| 1 | /**
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| 2 | * \section LICENSE
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| 3 | * <pre style="white-space: pre-wrap">
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| 4 | * This software is dual licensed under the following two licenses:
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| 5 | * BSD-new and GPLv2. You may use either one. See the included
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| 6 | * COPYING file for details.
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| 7 | *
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| 8 | * License: BSD-new
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| 9 | * ===============================================================================
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| 10 | * Redistribution and use in source and binary forms, with or without
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| 11 | * modification, are permitted provided that the following conditions are met:
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| 12 | * * Redistributions of source code must retain the above copyright
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| 13 | * notice, this list of conditions and the following disclaimer.
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| 14 | * * Redistributions in binary form must reproduce the above copyright
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| 15 | * notice, this list of conditions and the following disclaimer in the
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| 16 | * documentation and/or other materials provided with the distribution.
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| 17 | * * Neither the name of the <organization> nor the
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| 18 | * names of its contributors may be used to endorse or promote products
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| 19 | * derived from this software without specific prior written permission.
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| 20 | *
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| 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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| 22 | * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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| 23 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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| 24 | * DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
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| 25 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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| 26 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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| 27 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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| 28 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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| 29 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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| 30 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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| 31 | *
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| 32 | *
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| 33 | * License: GPLv2
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| 34 | * ===============================================================================
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| 35 | * This program is free software; you can redistribute it and/or
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| 36 | * modify it under the terms of the GNU General Public License
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| 37 | * as published by the Free Software Foundation; either version 2
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| 38 | * of the License, or (at your option) any later version.
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| 39 | *
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| 40 | * This program is distributed in the hope that it will be useful,
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| 41 | * but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 42 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 43 | * GNU General Public License for more details.
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| 44 | *
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| 45 | * You should have received a copy of the GNU General Public License
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| 46 | * along with this program; if not, write to the Free Software
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| 47 | * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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| 48 | *
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| 49 | * ---------------------------------------------------------------------------
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| 50 | * </pre>
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| 51 | *
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| 52 | * \section DESCRIPTION
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| 53 | *
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| 54 | * Definitions for the LINlib API.
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| 55 | *
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| 56 | * \file linlib.h
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| 57 | * \author Kvaser AB
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| 58 | */
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| 59 |
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| 60 | #ifndef __LINLIB_H
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| 61 | #define __LINLIB_H
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| 62 |
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| 63 | /**
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| 64 | * \defgroup LIN LIN
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| 65 | * @{
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| 66 | */
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| 67 |
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| 68 | /**
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| 69 | * LIN handle
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| 70 | */
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| 71 | typedef int LinHandle;
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| 72 |
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| 73 | /**
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| 74 | * Invalid LIN handle
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| 75 | */
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| 76 | #define linINVALID_HANDLE ((LinHandle)(-1))
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| 77 |
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| 78 | #if !WIN32
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| 79 | # define CompilerAssert(exp) extern char _CompilerAssert[(exp) ? 1 : -1]
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| 80 | #endif
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| 81 |
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| 82 |
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| 83 | /**
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| 84 | * \name Return codes from the LINlib functions
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| 85 | * \anchor linERR_xxx
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| 86 | * @{
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| 87 | */
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| 88 | typedef enum {
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| 89 | linOK = 0, ///< OK - no error
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| 90 | linERR_NOMSG = -1, ///< No messages available
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| 91 | linERR_NOTRUNNING = -3,
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| 92 | linERR_RUNNING = -4,
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| 93 | linERR_MASTERONLY = -5,
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| 94 | linERR_SLAVEONLY = -6,
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| 95 | linERR_PARAM = -7, ///< Error in parameter
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| 96 | linERR_NOTFOUND = -8, ///< Specified hardware not found. This error is reported when the LIN transceiver isn't powered up
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| 97 | linERR_NOMEM = -9, ///< Out of memory
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| 98 | linERR_NOCHANNELS = -10, ///< No channels avaliable
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| 99 | linERR_TIMEOUT = -11, ///< Timeout occurred
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| 100 | linERR_NOTINITIALIZED = -12, ///< Library not initialized
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| 101 | linERR_NOHANDLES = -13, ///< Can't get handle
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| 102 | linERR_INVHANDLE = -14, ///< Handle is invalid
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| 103 | linERR_CANERROR = -15,
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| 104 | linERR_ERRRESP = -16, ///< There was an error response from the LIN interface
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| 105 | linERR_WRONGRESP = -17, ///< The LIN interface response wasn't the expected one
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| 106 | linERR_DRIVER = -18, ///< CAN driver type not supported
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| 107 | linERR_DRIVERFAILED = -19, ///< DeviceIOControl failed; use the Win32 GetLastError API to get the real (WIn32) error code.
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| 108 | linERR_NOCARD = -20, ///< The card was removed or not inserted
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| 109 | linERR_LICENSE = -21, ///< The license is not valid
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| 110 | linERR_INTERNAL = -22, ///< Internal error in the driver
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| 111 | linERR_NO_ACCESS = -23, ///< Access denied
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| 112 | linERR_VERSION = -24 ///< Function not supported in this version
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| 113 | } LinStatus;
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| 114 | /** @} */
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| 115 |
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| 116 |
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| 117 | // sizeof(LinMessageInfo) should be 68 for correct alignment
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| 118 | #if WIN32
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| 119 | #include <pshpack1.h>
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| 120 | #endif
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| 121 |
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| 122 | /**
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| 123 | * In certain LIN bus API calls, the following structure is used to provide more
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| 124 | * information about the LIN messages.
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| 125 | *
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| 126 | * \note The precision of the timing data given in us (microseconds) can be less
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| 127 | * than one microsecond; for low bitrates the lowest bits might always be zero.
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| 128 | *
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| 129 | * \note The min and max values listed inside [] of the message timing values
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| 130 | * can be calculated from the LIN specification by using the shortest (0 bytes)
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| 131 | * or longest (8 bytes) messages at the lowest or highest allowed bitrate.
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| 132 | *
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| 133 | * \note The LIN interface will accept messages that are a bit out-of-bounds as
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| 134 | * well.
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| 135 | */
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| 136 | typedef struct {
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| 137 | /**
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| 138 | * Kvaser DRV Lin timestamp - Timestamp in milliseconds of the falling edge of
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| 139 | * the synch break of the message. Uses the canlib CAN timer.
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| 140 | *
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| 141 | * Kvaser LIN Leaf timestamp - Timestamp in milliseconds of the falling edge
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| 142 | * of the synch break of the message. Uses the canlib CAN timer.
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| 143 | *
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| 144 | * \note All Kvaser Leaf with Kvaser MagiSync&tm; are synchronized
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| 145 | * (also with CAN channels).
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| 146 | */
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| 147 | unsigned long timestamp;
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| 148 |
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| 149 | /**
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| 150 | * Length of the synch break in microseconds.
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| 151 | * [650 .. 13000], [400 .. 8000] for a wakeup signal.
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| 152 | */
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| 153 | unsigned long synchBreakLength;
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| 154 |
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| 155 | /**
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| 156 | * The total frame length in microseconds; from the synch break to the
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| 157 | * end of the crc. [2200 .. 173600]
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| 158 | */
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| 159 | unsigned long frameLength;
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| 160 |
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| 161 | /**
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| 162 | * The bitrate of the message in bits per seconds.
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| 163 | * Range [1000 .. 20000] (plus some margin)
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| 164 | */
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| 165 | unsigned long bitrate;
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| 166 |
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| 167 | /**
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| 168 | * The checksum as read from the LIN bus. Might not
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| 169 | * match the data in case of \ref LIN_CSUM_ERROR.
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| 170 | */
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| 171 | unsigned char checkSum;
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| 172 |
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| 173 | /**
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| 174 | * The id with parity of the message as read from the
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| 175 | * LIN bus. Might be invalid in case of \ref LIN_PARITY_ERROR.
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| 176 | */
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| 177 | unsigned char idPar;
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| 178 |
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| 179 | unsigned short z; ///< Dummy for alignment
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| 180 |
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| 181 | /**
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| 182 | * Time in microseconds of the falling edges in the
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| 183 | * synch byte relative the falling edge of the start bit.
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| 184 | */
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| 185 | unsigned long synchEdgeTime[4];
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| 186 |
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| 187 | /**
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| 188 | * Start time in microseconds of each data byte. In case of 8-byte messages,
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| 189 | * the crc time isn't included (but can be deduced from frameLength).
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| 190 | */
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| 191 | unsigned long byteTime[8];
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| 192 | } LinMessageInfo;
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| 193 |
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| 194 | #if WIN32
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| 195 | #include <poppack.h>
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| 196 | #endif
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| 197 |
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| 198 |
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| 199 | /**
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| 200 | * \name LIN message flags
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| 201 | * \anchor LIN_xxx
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| 202 | * The following flags can be returned from \ref linReadMessage() and
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| 203 | * \ref linReadMessageWait().
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| 204 | *
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| 205 | * @{
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| 206 | */
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| 207 | #define LIN_TX 1 ///< The message was something we transmitted on the bus
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| 208 | #define LIN_RX 2 ///< The message was something we received from the bus
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| 209 | #define LIN_WAKEUP_FRAME 4 ///< A wake up frame was received. Id/msg/dlc are undefined
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| 210 | #define LIN_NODATA 8 ///< No data, only a header
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| 211 | #define LIN_CSUM_ERROR 16 ///< Checksum error
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| 212 | #define LIN_PARITY_ERROR 32 ///< ID parity error
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| 213 | #define LIN_SYNCH_ERROR 64 ///< A synch error
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| 214 | #define LIN_BIT_ERROR 128 ///< Bit error when transmitting
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| 215 | /** @} */
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| 216 |
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| 217 | /**
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| 218 | * Macro for determining if a flag field contains a LIN error flag bit.
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| 219 | */
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| 220 | #define LINERROR(f) ((f) & (LIN_NODATA | LIN_CSUM_ERROR | LIN_SYNCH_ERROR | LIN_BIT_ERROR))
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| 221 |
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| 222 |
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| 223 | // Define LINLIBAPI unless it's done already.
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| 224 | // (linlib.c provides its own definition of LINLIBAPI before including this file.)
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| 225 | //
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| 226 | #if WIN32
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| 227 | #ifndef LINLIBAPI
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| 228 | # if defined(__BORLANDC__)
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| 229 | # define LINLIBAPI __stdcall
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| 230 | # elif defined(_MSC_VER) || defined(__MWERKS__) || defined(__GNUC__)
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| 231 | # define LINLIBAPI __stdcall
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| 232 | # endif
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| 233 | #endif
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| 234 | #else
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| 235 | #define LINLIBAPI
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| 236 | #endif
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| 237 |
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| 238 | #ifdef __cplusplus
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| 239 | extern "C" {
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| 240 | #endif
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| 241 |
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| 242 | /**
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| 243 | * This function initializes the LIN library and must be called before any other
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| 244 | * LIN function is called. If this function isn't called, subsequent calls to
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| 245 | * the other LIN functions will return \ref linERR_NOTINITIALIZED.
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| 246 | *
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| 247 | * \sa \ref linOpenChannel()
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| 248 | */
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| 249 | void LINLIBAPI linInitializeLibrary(void);
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| 250 |
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| 251 |
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| 252 | /**
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| 253 | * Retrieves the transceiver information for a CAN channel. The application
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| 254 | * typically uses this call to find out whether a particular CAN channel has a
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| 255 | * LIN interface connected to it.
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| 256 | * For a Kvaser LIN Leaf it retrieves the transceiver type and device information.
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| 257 | *
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| 258 | * This function call will open the CAN channel, but no CAN messages are
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| 259 | * transmitted on it. In other words, it's risk-free to use even if no LIN
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| 260 | * interface is connected, or if the channel is connected to a CAN system.
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| 261 | *
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| 262 | * \note Attempts to use the channel for LIN communication will be meaningful
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| 263 | * only if \ref linGetTransceiverData() stores \ref canTRANSCEIVER_TYPE_LIN in \a ttype.
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| 264 | *
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| 265 | * \note A LIN interface need not be powered for this call to succeed.
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| 266 | *
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| 267 | * \note The information may not always be accurate. Especially after changing
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| 268 | * transceiver on a running LAPcan card, you should go on bus and off bus again
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| 269 | * to be sure the transceiver information is updated.
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| 270 | *
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| 271 | * \param[in] channel The number of a CAN channel for which the transceiver
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| 272 | * data will be retrieved.
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| 273 | * \param[out] eanNo A pointer to an array of 8 bytes where the EAN number of
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| 274 | * the LIN interface will be stored.
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| 275 | * \param[out] serNo A pointer to an array of 8 bytes where the serial number
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| 276 | * of the LIN interface will be stored.
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| 277 | * \param[out] ttype A pointer to an integer where the transceiver type will
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| 278 | * be stored.
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| 279 | *
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| 280 | * \return \ref linOK (zero) if success
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| 281 | * \return \ref linERR_xxx (negative) if failure
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| 282 | *
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| 283 | * \sa \ref linGetFirmwareVersion()
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| 284 | */
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| 285 | LinStatus LINLIBAPI linGetTransceiverData(int channel, unsigned char eanNo[8],
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| 286 | unsigned char serNo[8], int *ttype);
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| 287 |
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| 288 | /**
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| 289 | * Open a channel to a LIN interface.
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| 290 | *
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| 291 | * \note For DRV Lin: The cable must be powered and connected to a LAPcan channel.
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| 292 | *
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| 293 | * \note For Kvaser LIN Leaf: The Leaf must be powered from the LIN side.
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| 294 | *
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| 295 | * \param[in] channel The number of the channel. Channel numbering is hardware
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| 296 | * dependent.
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| 297 | * This is the same channel number as used by \ref canOpenChannel().
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| 298 | * \param[in] flags Either one of the following values: \ref LIN_MASTER or
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| 299 | * \ref LIN_SLAVE.
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| 300 | *
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| 301 | * \return If the call succeeds, a handle to the opened channel is returned.
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| 302 | * The handle is an integer greater than or equal to zero.
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| 303 | *
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| 304 | * \return If the call fails, the return value is a negative integer indicating
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| 305 | * an error code. See \ref linERR_xxx for a list of possible error codes.
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| 306 | *
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| 307 | * \sa \ref linClose()
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| 308 | */
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| 309 | LinHandle LINLIBAPI linOpenChannel(int channel, int flags);
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| 310 |
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| 311 |
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| 312 | /**
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| 313 | * \name Flags for linOpenChannel()
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| 314 | * @{
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| 315 | */
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| 316 | #define LIN_MASTER 1 ///< The LIN interface will be a LIN master
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| 317 | #define LIN_SLAVE 2 ///< The LIN interface will be a LIN slave
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| 318 | /** @} */
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| 319 |
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| 320 |
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| 321 | /**
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| 322 | * Closes an open handle to a LIN channel. The handle becomes invalid and can
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| 323 | * not be used in subsequent calls to the LIN functions.
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| 324 | *
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| 325 | * \param[in] h A handle to an open LIN channel.
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| 326 | *
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| 327 | * \return \ref linOK (zero) if success
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| 328 | * \return \ref linERR_xxx (negative) if failure
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| 329 | *
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| 330 | * \sa \ref linOpenChannel()
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| 331 | */
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| 332 | LinStatus LINLIBAPI linClose(LinHandle h);
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| 333 |
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| 334 | /**
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| 335 | * This function retrieves the firmware version from the LIN interface.
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| 336 | *
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| 337 | *
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| 338 | * \note The version numbers aren't valid until \ref linBusOn() has been called.
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| 339 | *
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| 340 | * \note The firmware in the LIN interface is divided into two parts, the boot
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| 341 | * code and the application. The boot code is used only when reprogramming
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| 342 | * (reflashing) the LIN interface. The application handles all LIN communication.
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| 343 | *
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| 344 | * \note Version numbers are, since the precambric era, divided into a major
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| 345 | * version number, a minor version number and a build number. These are usually
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| 346 | * written like, for example, 3.2.12. Here the major number is 3, the minor
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| 347 | * number 2 and the build number 12.
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| 348 | *
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| 349 | * \param[in] h A handle to an open LIN channel.
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| 350 | * \param[out] bootVerMajor A pointer to a byte where the major version number
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| 351 | * of the boot code is stored.
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| 352 | * \param[out] bootVerMinor A pointer to a byte where the minor version number
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| 353 | * of the boot code is stored.
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| 354 | * \param[out] bootVerBuild A pointer to a byte where the build number of the
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| 355 | * boot code is stored.
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| 356 | * \param[out] appVerMajor A pointer to a byte where the major version number
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| 357 | * of the application code is stored.
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| 358 | * \param[out] appVerMinor A pointer to a byte where the minor version number
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| 359 | * of the application code is stored.
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| 360 | * \param[out] appVerBuild A pointer to a byte where the build number of the application is stored.
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| 361 | *
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| 362 | * \return \ref linOK (zero) if success
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| 363 | * \return \ref linERR_xxx (negative) if failure
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| 364 | */
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| 365 | LinStatus LINLIBAPI linGetFirmwareVersion(LinHandle h,
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| 366 | unsigned char *bootVerMajor,
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| 367 | unsigned char *bootVerMinor,
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| 368 | unsigned char *bootVerBuild,
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| 369 | unsigned char *appVerMajor,
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| 370 | unsigned char *appVerMinor,
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| 371 | unsigned char *appVerBuild);
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| 372 |
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| 373 | /**
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| 374 | * This function sets the bit rate for a master, or the initial bit rate for a
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| 375 | * slave. The LIN interface should not be on-bus when this function is called.
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| 376 | *
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| 377 | * \note The LIN Interface should not be on bus.
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| 378 | *
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| 379 | * \note Supported bit rates are 1000 - 20000 bits per second.
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| 380 | *
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| 381 | * \param[in] h A handle to an open LIN channel.
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| 382 | * \param[in] bps Bit rate in bits per second.
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| 383 | *
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| 384 | * \return \ref linOK (zero) if success
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| 385 | * \return \ref linERR_xxx (negative) if failure
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| 386 | */
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| 387 | LinStatus LINLIBAPI linSetBitrate(LinHandle h, unsigned int bps);
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| 388 |
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| 389 | /**
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| 390 | * This function activates the LIN interface.
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| 391 | *
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| 392 | * \note It will be reset, so any setups done earlier will be lost.
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| 393 | *
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| 394 | * \param[in] h A handle to an open LIN channel.
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| 395 | *
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| 396 | * \return \ref linOK (zero) if success
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| 397 | * \return \ref linERR_xxx (negative) if failure
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| 398 | *
|
|---|
| 399 | * \sa \ref linBusOff()
|
|---|
| 400 | */
|
|---|
| 401 | LinStatus LINLIBAPI linBusOn(LinHandle h);
|
|---|
| 402 |
|
|---|
| 403 | /**
|
|---|
| 404 | * This function deactivates the LIN interface. It will not participate further
|
|---|
| 405 | * in the LIN bus traffic.
|
|---|
| 406 | *
|
|---|
| 407 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 408 | *
|
|---|
| 409 | * \return \ref linOK (zero) if success
|
|---|
| 410 | * \return \ref linERR_xxx (negative) if failure
|
|---|
| 411 | *
|
|---|
| 412 | * \sa \ref linBusOn()
|
|---|
| 413 | */
|
|---|
| 414 | LinStatus LINLIBAPI linBusOff(LinHandle h);
|
|---|
| 415 |
|
|---|
| 416 | /**
|
|---|
| 417 | * Return the current timer value (used for timestamps)
|
|---|
| 418 | *
|
|---|
| 419 | * \note For convenience, this call returns the timer value instead of passing
|
|---|
| 420 | * it in a parameter. This means that if the call fails, it will still return
|
|---|
| 421 | * a value (which then is the error code, type casted to a long unsigned
|
|---|
| 422 | * integer - e.g. 0xFFFFFFF2 for \ref linERR_INVHANDLE. Watch out.
|
|---|
| 423 | *
|
|---|
| 424 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 425 | * \return If the call succeeds, the present timer value is returned.
|
|---|
| 426 | */
|
|---|
| 427 | unsigned long LINLIBAPI linReadTimer(LinHandle h);
|
|---|
| 428 |
|
|---|
| 429 | /**
|
|---|
| 430 | * Write a LIN message.
|
|---|
| 431 | * It is advisable to wait until the message is echoed by \ref linReadMessage()
|
|---|
| 432 | * before transmitting a new message, or in case of a schedule table being used,
|
|---|
| 433 | * transmit the next message when the previous one is known to be complete.
|
|---|
| 434 | *
|
|---|
| 435 | * \note Only available in master mode.
|
|---|
| 436 | *
|
|---|
| 437 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 438 | * \param[in] id The identifier of the LIN message.
|
|---|
| 439 | * \param[in] msg A pointer to a buffer containing the data of the LIN
|
|---|
| 440 | * message.
|
|---|
| 441 | * \param[in] dlc The length of the LIN message.
|
|---|
| 442 | *
|
|---|
| 443 | * \return \ref linOK (zero) if success
|
|---|
| 444 | * \return \ref linERR_xxx (negative) if failure
|
|---|
| 445 | *
|
|---|
| 446 | * \sa \ref linWriteSync()
|
|---|
| 447 | */
|
|---|
| 448 | LinStatus LINLIBAPI linWriteMessage(LinHandle h, unsigned int id, const void *msg,
|
|---|
| 449 | unsigned int dlc);
|
|---|
| 450 |
|
|---|
| 451 | /**
|
|---|
| 452 | * This function writes a LIN message header to the LIN bus. A slave in the
|
|---|
| 453 | * system is then expected to fill in the header with data.
|
|---|
| 454 | *
|
|---|
| 455 | * \note This call is only available in master mode.
|
|---|
| 456 | *
|
|---|
| 457 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 458 | * \param[in] id The identifier of the LIN message.
|
|---|
| 459 | *
|
|---|
| 460 | * \return \ref linOK (zero) if success
|
|---|
| 461 | * \return \ref linERR_xxx (negative) if failure
|
|---|
| 462 | */
|
|---|
| 463 | LinStatus LINLIBAPI linRequestMessage(LinHandle h, unsigned int id);
|
|---|
| 464 |
|
|---|
| 465 | /**
|
|---|
| 466 | * Read a message from the LIN interface. If a message is available for
|
|---|
| 467 | * reception, \ref linOK is returned. This is a non-blocking call. If no message
|
|---|
| 468 | * is available in the LIN interface, an error code is returned.
|
|---|
| 469 | *
|
|---|
| 470 | * \note This call will also return echoes of what the LIN interface is
|
|---|
| 471 | * transmitting with \ref linWriteMessage. In other words, the LIN interface can hear
|
|---|
| 472 | * itself.
|
|---|
| 473 | *
|
|---|
| 474 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 475 | * \param[out] id A pointer to an integer where the identifier of the
|
|---|
| 476 | * received LIN message will be stored.
|
|---|
| 477 | * \param[out] msg A pointer to a buffer where the data of the LIN message
|
|---|
| 478 | * will be stored.
|
|---|
| 479 | * \param[out] dlc A pointer to an integer where the length of the received
|
|---|
| 480 | * LIN message will be stored.
|
|---|
| 481 | * \param[out] flags A combination of zero or more of the \ref LIN_xxx flags.
|
|---|
| 482 | * \param[out] msgInfo A pointer to a \ref LinMessageInfo struct where data about the
|
|---|
| 483 | * received LIN message will be stored.
|
|---|
| 484 | *
|
|---|
| 485 | * \return \ref linOK (zero) if success
|
|---|
| 486 | * \return \ref linERR_xxx (negative) if failure
|
|---|
| 487 | *
|
|---|
| 488 | * \sa \ref linReadMessageWait()
|
|---|
| 489 | */
|
|---|
| 490 | LinStatus LINLIBAPI linReadMessage(LinHandle h, unsigned int *id, void *msg,
|
|---|
| 491 | unsigned int *dlc, unsigned int *flags,
|
|---|
| 492 | LinMessageInfo *msgInfo);
|
|---|
| 493 |
|
|---|
| 494 | /**
|
|---|
| 495 | * Read a message from the LIN interface. If a message is available for
|
|---|
| 496 | * reception, \ref linOK is returned. This is a blocking call. It waits until a
|
|---|
| 497 | * message is received in the LIN interface, or the specified timeout period
|
|---|
| 498 | * elapses.
|
|---|
| 499 | *
|
|---|
| 500 | * \note This call will also return echoes of what the LIN interface is
|
|---|
| 501 | * transmitting with \ref linWriteMessage(). In other words, the LIN interface can
|
|---|
| 502 | * hear itself.
|
|---|
| 503 | *
|
|---|
| 504 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 505 | * \param[in] timeout The maximum number of milliseconds to wait for a message
|
|---|
| 506 | * to be received by the LIN interface.
|
|---|
| 507 | * \param[out] id A pointer to an integer where the identifier of the
|
|---|
| 508 | * received LIN message will be stored.
|
|---|
| 509 | * \param[out] msg A pointer to a buffer where the data of the LIN message
|
|---|
| 510 | * will be stored.
|
|---|
| 511 | * \param[out] dlc A pointer to an integer where the length of the received
|
|---|
| 512 | * LIN message will be stored.
|
|---|
| 513 | * \param[out] flags A combination of zero or more of the \ref LIN_xxx flags.
|
|---|
| 514 | * \param[out] msgInfo A pointer to a \ref LinMessageInfo struct where data about the
|
|---|
| 515 | * received LIN message will be stored.
|
|---|
| 516 | *
|
|---|
| 517 | * \return \ref linOK (zero) if success
|
|---|
| 518 | * \return \ref linERR_xxx (negative) if failure
|
|---|
| 519 | *
|
|---|
| 520 | * \sa \ref linReadMessage()
|
|---|
| 521 | */
|
|---|
| 522 | LinStatus LINLIBAPI linReadMessageWait(LinHandle h, unsigned int *id, void *msg,
|
|---|
| 523 | unsigned int *dlc, unsigned int *flags,
|
|---|
| 524 | LinMessageInfo *msgInfo, unsigned long timeout);
|
|---|
| 525 |
|
|---|
| 526 | /**
|
|---|
| 527 | * This function updates a message buffer in a slave. The contents of the
|
|---|
| 528 | * message buffer will be used the next time the slave is polled for the
|
|---|
| 529 | * specified LIN message id.
|
|---|
| 530 | *
|
|---|
| 531 | * \note The LIN Interface must be on bus.
|
|---|
| 532 | *
|
|---|
| 533 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 534 | * \param[in] id The identifier of the LIN message.
|
|---|
| 535 | * \param[in] msg A pointer to a buffer containing the data of the LIN message.
|
|---|
| 536 | * \param[in] dlc The length of the LIN message.
|
|---|
| 537 | *
|
|---|
| 538 | * \return \ref linOK (zero) if success
|
|---|
| 539 | * \return \ref linERR_xxx (negative) if failure
|
|---|
| 540 | *
|
|---|
| 541 | * \sa \ref linClearMessage()
|
|---|
| 542 | */
|
|---|
| 543 | LinStatus LINLIBAPI linUpdateMessage(LinHandle h, unsigned int id, const void *msg,
|
|---|
| 544 | unsigned int dlc);
|
|---|
| 545 |
|
|---|
| 546 |
|
|---|
| 547 | /**
|
|---|
| 548 | * Using this function, it is possible to use the LIN interface to create
|
|---|
| 549 | * corrupted LIN messages. You call the function once for each LIN identifier
|
|---|
| 550 | * that should be affected.
|
|---|
| 551 | *
|
|---|
| 552 | * To return to normal mode, either restart the LIN interface (by going off bus
|
|---|
| 553 | * and on the bus again) or call the function with delay and \a cFlags set to zero.
|
|---|
| 554 | *
|
|---|
| 555 | * \note The LIN Interface must be on bus for this command to work.
|
|---|
| 556 | * \note It is supported in firmware version 2.4.1 and later.
|
|---|
| 557 | *
|
|---|
| 558 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 559 | * \param[in] id The identifier of the LIN message.
|
|---|
| 560 | * \param[in] cFlags One or more of the \ref LIN_MSG_DISTURB_xxx flags.
|
|---|
| 561 | * \param[in] delay The delay parameter will result in a delay of this many
|
|---|
| 562 | * bittimes after the header and before the first data byte.
|
|---|
| 563 | *
|
|---|
| 564 | * \return \ref linOK (zero) if success
|
|---|
| 565 | * \return \ref linERR_xxx (negative) if failure
|
|---|
| 566 | *
|
|---|
| 567 | * \sa \ref linSetupLIN()
|
|---|
| 568 | */
|
|---|
| 569 | LinStatus LINLIBAPI linSetupIllegalMessage(LinHandle h, unsigned int id,
|
|---|
| 570 | unsigned int cFlags, unsigned int delay);
|
|---|
| 571 |
|
|---|
| 572 | /**
|
|---|
| 573 | * \name LIN illegal message flags
|
|---|
| 574 | * \anchor LIN_MSG_DISTURB_xxx
|
|---|
| 575 | * @{
|
|---|
| 576 | */
|
|---|
| 577 | /**
|
|---|
| 578 | * The checksum of transmitted messages will be inverted (and consequently illegal.)
|
|---|
| 579 | */
|
|---|
| 580 | #define LIN_MSG_DISTURB_CSUM 1
|
|---|
| 581 | /**
|
|---|
| 582 | * The two parity bits will be inverted (and consequently illegal.)
|
|---|
| 583 | * Used only in master mode.
|
|---|
| 584 | */
|
|---|
| 585 | #define LIN_MSG_DISTURB_PARITY 2
|
|---|
| 586 | /** @} */
|
|---|
| 587 |
|
|---|
| 588 |
|
|---|
| 589 | /**
|
|---|
| 590 | * \name LIN message parity
|
|---|
| 591 | * \anchor LIN_MSG_USE_xxx
|
|---|
| 592 | * @{
|
|---|
| 593 | */
|
|---|
| 594 | /**
|
|---|
| 595 | * Use enhanced (2.x) parity for the specified msg
|
|---|
| 596 | */
|
|---|
| 597 | #define LIN_MSG_USE_STANDARD_PARITY 0x04
|
|---|
| 598 | /**
|
|---|
| 599 | * Use standard (1.x) parity for the specified msg
|
|---|
| 600 | */
|
|---|
| 601 | #define LIN_MSG_USE_ENHANCED_PARITY 0x08
|
|---|
| 602 | /** @} */
|
|---|
| 603 |
|
|---|
| 604 | /**
|
|---|
| 605 | * This function changes various settings on a LIN Interface that is on bus.
|
|---|
| 606 | * When going on bus, the bit rate and the flag values listed below are set to
|
|---|
| 607 | * the default value (either as hard-coded in the firmware, or as stored in the
|
|---|
| 608 | * non-volatile memory of the LIN Interface).
|
|---|
| 609 | *
|
|---|
| 610 | * With this function, you can do one or more of the following things:
|
|---|
| 611 | * - Select checksum according to LIN 2.0
|
|---|
| 612 | * - Turn variable message length off. The message length then will depend on
|
|---|
| 613 | * the message ID.
|
|---|
| 614 | *
|
|---|
| 615 | * In master mode it is also possible to change the bit rate without going off
|
|---|
| 616 | * bus first.
|
|---|
| 617 | *
|
|---|
| 618 | * \note The LIN Interface must be on bus for this command to work.
|
|---|
| 619 | * \note It is supported in firmware version 2.5.1 and later.
|
|---|
| 620 | * \note For LIN 2.0 compliance, you must specify both \ref LIN_ENHANCED_CHECKSUM
|
|---|
| 621 | * and \ref LIN_VARIABLE_DLC.
|
|---|
| 622 | *
|
|---|
| 623 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 624 | * \param[in] lFlags One or more of the following flags:
|
|---|
| 625 | * \ref LIN_ENHANCED_CHECKSUM, \ref LIN_VARIABLE_DLC
|
|---|
| 626 | * \param bps Specifies the bit rate in bits per second. This parameter
|
|---|
| 627 | * can be used only in master mode. The bit rate is set
|
|---|
| 628 | * without going off bus.
|
|---|
| 629 | *
|
|---|
| 630 | * \return \ref linOK (zero) if success
|
|---|
| 631 | * \return \ref linERR_xxx (negative) if failure
|
|---|
| 632 | *
|
|---|
| 633 | * \sa \ref linSetupIllegalMessage()
|
|---|
| 634 | */
|
|---|
| 635 | LinStatus LINLIBAPI linSetupLIN(LinHandle h, unsigned int lFlags, unsigned int bps);
|
|---|
| 636 |
|
|---|
| 637 |
|
|---|
| 638 | /**
|
|---|
| 639 | * \name LIN setup
|
|---|
| 640 | * @{
|
|---|
| 641 | */
|
|---|
| 642 | /**
|
|---|
| 643 | * When specified, the LIN interface will use the "enhanced" checksum according
|
|---|
| 644 | * to LIN 2.0. Note that (as per the LIN 2.0 spec) the enhanced checksum is not
|
|---|
| 645 | * used on the diagnostic frames even if the \ref LIN_ENHANCED_CHECKSUM setting
|
|---|
| 646 | * is in effect.
|
|---|
| 647 | *
|
|---|
| 648 | * The default value is OFF.
|
|---|
| 649 | */
|
|---|
| 650 | #define LIN_ENHANCED_CHECKSUM 1
|
|---|
| 651 | /**
|
|---|
| 652 | * When specified, turns variable message length on, so the the message length
|
|---|
| 653 | * will depend on the message ID.
|
|---|
| 654 | *
|
|---|
| 655 | * The default value is ON.
|
|---|
| 656 | */
|
|---|
| 657 | #define LIN_VARIABLE_DLC 2
|
|---|
| 658 | /** @} */
|
|---|
| 659 |
|
|---|
| 660 | /**
|
|---|
| 661 | * Write a wakeup frame.
|
|---|
| 662 | *
|
|---|
| 663 | * If count is zero, one single wakeup frame is transmitted. If count > 1,
|
|---|
| 664 | * several wakeup frames are transmitted spaced with 'interval' bittimes.
|
|---|
| 665 | * The LIN interface will interrupt the sequence when a LIN message or another
|
|---|
| 666 | * command is received. The stream of wakeups will be recived as incoming
|
|---|
| 667 | * messages with the LIN_RX flag bit set.
|
|---|
| 668 | *
|
|---|
| 669 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 670 | * \param[in] count The number of wakeup frames to send.
|
|---|
| 671 | * \param[in] interval The time, in bit times, between the wakeup frames.
|
|---|
| 672 | *
|
|---|
| 673 | * \return \ref linOK (zero) if success
|
|---|
| 674 | * \return \ref linERR_xxx (negative) if failure
|
|---|
| 675 | */
|
|---|
| 676 | LinStatus LINLIBAPI linWriteWakeup(LinHandle h, unsigned int count,
|
|---|
| 677 | unsigned int interval);
|
|---|
| 678 |
|
|---|
| 679 |
|
|---|
| 680 | /**
|
|---|
| 681 | * Clear a message buffer for a LIN slave. The message buffer will not answer
|
|---|
| 682 | * next time it is polled.
|
|---|
| 683 | *
|
|---|
| 684 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 685 | * \param[in] id The LIN message id for which the corresponding buffer
|
|---|
| 686 | * will be cleared.
|
|---|
| 687 | *
|
|---|
| 688 | * \return \ref linOK (zero) if success
|
|---|
| 689 | * \return \ref linERR_xxx (negative) if failure
|
|---|
| 690 | */
|
|---|
| 691 | LinStatus LINLIBAPI linClearMessage(LinHandle h, unsigned int id);
|
|---|
| 692 |
|
|---|
| 693 | /**
|
|---|
| 694 | * Call this function to make sure all messages transmitted to the
|
|---|
| 695 | * LIN Interface has been received by it.
|
|---|
| 696 | *
|
|---|
| 697 | * When messages are transmitted to the LIN Interface, they are queued by
|
|---|
| 698 | * Windows before appearing on the CAN bus.
|
|---|
| 699 | *
|
|---|
| 700 | * The function returns \ref linOK if all writes are done, \ref linERR_TIMEOUT in
|
|---|
| 701 | * case of timeout or possibly some other error code.
|
|---|
| 702 | *
|
|---|
| 703 | * If the LIN Interface is in master mode and a LIN message has been
|
|---|
| 704 | * transmitted with \ref linWriteMessage(), this function will return when
|
|---|
| 705 | * the LIN Interface has received the message. If another LIN messa ge is being
|
|---|
| 706 | * received or transmitted, the message will not be transmitted on the
|
|---|
| 707 | * LIN bus at once. And even if the LIN Interface is idle, the header of the new
|
|---|
| 708 | * message will just have been started when \ref linWriteSync() retur ns.
|
|---|
| 709 | *
|
|---|
| 710 | * After calling \ref linUpdateMessage() and \ref linClearMessage() for a slave,
|
|---|
| 711 | * this function is enough to know that the LIN Interface is updated.
|
|---|
| 712 | *
|
|---|
| 713 | * After \ref linWriteMessage(), it is advisable to wait until the message is
|
|---|
| 714 | * echoed by \ref linReadMessage() before transmitting a new message, or in
|
|---|
| 715 | * case of a schedule table being used, transmit the next message when
|
|---|
| 716 | * the previous one is known to be complete.
|
|---|
| 717 | *
|
|---|
| 718 | * When, in master mode, a message should be transmitted after a poll
|
|---|
| 719 | * (reception) is done, it might be necessary to call \ref linWriteMessage()
|
|---|
| 720 | * before the result is received via \ref linReadMessage() as the LIN Interface waits
|
|---|
| 721 | * up to the maximum frame length before knowing a received message is
|
|---|
| 722 | * complete. A new message to transmit will force completion if the
|
|---|
| 723 | * currently received one.
|
|---|
| 724 | *
|
|---|
| 725 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 726 | * \param[in] timeout The maximum number of milliseconds to wait for the queued
|
|---|
| 727 | * messages to be transmitted by the LIN interface.
|
|---|
| 728 | *
|
|---|
| 729 | * \return \ref linOK (zero) if success
|
|---|
| 730 | * \return \ref linERR_xxx (negative) if failure
|
|---|
| 731 | *
|
|---|
| 732 | * \sa \ref linWriteMessage()
|
|---|
| 733 | */
|
|---|
| 734 | LinStatus LINLIBAPI linWriteSync(LinHandle h, unsigned long timeout);
|
|---|
| 735 |
|
|---|
| 736 | /**
|
|---|
| 737 | * Return the CAN handle given an open LIN handle
|
|---|
| 738 | *
|
|---|
| 739 | * \param[in] h A handle to an open LIN channel.
|
|---|
| 740 | * \param[out] canHandle A pointer to an integer where the CAN handle will be
|
|---|
| 741 | * stored.
|
|---|
| 742 | *
|
|---|
| 743 | * \return \ref linOK (zero) if success
|
|---|
| 744 | * \return \ref linERR_xxx (negative) if failure
|
|---|
| 745 | */
|
|---|
| 746 | LinStatus LINLIBAPI linGetCanHandle(LinHandle h, unsigned int *canHandle);
|
|---|
| 747 |
|
|---|
| 748 | #ifdef __cplusplus
|
|---|
| 749 | }
|
|---|
| 750 | #endif
|
|---|
| 751 |
|
|---|
| 752 | /** @} */
|
|---|
| 753 |
|
|---|
| 754 | #endif // __LINLIB_H
|
|---|
