# 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/PCANBasic") 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