,
/// <summary>
/// Client handle is invalid
/// </summary>
PCAN_ERROR_ILLCLIENT = $01C00,
/// <summary>
/// Mask for all handle errors
/// </summary>
PCAN_ERROR_ILLHANDLE = Byte(PCAN_ERROR_ILLHW) Or Byte(PCAN_ERROR_ILLNET) Or Byte(PCAN_ERROR_ILLCLIENT),
/// <summary>
/// Resource (FIFO, Client, timeout) cannot be created
/// </summary>
PCAN_ERROR_RESOURCE = $02000,
/// <summary>
/// Invalid parameter
/// </summary>
PCAN_ERROR_ILLPARAMTYPE = $04000,
/// <summary>
/// Invalid parameter value
/// </summary>
PCAN_ERROR_ILLPARAMVAL = $08000,
/// <summary>
/// Unknow error
/// </summary>
PCAN_ERROR_UNKNOWN = $10000,
/// <summary>
/// Invalid data, function, or action
/// </summary>
PCAN_ERROR_ILLDATA = $20000,
/// <summary>
/// Channel is not initialized
/// </summary>
PCAN_ERROR_INITIALIZE = $40000
);
{$Z1}
/// <summary>
/// Represents a PCAN device
/// </summary>
TPCANDevice = (
/// <summary>
/// Undefined, unknown or not selected PCAN device value
/// </summary>
PCAN_NONE = 0,
/// <summary>
/// PCAN Non-Plug&Play 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>
/// Represents a PCAN parameter to be read or set
/// </summary>
TPCANParameter = (
/// <summary>
/// PCAN-USB device number parameter
/// </summary>
PCAN_DEVICE_NUMBER = 1,
/// <summary>
/// PCAN-PC Card 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 trace files
/// </summary>
PCAN_LOG_LOCATION = 9,
/// <summary>
/// Debug-Trace 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>
/// Represents the type of a PCAN message
/// </summary>
TPCANMessageType = (
/// <summary>
/// The PCAN message is a CAN Standard Frame (11-bit identifier)
/// </summary>
PCAN_MESSAGE_STANDARD = $00,
/// <summary>
/// The PCAN message is a CAN Remote-Transfer-Request Frame
/// </summary>
PCAN_MESSAGE_RTR = $01,
/// <summary>
/// The PCAN message is a CAN Extended Frame (29-bit identifier)
/// </summary>
PCAN_MESSAGE_EXTENDED = $02,
/// <summary>
/// The PCAN message represents a PCAN status message
/// </summary>
PCAN_MESSAGE_STATUS = $80
);
/// <summary>
/// Represents a PCAN filter mode
/// </summary>
TPCANMode = (
/// <summary>
/// Mode is Standard (11-bit identifier)
/// </summary>
PCAN_MODE_STANDARD = Byte(PCAN_MESSAGE_STANDARD),
/// <summary>
/// Mode is Extended (29-bit identifier)
/// </summary>
PCAN_MODE_EXTENDED = Byte(PCAN_MESSAGE_EXTENDED)
);
{$Z2}
/// <summary>
/// Represents a PCAN Baud rate register value
/// </summary>
TPCANBaudrate = (
/// <summary>
/// 1 MBit/s
/// </summary>
PCAN_BAUD_1M = $0014,
/// <summary>
/// 800 kBit/s
/// </summary>
PCAN_BAUD_800K = $0016,
/// <summary>
/// 500 kBit/s
/// </summary>
PCAN_BAUD_500K = $001C,
/// <summary>
/// 250 kBit/s
/// </summary>
PCAN_BAUD_250K = $011C,
/// <summary>
/// 125 kBit/s
/// </summary>
PCAN_BAUD_125K = $031C,
/// <summary>
/// 100 kBit/s
/// </summary>
PCAN_BAUD_100K = $432F,
/// <summary>
/// 95,238 kBit/s
/// </summary>
PCAN_BAUD_95K = $C34E,
/// <summary>
/// 83,333 kBit/s
/// </summary>
PCAN_BAUD_83K = $4B14,
/// <summary>
/// 50 kBit/s
/// </summary>
PCAN_BAUD_50K = $472F,
/// <summary>
/// 47,619 kBit/s
/// </summary>
PCAN_BAUD_47K = $1414,
/// <summary>
/// 33,333 kBit/s
/// </summary>
PCAN_BAUD_33K = $1D14,
/// <summary>
/// 20 kBit/s
/// </summary>
PCAN_BAUD_20K = $532F,
/// <summary>
/// 10 kBit/s
/// </summary>
PCAN_BAUD_10K = $672F,
/// <summary>
/// 5 kBit/s
/// </summary>
PCAN_BAUD_5K = $7F7F
);
{$Z1}
/// <summary>
/// Represents the type of PCAN (non plug&play) hardware to be initialized
/// </summary>
TPCANType = (
/// <summary>
/// PCAN-ISA 82C200
/// </summary>
PCAN_TYPE_ISA = $01,
/// <summary>
/// PCAN-ISA SJA1000
/// </summary>
PCAN_TYPE_ISA_SJA = $09,
/// <summary>
/// PHYTEC ISA
/// </summary>
PCAN_TYPE_ISA_PHYTEC = $04,
/// <summary>
/// PCAN-Dongle 82C200
/// </summary>
PCAN_TYPE_DNG = $02,
/// <summary>
/// PCAN-Dongle EPP 82C200
/// </summary>
PCAN_TYPE_DNG_EPP = $03,
/// <summary>
/// PCAN-Dongle SJA1000
/// </summary>
PCAN_TYPE_DNG_SJA = $05,
/// <summary>
/// PCAN-Dongle EPP SJA1000
/// </summary>
PCAN_TYPE_DNG_SJA_EPP = $06
);
/// <summary>
/// Represents a PCAN message
/// </summary>
TPCANMsg = record
/// <summary>
/// 11/29-bit message identifier
/// </summary>
ID: Longword;
/// <summary>
/// Type of the message
/// </summary>
MSGTYPE: TPCANMessageType;
/// <summary>
/// Data Length Code of the message (0..8)
/// </summary>
LEN: Byte;
/// <summary>
/// Data of the message (DATA[0]..DATA[7])
/// </summary>
DATA: array[0..7] of Byte;
end;
/// <summary>
/// Represents a timestamp of a received PCAN message.
/// Total Microseconds = micros + 1000 * millis + 0xFFFFFFFF * 1000 * millis_overflow
/// </summary>
TPCANTimestamp = record
/// <summary>
/// Base-value: milliseconds: 0.. 2^32-1
/// </summary>
millis: Longword;
/// <summary>
/// Roll-arounds of millis
/// </summary>
millis_overflow: Word;
/// <summary>
/// Microseconds: 0..999
/// </summary>
micros: Word;
end;
PTPCANTimestamp = ^TPCANTimestamp;
/// <summary>
/// PCAN-Basic API class implementation
/// </summary>
TPCANBasic = class
public
class var
/// <summary>
/// Undefined/default value for a PCAN bus
/// </summary>
const PCAN_NONEBUS: TPCANHandle = $00;
/// <summary>
/// PCAN-ISA interface, channel 1
/// </summary>
const PCAN_ISABUS1: TPCANHandle = $21;
/// <summary>
/// PCAN-ISA interface, channel 2
/// </summary>
const PCAN_ISABUS2: TPCANHandle = $22;
/// <summary>
/// PCAN-ISA interface, channel 3
/// </summary>
const PCAN_ISABUS3: TPCANHandle = $23;
/// <summary>
/// PCAN-ISA interface, channel 4
/// </summary>
const PCAN_ISABUS4: TPCANHandle = $24;
/// <summary>
/// PCAN-ISA interface, channel 5
/// </summary>
const PCAN_ISABUS5: TPCANHandle = $25;
/// <summary>
/// PCAN-ISA interface, channel 6
/// </summary>
const PCAN_ISABUS6: TPCANHandle = $26;
/// <summary>
/// PCAN-ISA interface, channel 7
/// </summary>
const PCAN_ISABUS7: TPCANHandle = $27;
/// <summary>
/// PCAN-ISA interface, channel 8
/// </summary>
const PCAN_ISABUS8: TPCANHandle = $28;
/// <summary>
/// PPCAN-Dongle/LPT interface, channel 1
/// </summary>
const PCAN_DNGBUS1: TPCANHandle = $31;
/// <summary>
/// PCAN-PCI interface, channel 1
/// </summary>
const PCAN_PCIBUS1: TPCANHandle = $41;
/// <summary>
/// PCAN-PCI interface, channel 2
/// </summary>
const PCAN_PCIBUS2: TPCANHandle = $42;
/// <summary>
/// PCAN-PCI interface, channel 3
/// </summary>
const PCAN_PCIBUS3: TPCANHandle = $43;
/// <summary>
/// PCAN-PCI interface, channel 4
/// </summary>
const PCAN_PCIBUS4: TPCANHandle = $44;
/// <summary>
/// PCAN-PCI interface, channel 5
/// </summary>
const PCAN_PCIBUS5: TPCANHandle = $45;
/// <summary>
/// PCAN-PCI interface, channel 6
/// </summary>
const PCAN_PCIBUS6: TPCANHandle = $46;
/// <summary>
/// PCAN-PCI interface, channel 7
/// </summary>
const PCAN_PCIBUS7: TPCANHandle = $47;
/// <summary>
/// PCAN-PCI interface, channel 8
/// </summary>
const PCAN_PCIBUS8: TPCANHandle = $48;
/// <summary>
/// PCAN-USB interface, channel 1
/// </summary>
const PCAN_USBBUS1: TPCANHandle = $51;
/// <summary>
/// PCAN-USB interface, channel 2
/// </summary>
const PCAN_USBBUS2: TPCANHandle = $52;
/// <summary>
/// PCAN-USB interface, channel 3
/// </summary>
const PCAN_USBBUS3: TPCANHandle = $53;
/// <summary>
/// PCAN-USB interface, channel 4
/// </summary>
const PCAN_USBBUS4: TPCANHandle = $54;
/// <summary>
/// PCAN-USB interface, channel 5
/// </summary>
const PCAN_USBBUS5: TPCANHandle = $55;
/// <summary>
/// PCAN-USB interface, channel 6
/// </summary>
const PCAN_USBBUS6: TPCANHandle = $56;
/// <summary>
/// PCAN-USB interface, channel 7
/// </summary>
const PCAN_USBBUS7: TPCANHandle = $57;
/// <summary>
/// PCAN-USB interface, channel 8
/// </summary>
const PCAN_USBBUS8: TPCANHandle = $58;
/// <summary>
/// PCAN-PC Card interface, channel 1
/// </summary>
const PCAN_PCCBUS1: TPCANHandle = $61;
/// <summary>
/// PCAN-PC Card interface, channel 2
/// </summary>
const PCAN_PCCBUS2: TPCANHandle = $62;
/// <summary>
/// The PCAN parameter is not set (inactive)
/// </summary>
const PCAN_PARAMETER_OFF: Integer = 0;
/// <summary>
/// The PCAN parameter is set (active)
/// </summary>
const PCAN_PARAMETER_ON: Integer = 1;
/// <summary>
/// The PCAN filter is closed. No messages will be received
/// </summary>
const PCAN_FILTER_CLOSE: Integer = 0;
/// <summary>
/// The PCAN filter is fully opened. All messages will be received
/// </summary>
const PCAN_FILTER_OPEN: Integer = 1;
/// <summary>
/// The PCAN filter is custom configured. Only registered
/// messages will be received
/// </summary>
const PCAN_FILTER_CUSTOM: Integer = 2;
/// <summary>
/// The PCAN-Channel handle is illegal, or its associated hadware is not available
/// </summary>
const PCAN_CHANNEL_UNAVAILABLE: Integer = 0;
/// <summary>
/// The PCAN-Channel handle is available to be connected (Plug&Play Hardware: it means futhermore that the hardware is plugged-in)
/// </summary>
const PCAN_CHANNEL_AVAILABLE: Integer = 1;
/// <summary>
/// The PCAN-Channel handle is valid, and is already being used
/// </summary>
const PCAN_CHANNEL_OCCUPIED: Integer = 2;
/// <summary>
/// Logs system exceptions / errors
/// </summary>
const LOG_FUNCTION_DEFAULT: Integer = $00;
/// <summary>
/// Logs the entries to the PCAN-Basic API functions
/// </summary>
const LOG_FUNCTION_ENTRY: Integer = $01;
/// <summary>
/// Logs the parameters passed to the PCAN-Basic API functions
/// </summary>
const LOG_FUNCTION_PARAMETERS: Integer = $02;
/// <summary>
/// Logs the exits from the PCAN-Basic API functions
/// </summary>
const LOG_FUNCTION_LEAVE: Integer = $04;
/// <summary>
/// Logs the CAN messages passed to the CAN_Write function
/// </summary>
const LOG_FUNCTION_WRITE: Integer = $08;
/// <summary>
/// Logs the CAN messages received within the CAN_Read function
/// </summary>
const LOG_FUNCTION_READ: Integer = $10;
/// <summary>
/// Logs all possible information within the PCAN-Basic API functions
/// </summary>
const LOG_FUNCTION_ALL: Integer = $FFFF;
/// <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 PLUG&PLAY: The type of hardware and operation mode</param>
/// <param name="IOPort">NON PLUG&PLAY: The I/O address for the parallel port</param>
/// <param name="Interrupt">NON PLUG&PLAY: Interrupt number of the parallel port</param>
/// <returns>A TPCANStatus error code</returns>
class function Initialize(
Channel: TPCANHandle;
Btr0Btr1: TPCANBaudrate;
HwType: TPCANType;
IOPort: LongWord;
Interrupt: Word
): TPCANStatus; overload;
/// <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>
class function Initialize(
Channel: TPCANHandle;
Btr0Btr1: TPCANBaudrate
): TPCANStatus; overload;
/// <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>
class function Uninitialize(
Channel: TPCANHandle
): TPCANStatus;
/// <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>
class function Reset(
Channel: TPCANHandle
): TPCANStatus;
/// <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>
class function GetStatus(
Channel: TPCANHandle
): TPCANStatus;
/// <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>
class function Read(
Channel: TPCANHandle;
var MessageBuffer: TPCANMsg;
var TimestampBuffer: TPCANTimestamp
):TPCANStatus; overload;
/// <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>
class function Read(
Channel: TPCANHandle;
var MessageBuffer: TPCANMsg
): TPCANStatus; overload;
/// <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>
class function Write(
Channel: TPCANHandle;
var MessageBuffer: TPCANMsg
): TPCANStatus;
/// <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>
class function FilterMessages(
Channel: TPCANHandle;
FromID: LongWord;
ToID: LongWord;
Mode: TPCANMode
): TPCANStatus;
/// <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>
class function GetValue(
Channel: TPCANHandle;
Parameter: TPCANParameter;
NumericBuffer: PLongWord;
BufferLength: LongWord
): TPCANStatus; overload;
/// <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>
class function GetValue(
Channel: TPCANHandle;
Parameter: TPCANParameter;
StringBuffer: PAnsiChar;
BufferLength: LongWord
): TPCANStatus; overload;
/// <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>
class function SetValue(
Channel: TPCANHandle;
Parameter: TPCANParameter;
NumericBuffer: PLongWord;
BufferLength: LongWord
): TPCANStatus; overload;
/// <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="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>
class function SetValue(
Channel: TPCANHandle;
Parameter: TPCANParameter;
StringBuffer: PAnsiChar;
BufferLength: LongWord
): TPCANStatus; overload;
/// <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>
class function GetErrorText(
Error: TPCANStatus;
Language: Word;
StringBuffer: PAnsiChar
): TPCANStatus;
end;
implementation
uses SysUtils;
const DLL_Name = 'PCANBASIC.DLL';
function CAN_Initialize(Channel: TPCANHandle; Btr0Btr1: TPCANBaudrate; HwType: TPCANType; IOPort: LongWord; Interrupt: Word): TPCANStatus; stdcall;
external DLL_Name;
function CAN_Uninitialize(Channel: TPCANHandle): TPCANStatus; stdcall;
external DLL_Name;
function CAN_Reset(Channel: TPCANHandle): TPCANStatus; stdcall;
external DLL_Name;
function CAN_GetStatus(Channel: TPCANHandle): TPCANStatus; stdcall;
external DLL_Name;
function CAN_Read(Channel: TPCANHandle; var MessageBuffer: TPCANMsg; TimestampBuffer: PTPCANTimestamp):TPCANStatus; overload; stdcall;
external DLL_Name;
function CAN_Write(Channel: TPCANHandle; var MessageBuffer: TPCANMsg): TPCANStatus; stdcall;
external DLL_Name;
function CAN_FilterMessages(Channel: TPCANHandle; FromID: LongWord; ToID: LongWord; Mode: TPCANMode): TPCANStatus; stdcall;
external DLL_Name;
function CAN_GetValue(Channel: TPCANHandle; Parameter: TPCANParameter; Buffer: Pointer; BufferLength: LongWord): TPCANStatus; stdcall;
external DLL_Name;
function CAN_SetValue(Channel: TPCANHandle; Parameter: TPCANParameter; Buffer: Pointer; BufferLength: LongWord): TPCANStatus; stdcall;
external DLL_Name;
function CAN_GetErrorText(Error: TPCANStatus; Language: Word; StringBuffer: PAnsiChar): TPCANStatus; stdcall;
external DLL_Name;
class function TPCANBasic.Initialize(Channel: TPCANHandle; Btr0Btr1: TPCANBaudrate; HwType: TPCANType; IOPort: LongWord; Interrupt: Word): TPCANStatus;
begin
Result:= CAN_Initialize(Channel,Btr0Btr1,HwType,IOPort,Interrupt);
end;
class function TPCANBasic.Initialize(Channel: TPCANHandle; Btr0Btr1: TPCANBaudrate): TPCANStatus;
begin
Result:= CAN_Initialize(Channel,Btr0Btr1,TPCANType(0), 0,0);
end;
class function TPCANBasic.Uninitialize(Channel: TPCANHandle): TPCANStatus;
begin
Result:= CAN_Uninitialize(Channel);
end;
class function TPCANBasic.Reset(Channel: TPCANHandle): TPCANStatus;
begin
Result:= CAN_Reset(Channel);
end;
class function TPCANBasic.GetStatus(Channel: TPCANHandle): TPCANStatus;
begin
Result:= CAN_GetStatus(Channel);
end;
class function TPCANBasic.Read(Channel: TPCANHandle; var MessageBuffer: TPCANMsg; var TimestampBuffer: TPCANTimestamp):TPCANStatus;
begin
Result:= CAN_Read(Channel, MessageBuffer, @TimestampBuffer);
end;
class function TPCANBasic.Read(Channel: TPCANHandle; var MessageBuffer: TPCANMsg):TPCANStatus;
begin
Result:= CAN_Read(Channel, MessageBuffer, nil);
end;
class function TPCANBasic.Write(Channel: TPCANHandle; var MessageBuffer: TPCANMsg): TPCANStatus;
begin
Result:= CAN_Write(Channel, MessageBuffer);
end;
class function TPCANBasic.FilterMessages(Channel: TPCANHandle; FromID: LongWord; ToID: LongWord; Mode: TPCANMode): TPCANStatus;
begin
Result:= CAN_FilterMessages(Channel, FromID,ToID,Mode);
end;
class function TPCANBasic.GetValue(Channel: TPCANHandle; Parameter: TPCANParameter; NumericBuffer: PLongWord; BufferLength: LongWord): TPCANStatus;
begin
Result:= CAN_GetValue(Channel, Parameter, NumericBuffer, BufferLength);
end;
class function TPCANBasic.GetValue(Channel: TPCANHandle; Parameter: TPCANParameter; StringBuffer: PAnsiChar; BufferLength: LongWord): TPCANStatus;
begin
Result:= CAN_GetValue(Channel, Parameter, StringBuffer, BufferLength);
end;
class function TPCANBasic.SetValue(Channel: TPCANHandle; Parameter: TPCANParameter; NumericBuffer: PLongWord; BufferLength: LongWord): TPCANStatus;
begin
Result:= CAN_SetValue(Channel, Parameter, NumericBuffer, BufferLength);
end;
class function TPCANBasic.SetValue(Channel: TPCANHandle; Parameter: TPCANParameter; StringBuffer: PAnsiChar; BufferLength: LongWord): TPCANStatus;
begin
Result:= CAN_SetValue(Channel, Parameter, StringBuffer, BufferLength);
end;
class function TPCANBasic.GetErrorText(Error: TPCANStatus; Language: Word; StringBuffer: PAnsiChar): TPCANStatus;
begin
Result:= CAN_GetErrorText(Error, Language, StringBuffer);
end;
end.

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# PCANBasic.py
#
# ~~~~~~~~~~~~
#
# PCAN-Basic API
#
# ~~~~~~~~~~~~
#
# ------------------------------------------------------------------
# Author : Keneth Wagner
# Last change: 08.11.2011 Wagner
#
# Language: Python 2.6
# ------------------------------------------------------------------
#
# Copyright (C) 1999-2012 PEAK-System Technik GmbH, Darmstadt
# more Info at http://www.peak-system.com
#
# Module Imports
#
from ctypes import *
#///////////////////////////////////////////////////////////
# Type definitions
#///////////////////////////////////////////////////////////
TPCANHandle = c_ubyte # Represents a PCAN hardware channel handle
TPCANStatus = int # Represents a PCAN status/error code
TPCANParameter = c_ubyte # Represents a PCAN parameter to be read or set
TPCANDevice = c_ubyte # Represents a PCAN device
TPCANMessageType = c_ubyte # Represents the type of a PCAN message
TPCANType = c_ubyte # Represents the type of PCAN hardware to be initialized
TPCANMode = c_ubyte # Represents a PCAN filter mode
TPCANBaudrate = c_ushort # Represents a PCAN Baud rate register value
#///////////////////////////////////////////////////////////
# Value definitions
#///////////////////////////////////////////////////////////
# Currently defined and supported PCAN channels
#
PCAN_NONEBUS = TPCANHandle(0x00) # Undefined/default value for a PCAN bus
PCAN_ISABUS1 = TPCANHandle(0x21) # PCAN-ISA interface, channel 1
PCAN_ISABUS2 = TPCANHandle(0x22) # PCAN-ISA interface, channel 2
PCAN_ISABUS3 = TPCANHandle(0x23) # PCAN-ISA interface, channel 3
PCAN_ISABUS4 = TPCANHandle(0x24) # PCAN-ISA interface, channel 4
PCAN_ISABUS5 = TPCANHandle(0x25) # PCAN-ISA interface, channel 5
PCAN_ISABUS6 = TPCANHandle(0x26) # PCAN-ISA interface, channel 6
PCAN_ISABUS7 = TPCANHandle(0x27) # PCAN-ISA interface, channel 7
PCAN_ISABUS8 = TPCANHandle(0x28) # PCAN-ISA interface, channel 8
PCAN_DNGBUS1 = TPCANHandle(0x31) # PCAN-Dongle/LPT interface, channel 1
PCAN_PCIBUS1 = TPCANHandle(0x41) # PCAN-PCI interface, channel 1
PCAN_PCIBUS2 = TPCANHandle(0x42) # PCAN-PCI interface, channel 2
PCAN_PCIBUS3 = TPCANHandle(0x43) # PCAN-PCI interface, channel 3
PCAN_PCIBUS4 = TPCANHandle(0x44) # PCAN-PCI interface, channel 4
PCAN_PCIBUS5 = TPCANHandle(0x45) # PCAN-PCI interface, channel 5
PCAN_PCIBUS6 = TPCANHandle(0x46) # PCAN-PCI interface, channel 6
PCAN_PCIBUS7 = TPCANHandle(0x47) # PCAN-PCI interface, channel 7
PCAN_PCIBUS8 = TPCANHandle(0x48) # PCAN-PCI interface, channel 8
PCAN_USBBUS1 = TPCANHandle(0x51) # PCAN-USB interface, channel 1
PCAN_USBBUS2 = TPCANHandle(0x52) # PCAN-USB interface, channel 2
PCAN_USBBUS3 = TPCANHandle(0x53) # PCAN-USB interface, channel 3
PCAN_USBBUS4 = TPCANHandle(0x54) # PCAN-USB interface, channel 4
PCAN_USBBUS5 = TPCANHandle(0x55) # PCAN-USB interface, channel 5
PCAN_USBBUS6 = TPCANHandle(0x56) # PCAN-USB interface, channel 6
PCAN_USBBUS7 = TPCANHandle(0x57) # PCAN-USB interface, channel 7
PCAN_USBBUS8 = TPCANHandle(0x58) # PCAN-USB interface, channel 8
PCAN_PCCBUS1 = TPCANHandle(0x61) # PCAN-PC Card interface, channel 1
PCAN_PCCBUS2 = TPCANHandle(0x62) # PCAN-PC Card interface, channel 2
# Represent the PCAN error and status codes
#
PCAN_ERROR_OK = TPCANStatus(0x00000) # No error
PCAN_ERROR_XMTFULL = TPCANStatus(0x00001) # Transmit buffer in CAN controller is full
PCAN_ERROR_OVERRUN = TPCANStatus(0x00002) # CAN controller was read too late
PCAN_ERROR_BUSLIGHT = TPCANStatus(0x00004) # Bus error: an error counter reached the 'light' limit
PCAN_ERROR_BUSHEAVY = TPCANStatus(0x00008) # Bus error: an error counter reached the 'heavy' limit
PCAN_ERROR_BUSOFF = TPCANStatus(0x00010) # Bus error: the CAN controller is in bus-off state
PCAN_ERROR_ANYBUSERR = TPCANStatus(PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF) # Mask for all bus errors
PCAN_ERROR_QRCVEMPTY = TPCANStatus(0x00020) # Receive queue is empty
PCAN_ERROR_QOVERRUN = TPCANStatus(0x00040) # Receive queue was read too late
PCAN_ERROR_QXMTFULL = TPCANStatus(0x00080) # Transmit queue is full
PCAN_ERROR_REGTEST = TPCANStatus(0x00100) # Test of the CAN controller hardware registers failed (no hardware found)
PCAN_ERROR_NODRIVER = TPCANStatus(0x00200) # Driver not loaded
PCAN_ERROR_HWINUSE = TPCANStatus(0x00400) # Hardware already in use by a Net
PCAN_ERROR_NETINUSE = TPCANStatus(0x00800) # A Client is already connected to the Net
PCAN_ERROR_ILLHW = TPCANStatus(0x01400) # Hardware handle is invalid
PCAN_ERROR_ILLNET = TPCANStatus(0x01800) # Net handle is invalid
PCAN_ERROR_ILLCLIENT = TPCANStatus(0x01C00) # Client handle is invalid
PCAN_ERROR_ILLHANDLE = TPCANStatus(PCAN_ERROR_ILLHW | PCAN_ERROR_ILLNET | PCAN_ERROR_ILLCLIENT) # Mask for all handle errors
PCAN_ERROR_RESOURCE = TPCANStatus(0x02000) # Resource (FIFO, Client, timeout) cannot be created
PCAN_ERROR_ILLPARAMTYPE = TPCANStatus(0x04000) # Invalid parameter
PCAN_ERROR_ILLPARAMVAL = TPCANStatus(0x08000) # Invalid parameter value
PCAN_ERROR_UNKNOWN = TPCANStatus(0x10000) # Unknow error
PCAN_ERROR_ILLDATA = TPCANStatus(0x20000) # Invalid data, function, or action
PCAN_ERROR_INITIALIZE = TPCANStatus(0x40000) # Channel is not initialized
# PCAN devices
#
PCAN_NONE = TPCANDevice(0x00) # Undefined, unknown or not selected PCAN device value
PCAN_PEAKCAN = TPCANDevice(0x01) # PCAN Non-Plug&Play devices. NOT USED WITHIN PCAN-Basic API
PCAN_ISA = TPCANDevice(0x02) # PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus
PCAN_DNG = TPCANDevice(0x03) # PCAN-Dongle
PCAN_PCI = TPCANDevice(0x04) # PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express
PCAN_USB = TPCANDevice(0x05) # PCAN-USB and PCAN-USB Pro
PCAN_PCC = TPCANDevice(0x06) # PCAN-PC Card
# PCAN parameters
#
PCAN_DEVICE_NUMBER = TPCANParameter(0x01) # PCAN-USB device number parameter
PCAN_5VOLTS_POWER = TPCANParameter(0x02) # PCAN-PC Card 5-Volt power parameter
PCAN_RECEIVE_EVENT = TPCANParameter(0x03) # PCAN receive event handler parameter
PCAN_MESSAGE_FILTER = TPCANParameter(0x04) # PCAN message filter parameter
PCAN_API_VERSION = TPCANParameter(0x05) # PCAN-Basic API version parameter
PCAN_CHANNEL_VERSION = TPCANParameter(0x06) # PCAN device channel version parameter
PCAN_BUSOFF_AUTORESET = TPCANParameter(0x07) # PCAN Reset-On-Busoff parameter
PCAN_LISTEN_ONLY = TPCANParameter(0x08) # PCAN Listen-Only parameter
PCAN_LOG_LOCATION = TPCANParameter(0x09) # Directory path for trace files
PCAN_LOG_STATUS = TPCANParameter(0x0A) # Debug-Trace activation status
PCAN_LOG_CONFIGURE = TPCANParameter(0x0B) # Configuration of the debugged information (LOG_FUNCTION_***)
PCAN_LOG_TEXT = TPCANParameter(0x0C) # Custom insertion of text into the log file
PCAN_CHANNEL_CONDITION = TPCANParameter(0x0D) # Availability status of a PCAN-Channel
PCAN_HARDWARE_NAME = TPCANParameter(0x0E) # PCAN hardware name parameter
PCAN_RECEIVE_STATUS = TPCANParameter(0x0F) # Message reception status of a PCAN-Channel
PCAN_CONTROLLER_NUMBER = TPCANParameter(0x010) # CAN-Controller number of a PCAN-Channel
# PCAN parameter values
#
PCAN_PARAMETER_OFF = int(0x00) # The PCAN parameter is not set (inactive)
PCAN_PARAMETER_ON = int(0x01) # The PCAN parameter is set (active)
PCAN_FILTER_CLOSE = int(0x00) # The PCAN filter is closed. No messages will be received
PCAN_FILTER_OPEN = int(0x01) # The PCAN filter is fully opened. All messages will be received
PCAN_FILTER_CUSTOM = int(0x02) # The PCAN filter is custom configured. Only registered messages will be received
PCAN_CHANNEL_UNAVAILABLE = int(0x00) # The PCAN-Channel handle is illegal, or its associated hadware is not available
PCAN_CHANNEL_AVAILABLE = int(0x01) # The PCAN-Channel handle is available to be connected (Plug&Play Hardware: it means futhermore that the hardware is plugged-in)
PCAN_CHANNEL_OCCUPIED = int(0x02) # The PCAN-Channel handle is valid, and is already being used
LOG_FUNCTION_DEFAULT = int(0x00) # Logs system exceptions / errors
LOG_FUNCTION_ENTRY = int(0x01) # Logs the entries to the PCAN-Basic API functions
LOG_FUNCTION_PARAMETERS = int(0x02) # Logs the parameters passed to the PCAN-Basic API functions
LOG_FUNCTION_LEAVE = int(0x04) # Logs the exits from the PCAN-Basic API functions
LOG_FUNCTION_WRITE = int(0x08) # Logs the CAN messages passed to the CAN_Write function
LOG_FUNCTION_READ = int(0x10) # Logs the CAN messages received within the CAN_Read function
LOG_FUNCTION_ALL = int(0xFFFF) # Logs all possible information within the PCAN-Basic API functions
# PCAN message types
#
PCAN_MESSAGE_STANDARD = TPCANMessageType(0x00) # The PCAN message is a CAN Standard Frame (11-bit identifier)
PCAN_MESSAGE_RTR = TPCANMessageType(0x01) # The PCAN message is a CAN Remote-Transfer-Request Frame
PCAN_MESSAGE_EXTENDED = TPCANMessageType(0x02) # The PCAN message is a CAN Extended Frame (29-bit identifier)
PCAN_MESSAGE_STATUS = TPCANMessageType(0x80) # The PCAN message represents a PCAN status message
# Frame Type / Initialization Mode
#
PCAN_MODE_STANDARD = PCAN_MESSAGE_STANDARD
PCAN_MODE_EXTENDED = PCAN_MESSAGE_EXTENDED
# Baud rate codes = BTR0/BTR1 register values for the CAN controller.
# You can define your own Baud rate with the BTROBTR1 register.
# Take a look at www.peak-system.com for our free software "BAUDTOOL"
# to calculate the BTROBTR1 register for every baudrate and sample point.
#
PCAN_BAUD_1M = TPCANBaudrate(0x0014) # 1 MBit/s
PCAN_BAUD_800K = TPCANBaudrate(0x0016) # 800 kBit/s
PCAN_BAUD_500K = TPCANBaudrate(0x001C) # 500 kBit/s
PCAN_BAUD_250K = TPCANBaudrate(0x011C) # 250 kBit/s
PCAN_BAUD_125K = TPCANBaudrate(0x031C) # 125 kBit/s
PCAN_BAUD_100K = TPCANBaudrate(0x432F) # 100 kBit/s
PCAN_BAUD_95K = TPCANBaudrate(0xC34E) # 95,238 kBit/s
PCAN_BAUD_83K = TPCANBaudrate(0x4B14) # 83,333 kBit/s
PCAN_BAUD_50K = TPCANBaudrate(0x472F) # 50 kBit/s
PCAN_BAUD_47K = TPCANBaudrate(0x1414) # 47,619 kBit/s
PCAN_BAUD_33K = TPCANBaudrate(0x1D14) # 33,333 kBit/s
PCAN_BAUD_20K = TPCANBaudrate(0x532F) # 20 kBit/s
PCAN_BAUD_10K = TPCANBaudrate(0x672F) # 10 kBit/s
PCAN_BAUD_5K = TPCANBaudrate(0x7F7F) # 5 kBit/s
# Supported No-Plug-And-Play Hardware types
#
PCAN_TYPE_ISA = TPCANType(0x01) # PCAN-ISA 82C200
PCAN_TYPE_ISA_SJA = TPCANType(0x09) # PCAN-ISA SJA1000
PCAN_TYPE_ISA_PHYTEC = TPCANType(0x04) # PHYTEC ISA
PCAN_TYPE_DNG = TPCANType(0x02) # PCAN-Dongle 82C200
PCAN_TYPE_DNG_EPP = TPCANType(0x03) # PCAN-Dongle EPP 82C200
PCAN_TYPE_DNG_SJA = TPCANType(0x05) # PCAN-Dongle SJA1000
PCAN_TYPE_DNG_SJA_EPP = TPCANType(0x06) # PCAN-Dongle EPP SJA1000
# Represents a PCAN message
#
class TPCANMsg (Structure):
"""
Represents a PCAN message
"""
_fields_ = [ ("ID", c_ulong), # 11/29-bit message identifier
("MSGTYPE", TPCANMessageType), # Type of the message
("LEN", c_ubyte), # Data Length Code of the message (0..8)
("DATA", c_ubyte * 8) ] # Data of the message (DATA[0]..DATA[7])
# Represents a timestamp of a received PCAN message
# Total Microseconds = micros + 1000 * millis + 0xFFFFFFFF * 1000 * millis_overflow
#
class TPCANTimestamp (Structure):
"""
Represents a timestamp of a received PCAN message
Total Microseconds = micros + 1000 * millis + 0xFFFFFFFF * 1000 * millis_overflow
"""
_fields_ = [ ("millis", c_ulong), # Base-value: milliseconds: 0.. 2^32-1
("millis_overflow", c_ushort), # Roll-arounds of millis
("micros", c_ushort) ] # Microseconds: 0..999
#///////////////////////////////////////////////////////////
# PCAN-Basic API function declarations
#///////////////////////////////////////////////////////////
# PCAN-Basic API class implementation
#
class PCANBasic:
"""
PCAN-Basic API class implementation
"""
def __init__(self):
# Loads the PCANBasic.dll
#
self.__m_dllBasic = windll.LoadLibrary("PCANBasic")
if self.__m_dllBasic == None:
print "Exception: The PCAN-Basic DLL couldn't be loaded!"
# Initializes a PCAN Channel
#
def Initialize(
self,
Channel,
Btr0Btr1,
HwType = TPCANType(0),
IOPort = c_uint(0),
Interrupt = c_ushort(0)):
"""
Initializes a PCAN Channel
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Btr0Btr1 : The speed for the communication (BTR0BTR1 code)
HwType : NON PLUG&PLAY: The type of hardware and operation mode
IOPort : NON PLUG&PLAY: The I/O address for the parallel port
Interrupt: NON PLUG&PLAY: Interrupt number of the parallel port
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_Initialize(Channel,Btr0Btr1,HwType,IOPort,Interrupt)
return TPCANStatus(res)
except:
print "Exception on PCANBasic.Initialize"
raise
# Uninitializes one or all PCAN Channels initialized by CAN_Initialize
#
def Uninitialize(
self,
Channel):
"""
Uninitializes one or all PCAN Channels initialized by CAN_Initialize
Remarks:
Giving the TPCANHandle value "PCAN_NONEBUS", uninitialize all initialized channels
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_Uninitialize(Channel)
return TPCANStatus(res)
except:
print "Exception on PCANBasic.Uninitialize"
raise
# Resets the receive and transmit queues of the PCAN Channel
#
def Reset(
self,
Channel):
"""
Resets the receive and transmit queues of the PCAN Channel
Remarks:
A reset of the CAN controller is not performed
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_Reset(Channel)
return TPCANStatus(res)
except:
print "Exception on PCANBasic.Reset"
raise
# Gets the current status of a PCAN Channel
#
def GetStatus(
self,
Channel):
"""
Gets the current status of a PCAN Channel
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_GetStatus(Channel)
return TPCANStatus(res)
except:
print "Exception on PCANBasic.GetStatus"
raise
# Reads a CAN message from the receive queue of a PCAN Channel
#
def Read(
self,
Channel):
"""
Reads a CAN message from the receive queue of a PCAN Channel
Remarks:
The return value of this method is a 3-touple, where
the first value is the result (TPCANStatus) of the method.
The order of the values are:
[0]: A TPCANStatus error code
[1]: A TPCANMsg structure with the CAN message read
[2]: A TPCANTimestamp structure with the time when a message was read
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Returns:
A touple with three values
"""
try:
msg = TPCANMsg()
timestamp = TPCANTimestamp()
res = self.__m_dllBasic.CAN_Read(Channel,byref(msg),byref(timestamp))
return TPCANStatus(res),msg,timestamp
except:
print "Exception on PCANBasic.Read"
raise
# Transmits a CAN message
#
def Write(
self,
Channel,
MessageBuffer):
"""
Transmits a CAN message
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
MessageBuffer: A TPCANMsg representing the CAN message to be sent
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_Write(Channel,byref(MessageBuffer))
return TPCANStatus(res)
except:
print "Exception on PCANBasic.Write"
raise
# Configures the reception filter
#
def FilterMessages(
self,
Channel,
FromID,
ToID,
Mode):
"""
Configures the reception filter
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.
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
FromID : A c_ulong value with the lowest CAN ID to be received
ToID : A c_ulong value with the highest CAN ID to be received
Mode : A TPCANMode representing the message type (Standard, 11-bit
identifier, or Extended, 29-bit identifier)
Returns:
A TPCANStatus error code
"""
try:
res = self.__m_dllBasic.CAN_FilterMessages(Channel,FromID,ToID,Mode)
return TPCANStatus(res)
except:
print "Exception on PCANBasic.FilterMessages"
raise
# Retrieves a PCAN Channel value
#
def GetValue(
self,
Channel,
Parameter):
"""
Retrieves a PCAN Channel value
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.
The return value of this method is a 2-touple, where
the first value is the result (TPCANStatus) of the method and
the second one, the asked value
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Parameter : The TPCANParameter parameter to get
Returns:
A touple with 2 values
"""
try:
if Parameter == PCAN_API_VERSION or Parameter == PCAN_CHANNEL_VERSION or Parameter == PCAN_LOG_LOCATION:
mybuffer = create_string_buffer(256)
else:
mybuffer = c_int(0)
res = self.__m_dllBasic.CAN_GetValue(Channel,Parameter,byref(mybuffer),sizeof(mybuffer))
return TPCANStatus(res),mybuffer.value
except:
print "Exception on PCANBasic.GetValue"
raise
# Returns a descriptive text of a given TPCANStatus
# error code, in any desired language
#
def SetValue(
self,
Channel,
Parameter,
Buffer):
"""
Returns a descriptive text of a given TPCANStatus error
code, in any desired language
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.
Parameters:
Channel : A TPCANHandle representing a PCAN Channel
Parameter : The TPCANParameter parameter to set
Buffer : Buffer with the value to be set
BufferLength : Size in bytes of the buffer
Returns:
A TPCANStatus error code
"""
try:
if Parameter == PCAN_LOG_LOCATION or Parameter == PCAN_LOG_TEXT:
mybuffer = create_string_buffer(256)
else:
mybuffer = c_int(0)
mybuffer.value = Buffer
res = self.__m_dllBasic.CAN_SetValue(Channel,Parameter,byref(mybuffer),sizeof(mybuffer))
return TPCANStatus(res)
except:
print "Exception on PCANBasic.SetValue"
raise
def GetErrorText(
self,
Error,
Language = 0):
"""
Configures or sets a PCAN Channel value
Remarks:
The current languages available for translation are:
Neutral (0x00), German (0x07), English (0x09), Spanish (0x0A),
Italian (0x10) and French (0x0C)
The return value of this method is a 2-touple, where
the first value is the result (TPCANStatus) of the method and
the second one, the error text
Parameters:
Error : A TPCANStatus error code
Language : Indicates a 'Primary language ID' (Default is Neutral(0))
Returns:
A touple with 2 values
"""
try:
mybuffer = create_string_buffer(256)
res = self.__m_dllBasic.CAN_GetErrorText(Error,Language,byref(mybuffer))
return TPCANStatus(res),mybuffer.value
except:
print "Exception on PCANBasic.GetErrorText"
raise

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' PCANBasic.cs
'
' ~~~~~~~~~~~~
'
' PCAN-Basic API
'
' ~~~~~~~~~~~~
'
' ------------------------------------------------------------------
' Author : Keneth Wagner
' Last change: 08.11.2011 Wagner
'
' Language: VB .NET
' ------------------------------------------------------------------
'
' Copyright (C) 1999-2012 PEAK-System Technik GmbH, Darmstadt
' more Info at http://www.peak-system.com
'
Imports System
Imports System.Text
Imports System.Runtime.InteropServices
Imports TPCANHandle = System.Byte
Namespace Peak.Can.Basic
#Region "Enumerations"
''' <summary>
''' Represents a PCAN status/error code
''' </summary>
<Flags()> _
Public Enum TPCANStatus As UInt32
''' <summary>
''' No error
''' </summary>
PCAN_ERROR_OK = &H0
''' <summary>
''' Transmit buffer in CAN controller is full
''' </summary>
PCAN_ERROR_XMTFULL = &H1
''' <summary>
''' CAN controller was read too late
''' </summary>
PCAN_ERROR_OVERRUN = &H2
''' <summary>
''' Bus error: an error counter reached the 'light' limit
''' </summary>
PCAN_ERROR_BUSLIGHT = &H4
''' <summary>
''' Bus error: an error counter reached the 'heavy' limit
''' </summary>
PCAN_ERROR_BUSHEAVY = &H8
''' <summary>
''' Bus error: the CAN controller is in bus-off state
''' </summary>
PCAN_ERROR_BUSOFF = &H10
''' <summary>
''' Mask for all bus errors
''' </summary>
PCAN_ERROR_ANYBUSERR = (PCAN_ERROR_BUSLIGHT Or PCAN_ERROR_BUSHEAVY Or PCAN_ERROR_BUSOFF)
''' <summary>
''' Receive queue is empty
''' </summary>
PCAN_ERROR_QRCVEMPTY = &H20
''' <summary>
''' Receive queue was read too late
''' </summary>
PCAN_ERROR_QOVERRUN = &H40
''' <summary>
''' Transmit queue is full
''' </summary>
PCAN_ERROR_QXMTFULL = &H80
''' <summary>
''' Test of the CAN controller hardware registers failed (no hardware found)
''' </summary>
PCAN_ERROR_REGTEST = &H100
''' <summary>
''' Driver not loaded
''' </summary>
PCAN_ERROR_NODRIVER = &H200
''' <summary>
''' Hardware already in use by a Net
''' </summary>
PCAN_ERROR_HWINUSE = &H400
''' <summary>
''' A Client is already connected to the Net
''' </summary>
PCAN_ERROR_NETINUSE = &H800
''' <summary>
''' Hardware handle is invalid
''' </summary>
PCAN_ERROR_ILLHW = &H1400
''' <summary>
''' Net handle is invalid
''' </summary>
PCAN_ERROR_ILLNET = &H1800
''' <summary>
''' Client handle is invalid
''' </summary>
PCAN_ERROR_ILLCLIENT = &H1C00
''' <summary>
''' Mask for all handle errors
''' </summary>
PCAN_ERROR_ILLHANDLE = (PCAN_ERROR_ILLHW Or PCAN_ERROR_ILLNET Or PCAN_ERROR_ILLCLIENT)
''' <summary>
''' Resource (FIFO, Client, timeout) cannot be created
''' </summary>
PCAN_ERROR_RESOURCE = &H2000
''' <summary>
''' Invalid parameter
''' </summary>
PCAN_ERROR_ILLPARAMTYPE = &H4000
''' <summary>
''' Invalid parameter value
''' </summary>
PCAN_ERROR_ILLPARAMVAL = &H8000
''' <summary>
''' Unknow error
''' </summary>
PCAN_ERROR_UNKNOWN = &H10000
''' <summary>
''' Invalid data, function, or action.
''' </summary>
PCAN_ERROR_ILLDATA = &H20000
''' <summary>
''' Channel is not initialized
''' </summary>
PCAN_ERROR_INITIALIZE = &H40000
End Enum
''' <summary>
''' Represents a PCAN device
''' </summary>
Public Enum TPCANDevice As Byte
''' <summary>
''' Undefined, unknown or not selected PCAN device value
''' </summary>
PCAN_NONE = 0
''' <summary>
''' PCAN Non-Plug And Play 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
End Enum
''' <summary>
''' Represents a PCAN parameter to be read or set
''' </summary>
Public Enum TPCANParameter As Byte
''' <summary>
''' PCAN-USB device number parameter
''' </summary>
PCAN_DEVICE_NUMBER = 1
''' <summary>
''' PCAN-PC Card 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 trace files
''' </summary>
PCAN_LOG_LOCATION = 9
''' <summary>
''' Debug-Trace 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
End Enum
''' <summary>
''' Represents the type of a PCAN message
''' </summary>
<Flags()> _
Public Enum TPCANMessageType As Byte
''' <summary>
''' The PCAN message is a CAN Standard Frame (11-bit identifier)
''' </summary>
PCAN_MESSAGE_STANDARD = &H0
''' <summary>
''' The PCAN message is a CAN Remote-Transfer-Request Frame
''' </summary>
PCAN_MESSAGE_RTR = &H1
''' <summary>
''' The PCAN message is a CAN Extended Frame (29-bit identifier)
''' </summary>
PCAN_MESSAGE_EXTENDED = &H2
''' <summary>
''' The PCAN message represents a PCAN status message
''' </summary>
PCAN_MESSAGE_STATUS = &H80
End Enum
''' <summary>
''' Represents a PCAN filter mode
''' </summary>
Public Enum TPCANMode As 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
End Enum
''' <summary>
''' Represents a PCAN Baud rate register value
''' </summary>
Public Enum TPCANBaudrate As UInt16
''' <summary>
''' 1 MBit/s
''' </summary>
PCAN_BAUD_1M = &H14
''' <summary>
''' 800 kBit/s
''' </summary>
PCAN_BAUD_800K = &H16
''' <summary>
''' 500 kBit/s
''' </summary>
PCAN_BAUD_500K = &H1C
''' <summary>
''' 250 kBit/s
''' </summary>
PCAN_BAUD_250K = &H11C
''' <summary>
''' 125 kBit/s
''' </summary>
PCAN_BAUD_125K = &H31C
''' <summary>
''' 100 kBit/s
''' </summary>
PCAN_BAUD_100K = &H432F
''' <summary>
''' 95,238 kBit/s
''' </summary>
PCAN_BAUD_95K = &HC34E
''' <summary>
''' 83,333 kBit/s
''' </summary>
PCAN_BAUD_83K = &H4B14
''' <summary>
''' 50 kBit/s
''' </summary>
PCAN_BAUD_50K = &H472F
''' <summary>
''' 47,619 kBit/s
''' </summary>
PCAN_BAUD_47K = &H1414
''' <summary>
''' 33,333 kBit/s
''' </summary>
PCAN_BAUD_33K = &H1D14
''' <summary>
''' 20 kBit/s
''' </summary>
PCAN_BAUD_20K = &H532F
''' <summary>
''' 10 kBit/s
''' </summary>
PCAN_BAUD_10K = &H672F
''' <summary>
''' 5 kBit/s
''' </summary>
PCAN_BAUD_5K = &H7F7F
End Enum
''' <summary>
''' Represents the type of PCAN (non plug and play) hardware to be initialized
''' </summary>
Public Enum TPCANType As Byte
''' <summary>
''' PCAN-ISA 82C200
''' </summary>
PCAN_TYPE_ISA = &H1
''' <summary>
''' PCAN-ISA SJA1000
''' </summary>
PCAN_TYPE_ISA_SJA = &H9
''' <summary>
''' PHYTEC ISA
''' </summary>
PCAN_TYPE_ISA_PHYTEC = &H4
''' <summary>
''' PCAN-Dongle 82C200
''' </summary>
PCAN_TYPE_DNG = &H2
''' <summary>
''' PCAN-Dongle EPP 82C200
''' </summary>
PCAN_TYPE_DNG_EPP = &H3
''' <summary>
''' PCAN-Dongle SJA1000
''' </summary>
PCAN_TYPE_DNG_SJA = &H5
''' <summary>
''' PCAN-Dongle EPP SJA1000
''' </summary>
PCAN_TYPE_DNG_SJA_EPP = &H6
End Enum
#End Region
#Region "Structures"
''' <summary>
''' Represents a PCAN message
''' </summary>
Public Structure TPCANMsg
''' <summary>
''' 11/29-bit message identifier
''' </summary>
Public ID As UInt32
''' <summary>
''' Type of the message
''' </summary>
<MarshalAs(UnmanagedType.U1)> _
Public MSGTYPE As TPCANMessageType
''' <summary>
''' Data Length Code of the message (0..8)
''' </summary>
Public LEN As Byte
''' <summary>
''' Data of the message (DATA[0]..DATA[7])
''' </summary>
<MarshalAs(UnmanagedType.ByValArray, SizeConst:=8)> _
Public DATA As Byte()
End Structure
''' <summary>
''' Represents a timestamp of a received PCAN message.
''' Total Microseconds = micros + 1000 * millis + 0xFFFFFFFF * 1000 * millis_overflow
''' </summary>
Public Structure TPCANTimestamp
''' <summary>
''' Base-value: milliseconds: 0.. 2^32-1
''' </summary>
Public millis As UInt32
''' <summary>
''' Roll-arounds of millis
''' </summary>
Public millis_overflow As UInt16
''' <summary>
''' Microseconds: 0..999
''' </summary>
Public micros As UInt16
End Structure
#End Region
#Region "PCANBasic class"
''' <summary>
''' PCAN-Basic API class implementation
''' </summary>
Public NotInheritable Class PCANBasic
#Region "PCAN-BUS Handles Definition"
''' <summary>
''' Undefined/default value for a PCAN bus
''' </summary>
Public Const PCAN_NONEBUS As TPCANHandle = &H0
''' <summary>
''' PCAN-ISA interface, channel 1
''' </summary>
Public Const PCAN_ISABUS1 As TPCANHandle = &H21
''' <summary>
''' PCAN-ISA interface, channel 2
''' </summary>
Public Const PCAN_ISABUS2 As TPCANHandle = &H22
''' <summary>
''' PCAN-ISA interface, channel 3
''' </summary>
Public Const PCAN_ISABUS3 As TPCANHandle = &H23
''' <summary>
''' PCAN-ISA interface, channel 4
''' </summary>
Public Const PCAN_ISABUS4 As TPCANHandle = &H24
''' <summary>
''' PCAN-ISA interface, channel 5
''' </summary>
Public Const PCAN_ISABUS5 As TPCANHandle = &H25
''' <summary>
''' PCAN-ISA interface, channel 6
''' </summary>
Public Const PCAN_ISABUS6 As TPCANHandle = &H26
''' <summary>
''' PCAN-ISA interface, channel 7
''' </summary>
Public Const PCAN_ISABUS7 As TPCANHandle = &H27
''' <summary>
''' PCAN-ISA interface, channel 8
''' </summary>
Public Const PCAN_ISABUS8 As TPCANHandle = &H28
''' <summary>
''' PPCAN-Dongle/LPT interface, channel 1
''' </summary>
Public Const PCAN_DNGBUS1 As TPCANHandle = &H31
''' <summary>
''' PCAN-PCI interface, channel 1
''' </summary>
Public Const PCAN_PCIBUS1 As TPCANHandle = &H41
''' <summary>
''' PCAN-PCI interface, channel 2
''' </summary>
Public Const PCAN_PCIBUS2 As TPCANHandle = &H42
''' <summary>
''' PCAN-PCI interface, channel 3
''' </summary>
Public Const PCAN_PCIBUS3 As TPCANHandle = &H43
''' <summary>
''' PCAN-PCI interface, channel 4
''' </summary>
Public Const PCAN_PCIBUS4 As TPCANHandle = &H44
''' <summary>
''' PCAN-PCI interface, channel 5
''' </summary>
Public Const PCAN_PCIBUS5 As TPCANHandle = &H45
''' <summary>
''' PCAN-PCI interface, channel 6
''' </summary>
Public Const PCAN_PCIBUS6 As TPCANHandle = &H46
''' <summary>
''' PCAN-PCI interface, channel 7
''' </summary>
Public Const PCAN_PCIBUS7 As TPCANHandle = &H47
''' <summary>
''' PCAN-PCI interface, channel 8
''' </summary>
Public Const PCAN_PCIBUS8 As TPCANHandle = &H48
''' <summary>
''' PCAN-USB interface, channel 1
''' </summary>
Public Const PCAN_USBBUS1 As TPCANHandle = &H51
''' <summary>
''' PCAN-USB interface, channel 2
''' </summary>
Public Const PCAN_USBBUS2 As TPCANHandle = &H52
''' <summary>
''' PCAN-USB interface, channel 3
''' </summary>
Public Const PCAN_USBBUS3 As TPCANHandle = &H53
''' <summary>
''' PCAN-USB interface, channel 4
''' </summary>
Public Const PCAN_USBBUS4 As TPCANHandle = &H54
''' <summary>
''' PCAN-USB interface, channel 5
''' </summary>
Public Const PCAN_USBBUS5 As TPCANHandle = &H55
''' <summary>
''' PCAN-USB interface, channel 6
''' </summary>
Public Const PCAN_USBBUS6 As TPCANHandle = &H56
''' <summary>
''' PCAN-USB interface, channel 7
''' </summary>
Public Const PCAN_USBBUS7 As TPCANHandle = &H57
''' <summary>
''' PCAN-USB interface, channel 8
''' </summary>
Public Const PCAN_USBBUS8 As TPCANHandle = &H58
''' <summary>
''' PCAN-PC Card interface, channel 1
''' </summary>
Public Const PCAN_PCCBUS1 As TPCANHandle = &H61
''' <summary>
''' PCAN-PC Card interface, channel 2
''' </summary>
Public Const PCAN_PCCBUS2 As TPCANHandle = &H62
#End Region
#Region "Parameter values definition"
''' <summary>
''' The PCAN parameter is not set (inactive)
''' </summary>
Public Const PCAN_PARAMETER_OFF As Integer = 0
''' <summary>
''' The PCAN parameter is set (active)
''' </summary>
Public Const PCAN_PARAMETER_ON As Integer = 1
''' <summary>
''' The PCAN filter is closed. No messages will be received
''' </summary>
Public Const PCAN_FILTER_CLOSE As Integer = 0
''' <summary>
''' The PCAN filter is fully opened. All messages will be received
''' </summary>
Public Const PCAN_FILTER_OPEN As Integer = 1
''' <summary>
''' The PCAN filter is custom configured. Only registered
''' messages will be received
''' </summary>
Public Const PCAN_FILTER_CUSTOM As Integer = 2
''' <summary>
''' The PCAN-Channel handle is illegal, or its associated hadware is not available
''' </summary>
Public Const PCAN_CHANNEL_UNAVAILABLE As Integer = 0
''' <summary>
''' The PCAN-Channel handle is available to be connected (Plug and Play Hardware: it means futhermore that the hardware is plugged-in)
''' </summary>
Public Const PCAN_CHANNEL_AVAILABLE As Integer = 1
''' <summary>
''' The PCAN-Channel handle is valid, and is already being used
''' </summary>
Public Const PCAN_CHANNEL_OCCUPIED As Integer = 2
''' <summary>
''' Logs system exceptions / errors
''' </summary>
Public Const LOG_FUNCTION_DEFAULT As Integer = &H0
''' <summary>
''' Logs the entries to the PCAN-Basic API functions
''' </summary>
Public Const LOG_FUNCTION_ENTRY As Integer = &H1
''' <summary>
''' Logs the parameters passed to the PCAN-Basic API functions
''' </summary>
Public Const LOG_FUNCTION_PARAMETERS As Integer = &H2
''' <summary>
''' Logs the exits from the PCAN-Basic API functions
''' </summary>
Public Const LOG_FUNCTION_LEAVE As Integer = &H4
''' <summary>
''' Logs the CAN messages passed to the CAN_Write function
''' </summary>
Public Const LOG_FUNCTION_WRITE As Integer = &H8
''' <summary>
''' Logs the CAN messages received within the CAN_Read function
''' </summary>
Public Const LOG_FUNCTION_READ As Integer = &H10
''' <summary>
''' Logs all possible information within the PCAN-Basic API functions
''' </summary>
Public Const LOG_FUNCTION_ALL As Integer = &HFFFF
#End Region
#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 PLUG AND PLAY: The type of hardware and operation mode</param>
''' <param name="IOPort">NON PLUG AND PLAY: The I/O address for the parallel port</param>
''' <param name="Interrupt">NON PLUG AND PLAY: Interrupt number of the parallel por</param>
''' <returns>A TPCANStatus error code</returns>
<DllImport("PCANBasic.dll", EntryPoint:="CAN_Initialize")> _
Public Shared Function Initialize( _
<MarshalAs(UnmanagedType.U1)> _
ByVal Channel As TPCANHandle, _
<MarshalAs(UnmanagedType.U2)> _
ByVal Btr0Btr1 As TPCANBaudrate, _
<MarshalAs(UnmanagedType.U1)> _
ByVal HwType As TPCANType, _
ByVal IOPort As UInt32, _
ByVal Interrupt As UInt16) As TPCANStatus
End Function
''' <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 Shared Function Initialize( _
ByVal Channel As TPCANHandle, _
ByVal Btr0Btr1 As TPCANBaudrate) As TPCANStatus
Return Initialize(Channel, Btr0Btr1, 0, 0, 0)
End Function
''' <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 Shared Function Uninitialize( _
<MarshalAs(UnmanagedType.U1)> _
ByVal Channel As TPCANHandle) As TPCANStatus
End Function
''' <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 Shared Function Reset( _
<MarshalAs(UnmanagedType.U1)> _
ByVal Channel As TPCANHandle) As TPCANStatus
End Function
''' <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 Shared Function GetStatus( _
<MarshalAs(UnmanagedType.U1)> _
ByVal Channel As TPCANHandle) As TPCANStatus
End Function
''' <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 Shared Function Read( _
<MarshalAs(UnmanagedType.U1)> _
ByVal Channel As TPCANHandle, _
ByRef MessageBuffer As TPCANMsg, _
ByRef TimestampBuffer As TPCANTimestamp) As TPCANStatus
End Function
<DllImport("PCANBasic.dll", EntryPoint:="CAN_Read")> _
Private Shared Function Read( _
<MarshalAs(UnmanagedType.U1)> _
ByVal Channel As TPCANHandle, _
ByRef MessageBuffer As TPCANMsg, _
ByVal BufferPointer As IntPtr) As TPCANStatus
End Function
''' <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 Shared Function Read( _
ByVal Channel As TPCANHandle, _
ByRef MessageBuffer As TPCANMsg) As TPCANStatus
Return Read(Channel, MessageBuffer, IntPtr.Zero)
End Function
''' <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 Shared Function Write( _
<MarshalAs(UnmanagedType.U1)> _
ByVal Channel As TPCANHandle, _
ByRef MessageBuffer As TPCANMsg) As TPCANStatus
End Function
''' <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 Shared Function FilterMessages( _
<MarshalAs(UnmanagedType.U1)> _
ByVal Channel As TPCANHandle, _
ByVal FromID As UInt32, _
ByVal ToID As UInt32, _
<MarshalAs(UnmanagedType.U1)> _
ByVal Mode As TPCANMode) As TPCANStatus
End Function
''' <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 Shared Function GetValue( _
<MarshalAs(UnmanagedType.U1)> _
ByVal Channel As TPCANHandle, _
<MarshalAs(UnmanagedType.U1)> _
ByVal Parameter As TPCANParameter, _
ByVal StringBuffer As StringBuilder, _
ByVal BufferLength As UInt32) As TPCANStatus
End Function
''' <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 Shared Function GetValue( _
<MarshalAs(UnmanagedType.U1)> _
ByVal Channel As TPCANHandle, _
<MarshalAs(UnmanagedType.U1)> _
ByVal Parameter As TPCANParameter, _
ByRef NumericBuffer As UInt32, _
ByVal BufferLength As UInt32) As TPCANStatus
End Function
''' <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 Shared Function SetValue( _
<MarshalAs(UnmanagedType.U1)> _
ByVal Channel As TPCANHandle, _
<MarshalAs(UnmanagedType.U1)> _
ByVal Parameter As TPCANParameter, _
ByRef NumericBuffer As UInt32, _
ByVal BufferLength As UInt32) As TPCANStatus
End Function
''' <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 Shared Function SetValue( _
<MarshalAs(UnmanagedType.U1)> _
ByVal Channel As TPCANHandle, _
<MarshalAs(UnmanagedType.U1)> _
ByVal Parameter As TPCANParameter, _
<MarshalAs(UnmanagedType.LPStr, SizeParamIndex:=3)> _
ByVal StringBuffer As String, _
ByVal BufferLength As UInt32) As TPCANStatus
End Function
''' <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="anError">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 Shared Function GetErrorText( _
<MarshalAs(UnmanagedType.U4)> _
ByVal anError As TPCANStatus, _
ByVal Language As UInt16, _
ByVal StringBuffer As StringBuilder) As TPCANStatus
End Function
#End Region
End Class
#End Region
End Namespace

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@ -0,0 +1,852 @@
// PCANBasicCLR.h
//
// ~~~~~~~~~~~~
//
// PCAN-Basic API
//
// ~~~~~~~~~~~~
//
// ------------------------------------------------------------------
// Author : Keneth Wagner
// Last change: 08.11.2011 Wagner
//
// Language: C++/CLR
// ------------------------------------------------------------------
//
// Copyright (C) 1999-2012 PEAK-System Technik GmbH, Darmstadt
// more Info at http://www.peak-system.com
//
using namespace System;
using namespace System::Text;
using namespace System::Runtime::InteropServices;
////////////////////////////////////////////////////////////
// Type definitions
////////////////////////////////////////////////////////////
#define TPCANHandle System::Byte // Represents a PCAN hardware channel handle
namespace Peak
{
namespace Can
{
namespace Basic
{
#pragma region Enumerations
/// <summary>
/// Represents a PCAN status/error code
/// </summary>
[Flags]
public enum class TPCANStatus : UInt32
{
/// <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: 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_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF),
/// <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>
/// Unknow error
/// </summary>
PCAN_ERROR_UNKNOWN = 0x10000,
/// <summary>
/// Invalid data, function, or action.
/// </summary>
PCAN_ERROR_ILLDATA = 0x20000,
/// <summary>
/// Channel is not initialized
/// </summary>
PCAN_ERROR_INITIALIZE = 0x40000,
};
/// <summary>
/// Represents a PCAN device
/// </summary>
public enum class TPCANDevice : Byte
{
/// <summary>
/// Undefined, unknown or not selected PCAN device value
/// </summary>
PCAN_NONE = 0,
/// <summary>
/// PCAN Non-Plug&Play 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>
/// Represents a PCAN parameter to be read or set
/// </summary>
public enum class TPCANParameter : Byte
{
/// <summary>
/// PCAN-USB device number parameter
/// </summary>
PCAN_DEVICE_NUMBER = 1,
/// <summary>
/// PCAN-PC Card 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 trace files
/// </summary>
PCAN_LOG_LOCATION = 9,
/// <summary>
/// Debug-Trace 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>
/// Represents the type of a PCAN message
/// </summary>
[Flags]
public enum class 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 PCAN status message
/// </summary>
PCAN_MESSAGE_STATUS = 0x80,
};
/// <summary>
/// Represents a PCAN filter mode
/// </summary>
public enum class 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 class TPCANBaudrate : UInt16
{
/// <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 = 0x4B14,
/// <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 = 0x1D14,
/// <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 plug&play) hardware to be initialized
/// </summary>
public enum class 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,
};
#pragma endregion
#pragma region Strutures
/// <summary>
/// Represents a PCAN message
/// </summary>
public value struct TPCANMsg
{
/// <summary>
/// 11/29-bit message identifier
/// </summary>
UInt32 ID;
/// <summary>
/// Type of the message
/// </summary>
[MarshalAs(UnmanagedType::U1)]
TPCANMessageType MSGTYPE;
/// <summary>
/// Data Length Code of the message (0..8)
/// </summary>
Byte LEN;
/// <summary>
/// Data of the message (DATA[0]..DATA[7])
/// </summary>
[MarshalAs(UnmanagedType::ByValArray, SizeConst = 8)]
array<Byte>^ DATA;
};
/// <summary>
/// Represents a timestamp of a received PCAN message.
/// Total Microseconds = micros + 1000 * millis + 0xFFFFFFFF * 1000 * millis_overflow
/// </summary>
public value struct TPCANTimestamp
{
/// <summary>
/// Base-value: milliseconds: 0.. 2^32-1
/// </summary>
UInt32 millis;
/// <summary>
/// Roll-arounds of millis
/// </summary>
UInt16 millis_overflow;
/// <summary>
/// Microseconds: 0..999
/// </summary>
UInt16 micros;
};
#pragma endregion
#pragma region PCANBasic class
/// <summary>
/// PCAN-Basic API class implementation
/// </summary>
public ref class PCANBasic abstract sealed
{
public:
#pragma region PCAN-BUS Handles Definition
/// <summary>
/// Undefined/default value for a PCAN bus
/// </summary>
static const TPCANHandle PCAN_NONEBUS = 0x00;
/// <summary>
/// PCAN-ISA interface, channel 1
/// </summary>
static const TPCANHandle PCAN_ISABUS1 = 0x21;
/// <summary>
/// PCAN-ISA interface, channel 2
/// </summary>
static const TPCANHandle PCAN_ISABUS2 = 0x22;
/// <summary>
/// PCAN-ISA interface, channel 3
/// </summary>
static const TPCANHandle PCAN_ISABUS3 = 0x23;
/// <summary>
/// PCAN-ISA interface, channel 4
/// </summary>
static const TPCANHandle PCAN_ISABUS4 = 0x24;
/// <summary>
/// PCAN-ISA interface, channel 5
/// </summary>
static const TPCANHandle PCAN_ISABUS5 = 0x25;
/// <summary>
/// PCAN-ISA interface, channel 6
/// </summary>
static const TPCANHandle PCAN_ISABUS6 = 0x26;
/// <summary>
/// PCAN-ISA interface, channel 7
/// </summary>
static const TPCANHandle PCAN_ISABUS7 = 0x27;
/// <summary>
/// PCAN-ISA interface, channel 8
/// </summary>
static const TPCANHandle PCAN_ISABUS8 = 0x28;
/// <summary>
/// PPCAN-Dongle/LPT interface, channel 1
/// </summary>
static const TPCANHandle PCAN_DNGBUS1 = 0x31;
/// <summary>
/// PCAN-PCI interface, channel 1
/// </summary>
static const TPCANHandle PCAN_PCIBUS1 = 0x41;
/// <summary>
/// PCAN-PCI interface, channel 2
/// </summary>
static const TPCANHandle PCAN_PCIBUS2 = 0x42;
/// <summary>
/// PCAN-PCI interface, channel 3
/// </summary>
static const TPCANHandle PCAN_PCIBUS3 = 0x43;
/// <summary>
/// PCAN-PCI interface, channel 4
/// </summary>
static const TPCANHandle PCAN_PCIBUS4 = 0x44;
/// <summary>
/// PCAN-PCI interface, channel 5
/// </summary>
static const TPCANHandle PCAN_PCIBUS5 = 0x45;
/// <summary>
/// PCAN-PCI interface, channel 6
/// </summary>
static const TPCANHandle PCAN_PCIBUS6 = 0x46;
/// <summary>
/// PCAN-PCI interface, channel 7
/// </summary>
static const TPCANHandle PCAN_PCIBUS7 = 0x47;
/// <summary>
/// PCAN-PCI interface, channel 8
/// </summary>
static const TPCANHandle PCAN_PCIBUS8 = 0x48;
/// <summary>
/// PCAN-USB interface, channel 1
/// </summary>
static const TPCANHandle PCAN_USBBUS1 = 0x51;
/// <summary>
/// PCAN-USB interface, channel 2
/// </summary>
static const TPCANHandle PCAN_USBBUS2 = 0x52;
/// <summary>
/// PCAN-USB interface, channel 3
/// </summary>
static const TPCANHandle PCAN_USBBUS3 = 0x53;
/// <summary>
/// PCAN-USB interface, channel 4
/// </summary>
static const TPCANHandle PCAN_USBBUS4 = 0x54;
/// <summary>
/// PCAN-USB interface, channel 5
/// </summary>
static const TPCANHandle PCAN_USBBUS5 = 0x55;
/// <summary>
/// PCAN-USB interface, channel 6
/// </summary>
static const TPCANHandle PCAN_USBBUS6 = 0x56;
/// <summary>
/// PCAN-USB interface, channel 7
/// </summary>
static const TPCANHandle PCAN_USBBUS7 = 0x57;
/// <summary>
/// PCAN-USB interface, channel 8
/// </summary>
static const TPCANHandle PCAN_USBBUS8 = 0x58;
/// <summary>
/// PCAN-PC Card interface, channel 1
/// </summary>
static const TPCANHandle PCAN_PCCBUS1 = 0x61;
/// <summary>
/// PCAN-PC Card interface, channel 2
/// </summary>
static const TPCANHandle PCAN_PCCBUS2 = 0x62;
#pragma endregion
#pragma region Parameter values definition
/// <summary>
/// The PCAN parameter is not set (inactive)
/// </summary>
static const int PCAN_PARAMETER_OFF = 0;
/// <summary>
/// The PCAN parameter is set (active)
/// </summary>
static const int PCAN_PARAMETER_ON = 1;
/// <summary>
/// The PCAN filter is closed. No messages will be received
/// </summary>
static const int PCAN_FILTER_CLOSE = 0;
/// <summary>
/// The PCAN filter is fully opened. All messages will be received
/// </summary>
static const int PCAN_FILTER_OPEN = 1;
/// <summary>
/// The PCAN filter is custom configured. Only registered
/// messages will be received
/// </summary>
static const int PCAN_FILTER_CUSTOM = 2;
/// <summary>
/// The PCAN-Channel handle is illegal, or its associated hadware is not available
/// </summary>
static const int PCAN_CHANNEL_UNAVAILABLE = 0;
/// <summary>
/// The PCAN-Channel handle is available to be connected (Plug&Play Hardware: it means futhermore that the hardware is plugged-in)
/// </summary>
static const int PCAN_CHANNEL_AVAILABLE = 1;
/// <summary>
/// The PCAN-Channel handle is valid, and is already being used
/// </summary>
static const int PCAN_CHANNEL_OCCUPIED = 2;
/// <summary>
/// Logs system exceptions / errors
/// </summary>
static const int LOG_FUNCTION_DEFAULT = 0x00;
/// <summary>
/// Logs the entries to the PCAN-Basic API functions
/// </summary>
static const int LOG_FUNCTION_ENTRY = 0x01;
/// <summary>
/// Logs the parameters passed to the PCAN-Basic API functions
/// </summary>
static const int LOG_FUNCTION_PARAMETERS = 0x02;
/// <summary>
/// Logs the exits from the PCAN-Basic API functions
/// </summary>
static const int LOG_FUNCTION_LEAVE = 0x04;
/// <summary>
/// Logs the CAN messages passed to the CAN_Write function
/// </summary>
static const int LOG_FUNCTION_WRITE = 0x08;
/// <summary>
/// Logs the CAN messages received within the CAN_Read function
/// </summary>
static const int LOG_FUNCTION_READ = 0x10;
/// <summary>
/// Logs all possible information within the PCAN-Basic API functions
/// </summary>
static const int LOG_FUNCTION_ALL = 0xFFFF;
#pragma endregion
#pragma 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 PLUG&PLAY: The type of hardware and operation mode</param>
/// <param name="IOPort">NON PLUG&PLAY: The I/O address for the parallel port</param>
/// <param name="Interrupt">NON PLUG&PLAY: Interrupt number of the parallel por</param>
/// <returns>A TPCANStatus error code</returns>
[DllImport("PCANBasic.dll", EntryPoint = "CAN_Initialize")]
static TPCANStatus Initialize(
[MarshalAs(UnmanagedType::U1)]
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>
static TPCANStatus Initialize(
TPCANHandle Channel,
TPCANBaudrate Btr0Btr1)
{
return Initialize(Channel, Btr0Btr1, (TPCANType)0, 0, 0);
}
/// <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")]
static TPCANStatus Uninitialize(
[MarshalAs(UnmanagedType::U1)]
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")]
static TPCANStatus Reset(
[MarshalAs(UnmanagedType::U1)]
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")]
static TPCANStatus GetStatus(
[MarshalAs(UnmanagedType::U1)]
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")]
static TPCANStatus Read(
[MarshalAs(UnmanagedType::U1)]
TPCANHandle Channel,
TPCANMsg %MessageBuffer,
TPCANTimestamp %TimestampBuffer);
/// <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>
[DllImport("PCANBasic.dll", EntryPoint = "CAN_Read")]
static TPCANStatus Read(
[MarshalAs(UnmanagedType::U1)]
TPCANHandle Channel,
TPCANMsg %MessageBuffer);
/// <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")]
static TPCANStatus Write(
[MarshalAs(UnmanagedType::U1)]
TPCANHandle Channel,
TPCANMsg %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")]
static TPCANStatus FilterMessages(
[MarshalAs(UnmanagedType::U1)]
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")]
static TPCANStatus GetValue(
[MarshalAs(UnmanagedType::U1)]
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")]
static TPCANStatus GetValue(
[MarshalAs(UnmanagedType::U1)]
TPCANHandle Channel,
[MarshalAs(UnmanagedType::U1)]
TPCANParameter Parameter,
UInt32 %NumericBuffer,
UInt32 BufferLength);
/// <summary>
/// Configures 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")]
static TPCANStatus SetValue(
[MarshalAs(UnmanagedType::U1)]
TPCANHandle Channel,
[MarshalAs(UnmanagedType::U1)]
TPCANParameter Parameter,
UInt32% NumericBuffer,
UInt32 BufferLength);
/// <summary>
/// Configures 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")]
static TPCANStatus SetValue(
[MarshalAs(UnmanagedType::U1)]
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")]
static TPCANStatus GetErrorText(
[MarshalAs(UnmanagedType::U4)]
TPCANStatus Error,
UInt16 Language,
StringBuilder^ StringBuffer);
#pragma endregion
};
#pragma endregion
}
}
}