CANLib-SJ1000 API

Article updated at 28 Oct 2017

Attention: this is a legacy library and thus not supported by Toradex anymore. We recommend that you use the new libraries for all Toradex modules. Please see the Toradex CE Libraries and Code Samples for up-to-date information.

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Macro Definition Documentation
Function Documentation

Library to interface with a SJA1000 Stand-alone CAN Controller.

Data Structures

struct _CAN_MESSAGE_EXT

Macros
#define	STANDARD 0x00
#define	EXTENDED 0x01
#define	CAN_VER_MAJ 3
	Version Info.
#define	CAN_VER_MIN 3
#define	CAN_VER_BUILD 1

Typedefs
typedef struct _CAN_MESSAGE_EXT	CAN_MESSAGE_EXT
typedef struct _CAN_MESSAGE_EXT *	PCAN_MESSAGE_EXT

Functions
void	CANGetLibVersion (DWORD pVerMaj, DWORD pVerMin, DWORD *pBuild)
DWORD	InitSJA1000 (DWORD device, DWORD base, DWORD interruptGPIO, DWORD waterMark, DWORD bufferSize)
void	DeInitSJA1000 (DWORD device)
void	CANReInitialise (DWORD device)
BOOL	CanWriteDescriptor (DWORD device, DWORD descr, DWORD mask)
DWORD	CanReadDescriptor (DWORD device)
DWORD	CanReadMask (DWORD device)
BOOL	CanReset (DWORD device)
BOOL	CanSetBaudrate (DWORD device, DWORD baud)
BOOL	CanTransmitMessage (DWORD device, CAN_MESSAGE_EXT *msg)
DWORD	CANReceiveMessages (DWORD device, CAN_MESSAGE_EXT *msg, DWORD numberOfMsg, DWORD timeout)
DWORD	GetCanStatus (DWORD device)
void	PrintMessage (CAN_MESSAGE_EXT *msg)

Macro Definition Documentation

#define CAN_VER_BUILD 1

#define CAN_VER_MAJ 3

Version Info.

#define CAN_VER_MIN 3

#define EXTENDED 0x01

#define STANDARD 0x00

Typedef Documentation

typedef struct _CAN_MESSAGE_EXT CAN_MESSAGE_EXT

Structure for extended frame types (29 Bit adress-range). Set "frametype" to "STANDARD" or "EXTENDED". The RTR (Remote-Frame) flag and data length code are now in seperate variables for better hardware independence !

typedef struct _CAN_MESSAGE_EXT * PCAN_MESSAGE_EXT

Function Documentation

void CANGetLibVersion	(	DWORD *	pVerMaj,
		DWORD *	pVerMin,
		DWORD *	pBuild
	)

Returns the library version.

Parameters:

[out]	VersionMajor	Returns the major version number. Set this parameter to NULL if not required.
[out]	VersionMinor	Returns the minor version number. Set this parameter to NULL if not required.
[out]	Build	Returns the build number. Set this parameter to NULL if not required.

Return values:

DWORD CanReadDescriptor ( DWORD device )

Read the Acceptance Code

Parameters:

[in] device CAN Device ID

Return values:

Acceptance Code

DWORD CanReadMask ( DWORD device )

Read the Mask

Parameters:

[in] device CAN Device ID

Return values:

Mask

DWORD CANReceiveMessages	(	DWORD	device,
		CAN_MESSAGE_EXT *	msg,
		DWORD	numberOfMsg,
		DWORD	timeout
	)

Receive CAN messages

Parameters:

[in]	device	CAN Device ID
[out]	msg	pointer to CAN_MESSAGE_EXT array sufficient to hold numberOfMsg messages
[in]	numberOfMsg	Number of messages to wait for
[in]	timeout	Timeout value in milliseconds, use INFINITE to wait forever

Return values:

Number messages received, 0 = timeout

void CANReInitialise ( DWORD device )

Reinitialise the CAN Controller/n Clears any unserviced interrupts.

Parameters:

[in] device CAN Device ID

Return values:

BOOL CanReset ( DWORD device )

Reset the CanChip and clear all buffers

Parameters:

[in] device CAN Device ID

Return values:

TRUE,: Success, FALSE: Error

BOOL CanSetBaudrate	(	DWORD	device,
		DWORD	baud
	)

Set the Baudrate./n 1000, 800, 500, 250, 125, 100, 50, 20, 10 kBaud./n All other settings set the baud to 125 kBaud

Parameters:

[in]	device	CAN Device ID
[in]	baud	Baudrate

Return values:

TRUE,: Success, FALSE: Error

BOOL CanTransmitMessage	(	DWORD	device,
		CAN_MESSAGE_EXT *	msg
	)

Send a CAN Message

Parameters:

[in]	device	CAN Device ID
[in]	msg	Pointer to a CAN message structure

Return values:

TRUE,: Success, FALSE: Error

BOOL CanWriteDescriptor	(	DWORD	device,
		DWORD	descr,
		DWORD	mask
	)

Write the Acceptance Code and Mask Registers./n Library is running in dual mode (AFM =0)./n For more information see the SJA1000 documentation.

Parameters:

[in]	device	CAN Device ID
[in]	descr	32 bit acceptance code
[in]	mask	32 bit acceptance mask

Return values:

TRUE,: Success, FALSE: Error

void DeInitSJA1000 ( DWORD device )

Release CAN Controller

Parameters:

[in] device CAN Device ID

Return values:

DWORD GetCanStatus ( DWORD device )

Return the CAN Status

Parameters:

[in] device CAN Device ID

Return values:

0	= OK/n Test with CAN_ERROR and CAN_OVERRUN_HW Constants

DWORD InitSJA1000	(	DWORD	device,
		DWORD	base,
		DWORD	interruptGPIO,
		DWORD	waterMark,
		DWORD	bufferSize
	)

Initialise CAN Controller

Parameters:

[in]	device	CAN Device ID
[in]	base	SJA1000 Chip Base Address
[in]	interruptGPIO	GPIO Number of the interrupt from the SJA1000
[in]	waterMark	Number of messages received before the library signals reception of messages.
[in]	bufferSize	Size of the receive buffer in CAN_MESSAGE_EXT messages

Return values:

0 = Success
1 = SoC not supported
-1 = Could not create ISR_CoM struct
-2 = Could not map Chip Base Address
-4 = Could not create Mutex
-5 = Could not enter reset mode
-6 = Could not enter normal mode
-7 = Could not create receive buffer
-8 = Could not create Interrupt Service Thread
-9 = Could not initialise GPIO

void PrintMessage ( CAN_MESSAGE_EXT * msg )

Print the contents of the supplied CAN_MESSAGE_EXT message

Parameters:

[in] msg Pointer to a CAN_MESSAGE_EXT instance

Return values:

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