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ECAN1000 CAN Interface Board Driver for Windows 98/NT4/2000

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1. Syntax bool Ecan_SetupBoard HANDLE hDevice HANDLE hEvent OVERLAPPED o_ptr NULL bool ReceivelntEn true bool ErrorIntEn false bool TransmitintEn false bool BusErrorIntEn false bool DataOverrunIntEn false bool ArbitrationLostIintEn false bool ErrorPassivelntEn false bool WakeUpIntEn false ULONG RXSize 32000 ULONG TXSize 32000 Description This routine is used to setup the board Select interrupt sources for which interrupts the application will be notified Interrupts that are not selected will be handled inside the driver only By default the application gets Receive Interrupt only This function must be called in RESET MODE only Parameters HDevice Device handle HEvent Handle of the Event object used for interrupt handling o_ptr Pointer to the OVERLAPPED structure used to send Handle of the Event object to the driver ReceivelntEn TRUE turn on Receive Interrupt notification ErrorintEn TRUE turn on Error Interrupt notification TransmitintEn TRUE turn on Transmit Interrupt notification BusErrorIntEn TRUE turn on Bus Error Interrupt notification DataOverrunIntEn TRUE turn on Data Overrun Interrupt notification ArbitrationLostIntEn TRUE turn on Arbitration Lost Interrupt notification ErrorPassivelntEn TRUE turn on Error Passive Interrupt notification WakeUpintEn TRUE turn on Wake Up Interrupt notification RXSize Size of receive queue TXSize Size of transmit queue Retu
2. cono conan cono nn nc a rancia 10 APIREFERENCE scale 14 Driver Initialization Functions ccsccccsssssccsssssscesssscccsssscccssssccsesssscssssssccesssscscessscccsssssers 15 Ec n Create Handle it eoleilatoay 15 Bean BN ce notes EEE CONAI a NERI eee ri 17 Ec TEBA di 18 General Board Control Functions ocooomsssmssssmsssss 19 Ecan BUSCO viii creido aria 19 Ecan SetupBoard NS 21 Ecan_GetBulfer cocccccccccccnnnncncnnnnnnnnnnnnononononononononononononononononononononononononnnnnnnnonnnnnnnonononononos 24 EcanGetinterruptSus tetitas 26 End Aids 28 Ecan Lord rt eii 30 Ecan Read Digitalia pra ea vottelotstacceus sed enasnatadeages adteashacgesupebad ae ATTAR 32 Ecan SABRAS A cd 33 1 BOF Us RRS Yo i B AE 1 E S ee ne ea 34 Poan Ss hl aL Rial 36 Ecan_StartBoard iii rien eee 37 Ecan StopBoardisiz tini lait ea 38 Ecan Write Digital TO ci aser ae ei 39 Message Manipulation FunctioNS omooooooommsosisosissmmmmme 40 Ecan GetMessare cnica llar ic 40 Ecan GetQueuesCounhts ss arrivai Lala Ria 42 Beane Seid Commands e ias 44 Ecan SendMessager iena lenire 46 Ecan_SetDualFilterExtended ieri eee 47 Ecan_SetDualFilterStandard ite erini eee a rene rene 48 Ecan Still a E 49 Ecan_SetSingleFilterExtended noine an R rate 51 Ecan SetSinglePilterStandard nsonu a A A 52 Ecan MessageObjectSetup s so a ela ani 53 Ecan_AllowBufferOverWrlte occccccccccccncncncncnnnnononononononononononon
3. ECAN1000 CAN Interface Board Driver for Windows 98 NT4 2000 XP Version 3 1 x User s Manual and API Reference O AGD RTD Embedded Technologies Inc Real Time Devices Accessing the Analog World IS09001 and AS9100 Certified SWM 640020005 Rev F RTD Embedded Technologies INC 103 Innovation Blvd State College PA 16803 0906 Phone 1 814 234 8087 FAX 1 814 234 5218 E mail sales rtd com techsupport rtd com web site http www rtd com introduzione Revision History 08 15 2001 12 12 2003 08 31 2004 07 24 2006 06 16 2009 04 16 2010 Original Release Release 2 1 AllowBufferOverwrite function added Manual format updated to RTD USA standard format Getting Started section added Added Optional Calling Syntax sections Removed Vxd Parameter from CreateHandle function Added Queue Size variables to SetupBoard API Added LoadPortBitDir Read_Digital_IO and Write_Digital_IO functions Updated SetLeds function SetBitRate SetSingleFilterStandard SetSingleFilterExtended SetDualFilterStandard and SetDualFilterExtended functions added MessageObjectSetup description added Added Section on Message Filters Added Section on Transmission and Reception of Messages Removed Windows 98 and Windows NT support Added Windows Server 2003 support Added the Can3echo and Can3src examples Renamed the bit rate 6150 to 6250 Removed installation instructions as they
4. Input Bit1 True Output False Input BitO True Output False Input Return Value True Success False Failure To get extended error information call GetLastError Example Function Call ECAN_PORTBITDIR_STRUCTURE PortDirMsg PortDirMsg Bit7 false PortDirMsg Bit6 false PortDirMsg Bit5 false PortDirMsg Bit4 false PortDirMsg Bit3 false PortDirMsg Bit2 false PortDirMsg Bit1 false PortDirMsg Bit0 false Ecan_LoadPortBitDir hDevice amp PortDirMsg Optional Calling Syntax ECAN Win API 30 RTD Embedded Technologies Inc API Manual For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ECAN_PORTBITDIR_STRUCTURE msg msg Bit7 false msg Bit6 false msg Bit5 false msg Bit4 false msg Bit3 false msg Bit2 false msg Bit1 false msg BitO false ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_LOADPORTBITDIR amp msg sizeof msg NULL 0 amp ret_code NULL ECAN Win API 31 RTD Embedded Technologies Inc API Manual Ecan_Read_Digital_ IO Syntax bool Ecan_Read_Digital_lO HANDLE hDevice PECAN_READWRITEDIGITALIO STRUCTURE msg Description This function reads a value from the digital IO port Note To get any value back from the port at least one pin must be set for input See Ecan_LoadPortBitDir Parameters hDevice Device handle PECAN _READWRITEDIGITAL_IO
5. Not used Acceptance Code Register 3 For Ecan527 Not used Acceptance Mask Register 0 For Ecan527 Global Mask Standart Address 06H Acceptance Mask Register 1 For Ecan527 Global Mask Standart Address 07H Acceptance Mask Register 2 For Ecan527 Not used Acceptance Mask Register 3 For Ecan527 Not used Not used in the Ecan1000 Global Mask Extended Address 08H Global Mask Extended Address 09H Global Mask Extended Address OAH Global Mask Extended Address 0BH Message 15 mask Address 0CH Message 15 mask Address 0DH Message 15 mask Address OEH Message 15 mask Address 0FH bool DualFilter For Ecan1000 only bool DontQueueUse UCHAR Reserved 2 For alignments on 4 bytes _ECAN_FILTER_STRUCTUREQ Clear void Clear ECAN Win API 49 RTD Embedded Technologies Inc API Manual void SetAcceptCode ULONG ID bool LongFormat true ULONG GetAcceptCode bool LongFormat true void SetAcceptMask ULONG ID bool LongFormat true bool Ecan527 false ULONG GetAcceptMask bool LongFormat true bool Ecan527 false For Ecan 527 void SetExtended ULONG ID ULONG GetExtended void SetMessageMask ULONG ID ULONG GetMessageMask ECAN_FILTER_STRUCTURE PECAN_FILTER_STRUCTURE Example function call ECAN_FILTER_STRUCTURE Filter Fill the filter structure bool Ecan_SetFilter hDevice Filter Optional Calling Syntax For those who wis
6. NULL ECAN Win API 25 RTD Embedded Technologies Inc API Manual Ecan_GetInterrupts ECAN Win API Syntax UCHAR Ecan_Getinterrupts HANDLE hDevice ULONG QueueSize NULL bool DontQueueUse false Description This routine is used to determine the interrupt source Parameters hDevice Device handle QueueSize Pointer to a variable that receives the length of the receive queue If DontQueueUse is TRUE QueueSize receives 0 DontQueueUse Normally an interrupt is received from the driver s interrupt queue But if this parameter is TRUE the interrupt is received directly from the hardware Return Value The Interrupt Register value in format of the Ecan1000 board Remarks Interrupt register values Int_RI_Bit 0x01 receive interrupt bit Int_T Bit 0x02 transmit interrupt bit Int_El Bit 0x04 error warning interrupt bit Int_DOI Bit 0x08 data overrun interrupt bit Int_WUL Bit 0x10 wake up interrupt bit Int_EPI_ Bit 0x20 error passive interrupt bit Int_ALI Bit 0x40 arbitration lost interrupt bit Int_BEl Bit 0x80 bus error interrupt bit Example function call Process all interrupts from the queue UCHAR Interrupt while Interrupt Ecan_GetInterrupts hDevice 0 While not all accumulated interrupts are processed Process the interrupt get received message for example 26 RTD Embedded Technologies Inc API Manual Optional Calling Syntax For those who wish to communicate directly with the
7. are now in ReadMe txt Added a Table of Contents entry for Ecan_SetBitRate Updated the manual to apply exclusively to the ECAN1000 because the ECANS27 no longer uses this manual Ecan1000 Driver for Windows 98 NT4 2000 XP Published by RTD Embedded Technologies Inc 103 Innovation Blvd State College PA 16803 0906 Copyright 2003 RTD Embedded Technologies Inc All rights reserved Printed in U S A The RTD Logo is a registered trademark of RTD Embedded Technologies cpuModule and utilityModule are trademarks of RTD Embedded Technologies PS 2 PC XT PC AT and IBM are trademarks of International Business Machines Inc MS DOS Windows Windows 98 Windows NT Windows 2000 and Windows XP are trademarks of Microsoft Corp PC 104 is a registered trademark of PC 104 Consortium All other trademarks appearing in this document are the property of their respective owners TABLE OF CONTENTS GEITTING STARTED amici 5 Files in this Distributions scesero A alinea 5 Compiling and Using Samples eee eeeesecsceseceecesecesecseecseeeaeceaesesesseecseeseeseesaeesaessaes 5 Using the API with other Computer Languages ceeceseceeeeseceseeseeeseeeseeeseenaeesaes 6 Adding Another Ecan Board sestais iaia dal alal agraria 6 MESSAGE RECEPTION AND TRANSMISSION c11scccssscccssececnseeenseenenaeenens 8 CANISEX E 5 is Ls ein 8 CANLREXE a di 9 MESSAGE FILTERING cuina aaa 10 Ecan1000 Message Filtering
8. bool DOS Data Overrun Status bool RBS Receive Buffer Status UCHAR Arbitration Arbitration lost capture register value UCHAR ErrorCode Last Error Code register value bool DontQueueUse Don t use software queues in driver UCHAR Reserved 3 For alignments on 4 bytes 28 RTD Embedded Technologies Inc API Manual _ECAN_ STATUS _STRUCTURE memset this 0 sizeof this ECAN_STATUS STRUCTURE PECAN STATUS STRUCTURE Example function call ECAN_STATUS_STRUCTURE Status if Ecan_GetStatus HANDLE hDevice amp Status if Status BusOf MessageBox NULL Bus of state Ecan_GetStatus Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_GET_STATUS NULL 0 msg sizeof msg amp ret_code NULL ECAN Win API 29 RTD Embedded Technologies Inc API Manual Ecan_LoadPortBitDir Syntax bool Ecan_LoadPortBitDir HANDLE hDevice PECAN_PORTBITDIR_STRUCTURE msg Description This function sets the direction of the pins on the DIO port Ecan527 Only Parameters hDevice Device handle PECAN _PORTBITDIR_STRUCTURE Bit7 True Output False Input Bite True Output False Input Bit5 True Output False Input Bit4 True Output False Input Bit3 True Output False Input Bit2 True Output False
9. driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_GET_INTERRUPT_STATE NULL 0 amp str sizeof str amp ret_code NULL Where str is an ECAN_INTERRUPT_STRUCTURE typedef struct _ECAN_INTERRUPT_STRUCTURE Header of command UCHAR Interrupt bool DontQueueUse USHORT ReceiveQueueCount For alignments on 4 bytes _ECAN_INTERRUPT_STRUCTURE Interrupt 0 DontQueueUse false ECAN_INTERRUPT_STRUCTURE PECAN_INTERRUPT_STRUCTURE ECAN Win API 27 RTD Embedded Technologies Inc API Manual Ecan_GetStatus ECAN Win API Syntax bool Ecan_GetStatus HANDLE hDevice PECAN STATUS STRUCTURE msg Description This routine is used to receive the CAN controller status information Parameters hDevice Device handle msg Pointer to the ECAN STATUS STRUCTURE class object Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Remarks ECAN STATUS _STRUCTURE declaration typedef struct _ECAN STATUS STRUCTURE Header of command bool BusOf BusOf status bool Warning Erorr Warning bool WakeUp not use in Ecan1000 bool TXOK in Ecan1000 Transmission Complete bool RXOK Receive Message Successfully not used in Ecan1000 bool TS Transmit Status bool RS Receive Status bool TBS Transmit Buffer Status
10. enable Message Object after setup bool Extended If true use Extended frame format bool RXIE Enable Receive Message Interrupt for this object bool TXIE Enable Transmit Message Interrupt for this object bool DontQueueUse if FALSE for MO_TRANSMIT then changes Default Transmitting Object to this bool MakeDefault UCHARID 0 Identifier 0 Arbitration 0 in Ecan527 documentation UCHARID_1 Identifier 1 Arbitration 1 in Ecan527 documentation UCHARID_2 Identifier 2 Arbitration 2 in Ecan527 documentation UCHARID_3 Identifier 3 Arbitration 3 in Ecan527 documentation UCHAR Reserved 3 _ECAN_MESSAGE_OBJECT_SETUP_STRUCTURE Clear void Clear memset this 0 sizeof this Identifiers services functions ULONG GetIDQ ULONG ret ID_0 ret ret lt lt 8 IID_1 ECAN Win API 53 RTD Embedded Technologies Inc API Manual if Extended ret ret lt lt 8 IID_2 lt lt 8 IID_3 return ret void SetID ULONG ID if Extended ID_3 UCHAR ID ID ID gt gt 8 ID_2 UCHAR ID ID ID gt gt 8 ID_1 UCHAR ID ID ID gt gt 8 ID_0 UCHAR ID ps ECAN_MESSAGE_OBJECT_SETUP_STRUCTURE PECAN_MESSAGE_OBJECT_SETUP_STRUCTURE Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOC
11. in the DLL In Visual Basic use the Declare keyword to define the function you wish to use For Example The Declaration for the AllowBufferOverwrite function would be Private Declare Function AllowBufferOverwrite Lib ECANDLL Alias Ecan_AllowBufferOverwrite YG_NPAX Z ByVal Handle as long as Boolean Adding Another Ecan Board ECAN Win API If you add another card to the system you should follow these steps to add a new device to Windows For Windows XP Go to Add Hardware in the Control Panel When asked select Yes I have already connected the hardware Then select Add a new hardware device from the list Then select Install the Hardware that I manually select from a list Select Show all devices Wait while the system creates a device list Press the Have Disk button When you are prompted for a location to copy the manufacturer s files from browse to the directory you installed the Ecan1000 drivers to usually C RTD ECAN1000 The screen will now list the ECAN1000 CAN Interface board Press Next to install the new device When the installation is complete you will have the opportunity to View or change resources for this hardware Select it and configure the IRQ and Base Address of the new board For Windows 98 Go to the Add New Hardware wizard in the Control Panel Allow Windows to search for new Plug and Play devices When the wizard displays a list of devices in the system o
12. messages with OxF as the first data byte Unsigned int Data_ACR 0xF Set the Data Acceptance Mask register to say that all bits must match Unsigned int Data_AMR 0x0 Now we send the filter information to SetDualFilterStandard Ecan_SetDualFilterStandard ReceiverHND ID_ACR1 ID_AMRI1 ID_ACR2 ID_AMR2 RTR_ACR1 RTR_AMR1 RTR_ACR2 RTR_AMR2 Data_ACR Data_AMR Now that the filters are set up we will receive all messages that have an ID of 0x9 AND the first data byte is OxF OR if the message has a message ID of 0x10 it will pass the second filter test and be accepted The last function SetDualFilterExtended allows a dual filter to be set up for extended messages those messages with an ID length of 29 bits These filters allow bits 13 28 the most significant 16 bits of the message ID to be compared against each filter The example code looks like the following Make the Acceptance Code for Filter 1 OxFFFF All 16 bits set Unsigned int ID_ACR1 OxFFFF Make the Acceptance Mask Register for filter 1 say all bits must match Unsigned int ID_AMR1 0x0 Make the Acceptance Code Register for filter 2 OxFFFE 15 bits set Unsigned int ID_ACR2 OxFFFE Make the Acceptance Mask Register say All bits must match Unsigned int ID_AMR2 0x0 Now set up the filter using the SetDualFilterExtended function ECAN Win API 12 RTD Embedded Technologies Inc API Manual Ecan_Set
13. the card It is normally a good idea to check the return code from this function If Ecan StartBoard ReceiverHND printf Could not Start the board n Next we want to make sure there are no masks set that might filter incoming messages ECAN _FILTER_STRUCTURE Filter Filter Clear Filter SetAcceptCode 0 false Filter SetAcceptMask 0 false ReceiverType Ecan_SetFilter ReceiverHND amp Filter Now we wait for a message to be received When a message is received the hEvent will be triggered The first thing we do is get the number of messages waiting We do this because it is possible that messages have come in so close together that we haven t been fast enough to service them individually Ecan_GetQueuesCounts ReceiverHND NULL amp RX_count Then for each message in the queue we call GetInterrupts This function tells us if there has been a receive interrupt It also gets a message ready for us to read if there is one available Interrupt Ecan_GetInterrupts ReceiverHND amp QueueCount Then we check the value of Interrupt to see if there was a receive interrupt or if the queue filled up If Interrupt OxFF printf Receive Queue is Full n Next if the Interrupt was the receive bit then we get the message If Interrupt Int_RI_Bit Ecan_GetMessage ReceiverHND amp IncomingMsg If there were more messages waiting in the queue we
14. typedef struct _ECAN_BUFFER_OPERATIONS Header of command USHORT StartAddress USHORT Count ECAN_BUFFER_OPERATIONS PECAN_BUFFER_OPERATIONS ECAN Win API 35 RTD Embedded Technologies Inc API Manual Ecan_SetLeds Syntax bool Ecan_SetLeds HANDLE hDevice bool RedLed bool GreenLed Description This routine controls Leds on the Ecan527 class board Note that pins 1 and 2 of the Digital IO are connected to the Led s Turning the Led s on will output data on those pins Also the pins must be set to output default for the Led s to light see Ecan_LoadPortBitDir Parameters hDevice Device handle RedLed TRUE enable red led FALSE disable red led RedGreen TRUE enable green led FALSE disable green led Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Example function call Ecan_SetLeds hDevice false true the Red led is off and the Green led is on Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_SET_LEDS str sizeof str NULL 0 amp ret_code NULL Where str is an _ECAN LEDS STRUCTURE typedef struct_ECAN_LEDS_ STRUCTURE bool RedLed bool GreenLed _ECAN_LEDS_STRUCTURE GreenLed RedLed false ECAN_LEDS_ST
15. 4 BusConfig Value for the Output Control Register Bus Configuration Register Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Example function call Ecan_BusConfig hDevice 0 0x14 0 Oxff 1Mbit s Ecan_StartBoard hDevice Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function 19 RTD Embedded Technologies Inc API Manual ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_SET_BUS_ CONFIG amp msg sizeof msg NULL 0 amp ret_code NULL Where msg is defined as typedef struct _ECAN_BUSCONFIG_STRUCTURE Header of command UCHAR BusTiming0 UCHAR BusTimingl UCHAR ClockOut If 0 not changing 1 XTAL 4 XTAL 4 15 XTAL 15 etc UCHAR BusConfig For Ecan1000 Output Control Register if Oxff set default _ECAN_BUSCONFIG_STRUCTURE default bus timing values for bit rate 1 MBit s oscillator frequency 16 MHz 0 1 maximum tolerated propagation delay 623 ns minimum requested propagation delay 23 ns BusTiming0 0 Il baud rate prescaler 1 SJW 1 BusTimingl 0x14 TSEGI 5 TSEG2 2 ClockOut 0 BusConfig Oxff ECAN_BUSCONFIG_STRUCTURE PECAN_BUSCONFIG_STRUCTURE ECAN Win API 20 RTD Embedded Technologies Inc Ecan_SetupBoard ECAN Win API API Manual
16. AIR OR REPLACEMENT AS PROVIDED ABOVE UNDER NO CIRCUMSTANCES WILL RTD Embedded Technologies BE LIABLE TO THE PURCHASER OR ANY USER FOR ANY DAMAGES INCLUDING ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES EXPENSES LOST PROFITS LOST SAVINGS OR OTHER DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PRODUCT SOME STATES DO NOT ALLOW THE EXCLUSION OR LIMITATION OF INCIDENTAL OR CONSEQUENTIAL DAMAGES FOR CONSUMER PRODUCTS AND SOME STATES DO NOT ALLOW LIMITATIONS ON HOW LONG AN IMPLIED WARRANTY LASTS SO THE ABOVE LIMITATIONS OR EXCLUSIONS MAY NOT APPLY TO YOU THIS WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS AND YOU MAY ALSO HAVE OTHER RIGHTS WHICH VARY FROM STATE TO STATE 56 RTD Embedded Technologies Inc ECAN Win API RTD Embedded Technologies Inc 103 Innovation Blvd State College PA 16803 0906 USA Our website www rtd com 57 API Manual RTD Embedded Technologies Inc
17. Bit for Filter 1 RTR_ACR2 1 Bit Acceptance Code for the RTR Bit for Filter 2 RTR_AMR2 1 Bit Acceptance Mask for the RTR Bit for Filter 2 Data_ACR 8 Bit Acceptance Code for the first data byte for Filter 1 Data_AMR 8 Bit Acceptance Mask for the first data byte for Filter 1 Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Remarks See the section titled Message Filtering in this manual for more info ECAN Win API 48 RTD Embedded Technologies Inc Ecan_SetFilter API Manual Syntax bool Ecan_SetFilter HANDLE hDevice PECAN_FILTER_STRUCTURE msg Description This routine sets message filters and masks configurations Parameters hDevice Device handle msg Pointer to the ECAN_FILTER_ STRUCTURE class object containing information about filters and masks to be set Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Remarks ECAN_STATUS_STRUCTURE declaration typedef struct _ECAN_FILTER_STRUCTURE Header of command UCHAR ACO UCHAR AC UCHAR AC2 UCHAR AC3 UCHAR AMO UCHAR AM1 UCHAR AM2 UCHAR AM3 UCHAR MEO UCHARMEI UCHAR ME2 UCHAR ME3 UCHAR MMO UCHAR MM1 UCHAR MM2 UCHAR MM3 Acceptance Code Register 0 For Ecan527 Not used Acceptance Code Register 1 For Ecan527 Not used Acceptance Code Register 2 For Ecan527
18. Buffer ECAN Win API Syntax ULONG Ecan_SetBuffer HANDLE hDevice USHORT StartAddress USHORT Count void Buffer ULONG BuffSize Description This routine allows direct write to the CAN controllers internal RAM 128 byte for Ecan1000 boards and 256 byte for Ecan527 boards Through this function and Ecan_SetBuffer you can make access to all specific features of the board Parameters hDevice Device handle StartAddress Offset from the start of the CAN controllers internal RAM Count The number of bytes to be transferred from the buffer pBuffer A pointer to the user supplied buffer that contains the data to be written to the controller BuffSize Buffer size Return Value The number of bytes transferred to the controller Example function call Il Write O to the Mode Register of the SJA1000 controller Ecan1000 board UCHAR ModeReg 0 Ecan_SetBuffer hDevice 0 1 amp ModeReg sizeof ModeReg Cstring cStr cStr Format Mode Register d ModeReg MessageBox NULL cStr Ecan_SetBuffer Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_GET_BUFFER amp header sizeof header Buffer BuffSize amp ret_code NULL 34 RTD Embedded Technologies Inc API Manual Where buffer is an ECAN_BUFFER_OPERATIONS structure
19. DualFilterExtended ReceiverHND ID_ACR1 ID_AMR1 ID_ACR2 ID_AMR2 Now when an extended message that has the most significant 16 bits set 1FFFExxx is found it will be accepted by filter 1 When a message with the most significant 15 bits set 1FFFCxxx is found it will be accepted by filter 2 ECAN Win API 13 RTD Embedded Technologies Inc API Manual API REFERENCE ECAN Win API 14 RTD Embedded Technologies Inc Ecan_CreateHandle ECAN Win API API Manual Driver Initialization Functions Syntax HANDLE Ecan_CreateHandle UCHAR DevNum 0 bool Ecan1000 false Description This routine is used to open Ecan1000 or Ecan527 board This function must be called before any API function call At the end of the application program the board must be closed with the CloseHandle function Parameters DevNum Device number to load Installed devices are numbered from 0 for each type Ecan1000 and Ecan527 Ecan1000 Open Ecan1000 board if TRUE Ecan527 board if FALSE Return Value device handle Board is opened successfully NULL There was an error while closing the board To get extended error information call GetLastError Example function call HANDLE hDevice Ecan_CreateHandle 0 true Open the first of the Ecan1000 boards working with the board CloseHandle hDevice Close the driver after work Optional Calling Syntax For those who wish to communicate directly with the driver rather than us
20. ITALIO amp msg sizeof msg NULL 0 amp ret_code NULL 39 RTD Embedded Technologies Inc API Manual Ecan_GetMessage ECAN Win API Message Manipulation Functions Syntax bool Ecan_GetMessage HANDLE hDevice PECAN_MESSAGE STRUCTURE msg Description This routine is used to retrieve a received message Parameters hDevice Device handle msg A pointer to the ECAN_MESSAGE_ STRUCTURE Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Remarks ECAN_MESSAGE_STRUCTURE declaration typedef struct _ECAN_MESSAGE_ STRUCTURE Header of command UCHAR Channel Not used in the Ecan1000 IllIn Ecan527 Channel 0 Default Transmitting or Default Receiving Message Object 1 15 Message Object by number bool Extended f true Extended frame format bool Remote if true remote frame Attention For Ecan527 this value inverse direction bit UCHAR ID_0 dentifier 0 Arbitration 0 in Ecan527 documentation UCHAR IDE Identifier 1 Arbitration 1 in Ecan527 documentation UCHAR ID_2 dentifier 2 Arbitration 2 in Ecan527 documentation UCHAR ID_3 dentifier 3 Arbitration 3 in Ecan527 documentation UCHAR DataLength Data Length Code DLC 40 RTD Embedded Technologies Inc ECAN Win API API Manual UCHAR Data 8 Data Bytes bool NextMsg if true There is another message available i
21. RUCTURE PECAN_LEDS_STRUCTURE ECAN Win API 36 RTD Embedded Technologies Inc API Manual Ecan_StartBoard Syntax bool Ecan_StartBoard HANDLE hDevice Description This routine switches board to OPERATING MODE Parameters hDevice Device handle Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Example function call HANDLE hDevice Ecan_CreateHandle 0 true bVxd Open the first of the Ecan1000 boards working with the board CloseHandle hDevice Close the driver after work Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_START NULL 0 NULL 0 amp ret_code NULL Where the return value from the DevicelOControl function indicates success or failure ECAN Win API 37 RTD Embedded Technologies Inc API Manual Ecan_StopBoard Syntax bool Ecan_StartBoard HANDLE hDevice Description This routine switches board to RESET MODE and stops all operations Parameters hDevice Device handle Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Example function call HANDLE hDevice Ecan_CreateHandle 0 true bVxd Open the first of the Ecan1000 boards working
22. RUCTURE Msg We would like to send a standard message one that has 11 bits in the ID Msg Extended false We would like to send the message on the default message channel Msg Channel 0 We want to send the full 8 bytes Msg DataLength 8 For this example we fill the data bytes with random data for i 0 i lt 8 i Msg Data i rand Finally we transmit the message Ecan_SendMessaage TransmitterHND amp Msg For this simple example we used the default sending object to send the message The default channel should always be used 8 RTD Embedded Technologies Inc CANIR EXE ECAN Win API API Manual The setup for receiving messages looks like the following First a handle to the card is required To do this we use the CreateHandle call The call requires the device number and the card type as a bool ReceiverHND Ecan_CreateHandle 0 Receiver_Type For this example we also want an event to be triggered every time a message is received o_ptr gt hEvent CreateEvent 0 FALSE FALSE NULL Ecan_SetupBoard ReceiverHND o_ptr gt hEvent o_ptr Next we select the BitRate that we want communication to use We do it now before we start the card so that we don t have to stop the card and re start it later The BitRate value we send to it is one of the BitRates enumeration values Ecan_SetBitRate ReceiverHND BitRate Next we start
23. Since we set the data AMR bits to don t care it doesn t matter what we set the ACR to Unsigned int DATA ACR 0x0 Then we call the SetSingleFilterStandard function to set up the filter Ecan_SetSingleFilterStandard ReceiverHND ID_ACR ID_AMR RTR_ACR RTR_AMR DATA ACR DATA AMR Now we have set up a filter that will accept all messages with an ID of OxFF and we don t care what the RTR bit is set to or what the first two data bytes are The next Filter function SetSingleFilterExtended sets up a filter for extended messages those with a message ID of 29 bits The filter allows all 29 bits of the ID to be compared as well as the RTR bit If the compares succeed the message is accepted The function takes a desired 29 bit ACR ID a 29 bit AMR ID and a bit RTR ACR and AMR In the example the code looks like this First we make the ACR for the Message ID equal to OxFFFFF Unsigned long ID_ACR OxFFFFF Next we want to signal that we want all bits to match so we set the AMR to must match Unsigned long ID_AMR 0x0 We don t care about the RTR bit so we set it to don t care Unsigned int RTR_AMR 0x1 Since we set the RTR Mask to be don t care it doesn t matter what we set the code to Unsigned int RTR_ACR 0x0 Now we call the SetSingleFilterExtended function to set up the filter Ecan_SetSingleFilterExtended ReceiverHND ID_ACR ID_AMR RTR_ACR RTR_AMR Now we w
24. TL_MESSAGE_OBJECT_SETUP msg sizeof msg NULL 0 amp ret_code NULL ECAN Win API 54 RTD Embedded Technologies Inc API Manual Ecan_AllowBufferOverwrite Description Calling this function prevents the driver from returning an Interrupt Oxff and resetting the card when the receive queue is full Instead the oldest data in the queue is discarded and overwritten by the newest data and An Interrrupt Oxff is returned Syntax bool Ecan_AllowBufferOverwrite HANDLE hDevice Parameters hDevice Device handle Return Values TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Example function call Tell driver to allow buffer overwrite Ecan_AllowBufferOverwrite ReceiverHND Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_ALLOW_MESSAGE_OVERWRITE NULL O NULL O amp ret_code NULL ECAN Win API 55 RTD Embedded Technologies Inc API Manual ECAN Win API LIMITED WARRANTY RTD Embedded Technologies Inc warrants the hardware and software products it manufactures and produces to be free from defects in materials and workmanship for one year following the date of shipment from RTD Embedded Technologies INC This warranty is limited to the original purchaser of product
25. TURE ECAN Win API 43 RTD Embedded Technologies Inc API Manual Ecan_SendCommand Syntax bool Ecan_SendCommand HANDLE hDevice bool TR false bool RRB false bool AT false bool CDO false bool SRR false Description A command bit initiates an action within the transfer layer of the SJA1000 Ecan1000 board Parameters hDevice Device handle TR Transmission Request RRB Release Receive Buffer AT Abort Transmission CDO Clear Data Overrun SRR Self Reception Request Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Example function call Ecan_SendCommand hDevice false false true Abort current Transmission Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_SEND_COMMAND amp msg sizeof msg NULL 0 amp ret_code NULL Where msg is an ECAN COMMAND STRUCTURE typedef structt_ECAN_ COMMAND STRUCTURE bool TR Transmission Request bool RRB Release Receive Buffer bool AT Abort Transmission ECAN Win API 44 RTD Embedded Technologies Inc API Manual bool CDO Clear Data Overrun bool SRR Self Reception Request UCHAR Reserved 3 For alignments on 4 bytes _ECAN_COMMAND_STRUCTURE ClearQ void Clear memset thi
26. UP_STRUCTURE PECAN_SETUP_STRUCTURE ECAN Win API 23 RTD Embedded Technologies Inc API Manual Ecan_GetBuffer ECAN Win API Syntax ULONG Ecan_GetBuffer HANDLE hDevice USHORT StartAddress USHORT Count void pBuffer ULONG BuffSize Description This routine allow direct read from the CAN controllers internal RAM 128 byte for Ecan1000 boards and 256 byte for Ecan527 boards Through this function and Ecan_SetBuffer you can make access to all specific features of the board Parameters hDevice Device handle StartAddress Offset from the start of the CAN controllers internal RAM Count The number of bytes to be transferred from the board pBuffer Pointer to the user supplied buffer that is to receive the data read from the controller BuffSize Buffer size Return Value The number of bytes transferred to the buffer Example function call UCHAR ModeReg Ecan_GetBuffer hDevice 0 1 amp ModeReg sizeof ModeReg reads Mode Register of Ecan1000 CString cStr cStr Format Mode Register d ModeReg MessageBox NULL cStr Ecan_GetBuffer Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code 24 RTD Embedded Technologies Inc API Manual DeviceloControl hDevice ECAN_IOCTL_GET_BUFFER amp header sizeof header pBuffer BuffSize amp ret_code
27. Value Value read from the port Return Value True Success False Failure To get extended error information call GetLastError Example Function Call ECAN_READWRITEDIGITALIO_STRUCTURE DIOValMsg Ecan_Read_Digital_lO ReceiverHND amp DIOValIMsg printf Value Read d n r DIOValMsg Value Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ECAN_READWRITEDIGITALIO STRUCTURE msg ULONG ret_code DeviceloControl nDevice ECAN_IOCTL_READDIGITALIO NULL 0 amp msg sizeof msg amp ret_code NULL ECAN Win API 32 RTD Embedded Technologies Inc API Manual Ecan_SetBitRate Syntax bool Ecan_SetBitRate HANDLE hDevice BitRates BitRate Description This function alters the communication bitrate The board MUST be stopped and re started for the change to take effect Parameters hDevice Device handle BitRate One of the BitRates enums R1000000 1MB s R800000 R500000 R400000 R250000 R200000 R160000 R125000 R100000 R80000 R62500 R50000 R40000 R31250 R25000 R20000 R16000 R15625 R12500 R10000 R8000 R7813 actually 7812 5 R6150 R5000 Return Value True Success False Failure To get extended error information call GetLastError Example Function Call Ecan_SetBitRate ReceiverHND R500000 Set bitrate to 500K ECAN Win API 33 RTD Embedded Technologies Inc API Manual Ecan_Set
28. and is not transferable During the one year warranty period RTD Embedded Technologies will repair or replace at its option any defective products or parts at no additional charge provided that the product is returned shipping prepaid to RTD Embedded Technologies All replaced parts and products become the property of RTD Embedded Technologies Before returning any product for repair customers are required to contact the factory for an RMA number THIS LIMITED WARRANTY DOES NOT EXTEND TO ANY PRODUCTS WHICH HAVE BEEN DAMAGED AS A RESULT OF ACCIDENT MISUSE ABUSE such as use of incorrect input voltages improper or insufficient ventilation failure to follow the operating instructions that are provided by RTD Embedded Technologies acts of God or other contingencies beyond the control of RTD Embedded Technologies OR AS A RESULT OF SERVICE OR MODIFICATION BY ANYONE OTHER THAN RTD Embedded Technologies EXCEPT AS EXPRESSLY SET FORTH ABOVE NO OTHER WARRANTIES ARE EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE AND RTD Embedded Technologies EXPRESSLY DIS CLAIMS ALL WARRANTIES NOT STATED HEREIN ALL IMPLIED WARRANTIES INCLUDING IMPLIED WARRANTIES FOR MECHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE LIMITED TO THE DURATION OF THIS WARRANTY IN THE EVENT THE PRODUCT IS NOT FREE FROM DEFECTS AS WARRANTED ABOVE THE PURCHASER S SOLE REMEDY SHALL BE REP
29. be used to set certain bits to don t care before the comparison process takes place For the Ecan1000 a don t care bit is any bit set to a one in a mask The first filter type SetSingleFilterStandard allows an incoming message s 11 Bit ID to be compared its RTR bit to be compared and the first 2 bytes of the data to be compared If all comparisons succeed then the message is accepted The function takes a desired 11 Bit ACR and AMR for the ID comparison Then a 1Bit RTR ACR and AMR Finally a 16Bit AMR and ACR for comparison against the first 2 data bytes of the message In the example the code looks like this First we make the ACR for the message ID equal to OxFF Unsigned int ID_ACR OxFF Then we set the Acceptance mask register to say that we want all the bits of the ACR to be compared against the incoming ID Note that a 1 bit means don t care and a zero bit means must match Unsigned int ID_AMR 0x0 We don t care about the RTR bit so we set the Acceptance Mask register to a one Unsigned int RTR_AMR 0x1 Since we told the RTR AMR that we didn t care about the bit it doesn t matter what we set the acceptance code register to Unsigned int RTR_ACR 0x0 We don t want to filter using the first two data bytes of the message so we set the AMR for the data bytes to Don t care all bits 10 RTD Embedded Technologies Inc ECAN Win API API Manual Unsigned int DATA AMR OxFFFF
30. ee a file called FastInst exe and Windows 2000 XP users will see a file called DrvInst exe in the main ECAN1000 directory These files allow quick creation of Ecan1000 devices in the Hardware devices list To use them type in the executable name followed by the fully qualified path and name of the INF File For example DrvInstall C RTD Ecan1000 Ecan1000 inf Will add another ECAN1000 card to the list in the Device Manager Compiling and Using Samples ECAN Win API The samples have been written using Microsoft Visual C 6 0 but should work with other C compilers with little or no modification Each sample links to the EcanDII lib file in the LIB directory which by default is located in C RTD Ecan1000 Lib Each sample also includes EcanDLL h which itself includes Ecanloctl h both of which can be found in the Lib directory Each API call in this manual is in the EcanDLL dll dynamic link library and is defined in the EcanDII h file To use the API functions include EcanDLL h in your project remember it also includes Ecanloctl h and include EcanDLL lib in your link library list Then remember to distribute EcanDII DLL with your application 5 RTD Embedded Technologies Inc API Manual Using the API with other Computer Languages For those people who prefer to use other computer languages such as Visual Basic a map file of the DLL has been included The map file contains the decorated names of the functions that are exported
31. go back and GetInterrupts again 9 RTD Embedded Technologies Inc API Manual MESSAGE FILTERING One of the most complex parts of CANbus setup is the implementation of message filters Ecan1000 cards have fully featured hardware filtering capabilities Ecan1000 Message Filtering ECAN Win API For the Ecan1000 there are four different functions that apply to the four different types of filtering that the board can perform These are Ecan_SetSingleFilterStandard Ecan_SetSingleFilterExtended Ecan_SetDualFilterStandard Ecan_SetDualFilterExtended The functions that end in standard are for standard message frames those that have an 11 bit ID The functions that end in extended are for extended messages messages with a 29 bit ID Each of these functions is used in the example program called Ecan1000 exe Simply uncomment the section that uses the filtering method you are interested in and re compile the program to test the filter Each filter type is described in detail in Philips s document SJA 000 Stand alone CAN controller DATA SHEET Some of that document will be repeated here for clarity All of the filtering methods have two things in common They all deal with one or more Acceptance Code Registers ACR and one or more Acceptance Mask Registers AMR An Acceptance Code Register is a bit pattern that an incoming message is compared to and must match before it will be accepted An Acceptance Mask Register can
32. h to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_SET_FILTER msg sizeof msg NULL 0 amp ret_code NULL ECAN Win API 50 RTD Embedded Technologies Inc APT Manual Ecan_SetSingleFilterExtended Syntax bool Ecan_SetSingleFilterExtended HANDLE hDevice unsigned long ID_ACR unsigned long ID_AMR unsigned int RTR_ACR unsigned int RTR_AMR Description This function sets up a single filter for extended messages on the Ecan1000 card Parameters HDevice Device Handle ID_ACR 29 Bit Acceptance Code for the message ID ID_AMR 29 Bit Acceptance Mask for the message ID RTR_ACR 1 Bit Acceptance Code for the RTR Bit RTR_AMR 1 Bit Acceptance Mask for the RTR Bit Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Remarks See the section titled Message Filtering in this manual for more info ECAN Win API 51 RTD Embedded Technologies Inc API Manual Ecan_SetSingleFilterStandard Syntax bool Ecan_SetSingleFilterStandard HANDLE hDevice unsigned int ID_ACR unsigned int ID_AMR unsigned int RTR_ACR unsigned int RTR_AMR unsigned int Data_ACR unsigned int Data_AMR Description This function sets up a single filter for standard messages on the Ecan1000 card Parameters HDevice Device Handle ID_ACR 11 B
33. hardware test a board Parameters hDevice Device handle Return Value TRUE Hardware test passed FALSE Hardware test Failed Example function call If lEcan_TestBoard hDevice MessageBox NULL Board test failed check the hardware settings Ecan_TestBoard CloseHandle hDevice Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_TEST NULL O NULL O amp ret_code NULL Where the return value of the DevicelOControl call will be true if the board tested OK ECAN Win API 18 RTD Embedded Technologies Inc Ecan_BusConfig ECAN Win API API Manual General Board Control Functions Syntax bool Ecan_BusConfig HANDLE hDevice UCHAR BusTiming0 UCHAR BusTiming1 UCHAR ClockOut 0 UCHAR BusConfig Oxff Description This routine sets Can Bit Timing and Bus configuration Ecan_StopBoard and Ecan_StartBoard should be called after this function has been used Parameters hDevice Device handle BusTiming0 Value for the BUS TIMING REGISTER 0 BIT TIMING REGISTER 0 BusTiming1 Value for the BUS TIMING REGISTER 1 BIT TIMING REGISTER 1 ClockOut Value that is used to set frequency divider at the external CLKOUT pin relative to the frequency of the external oscillator XTAL Divider value can be 1 2 4 6 8 10 12 or 1
34. ill accept any extended message that has an ID of OxFFFFF regardless of the state of the RTR bit The next filter function SetDualFilterStandard sets up two filters for a standard message In a two filter configuration the message must pass only one of the filters comparison tests in order to be accepted In other words the message will only be rejected if it fails both filter comparisons The comparisons check all 11 bits of the message ID the RTR bit and the first filter also checks the first 8 bits of data in the message The example code looks like this First we will make the Acceptance Code Register for Filter 1 be 0x9 Unsigned int ID_ACR1 0x9 Now we want to make the Acceptance Mask Register say all bits must match Unsigned int ID_AMR1 0x0 Next we set up filter 2 Make the Acceptance Code Register for Filter 2 be 0x10 11 RTD Embedded Technologies Inc API Manual Unsigned int ID_ACR2 0x10 Now we make the AMR say that all bits must match Unsigned int ID_AMR2 0x0 We don t care about the state of the RTR bit for either filter so set the AMR for the RTR bit to don t care Unsigned int RTR_AMR1 0x1 Unsigned int RTR_AMR2 0x1 Since we set the AMR s to don t care it doesn t matter what we set the RTR s ACR to Unsigned int RTR_ACR1 0x0 Unsigned int RTR_ACR2 0x0 We also want to filter based on the first byte of data in the messages We will accept
35. ing the provided DLL this call uses the following CreateFile function sprintf buff s d LinkName DevNum HANDLE result CreateFile buff GENERIC_READ GENERIC_WRITE 0 NULL OPEN_EXISTING 0 0 15 RTD Embedded Technologies Inc API Manual Where LinkName is CHAR LinkName Ecan527Device For the Ecan527 device and CHAR LinkName Ecan1000Device For the Ecan1000 device ECAN Win API 16 RTD Embedded Technologies Inc API Manual Ecan_GetBoardName Syntax ULONG Ecan_GetBoardName HANDLE hDevice Description This routine is used to determine the board name Ecan1000 or Ecan527 Parameters hDevice Device handle Return Value 1000 For the Ecan1000 board 527 For the Ecan527 board Example function call if Ecan_GetBoardName hDevice 527 MessageBox NULL Ecan527 board Ecan_GetBoardName else MessageBox NULL Ecan1000 board Ecan_GetBoardName Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_GET_BOARD_NAME NULL 0 NULL 0 amp ret_code NULL where ret_code is 527 or 1000 depending on board type ECAN Win API 17 RTD Embedded Technologies Inc API Manual Ecan_TestBoard Syntax bool Ecan_TestBoard HANDLE hDevice Description This routine is used to
36. it Acceptance Code for the message ID ID_AMR 11 Bit Acceptance Mask for the message ID RTR_ACR 1 Bit Acceptance Code for the RTR Bit RTR_AMR 1 Bit Acceptance Mask for the RTR Bit DATA_ACR 16Bit Acceptance Code for the first 2 data bytes DATA_AMR 16Bit Acceptance Mask for the first 2 data bytes Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Remarks See the section titled Message Filtering in this manual for more info ECAN Win API 52 RTD Embedded Technologies Inc API Manual Ecan_MessageObjectSetup Syntax bool Ecan_MessageObjectSetup HANDLE hDevice PECAN_MESSAGE_OBJECT_SETUP_STRUCTURE msg Description This routine allows the application to setup message objects Parameters hDevice Device handle msg Handle to the _ECAN_MESSAGE_OBJECT_SETUP_STRUCTURE Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Remarks _ECAN_MESSAGE_OBJECT_SETUP_STRUCTURE declaration typedef struct_ECAN_MESSAGE_OBJECT_SETUP_STRUCTURE Header of command UCHAR Channel Number of Message Object if Channel 0 then using default Transmit or Receive Message Object MESSAGE_OBJECT_STATE State Program object for one of three tasks MO_TRANSMIT transmit l MO_REMOTE_TRANSMIT transmit after receiving remote frame whith same ID MO_RECEIVE receive bool Valid If true
37. n the queue bool DontQueueUse Don t use driver s software queues UCHAR Reserved 2 For alignments on 4 bytes _ECAN_MESSAGE_STRUCTURE Clear y void Clear memset this O sizeof this dentifiers services functions ULONG GetlD ULONG ret ID_0 ret ret lt lt 8 ID_1 if Extended ret ret lt lt 8 ID_2 lt lt 8 ID_3 return ret if void SetID ULONG ID if Extended ID_3 UCHAR ID ID ID gt gt 8 ID_2 UCHAR ID ID ID gt gt 8 ID_1 UCHAR ID ID ID gt gt 8 ID_0 UCHAR ID y ECAN_MESSAGE_STRUCTURE PECAN_MESSAGE_STRUCTURE Example function call ECAN_MESSAGE_STRUCTURE Msg ECAN_MESSAGE_STRUCTURE with default settings if lEcan_GetMessage hDrvice Msg MessageBox NULL Can not receive a message Ecan_GetMessage else MessageBox NULL Message accepted Ecan_GetMessage Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_GET_MESSAGE NULL 0 msg sizeof msg amp ret_code NULL Where the return value of the DevicelOControl function indicates success or failure 41 RTD Embedded Technologies Inc API Manual Ecan_GetQueuesCounts ECAN Win API Syntax bool Ecan_GetQueuesCounts HANDLE hDevice ULONG TX_ Count ULONG RX_ Coun
38. nt ID_AMR2 Description This function sets up dual filters for extended messages on the Ecan1000 card Parameters HDevice Device Handle ID_ACRI 16 Bit Acceptance Code for the message ID for Filter 1 ID AMR1 16 Bit Acceptance Mask for the message ID for Filter 1 ID ACR2 16 Bit Acceptance Code for the message ID for Filter 2 ID AMR2 16 Bit Acceptance Mask for the message ID for Filter 2 Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Remarks See the section titled Message Filtering in this manual for more info ECAN Win API 47 RTD Embedded Technologies Inc API Manual Ecan_SetDualFilterStandard Syntax bool Ecan_SetDualFilterStandard HANDLE hDevice unsigned int ID_ACR1 unsigned int ID_AMR1 unsigned int ID_ACR2 unsigned int ID_AMR2 unsigned int RTR_ACR1 unsigned int RTR_AMR1 unsigned int RTR_ACR2 unsigned int RTR_AMR2 unsigned int Data_ACR unsigned int Data_AMR Description This function sets up dual filters for standard messages on the Ecan1000 card Parameters HDevice Device Handle ID_ACRI 11 Bit Acceptance Code for the message ID for Filter 1 ID AMR1 11 Bit Acceptance Mask for the message ID for Filter 1 ID ACR2 11 Bit Acceptance Code for the message ID for Filter 2 ID AMR2 11 Bit Acceptance Mask for the message ID for Filter 2 RTR_ACR1 1 Bit Acceptance Code for the RTR Bit for Filter 1 RTR_AMRI 1 Bit Acceptance Mask for the RTR
39. onononononononononononnonononononononononos 55 LIMITED WARRANTY aci 56 API Manual GETTING STARTED Files in this Distribution The files in this distribution are designed for the Ecan1000 There are six sample programs installed during setup These are located in the samples directory which by default is located in C RTD Ecan1000 Samples The executables for the samples are installed by default into C RTD Ecan1000 Samples Exe The Samples are called Canls Transmits a single message Canlr Receives a single message Can2s Transmits messages with random data until CTRL C is pressed Can2r Receives messages from Can2s and displays average BPS Test_Ecan GUI Application that can send and receive messages Also detects and deals with any send errors immediately Ecan1000 Message filtering sample For Windows 98 2000 and XP users the Test_Ecan program allows the user to select an Ecan card and test 1t by pressing the Test Device Button on the main window The program also allows the user to test the driver When the Test Driver button is pressed on the main window a second window opens which allows transmitting and receiving messages To test the driver first select a transmitter or receiver device in the list boxes Then press the Initialize button A single message may be sent by pressing Send Message Multiple messages may be sent by pressing Cyclic Send Windows 98 users will s
40. r a blank list select No the device isn t in the list On the next page select No I want to select the hardware from a list Highlight Other Devices from the displayed list of device categories On the next page press Have Disk When prompted for a location to copy the manufacturers files from browse to the directory you installed the ECAN1000 software in Usually C RTD ECAN1000 The screen will now list the ECAN1000 CAN Interface board Press Next Continue to proceed through the wizard pages After the system has rebooted remember to go to the Device Manager to configure the correct IRQ and Base Address of the new board For Windows 2000 Go to the Add Remove hardware wizard in the Control Panel Select Add Troubleshoot a device Wait while the system searches for plug and play devices When it displays a list of devices select Add a new device When prompted select No I want to select the hardware from a list Select Other Devices from the list of device categories When the list of devices is displayed press Have Disk When prompted for a location to copy the manufacturers files from browse to the directory you installed the ECAN1000 software in Usually C RTD ECAN1000 The screen will now list the ECAN1000 CAN Interface board Press 6 RTD Embedded Technologies Inc API Manual Next The wizard will now prompt you for the IRQ and Base Address of the new board When done p
41. rn Value TRUE If there is no error 21 RTD Embedded Technologies Inc API Manual FALSE If there is an error To get extended error information call GetLastError Example function call void far ReceiverCallBack Process the receiving interrupt get an incoming message frame void main HANDLE hDevice Ecan_CreateHandle 0 true 0x300 7 Open the first of the Ecan1000 boards Ecan_SetupBoard hDevice ReceiverCallBack Ecan_StartBoard working with the board Ecan_StopBoard CloseHandle hDevice Close the driver after work Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_SETUP amp msg sizeof msg NULL 0 amp ret_code o_ptr Where msg is an _ECAN SETUP_STRUCTURE typedef struct LECAN_SETUP_STRUCTURE Header of command HANDLE hEvent bool ReceiveIntEn bool ErrorIntEn bool TransmitIntEn bool BusErrorIntEn bool DataOverrunIntEn bool ArbitrationLostIntEn bool ErrorPassivelntEn ECAN Win API 22 RTD Embedded Technologies Inc API Manual bool WakeUpIntEn ULONGRX_QueueMaxSize ULONG TX_QueueMaxSize ECAN_SETUP_STRUCTURE memset this 0 sizeof this sizeof ULONG 2 ReceiveIntEn true RX_QueueMaxSize 32000 TX_QueueMaxSize 32000 ECAN_SET
42. roceed through the wizard pages to the final page For Windows NT Use the supplied Test Ecan software On the main screen press Add Device and enter the IRQ and Base Address of the new board ECAN Win API 7 RTD Embedded Technologies Inc API Manual CANIS EXE ECAN Win API MESSAGE RECEPTION AND TRANSMISSION At the heart of CAN communication is the ability to transmit and receive messages In this package are two examples which demonstrate message sending and reception CAN1S exe is the sending example and CANIR exe is the reception example Both samples are capable of using any supported bitrate The setup for sending messages looks like the following First a handle to the card is required To do this we use the CreateHandle call The call requires the device number and the card type as a bool TransmitterHND Ecan CreateHandle 0 Transmitter_ Type Next we select the BitRate that we want communication to use We do it now before we start the card so that we don t have to stop the card and re start it later The BitRate value we send to it is one of the BitRates enumeration values Ecan_SetBitRate TransmitterHND BitRate Next we start the card It is normally a good idea to check the return code from this function If Ecan_StartBoard TransmitterHND printf Could not Start the board n In order to send a message we need to create an ECAN_MESSAGE_STRUCTURE ECAN_MESSAGE_ST
43. s 0 sizeof this ECAN_COMMAND_ STRUCTURE PECAN_COMMAND_STRUCTURE ECAN Win API 45 RTD Embedded Technologies Inc API Manual Ecan_SendMessage ECAN Win API Syntax bool Ecan_SendMessage HANDLE hDevice PECAN_MESSAGE STRUCTURE msg Description This routine is used to transmit message Parameters hDevice Device handle msg A pointer to the ECAN_MESSAGE_STRUCTURE see Ecan_GetMessage for details Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Example function call ECAN_MESSAGE_STRUCTURE Msg Msg Extended true Extended frame format Msg Channel 0 by default Msg DataLength 2 2 bytes to transmit Msg Data 0 0xa5 Data 0 Msg Data 1 0x5a Data 1 Msg SetlD 0x01 Message Identifier Send message through the transmit queue and the default transmit object in Ecan527 Ecan_SendMessage hDevice amp Msg Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_SEND_ MESSAGE msg sizeof msg NULL 0 amp ret_code NULL 46 RTD Embedded Technologies Inc API Manual Ecan_SetDualFilterExtended Syntax bool Ecan_SetDualFilterExtended HANDLE hDevice unsigned int ID_ACR1 unsigned int ID_AMR1 unsigned int ID_ACR2 unsigned i
44. t bool ClearRX false bool ClearTX false Description This routine is used to receive the messages queues length and or to clear these queues Parameters hDevice Device handle TX_Count Pointer to a variable that receives the length of the transmit queue RX_Count Pointer to a variable that receives the length of the receive queue ClearRX TRUE clears the receive queue ClearTX TRUE clears the transmit queue Return Value TRUE If there is no error FALSE If there is an error To get extended error information call GetLastError Example function call Wait until the transmit queue will freed ULONG TX_Count 0x80 while TX_Count gt 1 Ecan_GetQueuesCounts hTransmitter amp TX_Count Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_GET_ QUEUES COUNTS NULL 0 amp msg sizeof msg amp ret_code NULL Where msg is an ECAN_QUEUES COUNTS STRUCTURE 42 RTD Embedded Technologies Inc API Manual typedef struct _ECAN_QUEUES_COUNTS_STRUCTURE Header of command ULONG RX_Count ULONG TX Count bool ClearRX bool ClearTX UCHAR Reserved 2 For alignments on 4 bytes _ECAN_QUEUES_COUNTS_STRUCTURE memset this 0 sizeof this ECAN_QUEUES_COUNTS_STRUCTURE PECAN_QUEUES_COUNTS_STRUC
45. with the board CloseHandle hDevice Close the driver after work Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_STOP NULL 0 NULL 0 amp ret_code NULL Where the return value of the DevicelOControl function indicates success or failure ECAN Win API 38 RTD Embedded Technologies Inc APT Manual Ecan_Write_Digital_IO ECAN Win API Syntax bool Ecan_Write_Digital_lO HANDLE hDevice PECAN_READWRITEDIGITALIO_STRUCTURE msg Description This routine writes a value out to the DIO port Note For any value to appear on the port at least one of the pins must be set to output using Ecan_LoadPortBitDir Parameters hDevice Device handle PECAN READWRITEDIGITAL_IO Value Value to write to the port Return Value True Success False Failure To get extended error information call GetLastError Example Function Call ECAN_READWRITEDIGITALIO STRUCTURE DIOValMsg DIOValMsg Value VALUEOUT Ecan_Write_Digital_IO ReceiverHND amp DIOValMsg Optional Calling Syntax For those who wish to communicate directly with the driver rather than using the provided DLL this call uses the following DevicelOControl function ECAN_READWRITEDIGITALIO STRUCTURE msg msg Value Value ULONG ret_code DeviceloControl hDevice ECAN_IOCTL_WRITEDIG

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