# PCANBasic.py # # ~~~~~~~~~~~~ # # PCAN-Basic API # # ~~~~~~~~~~~~ # # ------------------------------------------------------------------ # Author : Keneth Wagner # Last change: 2022-07-06 # ------------------------------------------------------------------ # # Copyright (C) 1999-2022 PEAK-System Technik GmbH, Darmstadt # more Info at http://www.peak-system.com # Module Imports import logging import platform from ctypes import * from ctypes.util import find_library PLATFORM = platform.system() IS_WINDOWS = PLATFORM == "Windows" IS_LINUX = PLATFORM == "Linux" logger = logging.getLogger("can.pcan") # /////////////////////////////////////////////////////////// # Type definitions # /////////////////////////////////////////////////////////// TPCANHandle = c_ushort # Represents a PCAN hardware channel handle TPCANStatus = int # Represents a PCAN status/error code TPCANParameter = c_ubyte # Represents a PCAN parameter to be read or set TPCANDevice = c_ubyte # Represents a PCAN device TPCANMessageType = c_ubyte # Represents the type of a PCAN message TPCANType = c_ubyte # Represents the type of PCAN hardware to be initialized TPCANMode = c_ubyte # Represents a PCAN filter mode TPCANBaudrate = c_ushort # Represents a PCAN Baud rate register value TPCANBitrateFD = c_char_p # Represents a PCAN-FD bit rate string TPCANTimestampFD = c_ulonglong # Represents a timestamp of a received PCAN FD message # /////////////////////////////////////////////////////////// # Value definitions # /////////////////////////////////////////////////////////// # Currently defined and supported PCAN channels # PCAN_NONEBUS = TPCANHandle(0x00) # Undefined/default value for a PCAN bus PCAN_ISABUS1 = TPCANHandle(0x21) # PCAN-ISA interface, channel 1 PCAN_ISABUS2 = TPCANHandle(0x22) # PCAN-ISA interface, channel 2 PCAN_ISABUS3 = TPCANHandle(0x23) # PCAN-ISA interface, channel 3 PCAN_ISABUS4 = TPCANHandle(0x24) # PCAN-ISA interface, channel 4 PCAN_ISABUS5 = TPCANHandle(0x25) # PCAN-ISA interface, channel 5 PCAN_ISABUS6 = TPCANHandle(0x26) # PCAN-ISA interface, channel 6 PCAN_ISABUS7 = TPCANHandle(0x27) # PCAN-ISA interface, channel 7 PCAN_ISABUS8 = TPCANHandle(0x28) # PCAN-ISA interface, channel 8 PCAN_DNGBUS1 = TPCANHandle(0x31) # PCAN-Dongle/LPT interface, channel 1 PCAN_PCIBUS1 = TPCANHandle(0x41) # PCAN-PCI interface, channel 1 PCAN_PCIBUS2 = TPCANHandle(0x42) # PCAN-PCI interface, channel 2 PCAN_PCIBUS3 = TPCANHandle(0x43) # PCAN-PCI interface, channel 3 PCAN_PCIBUS4 = TPCANHandle(0x44) # PCAN-PCI interface, channel 4 PCAN_PCIBUS5 = TPCANHandle(0x45) # PCAN-PCI interface, channel 5 PCAN_PCIBUS6 = TPCANHandle(0x46) # PCAN-PCI interface, channel 6 PCAN_PCIBUS7 = TPCANHandle(0x47) # PCAN-PCI interface, channel 7 PCAN_PCIBUS8 = TPCANHandle(0x48) # PCAN-PCI interface, channel 8 PCAN_PCIBUS9 = TPCANHandle(0x409) # PCAN-PCI interface, channel 9 PCAN_PCIBUS10 = TPCANHandle(0x40A) # PCAN-PCI interface, channel 10 PCAN_PCIBUS11 = TPCANHandle(0x40B) # PCAN-PCI interface, channel 11 PCAN_PCIBUS12 = TPCANHandle(0x40C) # PCAN-PCI interface, channel 12 PCAN_PCIBUS13 = TPCANHandle(0x40D) # PCAN-PCI interface, channel 13 PCAN_PCIBUS14 = TPCANHandle(0x40E) # PCAN-PCI interface, channel 14 PCAN_PCIBUS15 = TPCANHandle(0x40F) # PCAN-PCI interface, channel 15 PCAN_PCIBUS16 = TPCANHandle(0x410) # PCAN-PCI interface, channel 16 PCAN_USBBUS1 = TPCANHandle(0x51) # PCAN-USB interface, channel 1 PCAN_USBBUS2 = TPCANHandle(0x52) # PCAN-USB interface, channel 2 PCAN_USBBUS3 = TPCANHandle(0x53) # PCAN-USB interface, channel 3 PCAN_USBBUS4 = TPCANHandle(0x54) # PCAN-USB interface, channel 4 PCAN_USBBUS5 = TPCANHandle(0x55) # PCAN-USB interface, channel 5 PCAN_USBBUS6 = TPCANHandle(0x56) # PCAN-USB interface, channel 6 PCAN_USBBUS7 = TPCANHandle(0x57) # PCAN-USB interface, channel 7 PCAN_USBBUS8 = TPCANHandle(0x58) # PCAN-USB interface, channel 8 PCAN_USBBUS9 = TPCANHandle(0x509) # PCAN-USB interface, channel 9 PCAN_USBBUS10 = TPCANHandle(0x50A) # PCAN-USB interface, channel 10 PCAN_USBBUS11 = TPCANHandle(0x50B) # PCAN-USB interface, channel 11 PCAN_USBBUS12 = TPCANHandle(0x50C) # PCAN-USB interface, channel 12 PCAN_USBBUS13 = TPCANHandle(0x50D) # PCAN-USB interface, channel 13 PCAN_USBBUS14 = TPCANHandle(0x50E) # PCAN-USB interface, channel 14 PCAN_USBBUS15 = TPCANHandle(0x50F) # PCAN-USB interface, channel 15 PCAN_USBBUS16 = TPCANHandle(0x510) # PCAN-USB interface, channel 16 PCAN_PCCBUS1 = TPCANHandle(0x61) # PCAN-PC Card interface, channel 1 PCAN_PCCBUS2 = TPCANHandle(0x62) # PCAN-PC Card interface, channel 2 PCAN_LANBUS1 = TPCANHandle(0x801) # PCAN-LAN interface, channel 1 PCAN_LANBUS2 = TPCANHandle(0x802) # PCAN-LAN interface, channel 2 PCAN_LANBUS3 = TPCANHandle(0x803) # PCAN-LAN interface, channel 3 PCAN_LANBUS4 = TPCANHandle(0x804) # PCAN-LAN interface, channel 4 PCAN_LANBUS5 = TPCANHandle(0x805) # PCAN-LAN interface, channel 5 PCAN_LANBUS6 = TPCANHandle(0x806) # PCAN-LAN interface, channel 6 PCAN_LANBUS7 = TPCANHandle(0x807) # PCAN-LAN interface, channel 7 PCAN_LANBUS8 = TPCANHandle(0x808) # PCAN-LAN interface, channel 8 PCAN_LANBUS9 = TPCANHandle(0x809) # PCAN-LAN interface, channel 9 PCAN_LANBUS10 = TPCANHandle(0x80A) # PCAN-LAN interface, channel 10 PCAN_LANBUS11 = TPCANHandle(0x80B) # PCAN-LAN interface, channel 11 PCAN_LANBUS12 = TPCANHandle(0x80C) # PCAN-LAN interface, channel 12 PCAN_LANBUS13 = TPCANHandle(0x80D) # PCAN-LAN interface, channel 13 PCAN_LANBUS14 = TPCANHandle(0x80E) # PCAN-LAN interface, channel 14 PCAN_LANBUS15 = TPCANHandle(0x80F) # PCAN-LAN interface, channel 15 PCAN_LANBUS16 = TPCANHandle(0x810) # PCAN-LAN interface, channel 16 # Represent the PCAN error and status codes # PCAN_ERROR_OK = TPCANStatus(0x00000) # No error PCAN_ERROR_XMTFULL = TPCANStatus(0x00001) # Transmit buffer in CAN controller is full PCAN_ERROR_OVERRUN = TPCANStatus(0x00002) # CAN controller was read too late PCAN_ERROR_BUSLIGHT = TPCANStatus( 0x00004 ) # Bus error: an error counter reached the 'light' limit PCAN_ERROR_BUSHEAVY = TPCANStatus( 0x00008 ) # Bus error: an error counter reached the 'heavy' limit PCAN_ERROR_BUSWARNING = TPCANStatus( PCAN_ERROR_BUSHEAVY ) # Bus error: an error counter reached the 'warning' limit PCAN_ERROR_BUSPASSIVE = TPCANStatus( 0x40000 ) # Bus error: the CAN controller is error passive PCAN_ERROR_BUSOFF = TPCANStatus( 0x00010 ) # Bus error: the CAN controller is in bus-off state PCAN_ERROR_ANYBUSERR = TPCANStatus( PCAN_ERROR_BUSWARNING | PCAN_ERROR_BUSLIGHT | PCAN_ERROR_BUSHEAVY | PCAN_ERROR_BUSOFF | PCAN_ERROR_BUSPASSIVE ) # Mask for all bus errors PCAN_ERROR_QRCVEMPTY = TPCANStatus(0x00020) # Receive queue is empty PCAN_ERROR_QOVERRUN = TPCANStatus(0x00040) # Receive queue was read too late PCAN_ERROR_QXMTFULL = TPCANStatus(0x00080) # Transmit queue is full PCAN_ERROR_REGTEST = TPCANStatus( 0x00100 ) # Test of the CAN controller hardware registers failed (no hardware found) PCAN_ERROR_NODRIVER = TPCANStatus(0x00200) # Driver not loaded PCAN_ERROR_HWINUSE = TPCANStatus(0x00400) # Hardware already in use by a Net PCAN_ERROR_NETINUSE = TPCANStatus(0x00800) # A Client is already connected to the Net PCAN_ERROR_ILLHW = TPCANStatus(0x01400) # Hardware handle is invalid PCAN_ERROR_ILLNET = TPCANStatus(0x01800) # Net handle is invalid PCAN_ERROR_ILLCLIENT = TPCANStatus(0x01C00) # Client handle is invalid PCAN_ERROR_ILLHANDLE = TPCANStatus( PCAN_ERROR_ILLHW | PCAN_ERROR_ILLNET | PCAN_ERROR_ILLCLIENT ) # Mask for all handle errors PCAN_ERROR_RESOURCE = TPCANStatus( 0x02000 ) # Resource (FIFO, Client, timeout) cannot be created PCAN_ERROR_ILLPARAMTYPE = TPCANStatus(0x04000) # Invalid parameter PCAN_ERROR_ILLPARAMVAL = TPCANStatus(0x08000) # Invalid parameter value PCAN_ERROR_UNKNOWN = TPCANStatus(0x10000) # Unknown error PCAN_ERROR_ILLDATA = TPCANStatus(0x20000) # Invalid data, function, or action PCAN_ERROR_ILLMODE = TPCANStatus( 0x80000 ) # Driver object state is wrong for the attempted operation PCAN_ERROR_CAUTION = TPCANStatus( 0x2000000 ) # An operation was successfully carried out, however, irregularities were registered PCAN_ERROR_INITIALIZE = TPCANStatus( 0x4000000 ) # Channel is not initialized [Value was changed from 0x40000 to 0x4000000] PCAN_ERROR_ILLOPERATION = TPCANStatus( 0x8000000 ) # Invalid operation [Value was changed from 0x80000 to 0x8000000] # PCAN devices # PCAN_NONE = TPCANDevice(0x00) # Undefined, unknown or not selected PCAN device value PCAN_PEAKCAN = TPCANDevice(0x01) # PCAN Non-PnP devices. NOT USED WITHIN PCAN-Basic API PCAN_ISA = TPCANDevice(0x02) # PCAN-ISA, PCAN-PC/104, and PCAN-PC/104-Plus PCAN_DNG = TPCANDevice(0x03) # PCAN-Dongle PCAN_PCI = TPCANDevice(0x04) # PCAN-PCI, PCAN-cPCI, PCAN-miniPCI, and PCAN-PCI Express PCAN_USB = TPCANDevice(0x05) # PCAN-USB and PCAN-USB Pro PCAN_PCC = TPCANDevice(0x06) # PCAN-PC Card PCAN_VIRTUAL = TPCANDevice( 0x07 ) # PCAN Virtual hardware. NOT USED WITHIN PCAN-Basic API PCAN_LAN = TPCANDevice(0x08) # PCAN Gateway devices # PCAN parameters # PCAN_DEVICE_ID = TPCANParameter(0x01) # Device identifier parameter PCAN_5VOLTS_POWER = TPCANParameter(0x02) # 5-Volt power parameter PCAN_RECEIVE_EVENT = TPCANParameter(0x03) # PCAN receive event handler parameter PCAN_MESSAGE_FILTER = TPCANParameter(0x04) # PCAN message filter parameter PCAN_API_VERSION = TPCANParameter(0x05) # PCAN-Basic API version parameter PCAN_CHANNEL_VERSION = TPCANParameter(0x06) # PCAN device channel version parameter PCAN_BUSOFF_AUTORESET = TPCANParameter(0x07) # PCAN Reset-On-Busoff parameter PCAN_LISTEN_ONLY = TPCANParameter(0x08) # PCAN Listen-Only parameter PCAN_LOG_LOCATION = TPCANParameter(0x09) # Directory path for log files PCAN_LOG_STATUS = TPCANParameter(0x0A) # Debug-Log activation status PCAN_LOG_CONFIGURE = TPCANParameter( 0x0B ) # Configuration of the debugged information (LOG_FUNCTION_***) PCAN_LOG_TEXT = TPCANParameter(0x0C) # Custom insertion of text into the log file PCAN_CHANNEL_CONDITION = TPCANParameter(0x0D) # Availability status of a PCAN-Channel PCAN_HARDWARE_NAME = TPCANParameter(0x0E) # PCAN hardware name parameter PCAN_RECEIVE_STATUS = TPCANParameter(0x0F) # Message reception status of a PCAN-Channel PCAN_CONTROLLER_NUMBER = TPCANParameter(0x10) # CAN-Controller number of a PCAN-Channel PCAN_TRACE_LOCATION = TPCANParameter(0x11) # Directory path for PCAN trace files PCAN_TRACE_STATUS = TPCANParameter(0x12) # CAN tracing activation status PCAN_TRACE_SIZE = TPCANParameter( 0x13 ) # Configuration of the maximum file size of a CAN trace PCAN_TRACE_CONFIGURE = TPCANParameter( 0x14 ) # Configuration of the trace file storing mode (TRACE_FILE_***) PCAN_CHANNEL_IDENTIFYING = TPCANParameter( 0x15 ) # Physical identification of a USB based PCAN-Channel by blinking its associated LED PCAN_CHANNEL_FEATURES = TPCANParameter( 0x16 ) # Capabilities of a PCAN device (FEATURE_***) PCAN_BITRATE_ADAPTING = TPCANParameter( 0x17 ) # Using of an existing bit rate (PCAN-View connected to a channel) PCAN_BITRATE_INFO = TPCANParameter(0x18) # Configured bit rate as Btr0Btr1 value PCAN_BITRATE_INFO_FD = TPCANParameter( 0x19 ) # Configured bit rate as TPCANBitrateFD string PCAN_BUSSPEED_NOMINAL = TPCANParameter( 0x1A ) # Configured nominal CAN Bus speed as Bits per seconds PCAN_BUSSPEED_DATA = TPCANParameter( 0x1B ) # Configured CAN data speed as Bits per seconds PCAN_IP_ADDRESS = TPCANParameter( 0x1C ) # Remote address of a LAN channel as string in IPv4 format PCAN_LAN_SERVICE_STATUS = TPCANParameter( 0x1D ) # Status of the Virtual PCAN-Gateway Service PCAN_ALLOW_STATUS_FRAMES = TPCANParameter( 0x1E ) # Status messages reception status within a PCAN-Channel PCAN_ALLOW_RTR_FRAMES = TPCANParameter( 0x1F ) # RTR messages reception status within a PCAN-Channel PCAN_ALLOW_ERROR_FRAMES = TPCANParameter( 0x20 ) # Error messages reception status within a PCAN-Channel PCAN_INTERFRAME_DELAY = TPCANParameter( 0x21 ) # Delay, in microseconds, between sending frames PCAN_ACCEPTANCE_FILTER_11BIT = TPCANParameter( 0x22 ) # Filter over code and mask patterns for 11-Bit messages PCAN_ACCEPTANCE_FILTER_29BIT = TPCANParameter( 0x23 ) # Filter over code and mask patterns for 29-Bit messages PCAN_IO_DIGITAL_CONFIGURATION = TPCANParameter( 0x24 ) # Output mode of 32 digital I/O pin of a PCAN-USB Chip. 1: Output-Active 0 : Output Inactive PCAN_IO_DIGITAL_VALUE = TPCANParameter( 0x25 ) # Value assigned to a 32 digital I/O pins of a PCAN-USB Chip PCAN_IO_DIGITAL_SET = TPCANParameter( 0x26 ) # Value assigned to a 32 digital I/O pins of a PCAN-USB Chip - Multiple digital I/O pins to 1 = High PCAN_IO_DIGITAL_CLEAR = TPCANParameter(0x27) # Clear multiple digital I/O pins to 0 PCAN_IO_ANALOG_VALUE = TPCANParameter(0x28) # Get value of a single analog input pin PCAN_FIRMWARE_VERSION = TPCANParameter( 0x29 ) # Get the version of the firmware used by the device associated with a PCAN-Channel PCAN_ATTACHED_CHANNELS_COUNT = TPCANParameter( 0x2A ) # Get the amount of PCAN channels attached to a system PCAN_ATTACHED_CHANNELS = TPCANParameter( 0x2B ) # Get information about PCAN channels attached to a system PCAN_ALLOW_ECHO_FRAMES = TPCANParameter( 0x2C ) # Echo messages reception status within a PCAN-Channel PCAN_DEVICE_PART_NUMBER = TPCANParameter( 0x2D ) # Get the part number associated to a device # DEPRECATED parameters # PCAN_DEVICE_NUMBER = PCAN_DEVICE_ID # DEPRECATED. Use PCAN_DEVICE_ID instead # PCAN parameter values # PCAN_PARAMETER_OFF = 0x00 # The PCAN parameter is not set (inactive) PCAN_PARAMETER_ON = 0x01 # The PCAN parameter is set (active) PCAN_FILTER_CLOSE = 0x00 # The PCAN filter is closed. No messages will be received PCAN_FILTER_OPEN = ( 0x01 # The PCAN filter is fully opened. All messages will be received ) PCAN_FILTER_CUSTOM = 0x02 # The PCAN filter is custom configured. Only registered messages will be received PCAN_CHANNEL_UNAVAILABLE = 0x00 # The PCAN-Channel handle is illegal, or its associated hardware is not available PCAN_CHANNEL_AVAILABLE = 0x01 # The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in) PCAN_CHANNEL_OCCUPIED = ( 0x02 # The PCAN-Channel handle is valid, and is already being used ) PCAN_CHANNEL_PCANVIEW = ( PCAN_CHANNEL_AVAILABLE | PCAN_CHANNEL_OCCUPIED ) # The PCAN-Channel handle is already being used by a PCAN-View application, but is available to connect LOG_FUNCTION_DEFAULT = 0x00 # Logs system exceptions / errors LOG_FUNCTION_ENTRY = 0x01 # Logs the entries to the PCAN-Basic API functions LOG_FUNCTION_PARAMETERS = ( 0x02 # Logs the parameters passed to the PCAN-Basic API functions ) LOG_FUNCTION_LEAVE = 0x04 # Logs the exits from the PCAN-Basic API functions LOG_FUNCTION_WRITE = 0x08 # Logs the CAN messages passed to the CAN_Write function LOG_FUNCTION_READ = 0x10 # Logs the CAN messages received within the CAN_Read function LOG_FUNCTION_ALL = ( 0xFFFF # Logs all possible information within the PCAN-Basic API functions ) TRACE_FILE_SINGLE = ( 0x00 # A single file is written until it size reaches PAN_TRACE_SIZE ) TRACE_FILE_SEGMENTED = ( 0x01 # Traced data is distributed in several files with size PAN_TRACE_SIZE ) TRACE_FILE_DATE = 0x02 # Includes the date into the name of the trace file TRACE_FILE_TIME = 0x04 # Includes the start time into the name of the trace file TRACE_FILE_OVERWRITE = 0x80 # Causes the overwriting of available traces (same name) FEATURE_FD_CAPABLE = 0x01 # Device supports flexible data-rate (CAN-FD) FEATURE_DELAY_CAPABLE = ( 0x02 # Device supports a delay between sending frames (FPGA based USB devices) ) FEATURE_IO_CAPABLE = ( 0x04 # Device supports I/O functionality for electronic circuits (USB-Chip devices) ) SERVICE_STATUS_STOPPED = 0x01 # The service is not running SERVICE_STATUS_RUNNING = 0x04 # The service is running # Other constants # MAX_LENGTH_HARDWARE_NAME = ( 33 # Maximum length of the name of a device: 32 characters + terminator ) MAX_LENGTH_VERSION_STRING = ( 256 # Maximum length of a version string: 255 characters + terminator ) # PCAN message types # PCAN_MESSAGE_STANDARD = TPCANMessageType( 0x00 ) # The PCAN message is a CAN Standard Frame (11-bit identifier) PCAN_MESSAGE_RTR = TPCANMessageType( 0x01 ) # The PCAN message is a CAN Remote-Transfer-Request Frame PCAN_MESSAGE_EXTENDED = TPCANMessageType( 0x02 ) # The PCAN message is a CAN Extended Frame (29-bit identifier) PCAN_MESSAGE_FD = TPCANMessageType( 0x04 ) # The PCAN message represents a FD frame in terms of CiA Specs PCAN_MESSAGE_BRS = TPCANMessageType( 0x08 ) # The PCAN message represents a FD bit rate switch (CAN data at a higher bit rate) PCAN_MESSAGE_ESI = TPCANMessageType( 0x10 ) # The PCAN message represents a FD error state indicator(CAN FD transmitter was error active) PCAN_MESSAGE_ECHO = TPCANMessageType( 0x20 ) # The PCAN message represents an echo CAN Frame PCAN_MESSAGE_ERRFRAME = TPCANMessageType( 0x40 ) # The PCAN message represents an error frame PCAN_MESSAGE_STATUS = TPCANMessageType( 0x80 ) # The PCAN message represents a PCAN status message # LookUp Parameters # LOOKUP_DEVICE_TYPE = ( b"devicetype" # Lookup channel by Device type (see PCAN devices e.g. PCAN_USB) ) LOOKUP_DEVICE_ID = b"deviceid" # Lookup channel by device id LOOKUP_CONTROLLER_NUMBER = ( b"controllernumber" # Lookup channel by CAN controller 0-based index ) LOOKUP_IP_ADDRESS = b"ipaddress" # Lookup channel by IP address (LAN channels only) # Frame Type / Initialization Mode # PCAN_MODE_STANDARD = PCAN_MESSAGE_STANDARD PCAN_MODE_EXTENDED = PCAN_MESSAGE_EXTENDED # Baud rate codes = BTR0/BTR1 register values for the CAN controller. # You can define your own Baud rate with the BTROBTR1 register. # Take a look at www.peak-system.com for our free software "BAUDTOOL" # to calculate the BTROBTR1 register for every bit rate and sample point. # PCAN_BAUD_1M = TPCANBaudrate(0x0014) # 1 MBit/s PCAN_BAUD_800K = TPCANBaudrate(0x0016) # 800 kBit/s PCAN_BAUD_500K = TPCANBaudrate(0x001C) # 500 kBit/s PCAN_BAUD_250K = TPCANBaudrate(0x011C) # 250 kBit/s PCAN_BAUD_125K = TPCANBaudrate(0x031C) # 125 kBit/s PCAN_BAUD_100K = TPCANBaudrate(0x432F) # 100 kBit/s PCAN_BAUD_95K = TPCANBaudrate(0xC34E) # 95,238 kBit/s PCAN_BAUD_83K = TPCANBaudrate(0x852B) # 83,333 kBit/s PCAN_BAUD_50K = TPCANBaudrate(0x472F) # 50 kBit/s PCAN_BAUD_47K = TPCANBaudrate(0x1414) # 47,619 kBit/s PCAN_BAUD_33K = TPCANBaudrate(0x8B2F) # 33,333 kBit/s PCAN_BAUD_20K = TPCANBaudrate(0x532F) # 20 kBit/s PCAN_BAUD_10K = TPCANBaudrate(0x672F) # 10 kBit/s PCAN_BAUD_5K = TPCANBaudrate(0x7F7F) # 5 kBit/s # Represents the configuration for a CAN bit rate # Note: # * Each parameter and its value must be separated with a '='. # * Each pair of parameter/value must be separated using ','. # # Example: # f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1 # PCAN_BR_CLOCK = TPCANBitrateFD(b"f_clock") PCAN_BR_CLOCK_MHZ = TPCANBitrateFD(b"f_clock_mhz") PCAN_BR_NOM_BRP = TPCANBitrateFD(b"nom_brp") PCAN_BR_NOM_TSEG1 = TPCANBitrateFD(b"nom_tseg1") PCAN_BR_NOM_TSEG2 = TPCANBitrateFD(b"nom_tseg2") PCAN_BR_NOM_SJW = TPCANBitrateFD(b"nom_sjw") PCAN_BR_NOM_SAMPLE = TPCANBitrateFD(b"nom_sam") PCAN_BR_DATA_BRP = TPCANBitrateFD(b"data_brp") PCAN_BR_DATA_TSEG1 = TPCANBitrateFD(b"data_tseg1") PCAN_BR_DATA_TSEG2 = TPCANBitrateFD(b"data_tseg2") PCAN_BR_DATA_SJW = TPCANBitrateFD(b"data_sjw") PCAN_BR_DATA_SAMPLE = TPCANBitrateFD(b"data_ssp_offset") # Supported Non-PnP Hardware types # PCAN_TYPE_ISA = TPCANType(0x01) # PCAN-ISA 82C200 PCAN_TYPE_ISA_SJA = TPCANType(0x09) # PCAN-ISA SJA1000 PCAN_TYPE_ISA_PHYTEC = TPCANType(0x04) # PHYTEC ISA PCAN_TYPE_DNG = TPCANType(0x02) # PCAN-Dongle 82C200 PCAN_TYPE_DNG_EPP = TPCANType(0x03) # PCAN-Dongle EPP 82C200 PCAN_TYPE_DNG_SJA = TPCANType(0x05) # PCAN-Dongle SJA1000 PCAN_TYPE_DNG_SJA_EPP = TPCANType(0x06) # PCAN-Dongle EPP SJA1000 # string description of the error codes PCAN_DICT_STATUS = { PCAN_ERROR_OK: "OK", PCAN_ERROR_XMTFULL: "XMTFULL", PCAN_ERROR_OVERRUN: "OVERRUN", PCAN_ERROR_BUSLIGHT: "BUSLIGHT", PCAN_ERROR_BUSHEAVY: "BUSHEAVY", PCAN_ERROR_BUSWARNING: "BUSWARNING", PCAN_ERROR_BUSPASSIVE: "BUSPASSIVE", PCAN_ERROR_BUSOFF: "BUSOFF", PCAN_ERROR_ANYBUSERR: "ANYBUSERR", PCAN_ERROR_QRCVEMPTY: "QRCVEMPTY", PCAN_ERROR_QOVERRUN: "QOVERRUN", PCAN_ERROR_QXMTFULL: "QXMTFULL", PCAN_ERROR_REGTEST: "ERR_REGTEST", PCAN_ERROR_NODRIVER: "NODRIVER", PCAN_ERROR_HWINUSE: "HWINUSE", PCAN_ERROR_NETINUSE: "NETINUSE", PCAN_ERROR_ILLHW: "ILLHW", PCAN_ERROR_ILLNET: "ILLNET", PCAN_ERROR_ILLCLIENT: "ILLCLIENT", PCAN_ERROR_ILLHANDLE: "ILLHANDLE", PCAN_ERROR_RESOURCE: "ERR_RESOURCE", PCAN_ERROR_ILLPARAMTYPE: "ILLPARAMTYPE", PCAN_ERROR_ILLPARAMVAL: "ILLPARAMVAL", PCAN_ERROR_UNKNOWN: "UNKNOWN", PCAN_ERROR_ILLDATA: "ILLDATA", PCAN_ERROR_CAUTION: "CAUTION", PCAN_ERROR_INITIALIZE: "ERR_INITIALIZE", PCAN_ERROR_ILLOPERATION: "ILLOPERATION", } # Represents a PCAN message # class TPCANMsg(Structure): """ Represents a PCAN message """ _fields_ = [ ("ID", c_uint), # 11/29-bit message identifier ("MSGTYPE", TPCANMessageType), # Type of the message ("LEN", c_ubyte), # Data Length Code of the message (0..8) ("DATA", c_ubyte * 8), ] # Data of the message (DATA[0]..DATA[7]) # Represents a timestamp of a received PCAN message # Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow # class TPCANTimestamp(Structure): """ Represents a timestamp of a received PCAN message Total Microseconds = micros + 1000 * millis + 0x100000000 * 1000 * millis_overflow """ _fields_ = [ ("millis", c_uint), # Base-value: milliseconds: 0.. 2^32-1 ("millis_overflow", c_ushort), # Roll-arounds of millis ("micros", c_ushort), ] # Microseconds: 0..999 # Represents a PCAN message from a FD capable hardware # class TPCANMsgFD(Structure): """ Represents a PCAN message """ _fields_ = [ ("ID", c_uint), # 11/29-bit message identifier ("MSGTYPE", TPCANMessageType), # Type of the message ("DLC", c_ubyte), # Data Length Code of the message (0..15) ("DATA", c_ubyte * 64), ] # Data of the message (DATA[0]..DATA[63]) # Describes an available PCAN channel # class TPCANChannelInformation(Structure): """ Describes an available PCAN channel """ _fields_ = [ ("channel_handle", TPCANHandle), # PCAN channel handle ("device_type", TPCANDevice), # Kind of PCAN device ("controller_number", c_ubyte), # CAN-Controller number ("device_features", c_uint), # Device capabilities flag (see FEATURE_*) ("device_name", c_char * MAX_LENGTH_HARDWARE_NAME), # Device name ("device_id", c_uint), # Device number ("channel_condition", c_uint), ] # Availability status of a PCAN-Channel # /////////////////////////////////////////////////////////// # Additional objects # /////////////////////////////////////////////////////////// PCAN_BITRATES = { 1000000: PCAN_BAUD_1M, 800000: PCAN_BAUD_800K, 500000: PCAN_BAUD_500K, 250000: PCAN_BAUD_250K, 125000: PCAN_BAUD_125K, 100000: PCAN_BAUD_100K, 95000: PCAN_BAUD_95K, 83000: PCAN_BAUD_83K, 50000: PCAN_BAUD_50K, 47000: PCAN_BAUD_47K, 33000: PCAN_BAUD_33K, 20000: PCAN_BAUD_20K, 10000: PCAN_BAUD_10K, 5000: PCAN_BAUD_5K, } PCAN_FD_PARAMETER_LIST = ( "nom_brp", "nom_tseg1", "nom_tseg2", "nom_sjw", "data_brp", "data_tseg1", "data_tseg2", "data_sjw", ) PCAN_CHANNEL_NAMES = { "PCAN_NONEBUS": PCAN_NONEBUS, "PCAN_ISABUS1": PCAN_ISABUS1, "PCAN_ISABUS2": PCAN_ISABUS2, "PCAN_ISABUS3": PCAN_ISABUS3, "PCAN_ISABUS4": PCAN_ISABUS4, "PCAN_ISABUS5": PCAN_ISABUS5, "PCAN_ISABUS6": PCAN_ISABUS6, "PCAN_ISABUS7": PCAN_ISABUS7, "PCAN_ISABUS8": PCAN_ISABUS8, "PCAN_DNGBUS1": PCAN_DNGBUS1, "PCAN_PCIBUS1": PCAN_PCIBUS1, "PCAN_PCIBUS2": PCAN_PCIBUS2, "PCAN_PCIBUS3": PCAN_PCIBUS3, "PCAN_PCIBUS4": PCAN_PCIBUS4, "PCAN_PCIBUS5": PCAN_PCIBUS5, "PCAN_PCIBUS6": PCAN_PCIBUS6, "PCAN_PCIBUS7": PCAN_PCIBUS7, "PCAN_PCIBUS8": PCAN_PCIBUS8, "PCAN_PCIBUS9": PCAN_PCIBUS9, "PCAN_PCIBUS10": PCAN_PCIBUS10, "PCAN_PCIBUS11": PCAN_PCIBUS11, "PCAN_PCIBUS12": PCAN_PCIBUS12, "PCAN_PCIBUS13": PCAN_PCIBUS13, "PCAN_PCIBUS14": PCAN_PCIBUS14, "PCAN_PCIBUS15": PCAN_PCIBUS15, "PCAN_PCIBUS16": PCAN_PCIBUS16, "PCAN_USBBUS1": PCAN_USBBUS1, "PCAN_USBBUS2": PCAN_USBBUS2, "PCAN_USBBUS3": PCAN_USBBUS3, "PCAN_USBBUS4": PCAN_USBBUS4, "PCAN_USBBUS5": PCAN_USBBUS5, "PCAN_USBBUS6": PCAN_USBBUS6, "PCAN_USBBUS7": PCAN_USBBUS7, "PCAN_USBBUS8": PCAN_USBBUS8, "PCAN_USBBUS9": PCAN_USBBUS9, "PCAN_USBBUS10": PCAN_USBBUS10, "PCAN_USBBUS11": PCAN_USBBUS11, "PCAN_USBBUS12": PCAN_USBBUS12, "PCAN_USBBUS13": PCAN_USBBUS13, "PCAN_USBBUS14": PCAN_USBBUS14, "PCAN_USBBUS15": PCAN_USBBUS15, "PCAN_USBBUS16": PCAN_USBBUS16, "PCAN_PCCBUS1": PCAN_PCCBUS1, "PCAN_PCCBUS2": PCAN_PCCBUS2, "PCAN_LANBUS1": PCAN_LANBUS1, "PCAN_LANBUS2": PCAN_LANBUS2, "PCAN_LANBUS3": PCAN_LANBUS3, "PCAN_LANBUS4": PCAN_LANBUS4, "PCAN_LANBUS5": PCAN_LANBUS5, "PCAN_LANBUS6": PCAN_LANBUS6, "PCAN_LANBUS7": PCAN_LANBUS7, "PCAN_LANBUS8": PCAN_LANBUS8, "PCAN_LANBUS9": PCAN_LANBUS9, "PCAN_LANBUS10": PCAN_LANBUS10, "PCAN_LANBUS11": PCAN_LANBUS11, "PCAN_LANBUS12": PCAN_LANBUS12, "PCAN_LANBUS13": PCAN_LANBUS13, "PCAN_LANBUS14": PCAN_LANBUS14, "PCAN_LANBUS15": PCAN_LANBUS15, "PCAN_LANBUS16": PCAN_LANBUS16, } VALID_PCAN_CAN_CLOCKS = [8_000_000] VALID_PCAN_FD_CLOCKS = [ 20_000_000, 24_000_000, 30_000_000, 40_000_000, 60_000_000, 80_000_000, ] # /////////////////////////////////////////////////////////// # PCAN-Basic API function declarations # /////////////////////////////////////////////////////////// # PCAN-Basic API class implementation # class PCANBasic: """PCAN-Basic API class implementation""" def __init__(self): if platform.system() == "Windows": load_library_func = windll.LoadLibrary else: load_library_func = cdll.LoadLibrary if platform.system() == "Windows" or "CYGWIN" in platform.system(): lib_name = "PCANBasic" elif platform.system() == "Darwin": # PCBUSB library is a third-party software created # and maintained by the MacCAN project lib_name = "PCBUSB" else: lib_name = "pcanbasic" lib_path = find_library(lib_name) if not lib_path: raise OSError(f"{lib_name} library not found.") try: self.__m_dllBasic = load_library_func(lib_path) except OSError: raise OSError( f"The PCAN-Basic API could not be loaded. ({lib_path})" ) from None # Initializes a PCAN Channel # def Initialize( self, Channel, Btr0Btr1, HwType=TPCANType(0), # noqa: B008 IOPort=c_uint(0), # noqa: B008 Interrupt=c_ushort(0), # noqa: B008 ): """Initializes a PCAN Channel Parameters: Channel : A TPCANHandle representing a PCAN Channel Btr0Btr1 : The speed for the communication (BTR0BTR1 code) HwType : Non-PnP: The type of hardware and operation mode IOPort : Non-PnP: The I/O address for the parallel port Interrupt: Non-PnP: Interrupt number of the parallel port Returns: A TPCANStatus error code """ try: res = self.__m_dllBasic.CAN_Initialize( Channel, Btr0Btr1, HwType, IOPort, Interrupt ) return TPCANStatus(res) except: logger.error("Exception on PCANBasic.Initialize") raise # Initializes a FD capable PCAN Channel # def InitializeFD(self, Channel, BitrateFD): """Initializes a FD capable PCAN Channel Parameters: Channel : The handle of a FD capable PCAN Channel BitrateFD : The speed for the communication (FD bit rate string) Remarks: * See PCAN_BR_* values. * parameter and values must be separated by '=' * Couples of Parameter/value must be separated by ',' * Following Parameter must be filled out: f_clock, data_brp, data_sjw, data_tseg1, data_tseg2, nom_brp, nom_sjw, nom_tseg1, nom_tseg2. * Following Parameters are optional (not used yet): data_ssp_offset, nom_sam Example: f_clock=80000000,nom_brp=10,nom_tseg1=5,nom_tseg2=2,nom_sjw=1,data_brp=4,data_tseg1=7,data_tseg2=2,data_sjw=1 Returns: A TPCANStatus error code """ try: res = self.__m_dllBasic.CAN_InitializeFD(Channel, BitrateFD) return TPCANStatus(res) except: logger.error("Exception on PCANBasic.InitializeFD") raise # Uninitializes one or all PCAN Channels initialized by CAN_Initialize # def Uninitialize(self, Channel): """Uninitializes one or all PCAN Channels initialized by CAN_Initialize Remarks: Giving the TPCANHandle value "PCAN_NONEBUS", uninitialize all initialized channels Parameters: Channel : A TPCANHandle representing a PCAN Channel Returns: A TPCANStatus error code """ try: res = self.__m_dllBasic.CAN_Uninitialize(Channel) return TPCANStatus(res) except: logger.error("Exception on PCANBasic.Uninitialize") raise # Resets the receive and transmit queues of the PCAN Channel # def Reset(self, Channel): """Resets the receive and transmit queues of the PCAN Channel Remarks: A reset of the CAN controller is not performed Parameters: Channel : A TPCANHandle representing a PCAN Channel Returns: A TPCANStatus error code """ try: res = self.__m_dllBasic.CAN_Reset(Channel) return TPCANStatus(res) except: logger.error("Exception on PCANBasic.Reset") raise # Gets the current status of a PCAN Channel # def GetStatus(self, Channel): """Gets the current status of a PCAN Channel Parameters: Channel : A TPCANHandle representing a PCAN Channel Returns: A TPCANStatus error code """ try: res = self.__m_dllBasic.CAN_GetStatus(Channel) return TPCANStatus(res) except: logger.error("Exception on PCANBasic.GetStatus") raise # Reads a CAN message from the receive queue of a PCAN Channel # def Read(self, Channel): """Reads a CAN message from the receive queue of a PCAN Channel Remarks: The return value of this method is a 3-tuple, where the first value is the result (TPCANStatus) of the method. The order of the values are: [0]: A TPCANStatus error code [1]: A TPCANMsg structure with the CAN message read [2]: A TPCANTimestamp structure with the time when a message was read Parameters: Channel : A TPCANHandle representing a PCAN Channel Returns: A tuple with three values """ try: msg = TPCANMsg() timestamp = TPCANTimestamp() res = self.__m_dllBasic.CAN_Read(Channel, byref(msg), byref(timestamp)) return TPCANStatus(res), msg, timestamp except: logger.error("Exception on PCANBasic.Read") raise # Reads a CAN message from the receive queue of a FD capable PCAN Channel # def ReadFD(self, Channel): """Reads a CAN message from the receive queue of a FD capable PCAN Channel Remarks: The return value of this method is a 3-tuple, where the first value is the result (TPCANStatus) of the method. The order of the values are: [0]: A TPCANStatus error code [1]: A TPCANMsgFD structure with the CAN message read [2]: A TPCANTimestampFD that is the time when a message was read Parameters: Channel : The handle of a FD capable PCAN Channel Returns: A tuple with three values """ try: msg = TPCANMsgFD() timestamp = TPCANTimestampFD() res = self.__m_dllBasic.CAN_ReadFD(Channel, byref(msg), byref(timestamp)) return TPCANStatus(res), msg, timestamp except: logger.error("Exception on PCANBasic.ReadFD") raise # Transmits a CAN message # def Write(self, Channel, MessageBuffer): """Transmits a CAN message Parameters: Channel : A TPCANHandle representing a PCAN Channel MessageBuffer: A TPCANMsg representing the CAN message to be sent Returns: A TPCANStatus error code """ try: res = self.__m_dllBasic.CAN_Write(Channel, byref(MessageBuffer)) return TPCANStatus(res) except: logger.error("Exception on PCANBasic.Write") raise # Transmits a CAN message over a FD capable PCAN Channel # def WriteFD(self, Channel, MessageBuffer): """Transmits a CAN message over a FD capable PCAN Channel Parameters: Channel : The handle of a FD capable PCAN Channel MessageBuffer: A TPCANMsgFD buffer with the message to be sent Returns: A TPCANStatus error code """ try: res = self.__m_dllBasic.CAN_WriteFD(Channel, byref(MessageBuffer)) return TPCANStatus(res) except: logger.error("Exception on PCANBasic.WriteFD") raise # Configures the reception filter # def FilterMessages(self, Channel, FromID, ToID, Mode): """Configures the reception filter Remarks: The message filter will be expanded with every call to this function. If it is desired to reset the filter, please use the 'SetValue' function. Parameters: Channel : A TPCANHandle representing a PCAN Channel FromID : A c_uint value with the lowest CAN ID to be received ToID : A c_uint value with the highest CAN ID to be received Mode : A TPCANMode representing the message type (Standard, 11-bit identifier, or Extended, 29-bit identifier) Returns: A TPCANStatus error code """ try: res = self.__m_dllBasic.CAN_FilterMessages(Channel, FromID, ToID, Mode) return TPCANStatus(res) except: logger.error("Exception on PCANBasic.FilterMessages") raise # Retrieves a PCAN Channel value # def GetValue(self, Channel, Parameter): """Retrieves a PCAN Channel value Remarks: Parameters can be present or not according with the kind of Hardware (PCAN Channel) being used. If a parameter is not available, a PCAN_ERROR_ILLPARAMTYPE error will be returned. The return value of this method is a 2-tuple, where the first value is the result (TPCANStatus) of the method and the second one, the asked value Parameters: Channel : A TPCANHandle representing a PCAN Channel Parameter : The TPCANParameter parameter to get Returns: A tuple with 2 values """ try: if ( Parameter == PCAN_API_VERSION or Parameter == PCAN_HARDWARE_NAME or Parameter == PCAN_CHANNEL_VERSION or Parameter == PCAN_LOG_LOCATION or Parameter == PCAN_TRACE_LOCATION or Parameter == PCAN_BITRATE_INFO_FD or Parameter == PCAN_IP_ADDRESS or Parameter == PCAN_FIRMWARE_VERSION or Parameter == PCAN_DEVICE_PART_NUMBER ): mybuffer = create_string_buffer(256) elif Parameter == PCAN_ATTACHED_CHANNELS: res = self.GetValue(Channel, PCAN_ATTACHED_CHANNELS_COUNT) if TPCANStatus(res[0]) != PCAN_ERROR_OK: return TPCANStatus(res[0]), () mybuffer = (TPCANChannelInformation * res[1])() elif ( Parameter == PCAN_ACCEPTANCE_FILTER_11BIT or PCAN_ACCEPTANCE_FILTER_29BIT ): mybuffer = c_int64(0) else: mybuffer = c_int(0) res = self.__m_dllBasic.CAN_GetValue( Channel, Parameter, byref(mybuffer), sizeof(mybuffer) ) if Parameter == PCAN_ATTACHED_CHANNELS: return TPCANStatus(res), mybuffer else: return TPCANStatus(res), mybuffer.value except: logger.error("Exception on PCANBasic.GetValue") raise # Returns a descriptive text of a given TPCANStatus # error code, in any desired language # def SetValue(self, Channel, Parameter, Buffer): """Returns a descriptive text of a given TPCANStatus error code, in any desired language Remarks: Parameters can be present or not according with the kind of Hardware (PCAN Channel) being used. If a parameter is not available, a PCAN_ERROR_ILLPARAMTYPE error will be returned. Parameters: Channel : A TPCANHandle representing a PCAN Channel Parameter : The TPCANParameter parameter to set Buffer : Buffer with the value to be set BufferLength : Size in bytes of the buffer Returns: A TPCANStatus error code """ try: if ( Parameter == PCAN_LOG_LOCATION or Parameter == PCAN_LOG_TEXT or Parameter == PCAN_TRACE_LOCATION ): mybuffer = create_string_buffer(256) elif ( Parameter == PCAN_ACCEPTANCE_FILTER_11BIT or PCAN_ACCEPTANCE_FILTER_29BIT ): mybuffer = c_int64(0) else: mybuffer = c_int(0) mybuffer.value = Buffer res = self.__m_dllBasic.CAN_SetValue( Channel, Parameter, byref(mybuffer), sizeof(mybuffer) ) return TPCANStatus(res) except: logger.error("Exception on PCANBasic.SetValue") raise def GetErrorText(self, Error, Language=0): """Configures or sets a PCAN Channel value Remarks: The current languages available for translation are: Neutral (0x00), German (0x07), English (0x09), Spanish (0x0A), Italian (0x10) and French (0x0C) The return value of this method is a 2-tuple, where the first value is the result (TPCANStatus) of the method and the second one, the error text Parameters: Error : A TPCANStatus error code Language : Indicates a 'Primary language ID' (Default is Neutral(0)) Returns: A tuple with 2 values """ try: mybuffer = create_string_buffer(256) res = self.__m_dllBasic.CAN_GetErrorText(Error, Language, byref(mybuffer)) return TPCANStatus(res), mybuffer.value except: logger.error("Exception on PCANBasic.GetErrorText") raise def LookUpChannel(self, Parameters): """Finds a PCAN-Basic channel that matches with the given parameters Remarks: The return value of this method is a 2-tuple, where the first value is the result (TPCANStatus) of the method and the second one a TPCANHandle value Parameters: Parameters : A comma separated string contained pairs of parameter-name/value to be matched within a PCAN-Basic channel Returns: A tuple with 2 values """ try: mybuffer = TPCANHandle(0) res = self.__m_dllBasic.CAN_LookUpChannel(Parameters, byref(mybuffer)) return TPCANStatus(res), mybuffer except: logger.error("Exception on PCANBasic.LookUpChannel") raise