- Added automatic bus off recovery to the Peak CAN communication interface for Microboot.
git-svn-id: https://svn.code.sf.net/p/openblt/code/trunk@99 5dc33758-31d5-4daf-9ae8-b24bf3d40d73
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Frank Voorburg
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@ -357,6 +357,7 @@ begin
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if CAN_Init(Baudcode, MsgType) <> CAN_ERR_OK then Exit;
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//-------------------------- open the acceptance filter --------------------------------
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if CAN_ResetFilter <> CAN_ERR_OK then
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begin
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@ -470,8 +471,19 @@ begin
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// submit the transmit request
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if CAN_Write(msg) <> CAN_ERR_OK then
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begin
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Result := False;
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exit;
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// the Peak CAN interface has a bug because if it is the only node on the bus
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// transmitting a message, it will actually go in bus off, which is not allowed
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// according to the CAN protocol. this scenario can be resolved by re-initializing
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// the CAN interface.
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if (CAN_Status and CAN_ERR_BUSOFF) = CAN_ERR_BUSOFF then
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begin
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Disconnect;
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if not Connect then
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begin
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Result := False;
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exit;
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end;
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end;
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end;
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//---------------- process transmission confirmation --------------------------
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@ -2,20 +2,16 @@
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// PCAN-Light
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// PCAN_USB.pas
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//
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// Version 1.5
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// Version 2.x
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//
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// ~~~~~~~~~~
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//
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// Basic Idea:
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//
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// ~~~~~~~~~~
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//
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// Definition of the PCAN-Light API.
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// The Driver support a Hardware and a Software who want to communicate with CAN-busses
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// Definition of the PCAN-Light API.
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// The Driver support a Hardware and a Software who want to communicate with CAN-busses
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//
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// ~~~~~~~~~~~~
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//
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// PCAN-Light -API
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// PCAN-Light-API
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//
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// ~~~~~~~~~~~~
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//
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@ -24,21 +20,25 @@
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// - CAN_Status()
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// - CAN_Write(var MsgBuff: TPCANMsg)
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// - CAN_Read(var MsgBuff: TPCANMsg)
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// - CAN_ReadEx(var MsgBuff: TPCANMsg; var RcvTime: TPCANTimestamp)
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// - CAN_VersionInfo(lpszTextBuff: PChar)
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// - CAN_DLLVersionInfo(lpszTextBuff: PChar)
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// - CAN_SpecialFunktion(distributorcode: LongWord; codenumber: Integer)
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// - CAN_ResetClient()
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// - CAN_MsgFilter(FromID, ToID: LongWord; _Type: Integer)
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// - CAN_ResetFilter()
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// - SetUSBDeviceNr(DevNum: Longint)
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// - GetUSBDeviceNr(var DevNum: Longint)
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// - SetUSBDeviceNr(DevNum: Integer)
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// - GetUSBDeviceNr(var DevNum: Integer)
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// - CAN_SetRcvFunc(hEvent: THandle)
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//
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// ------------------------------------------------------------------
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// Author : Hoppe, Wilhelm
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// Modified By: Wagner (13.08.2008)
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// Modified By: Wagner (29.09.2009)
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//
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// Sprache: PASCAL OO
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// Language: PASCAL OO
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// ------------------------------------------------------------------
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//
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// Copyright (C) 1999-2006 PEAK-System Technik GmbH, Darmstadt
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// Copyright (C) 1999-2009 PEAK-System Technik GmbH, Darmstadt
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//
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unit pcan_usb;
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@ -79,23 +79,30 @@ const
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// Error codes (bit code)
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//
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CAN_ERR_OK = $0000; // No error
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CAN_ERR_XMTFULL = $0001; // Transmit buffer in CAN controller is full
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CAN_ERR_OVERRUN = $0002; // CAN controller was read too late
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CAN_ERR_BUSLIGHT = $0004; // Bus error: an error counter reached the 'light' limit
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CAN_ERR_BUSHEAVY = $0008; // Bus error: an error counter reached the 'heavy' limit
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CAN_ERR_BUSOFF = $0010; // Bus error: the CAN controller is in bus-off state
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CAN_ERR_QRCVEMPTY = $0020; // Receive queue is empty
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CAN_ERR_QOVERRUN = $0040; // Receive queue was read too late
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CAN_ERR_QXMTFULL = $0080; // Transmit queue is full
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CAN_ERR_REGTEST = $0100; // Test of the CAN controller hardware registers failed (no hardware found)
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CAN_ERR_NOVXD = $0200; // Driver not loaded
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CAN_ERR_RESOURCE = $2000; // Resource (FIFO, Client, timeout) cannot be created
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CAN_ERR_ILLPARAMTYPE = $4000; // Invalid parameter
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CAN_ERR_ILLPARAMVAL = $8000; // Invalid parameter value
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CAN_ERRMASK_ILLHANDLE = $1C00; // Mask for all handle errors
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CAN_ERR_ANYBUSERR = (CAN_ERR_BUSLIGHT or CAN_ERR_BUSHEAVY or CAN_ERR_BUSOFF);
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// All further error conditions <> 0 please ask PEAK when required.......internal driver failure ........
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CAN_ERR_OK = $0000; // No error
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CAN_ERR_XMTFULL = $0001; // Transmit buffer in CAN controller is full
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CAN_ERR_OVERRUN = $0002; // CAN controller was read too late
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CAN_ERR_BUSLIGHT = $0004; // Bus error: an error counter reached the 'light' limit
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CAN_ERR_BUSHEAVY = $0008; // Bus error: an error counter reached the 'heavy' limit
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CAN_ERR_BUSOFF = $0010; // Bus error: the CAN controller is in bus-off state
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CAN_ERR_QRCVEMPTY = $0020; // Receive queue is empty
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CAN_ERR_QOVERRUN = $0040; // Receive queue was read too late
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CAN_ERR_QXMTFULL = $0080; // Transmit queue ist full
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CAN_ERR_REGTEST = $0100; // Test of the CAN controller hardware registers failed (no hardware found)
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CAN_ERR_NOVXD = $0200; // Driver not loaded
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CAN_ERR_NODRIVER = $0200; // Driver not loaded
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CAN_ERRMASK_ILLHANDLE=$1C00; // Mask for all handle errors
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CAN_ERR_HWINUSE = $0400; // Hardware already in use by a Net
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CAN_ERR_NETINUSE = $0800; // a Client is already connected to the Net
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CAN_ERR_ILLHW = $1400; // Hardware handle is invalid
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CAN_ERR_ILLNET = $1800; // Net handle is invalid
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CAN_ERR_ILLCLIENT = $1C00; // Client handle is invalid
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CAN_ERR_RESOURCE = $2000; // Resource (FIFO, Client, timeout) cannot be created
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CAN_ERR_ILLPARAMTYPE = $4000; // Invalid parameter
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CAN_ERR_ILLPARAMVAL = $8000; // Invalid parameter value
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CAN_ERR_UNKNOWN = $10000; // Unknown error
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CAN_ERR_ANYBUSERR = (CAN_ERR_BUSLIGHT or CAN_ERR_BUSHEAVY or CAN_ERR_BUSOFF);
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type
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// CAN Message
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@ -107,6 +114,15 @@ type
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DATA: array[0..7] of Byte; // Data 0 .. 7
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end;
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// Timestamp of a receive/transmit event
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// Total microseconds = micros + 1000 * millis + 0xFFFFFFFF * 1000 * millis_overflow
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//
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TPCANTimestamp = record
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millis: LongWord; // Base-value: milliseconds: 0.. 2^32-1
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millis_overflow: Word; // Roll-arounds of millis
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micros: Word; // Microseconds: 0..999
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end;
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///////////////////////////////////////////////////////////////////////////////
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// CAN_Init()
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// This function make the following:
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@ -123,7 +139,7 @@ type
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// Possible Errors: NOVXD ILLHW REGTEST RESOURCE
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//
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function CAN_Init(wBTR0BTR1: Word;
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CANMsgType: Integer): LongWord; stdcall;
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CANMsgType: Integer): LongWord; stdcall;
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///////////////////////////////////////////////////////////////////////////////
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// CAN_Close()
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@ -176,6 +192,37 @@ function CAN_Write(var MsgBuff: TPCANMsg): LongWord; stdcall;
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//
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function CAN_Read(var MsgBuff: TPCANMsg): LongWord; stdcall;
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///////////////////////////////////////////////////////////////////////////////
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// CAN_ReadEx()
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// This function get the next message or the next error from the Receive Queue of
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// the CAN Hardware and the time when the message arrived.
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// REMARK:
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// - Check always the type of the received Message (MSGTYPE_STANDARD,MSGTYPE_RTR,
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// MSGTYPE_EXTENDED,MSGTYPE_STATUS)
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// - The function will return ERR_OK always that you receive a CAN message successfully
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// although if the messages is a MSGTYPE_STATUS message.
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// - When a MSGTYPE_STATUS mesasge is got, the ID and Length information of the message
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// will be treated as indefined values. Actually information of the received message
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// should be interpreted using the first 4 data bytes as follow:
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// * Data0 Data1 Data2 Data3 Kind of Error
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// 0x00 0x00 0x00 0x02 CAN_ERR_OVERRUN 0x0002 CAN Controller was read to late
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// 0x00 0x00 0x00 0x04 CAN_ERR_BUSLIGHT 0x0004 Bus Error: An error counter limit reached (96)
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// 0x00 0x00 0x00 0x08 CAN_ERR_BUSHEAVY 0x0008 Bus Error: An error counter limit reached (128)
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// 0x00 0x00 0x00 0x10 CAN_ERR_BUSOFF 0x0010 Bus Error: Can Controller went "Bus-Off"
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// - If a CAN_ERR_BUSOFF status message is received, the CAN Controller must to be
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// initialized again using the Init() function. Otherwise, will be not possible
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// to send/receive more messages.
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// - The message will be written to 'msgbuff'.
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// Since Version 2.x the Ext. Version is available - new Parameter:
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// - Receive timestamp
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//
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// Possible Errors: NOVXD QRCVEMPTY
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//
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function CAN_ReadEx(
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var MsgBuff: TPCANMsg;
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var RcvTime: TPCANTimestamp
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): LongWord; stdcall;
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///////////////////////////////////////////////////////////////////////////////
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// CAN_VersionInfo()
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// This function get the Version and copyright of the hardware as text
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@ -187,6 +234,17 @@ function CAN_VersionInfo(
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lpszTextBuff: PChar
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): LongWord; stdcall;
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///////////////////////////////////////////////////////////////////////////////
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// CAN_DLLVersionInfo()
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// This function is used to get the Version and copyright of the DLL as
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// text (max. 255 characters)
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//
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// Possible Errors: -1 for NULL-Pointer parameters :-)
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//
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function CAN_DLLVersionInfo(
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lpszTextBuff: PChar
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): LongWord; stdcall;
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///////////////////////////////////////////////////////////////////////////////
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// CAN_SpecialFunktion()
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// This function is an special function to be used "ONLY" for distributors
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//
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// Possible Errors: NOVXD ILLHW ILLPARAMTYPE ILLPARAMVAL REGTEST
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//
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function SetUSBDeviceNr(DevNum: Longint): LongWord; stdcall;
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function SetUSBDeviceNr(DevNum: LongWord): LongWord; stdcall;
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//////////////////////////////////////////////////////////////////////////////
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// GetUSBDeviceNr()
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//
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// Possible Errors: NOVXD ILLHW ILLPARAMTYPE
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//
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function GetUSBDeviceNr(var DevNum: Longint): LongWord; stdcall;
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function GetUSBDeviceNr(var DevNum: LongWord): LongWord; stdcall;
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///////////////////////////////////////////////////////////////////////////////
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// CAN_SetRcvEvent()
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// This function is used to set the Event for the Event Handler
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//
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// Possible Errors: ILLCLIENT ILLPARAMTYPE ILLPARAMVAL NOVXD
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//
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function CAN_SetRcvEvent(hEvent: LongInt): LongWord; stdcall;
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implementation
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@ -272,9 +339,15 @@ external DLL_Name;
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function CAN_Read(var MsgBuff: TPCANMsg): LongWord; stdcall;
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external DLL_Name;
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function CAN_ReadEx(var MsgBuff: TPCANMsg; var RcvTime: TPCANTimestamp): LongWord; stdcall;
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external DLL_NAME;
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function CAN_VersionInfo(lpszTextBuff: PChar): LongWord; stdcall;
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external DLL_Name;
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function CAN_DLLVersionInfo(lpszTextBuff: PChar): LongWord; stdcall;
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external DLL_Name;
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function CAN_SpecialFunktion(distributorcode: LongWord; codenumber: Integer): LongWord; stdcall;
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external DLL_Name;
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@ -287,10 +360,13 @@ external DLL_Name;
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function CAN_ResetFilter: LongWord; stdcall;
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external DLL_Name;
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function SetUSBDeviceNr(DevNum: Longint): LongWord; stdcall;
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function SetUSBDeviceNr(DevNum: LongWord): LongWord; stdcall;
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external DLL_Name;
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function GetUSBDeviceNr(var DevNum: Longint): LongWord; stdcall;
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function GetUSBDeviceNr(var DevNum: LongWord): LongWord; stdcall;
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external DLL_Name;
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function CAN_SetRcvEvent(hEvent: LongInt):LongWord; stdcall;
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external DLL_Name;
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end.
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@ -313,6 +313,7 @@ begin
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MbiCallbackOnProgress(progress);
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//---------------- next clear the memory regions --------------------------------------
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// update the user info
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MbiCallbackOnInfo('Erasing memory...');
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