CANopen Magic Pro DLL - Embedded Systems Academy
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1. 17 tends 18 BUS Operation Ss 2 18 SHUtU 19 3 6 Revie ieee Pie aeons 19 Chapt r 4 Function 20 4 1 _ dieses 20 4 2 5 ences tes 20 4 3 Event EE 21 4 4 Event 21 4 5 Event Major EO tava rier seri 21 4 6 Hardware _GetCurrentTime ccccccccceccccecccceeccueeeccueeeucueeescueeesgaeeesgaueesuuueeguuneesanenes 22 4 7 Hardware ccccccsccccceeccueeecceeeeucaeeecuueeecuueercuueeeguueesauusesganengs 22 4 8 Hardware 22 4 9 Hardware 23 4 10 Hardware _DeleteNetwork ccccccccccccceccceeeccueeeccueneuc2. 9 Additional Step For PEAK PCAN Dongle 9 3 Using the 10 3 1 OVERVIEW 2 T Ges 10 3 2 tO a ProjeCt aeii AA SANTEE 11 Microsoft VisUial 11 Borland C 11 3 3 FUMC ONS EAA 11 5 11 Other 12 Callback FUNCTIONS 13 Typical Call 15 3 4 16 3 5 DESCMPUON estas ois wea ee ieee eevee 17 OVERVIGW miaa E N iter avanes hue Rhea peed ceva Seen need E Dee ahaa 17 Start 17
3. 37 4 42 MicroLSS Ents 38 Chapter 5 Windows Driver DLL 39 5 1 IMtrOduction 39 5 2 39 4 CANopen Magic Pro DLL User Manual About This Manual This manual follows some set conventions with the aim of making it easier to read The following conventions are used Ox Hexadecimal base 16 values are prefixed with Ox italictext Replace the text with the item it represents Items inside and are optional a b a OR b may be used ae One or more items may go here This manual frequently uses CANopen terminology as defined by the CANopen standard DS301 see www can cia org for more info Readers that are not yet familiar with all the CANopen terms may want to consider reading a book like www canopenbook com or the official standard to update their knowledge on CANopen technology and terminology Page 5 CANopen Magic Pro DLL User Manual Chapter 1 Introduction 1 1 About CANopen CANopen is a higher layer protocol that runs on a CAN network The CAN specification defines only the physical and data link layers in the ISO OSI 7 layer Reference Mod
4. timeout the length of time to wait for a response in milliseconds ProgressFunc progress callback function or NULL for none FinishedFunc scan finished callback function callbkparam value to pass to callback functions preturnresult result of attempting to start the scan Performs a scan for MicroLSS nodes on the network and configures them for operation Each MicroLSS node that is found is configured with a node ID The node IDs used are consecutive starting with the node ID that is passed to the function The scan type may be 80 bits or 128 bits In addition byte optimization may be used Combining a 80 bit scan with byte optimization will typically produce the fastests scan times Note that MicroLSS is different from regular LSS Please refer to the MicroLSS specification for details Nothing Page 38 CANopen Magic Pro DLL User Manual Chapter 5 Windows CE Driver DLL API 5 1 Introduction At runtime the appropriate driver to use for access to a CAN controller is selected by calling CANopenDLL_Startup This package is provided with DLLs to access various PC based CAN interfaces such as those from PEAK However when using Windows CE there are many different kinds of integrated CAN controller interface available In order to accommodate the various designs and implementations the CANopen Magic Pro DLL supports the use of a generic API DLL which can be used with the CANopen DLL The workflow looks like the
5. O for error WINDOWSCECAN_API int WinCE_Transmit HANDLE controller handle to CAN controller to transmit on unsigned int id message identifier unsigned char rtr remote transmit request flag unsigned char ext 29 bit id flag unsigned char err error frame flag unsigned char dlc number of data bytes unsigned char pdata data bytes unsigned char data 8 recieves CAN message from the controller returns 1 for message received O for error WINDOWSCECAN_API int __stdcall WinCE_Receive HANDLE controller handle to CAN controller to transmit on unsigned int pid filled with message identifier unsigned char prtr filled with remote transmit request flag unsigned char pext filled with 29 bit id flag unsigned char perr filled with error frame flag unsigned char pdlc filled with number of data bytes unsigned char pdata filled with data bytes unsigned char data 8 returns the number of interfaces supported WINDOWSCECAN_API int __stdcall WinCE_NumberOfInterfaces void ye configures whether error frames should be received or not optional feature can be unsupported but function must be implemented WINDOWSCECAN_API void __ stdcall WinCE_ConfigureErrorFrames int mode set to 1 to receive error frames otherwise 0 configures whether transmitted messages should be received optional feature can be unsupported but fun
6. DLL No other functions in the DLL may be called until after this function has been called The DLL may be used to allow a single process to access a CAN interface This is the standard arrangement However the DLL also supports multi process access where multiple processes each using a copy of the DLL can talk to each other via a simulated CAN bus internal to the PC and also optionally a CAN interface See the description of CANopenDLL_Startup for more information Hardware Configuration First the CAN interface must be selected To present the user with a list Hardware_EnumerateHardware is called This will return a list of hardware currently found on the PC For PEAK interfaces the list will be limited to a type of CAN interface for example plug and play To change the type using the CAN Hardware Control Panel applet Once changed Hardware_EnumerateHardware will then return a different list based on the new type Once the user has selected a hardware interface to use the handle to the interface is passed to Hardware_EnumerateNetworks to obtain a list of currently defined networks for that interface The user then selects the network they wish to use If a network at the speed desired is not present then one can be added using Hardware_AddNetwork Also the application can delete networks using Hardware_DeleteNetwork Alternatively the PEAK tool PCAN Netconfig available on the Start menu after installing the PEAK CAN Driver can be use
7. following Obtain the documentation for the CAN driver or existing driver DLL Write a Windows CE wrapper DLL with the API described in this chapter to access the CAN driver directly or the existing driver DLL Make sure that the wrapper DLL has WinCE in it s name Call CANopenDLL_Startup with the name of the new wrapper DLL As long as the DLL has WinCE somewhere in it s name for example WinCECANWrapper DLL then the CANopen Magic Pro DLL will know that it is a DLL for Windows CE and load and access it in the appropriate way Some CAN drivers or WinCE development systems may come with a wrapper DLL already written for use with this package Please contact the vendor for details The API is very easy to implement 5 2 API The following code is the header file that should be used to generate the DLL It contains a description of the functions The API does not need to be thread safe ifndef _WINDOWSCECANH_ define _WINDOWSCECANH_ include lt windows h gt ifdef _ cplusplus define else Page 39 CANopen Magic Pro DLL User Manual define C endif The following ifdef block is the standard way of creating macros which make exporting from a DLL simpler All files within this DLL are compiled with the WINDOWSCECAN_EXPORTS symbol defined on the command line this symbol should not be defined on any project that uses this DLL This way any other project whose source file
8. for the DLL The SWITCHNETWORKS_CALLBACK is a function pointer type with the following prototype typedef int __stdcall SWITCHNETWORKS_CALLBACK int newnethandle long pause This function is called when the LSS slaves on the bus are switching to a new bit timing It is called when the application itself needs to switch baud rates newnethandle is the handle of the network the application should use and pause is the delay in milliseconds after switching networks before the application can transmit more messages This function should return immediately and not wait for pause milliseconds to pass before returning Typical Call Flow The following is a typical sequence of function calls Normally an applicaton will call the functions in the following order CANopenDLL_Startup e start the DLL Event_Receive Event_Transmit e initialize callback functions Hardware_EnumerateHardware e allow the user to choose from the available list of hardware Hardware_EnumerateNetworks e allow the user to choose frrom the available list of networks for the selected hardware Hardware_AddNetwork Hardware_DeleteNetwork e allow the user to create new networks and delete old networks Hardware_Initialize e connect the application to the selected hardware and network Hardware_GetBaudrate e get baudrate being used by the application Hardware_GetCurrentTime CANopen_SetSDOConfig e Co
9. not have been successful Check the messages that were returned for detailed information The reason the operation does not stop and return an error is that it may be acceptible for some writes to fail OK is only returned if there were no problems at all Call CANopen_Cancel to cancel the operation Returns in Results Code OK Page 35 CANopen Magic Pro DLL User Manual 4 39 CANopenConfig_WriteNCF Prototype Params Desc void CANopenConfig_WriteNCF wchar_t ncffile 55 ProgressFunc MESSAGE_CALLBACK MessageFunc FINISHED_CALLBACK FinishedFunc unsigned long callbackparam RESULTS presult ncffile path and name of NCF to write ProgressFunc function to call to indicate progress of operation Null pointer if not required MessageFunc function to call to provide status messages during DCF write Null pointer if not required FinishedFunc function to call when operation is finished Null pointer if not required callbackparam value passed to callback functions presult pointer to buffer to receive results of calling function Writes a Network Configuration File to the network A Network Configuration File is a proprietory file format that contains the DCFs for multiple nodes Each DCF is extracted and written to the corresponding node in turn allowing an entire network to be configured If the finished callback function returns the error code ERR_WARNING then s
10. provide status messages For example when writing a DCF to a node this callback function will be called to indicate specific problems encountered Also passed is a user defined parameter The MAJORERROR_CALLBACK is a function pointer type with the following prototype void __stdcall MAJORERROR_CALLBACK int error called when a major error has occurred Passed is an error code One of e MERR_BUSOFF bus off e MERR_OVERRUN controller rx buffer overrun This function is only called when the major error changes The RECEIVE_CALLBACK is a function pointer type with the following prototype typedef void __stdcall RECEIVE_CALLBACK ESACAN_MSG msg int reply This function is called whenever a message is received Note that the DLL receives it s own messages So all transmitted messages will cause this function to be called Reply is zero unless the message is an SDO response from a node in which case reply is one The TRANSMIT_CALLBACK is a function pointer type with the following prototype typedef void __stdcall TRANSMIT_CALLBACK ESACAN_MSG msg Page 14 CANopen Magic Pro DLL User Manual This function is called whenever a message is transmitted by the DLL The timestamp is not used in the copy of the message that is returned It is recommended that callback functions execute as quickly as possible to avoid causing performance problems
11. this situation ensure any connections to networks are closed and call CANopenDLL_Shutdown CANopenDLL_Startup The list of hardware interfaces returned by the DLL will now use the new interface type Windows CE 5 0 Limitations The DLL is compiled for ARMV4I processors only A DLL with a suitable API is required for the CAN driver being used The multi process option is not supported This manual contains all the information needed to use the DLL If you have questions please contact us at support esacademy com 1 4 Obtaining Compatible CAN Interfaces As mentioned in the feature list all PEAK System Technik CAN interfaces are supported Visit www peak system com to locate the nearest distributor Also supported are Emtrion PCI CAN interfaces On Windows CE 5 0 any CAN interface is supported providing a DLL is written to access the CAN interface and the DLL has a suitable API Details of the API are provided in this manual Page 8 CANopen Magic Pro DLL User Manual Chapter 2 Installation 2 1 Installation Minimum Requirements The following is a list of the recommended minimum requirements for installing and use the package Windows 2000 XP Vista of disk space C Development system such as Microsoft Visual Studio 2005 or Borland C Builder 5 6 PEAK CAN interface Windows 2000 XP Vista or a Windows CE 5 0 development system with a CAN driver Installation Proc
12. 447 Car Add on Devices mode The CiA447 mode changes the SDO COB IDs used to access servers on the network The DLL uses the SDO channels assigned to node ID 16 Nothing Page 34 CANopen Magic Pro DLL User Manual 4 37 CAN_Transmit Prototype void CAN_Transmit ESACAN_MSG msg RESULTS presult Params Msg pointer to details of message to be transmitted Desc Transmits a CAN message The timestamp is ignored Returns in results code OK ERR_PROTCOL data contains description of error 4 38 CANopenConfig_WriteDCF Prototype void CANopenConfig_WriteDCF unsigned char nodeid wchar_t dcffile PROGRESS CALLBACK ProgressFunc MESSAGE_CALLBACK MessageFunc FINISHED_CALLBACK FinishedFunc unsigned long callbackparam RESULTS presult Params nodeid ID of node to write DCF to dcffile path and name of DCF to write ProgressFunc function to call to indicate progress of operation Null pointer if not required MessageFunc function to call to provide status messages during DCF write Null pointer if not required FinishedFunc function to call when operation is finished Null pointer if not required callbackparam value passed to callback functions presult pointer to buffer to receive results of calling function Desc Writes a Device Configuration File to a specific node If the finished callback function returns the error code ERR_WARNING then some parts of the DCF write may
13. CANopen Magic Pro DLL User Manual Manual Revision 1 20 EMBEDDED CANopen Magic Pro DLL User Manual Information in this document is subject to change without notice and does not represent a commitment on the part of the manufacturer The software described in this document is furnished under license agreement or nondisclosure agreement and may be used or copied in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or nondisclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying recording or information storage and retrieval systems for any purpose other than the purchaser s personal use without prior written permission Every effort was made to ensure the accuracy in this manual and to give appropriate credit to persons companies and trademarks referenced herein Embedded Systems Academy Inc 2004 2008 All Rights Reserved Microsoft and Windows are trademarks or registered trademarks of Microsoft Corporation PC is a registered trademark of International Business Machines Corporation For support contact support esacademy com For the latest news on CANopen Magic Pro DLL visit us on the web at www esacademy com Embedded Systems Academy provides training and consulting services specializing in CAN CANopen and Embe
14. Channels int mode Params mode SDO channel mode to use Can be either ESACAN_DONTREQUESTCHANNELS or ESACAN_REQUESTCHANNELS Desc Specifies whether all default SDO channels on the network should be requested from an SDO manager before attempting to send an SDO Only used if the DLL is running a minimal CANopen server started by calling CANopenServer_Startup Returns Nothing 4 32 CANopen_SDOChannelsTimeout Prototype void CANopen_SDOChannelsTimeout long timeout Page 32 CANopen Magic Pro DLL User Manual Params Desc Returns timeout timeout to use Specifies the time to wait for a response from the SDO manager when attempting to request all default SDO channels on the network If the SDO manager does not response within this time period then it will be assumed that there is no SDO manager Nothing 4 33 CANopen_SetSDOConfig Prototype Params Desc Returns void CANopen_SetSDOConfig int enableblocktransfer unsigned char segfallbackthreshold int useblockcrcs unsigned char blocksize enableblocktransfer set to 1 to enable block transfers 0 to disable segfallbackthreshold set to a value which at or below that size of data in byte segmented transfer will always be used even if block transfer is enabled useblockcrcs set to 1 to enable CRC generation and checking for block transfers blocksize number of segments in a block when using block transfers C
15. L is a tried and tested platform that is currently used by thousands of users worldwide This manual assumes familiarity with the features of CANopen A description of the features will not be reproduced here Instead please refer to the relevent CAN in Automation specifications or the Embedded Networking with CAN and CANopen www canopenbook com book Familiarity with a C or C development system is also assumed This manual does not describe any features that relate to development systems Instead please refer to the manual or help that came with your development system Page 6 CANopen Magic Pro DLL User Manual It is recommended to read this manual completely before starting on any development work 1 3 Package Overview Contents The package contains the following The CANopen DLL The C header file for the DLL The necessary library files for the DLL An example application This manual that describes how to use the DLL Features The following are features of the CANopen DLL Send Network Management messages to single nodes or all nodes Perform an SDO Download to the Object Dictionary of a node o Expedited and segmented transfers supported Perform an SDO Upload from the Object Dictionary of a node o Expedited and segmented transfers supported Progress callback during SDO transfers giving progress of transfer Option to cancel an SDO transfer in progress High speed network scan o Finds all CANopen nodes on the n
16. SetSDOTimeout CANopen_SetScanMassOperationDelay CANopen_FindLSSSlave CANopen_SetLSSSlaveConfig CANopen_SetLSSSlaveBitTiming CANopen_UseLSSSlaveBitTiming CANopen_SetLSSTimings CANopen_SDOChannels CANopen_SDOChannelsTimeout CANopen_SetSDOConfig CANopen_SetMode CANopen_SetBlockSegmentWriteDelay Hardware_GetCurrentTime Hardware_EnumerateHardware Hardware_EnumerateNetworks Hardware_AddNetwork Hardware_DeleteNetwork Hardware_GetBaudrate Hardware_Initialize Hardware_Close Hardware_SwitchNetworks Hardware_Reset Hardware_ErrorFrames Hardware_SelfReceive Hardware_IsNetworkFunctional Event_Transmit Event_Receive Event_MajorError CAN_Transmit CANopenDLL_Startup Description Sends a Network Management message Starts an SDO download Starts an SDO upload Cancels an SDO download or upload Scans the network for CANopen nodes Performs high speed expedited write to all nodes at once Sets the timeout to use for SDO operations Sets a delay used during the network scan and mass expedited writes to slow them down Finds an LSS slave on the network Sets the configuration of an LSS slave Sets the bit timing of an LSS slave Instructs all LSS slaves to use bit timings Sets the timing information for the LSS protocol Enables disables SDO channel requesting Sets the timeout for SDO channel requesting Sets the SDO transfer configuration Sets the CANopen operating mode Sets the delay after each SDO block is written to control write s
17. arate thread the user interface can remain responsive rather than freezing up Only one function may be called at any one time in a single instance of the DLL The single exception is that CANopen_Cancel may be called while an SDO upload download or network scan is in progress Normally is called from a progress callback function Multiple copies of the DLL may be loaded at any one time allowing multiple parallel operations to take place on the CAN bus For example when using the DLL and running PCANopen Magic Pro at the same time this situation is taking place Page 16 CANopen Magic Pro DLL User Manual All callback functions are executed in a separate thread that is internal to the DLL Therefore the usual limitations and precautions apply when using data in a callback function 3 5 Description Overview In general terms each application using the DLL goes through the following steps Start up DLL Configure hardware Register callback functions Use CAN bus Shut down DLL Because a PC may have multiple CAN interfaces connected at once and each interface may have the option of connecting to a range of CAN networks with different speeds the hardware configuration may seem confusing at first Once an application has finished with the DLL the hardware must be closed and the DLL shut down Failure to do so may cause memory leaks Start Up The function CANopenDLL_Startup is called to start the
18. call calling convention Check your compiler documention on how to define functions to use this calling convention CAN Bus Operations SDO uploads and downloads may be performed by calling CANopen_SDOUpload and CANopen_SDODownload Only one operation may be performed at any one time Callback functions notify your application of the progress and when the operation has finished may be called to cancel the SDO transfer A high speed network scan may be performed by calling CANopen_ScanNetwork In order for a node to be detected by the scan it must implement Object Dictionary entry 1000 00 which is mandatory for all CANopen nodes The scan may be cancelled by calling CANopen_Cancel Plain CAN messages may be transmitted by calling CAN_Transmit and network management messages may be transmitted by calling CANopen_NMT Node and network configuration may be performed by calling CANopenConfig_WriteDCF and CANopenConfig_WriteNCF The configuration operations may be cancelled by calling CANopen_Cancel Page 18 CANopen Magic Pro DLL User Manual Shut Down Once the DLL is no longer needed Hardware_Close must be called followed by CANopenDLL_Shutdown CANopenDLL_Shutdown has been called the only DLL function that may be called is CANopenDLL_Startup No other functions may be called 3 6 Distribution To distribute an application based on the DLL in the package you need to do the following Te
19. chnik Page 19 CANopen Magic Pro DLL User Manual Chapter 4 Function Reference 4 1 CANopenDLL_Startup Prototype Params Desc Returns void CANopenDLL_Startup int mode wchar_t drivername mode ESACAN_SINGLEPROCESS ESACAN_MULTIPROCESS drivername name of driver to use Examples CanApi2 dll PEAK CAN interfaces driver HICANPCI dII Emtrion PCI CAN interfaces driver Starts up the DLL Must be called before any other function in the DLL There are three configurations possible One process using CAN interface Pass ESACAN_SINGLEPROCESS and the driver name Multiple processes using same CAN interface Pass ESACAN_MULTIPROCESS and the driver name The driver name must be the same for all processes Multiple processes no CAN interface simulation only Pass ESACAN_MULTIPROCESS for the driver name The driver name must be the same for all processes In order for the multi process system to work ESACANServer exe must be first copied to the same folder as ESACANopenPro DLL Nothing 4 2 CANopenDLL_Shutdown Prototype Params Desc Returns void CANopenDLL_Shutdown void None Shuts down the DLL when the application has finished using it Must be the last function called Nothing Page 20 CANopen Magic Pro DLL User Manual 4 3 Event_Transmit Prototype Params Desc Returns void Event_Transmit TRANSMIT_CALLBACK Tra
20. ction must be implemented WINDOWSCECAN_API void __stdcall WinCE_ConfigureSelfReceive int mode set to 1 to self receive otherwise 0 Page 41 CANopen Magic Pro DLL User Manual gets status information from the CAN controller returns 1 for success O for error WINDOWSCECAN_API int __stdcall WinCE_Status HANDLE controller handle to CAN controller to transmit on int pbusoff set to 1 if bus is off otherwise 0 int perrorpassive set to 1 if error passive otherwise 0 int prxoverrun set to 1 if receive buffer overrun otherwise 0 endif Page 42
21. d when there are other LSS slaves on the network Nothing 4 28 CANopen_SetLSSSlaveBitTiming Prototype Params Desc Returns void CANopen_SetLSSSlaveBitTiming ESACAN_LSSSLAVE plssslave unsigned char tableselector unsigned char tableindex FINISHED_CALLBACK FinishedFunc unsigned long callbackparam RESULTS preturnresult plssslave description of Iss slave whose bit timing is to be set tableselector the bit timing table to use See the LSS specification for details tableindex the bit timing index to use See the LSS specification for details FinishedFunc pointer to callback function that is called when the operation has completed returnresult pointer to buffer to receive results of calling the function callbackparam value passed to callback function Configures the bit timing of a specific LSS slave on the network Note that this function does not tell the slave to use the bit timing only what the new bit timing will be Can be used when there are other LSS slaves on the network To activate the bit timing call CANopen_UseLSSSlaveBitTiming Nothing 4 29 CANopen_UseLSSSlaveBitTiming Prototype Params Desc void __cdecl CANopen_UseLSSSlaveBitTiming int nethandle SWITCHNETWORKS_CALLBACK SwitchNetworksFunc FINISHED_CALLBACK FinishedFunc unsigned long callbackparam RESULTS preturnresult nethandle the handle of the network that is being switched to SwitchNetwor
22. d to add and delete networks if using PEAK interfaces Page 17 CANopen Magic Pro DLL User Manual The next step is to select the specific hardware interface and network to use This is achieved by calling Hardware_Initialize Callback Configuration If you wish your application to be informed of certain events then the callback functions must be implemented and registered Registration is performed by calling the Event_xxxxx functions Callback functions may be registered or unregistered at any time Callback functions must execute as quickly as possible They execute in a thread internal to the DLL therefore the use of messages signals mutexs etc is required to pass data to the rest of your application All messages transmitted by the DLL are also received by the DLL Therefore by registering a receive callback function it is possible to obtain the timestamp of when a message was transmitted by the DLL Some callback functions receive a user defined parameter This is the exact same value that is passed to the DLL when the operation involving the callbacks is started For example if an SDO download is started and the callback parameter is set to the value 5 then when the progress and finished callback functions are called the parameter will have the value 5 This is useful for passing class instances to ensure that the callback function knows which class instance is performing the operation Callback functions use the __ std
23. dded Internetworking For more information visit EMBEDDED SYSTEMS ACADEMY www esacademy com Page 2 CANopen Magic Pro DLL User Manual Contents Contents 3 About This 5 Chapter 1 6 1 1 6 1 2 About the CANopen Magic Pro 6 TES PACKAGE Overview 7 7 7 E E PALE AW 8 1 4 Obtaining Compatible CAN 8 Cnapler 2 nee eeceeseneadetesh cece saceesenvadeceeaeedeeeceesseeedeceeneceas 9 eee 9 Pn marn eee eens sees ees ern 9 Cede dude 9 Install PEAK
24. e 30 4 27 CANopen_SetLSSSlaveCon fig 30 4 28 CANopen_SetLSSSlaveBitTiming 31 4 29 _ 555 31 4 30 SetLSSTIMINGS 32 4 31 CANopen SDOCHANMEIS tweed 32 4 32 5 32 4 33 SetSDOCON iG 33 4 34 CANopen_SetBlockSegmentWriteDelay 33 4 35 CANOPEN 2 34 4 36 dies 34 4 37 Transmit evi riers 35 4 38 __ 35 4 39 CANopenConfig_WriteNCF 36 4 40 5 E AEEA 37 4 41 _
25. edure Installation is very simple Simply run the installation executable and follow the prompts Once installed access to this manual and the folders for the files and example are available from the Start Menu You will also need to install hardware drivers by following the instructions from the hardware vendor and the PEAK CAN Driver See the sections below for a description of these steps Install PEAK CAN Driver The PEAK CAN Driver must be installed before the package may be used Normally it will be installed automatically at the end of the CANopen Magic Pro DLL installation If the installation file for the driver is not found then you will be prompted for it s location Additional Step For PEAK PCAN Dongle Users Before using the PEAK PCAN Dongle interface with the CANopen Magic Pro DLL it must be removed from the setup window of the PCANView Dongle software To do this complete the following steps Start PCANView Dongle from the Start Menu Select the PCAN Dongle in the Available CAN Hardware section Click on Delete Click on OK Close PCANView Dongle Page 9 CANopen Magic Pro DLL User Manual Chapter 3 Using the DLL 3 1 Overview The DLL implements a set of functions which together provide CANopen functionality The following table lists the functions and what they do Function CANopen_NMT CANopen_SDODownload CANopen_SDOUpload CANopen_Cancel CANopen_ScanNetwork CANopen_MassExpeditedWrite CANopen_
26. el This means that only the physical bus and the CAN message format is defined but not how the CAN messages should be used CANopen provides an open and standarized but customizable description of how to transfer data of different types between different CAN nodes This allows off the shelf CANopen compliant nodes to be purchased and plugged into a network with the minimum of effort It also can be used in place of an in house proprietory higher layer protocol development The development of CANopen is supervised by the CAN in Automation User s Group and is being turned into an international standard Use of CANopen does not require the payment of any royalties and the specification may be expanded or altered to suit if closed networks are being developed Typical applications for CANopen include Commercial Vehicles Medical Equipment Maritime Electronics Building Automation Light Rail Systems 1 2 About the CANopen Magic Pro DLL The CANopen Magic Pro DLL provides the necessary information and files to allow custom applications to be built that use CANopen functionality The functionality of the package is provided by a DLL This DLL is rather like a library and can be called by any application that knows how to use it All copies of applications built on this platform include this DLL By building upon this DLL an application immediately gains access to the knowledge of CANopen that have been built up over several years of effort The DL
27. erver running in the DLL The server should be used when a feature in the DLL is enabled that requires a server to be running for data and or control purposes For example requesting SDO channels from an SDO manager The minimal server implements Object Dictionary entries 1000 1001 and 1018 plus any entries necessary to support DLL features that require the server to be running Returns Nothing 4 41 CANopenServer_Shutdown Prototype void CANopenServer_Shutdown void Params None Desc Stops the minimal CANopen server Returns Nothing Page 37 CANopen Magic Pro DLL User Manual 4 42 MicroLSS_ScanAndConfig Prototype Params Desc Returns void MicroLSS_ScanAndConfig int eightybit int byteoptimize ESACAN_LSSSLAVE plssslave int Issarraysize unsigned char startnodeid unsigned long timeout PROGRESS_CALLBACK ProgressFunc FINISHED_CALLBACK FinishedFunc unsigned long callbkparam RESULTS preturnresult eightybit set to 1 to use 80 bit scan instead of 128 bit scan byteoptimize set to 1 to use byte optimization where possible during scan plssslave array to receive description of LSS slaves found on network The valid field will be set to 1 for entries that describe LSS slaves Issarraysize the number of entries in the plssslave array startnodeid LSS slaves found are configured using a consecutive range of node IDs This parameter specifies the first node ID
28. essages whether is it via a simulated CAN bus or a CAN interface Returns 1 if the network is functional 0 if the network is not functional Page 26 CANopen Magic Pro DLL User Manual 4 19 CANopen_SDODownload Prototype Params Desc void CANopen_SDODownload unsigned char nodeid unsigned int index unsigned char subindex unsigned char buffer unsigned long size PROGRESS_CALLBACK ProgressFunc FINISHED_CALLBACK FinishedFunc unsigned long callbackparam RESULTS presult nodeid ID of node to send data to index index of OD entry to send data to subindex subindex of OD entry to send data to buffer pointer to buffer that holds the data size number of bytes in buffer to send to node ProgressFunc function to call to indicate progress of operation Null pointer if not required FinishedFunc function to call when operation is finished Null pointer if not required callbackparam value passed to callback functions Starts an SDO download Returns immediately When the operation is completed or fails the FinishedFunc function will be called The ProgressFunc function will be periodically called to indicate progress of the operation This function will start a thread in which the download will be performed Operation may be cancelled by calling the CANopen_Cancel function Returns in results code OK 4 20 CANopen_SDOUpload Prototype Params void CANopen_SDOUpload unsig
29. etwork in less than 0 5 seconds High speed mass expedited writing Configures the CAN interface for any standard CANopen baud rate All received messages have a high precision timestamp Transmit and receive callback functions Major error callback function Change baud rate on the fly LSS support Supports block transfers Able to receive error frames Supports CiA 447 Car Add on Devices Supports multi process access to a single CAN interface Write Device Configuration Files to nodes o Allows configuration of nodes Write Network Configuration Files to the network o Allows configuration of all nodes at once Transmit and receive plain CAN messages o CAN 2 0B and RTRs supported Page 7 CANopen Magic Pro DLL User Manual Can be used to send and receive messages at the same time as other ESACANopenPro DLL tools are running o PCANopen Magic Pro can show a trace of the CAN bus during development of applications using the DLL Supports Windows 2000 XP Vista and Windows 5 0 see limitations Limitations Windows 2000 XP Vista Limitations When using a PEAK CAN interface once in a while the timestamp for a received message or the current time might be incorrect by as much as 3 seconds If CANopenDLL_Startup has been called and the user then changes the CAN interface type in the control panel 2000 XP Vista the list of available hardware interfaces returned from the DLL will not change to reflect the newly selected CAN inteface type In
30. from the MSVisualStudio2005 folder Using the Borland 1 file will not work You must distribute the DLL with your application Do not distribute this documentation the dib or h files Borland C Builder To use the DLL in a project Make copies of the lib file and h file for your project Add the copied lib file to the project Include the header file in any files that will call DLL functions Copy the dll file into the same folder as the executable Ensure the correct lib file is used You must use the one from the BorlandC Builder5 folder Using the Microsoft lib file will not work You must distribute the DLL with your application Do not distribute this documentation the dib or h files 3 3 Calling Functions Return Values The RESULTS type is used for return values from API functions It is defined as Page 11 CANopen Magic Pro DLL User Manual typedef struct int code wchar_t details ESACAN_MAXDETAILSLEN RESULTS The code indicates either success or a specific error Depending on the error details may contain a string describing the error The code may be one of OK ERR_USERCANCELLED ERR_INVALIDPARAM ERR_PROTCOL ERR_HWINIT ERR_BUS ERR_TIMEOUT ERR_UNSUPPORTED Other Types The ESACAN_TIMESTAMP type is used to hold a timestamp Timestamps are used for such things as the current time or the time a message was received It is defined as typedef struct unsigned long m
31. hwhandle Params name name of the network to add baudrate bus speed of the network in kbps hwhandle handle to the CAN interface the network is connected to Desc Creates a new network and associates it with a specific CAN interface The network details will be stored in the registry so the network can be automatically added to the current list the next time the DLL is used Returns Handle to the new network 4 10 Hardware_DeleteNetwork Prototype void Hardware_DeleteNetwork int nethandle Params Nethandle handle to the network to delete Desc Deletes a network Also removes the network details from the registry so the network will not be available next time the DLL is used Returns Nothing 4 11 Hardware_GetBaudrate Prototype int Hardware_GetBaudrate int nethandle Params Nethandle handle of the network whose baudrate is needed Desc Returns the baudrate of a network in kbps Returns The baudrate of the network in kbps Page 23 CANopen Magic Pro DLL User Manual 4 12 Hardware_Initialize Prototype void Hardware_Initialize int nethandle wchar_t HWND hWnd RESULTS preturnresult Params nethandle handle to the network to use appname the name of the application hWnd handle to the application s main window preturnresult pointer to the results of the initialization Desc Connects the application to a specific network Once c
32. ill hold the results of the write written or not written FinishedFunc pointer to the callback function that will be called when the write is complete callbackparam value passed to callback function Desc Attempts to perform the same expedited write to every node as fast as possible typically the SDO timeout period The data size must be four bytes or less Results of which nodes were written to is placed in the pnodeinfo array Returns Nothing 4 24 CANopen_SetSDOTimeout Prototype void CANopen_SetSDOTimeout long timeout Params timeout SDO protocol timeout in milliseconds Desc Sets a new SDO timeout to use for SDO reads and writes Returns Nothing 4 25 CANopen_SetScanMassOperationDelay Prototype void CANopen_SetScanMassOperationDelay long delay Params delay delay to use in milliseconds Page 29 CANopen Magic Pro DLL User Manual Desc Returns Used to slow down the network scan and mass expedited writes by inserting a delay after every read or write access Nothing 4 26 CANopen_FindLSSSlave Prototype Params Desc Returns void CANopen_FindLSSSlave ESACAN_LSSSLAVE plssslave FINISHED_CALLBACK FinishedFunc unsigned long callbackparam RESULTS preturnresult plssslave pointer to buffer to receive a description of the LSS slave found FinishedFunc pointer to a callback function that is called when the search is complete preturnres
33. illis unsigned int millis_overflow unsigned int micros ESACAN_TIMESTAMP The time is given in milliseconds with fractional microseconds The ESACAN_MSG type is used to hold a description of a single CAN message It is defined as typedef struct ESACAN_TIMESTAMP timestamp unsigned int id unsigned char dlc unsigned char flags unsigned char data 8 ESACAN_MSG flags contains a combination of one or more of the following flags ESACAN_MSG_EXT 29 bit identifer Page 12 CANopen Magic Pro DLL User Manual ESACAN_MSG_RTR RTR flag was set ESACAN_MSG_ERRFRAME_ message is an error frame The ESACAN_HARDWARE type describes a hardware interface It is defined as typedef struct wchar_t name ESACAN_MAXDRIVERNAMELEN int handle ESACAN_HARDWARE name holds the name of the hardware interface Handle holds a unique handle to the interface The ESACAN_NETWORK type describes a network which is associated with a specific hardware interface It is defined as typedef struct wchar_t name ESACAN_MAXNETWORKNAMELEN int handle int baudrate ESACAN_NETWORK The name holds the name of the network The handle holds a unique handle to the network The baudrate holds the speed of the network in kbps The ESACAN_NODEINFO type describes basic information about a node It is defined as typedef struct unsigned char status unsigned long devicety
34. ksFunc pointer to callback function that instructs the application to switch networks FinishedFunc pointer to callback function that is called when the operation has completed preturnresult pointer to buffer to receive results of calling function callbackparam value passed to callback function Instructs all the LSS slaves to switch to the new bit timing that was previously programmed by calling CANopen_SetLSSSlaveBitTiming At the appropriate Page 31 CANopen Magic Pro DLL User Manual point the SwitchNetworksFunc will be called to tell the application to switch to the new network passing nethandle as a parameter Returns Nothing 4 30 CANopen_SetLSSTimings Prototype void CANopen_SetLSSTimings long responsetimeout long cmdtime long switchdelay Params responsetimeout time to wait for responses from LSS slaves in milliseconds cmdtime time to wait for an LSS slave to process an unconfirmed command before sending the next command in milliseconds switchdelay time to wait before an LSS slave should switch to new bit timing and the time to wait after switching before transmitting any messages in milliseconds Desc Sets the timing parameters for the LSS protocol If this function is not called then default settings are used which are 300ms for responsetimeout 30ms for cmdtime and 300ms for switchdelay Returns Nothing 4 31 CANopen_SDOChannels Prototype void CANopen_SDO
35. ll users to install the driver for their CAN interface This comes a CD or floppy disk or can be downloaded from www peak system com If using PEAK install your copy of the PEAK CAN Driver the user s PC This came with your copy of this package and usually has the name PCANDrv exe Note that this driver is linked to you by a serial number issued by PEAK If using Emtrion include HiCANPCI dll with your application executable preferably in the same folder as your application executable Include ESACANopenPro dll with your application executable preferably in the same folder as your application executable If using Windows CE include the driver wrapper DLL with your application executable You must not under any circumstances distribute the following Any h lib def or exp files provided with this package This manual or the contents of this manual in any format Any applications that allow other custom CANopen software to be developed using the ESACANopenPro dlIl file Any source code showing the use of the ESACANopenPro dll file Doing so will render your license to use this product invalid This product includes a copy if the CANAPI DLL by PEAK System Technik This DLL may only be distributed freely with products generated with this package if not used directly by the application program Developers that wish to use the CANAPI DLL directly must purchase PCAN Developer or PCAN Evaluation from PEAK System Te
36. ms Desc Returns int Hardware_EnumerateHardware ESACAN_HARDWARE hwlist int hwlistsize hwlist pointer to array to receive hardware descriptions hwlistsize number of hardware descriptions that can fit into the hwlist array Returns a list of current CAN hardware interfaces Note that the list only contains the interfaces in the currently selected category Plug n play USB etc The currently selected category may be changed via the Control Panel Also returns a hardware interface with the name None which can be used to create internal only networks i e no CAN interface Number of CAN interfaces found and stored in hwlist 4 8 Hardware_EnumerateNetworks Prototype Params Desc int Hardware_EnumerateNetworks ESACAN_NETWORK netlist int netlistsize int hwhandle netlist pointer to array to receive network descriptions netlistsize number of network descriptions that can fit into the netlist array hwhandle handle of the CAN hardware interface whose networks should be listed Returns the currently defined networks for a specific CAN interface Pass the CAN interface the user has selected and the available networks including their baudrates will be returned Page 22 CANopen Magic Pro DLL User Manual Returns Number of networks found and stored in netlist 4 9 Hardware_AddNetwork Prototype int Hardware_AddNetwork wchar_t name int baudrate int
37. ned char nodeid unsigned int index unsigned char subindex unsigned char buffer unsigned long size PROGRESS_CALLBACK ProgressFunc FINISHED_CALLBACK FinishedFunc unsigned long callbackparam RESULTS presult nodeid ID of node to receive data to index index of OD entry to receive data to subindex subindex of OD entry to receive data to buffer pointer to buffer to receive the data size pointer to value that contains the size of the buffer in bytes ProgressFunc function to call to indicate progress of operation Null pointer if not required FinishedFunc function to call when operation is finished Null pointer if not required Page 27 CANopen Magic Pro DLL User Manual Desc callbackparam value passed to callback functions Starts an SDO upload Returns immediately When the operation is completed or fails the FinishedFunc function will be called The ProgressFunc function will be periodically called to indicate progress of the operation This function will start a thread in which the upload will be performed Once complete size will hold the number of bytes read from the node Operation may be cancelled by calling the CANopen_Cancel function Returns in results code OK 4 21 CANopen_Cancel Prototype Params Desc Returns void CANopen_Cancel void None Call to indicate the current operation upload etc should be cancelled at the first opportunity The fini
38. network If there are multiple nodes on the network then they must all call this function to disconnect first before any of them call this function to connect Returns Nothing 4 15 Hardware_Reset Prototype void Hardware_Reset void Params none Desc Resets the CAN interface Returns Nothing 4 16 Hardware_ErrorFrames Prototype void Hardware_ErrorFrames int mode Params mode can be either ESACAN_IGNOREERRORFRAMES or ESACAN_RECEIVEERRORFRAMES Desc Toggles whether error frames should be received or not The default setting when starting the DLL is that they are not received 4 17 Hardware_SelfReceive Prototype void Hardware_SelfReceive int mode RESULTS preturnresult Params mode self receive mode to use Can be either ESACAN_NOSELFRECEIVE or ESACAN_SELFRECEIVE preturnresult pointer to the results of the initialization Page 25 CANopen Magic Pro DLL User Manual Desc Toggles whether self receive mode is turned on or not in the CAN interface The default settings when the DLL is started is that self receive is turned on The results code will be ERR_UNSUPPORTED if self receive on or off is not supported in the CAN interface in use Returns Nothing 4 18 Hardware_IsNetworkFunctional Prototype int Hardware_IsNetworkFunctional void Params none Desc Checks if the current network in use is functional i e can send and receive CAN m
39. nfigure the SDO transfers If using LSS call the LSS functions in the order described below If requesting SDO channels use the functions in the order described below CAN_Transmit CANopen_NMT CANopen_Cancel Page 15 CANopen Magic Pro DLL User Manual CANopen_SDODownload CANopen_SDOUpload CANopen_ScanNetwork e perform operations on the CAN bus e disconnect the application from the network CANopenDLL_Shutdown e finish using the DLL The following is a typical sequence of function calls when using LSS CANopen_SetLSSTimings CANopen_FindLSSSlave e To discover a single LSS slave CANopen_SetLSSSlaveBitTiming e Call for each slave on the network CANopen_UseLSSSlaveBitTiming e In the SwitchNetworksFunc callback function call Hardware_SwitchNetworks 5551 e Call for each slave the network The following is a typical sequence of function calls when requesting SDO channels CANopenServer_Start CANopen_SDOChannels enable requesting of SDO channels CANopen_SDOChannelsTimeout 3 4 Threads Functions which do not have progress and finished callback functions passed as parameters execute in the same thread as the function caller Functions which do have progress and finished callback functions as parameters are executed in a separate thread These are usually SDO operations which may take some time to complete By executing in a sep
40. nsmitFunc A transmit callback function Registers a callback function to be called when the DLL transmits a single CAN message Passing a null pointer unregisters the callback function Once registered the callback function will be called for each message transmitted by the DLL Nothing 4 4 Event_Receive Prototype Params Desc Returns void Event_Receive RECEIVE_CALLBACK ReceiveFunc Callback function Registers a callback function to be called when the DLL receives a single CAN message Passing a null pointer unregisters the callback function Once registered the callback function will be called for each message received by the DLL including messages transmitted by the DLL Nothing 4 5 Event_MajorError Prototype Params Desc Returns void Event_MajorError MAJORERROR_CALLBACK MajorErrorFunc Callback function Registers a callback function to be called when the DLL detects a major error Passing a null pointer unregisters the callback function Nothing Page 21 CANopen Magic Pro DLL User Manual 4 6 Hardware_GetCurrentTime Prototype Params Desc Returns void Hardware_GetCurrentTime ESACAN_TIMESTAMP timestamp timestamp pointer to place to receive timestamp for the current moment in time Timestamps the current moment in time and returns the timestamp Nothing 4 7 Hardware_EnumerateHardware Prototype Para
41. ome parts of a DCF write may not have been successful Check the messages that were returned for detailed information The reason the operation does not stop and return an error is that it may be acceptible for some writes to fail OK is only returned if there were no problems at all Call CANopen_Cancel to cancel the operation Ensure the NCF is stored on writeable media before calling this function as a temporary file must be created in the same folder during execution The NCF has the following file format DCF lt nodeid gt lt dcf gt DCF lt nodeid gt lt dcf gt Where is the ID of the node in hexadecimal prefixed with Ox and dcf is the DCF of that node CANopen Magic Pro and CANopen Magic ProDS can generate NCFs Returns in Results Code OK Page 36 CANopen Magic Pro DLL User Manual 4 40 CANopenServer_Startup Prototype void CANopenServer_Startup unsigned char nodeid unsigned long devicetype unsigned long vendorid unsigned long productcode unsigned long revisionnumber unsigned long serialnumber RESULTS presult Params nodeid ID to use for server devicetype device type to use for server vendorid vendor ID to use for server productcode product code to use for server revisionnumber revision number to use for server serialnumber serial number to use for server presult pointer to buffer to receive results of calling function Desc Starts a minimal CANopen s
42. onfigures the SDO protocol Enables or disabled block transfer and when block transfer is used Nothing 4 34 CANopen_SetBlockSegmentWriteDelay Prototype Params Desc Returns void CANopen_SetBlockSegmentWriteDelay long delay delay delay to use in milliseconds Used to slow down the write of SDO blocks by inserting a delay after each segment Nothing Page 33 CANopen Magic Pro DLL User Manual 4 35 CANopen_SetMode Prototype Params Desc Returns void CANopen_SetMode unsigned long mode mode CANopen operating mode Specifies the CANopen operating mode to use The default is CiA 301 which is the CANopen specification The bits have the following meanings bit O When set use CiA 447 Car Add on Devices mode The CiA447 mode changes the SDO COB IDs used to access servers on the network The DLL uses the SDO channels assigned to node ID 16 Nothing 4 36 CANopen_NMT Prototype Params Desc Returns void CANopen_NMT unsigned char nodeid int operation RESULTS presult nodeid ID of node to send NMT message to or zero for all nodes operation NMT operation to perform One of CANOPEN_START CANOPEN_STOP CANOPEN_PREOP CANOPEN_RESET CANOPEN_RESETAPP CANOPEN_RESETCOMM Specifies the CANopen operating mode to use The default is CiA 301 which is the CANopen specification The bits have the following meanings bit O When set use CiA
43. onnected the application can then send and receive which will automatically use the network passed to this function Returns Nothing 4 13 Hardware_Close Prototype void Hardware_Close void Params none Desc Disconnects the application from the network Returns Nothing 4 14 Hardware_SwitchNetworks Prototype void Hardware_SwitchNetworks int operation int nethandle RESULTS preturnresult Params operation the operation to perform 5 nethandle handle to the network to switch to The network must be associated with the current CAN interface in use preturnresult pointer to the results of the switch Desc Switches to a new network for the same CAN interface that is currently in use The switch is performed on the fly so it is not necessary to close or reinitialize the hardware The switch is performed in two steps First the function is called with operation set to ESACAN_SN_DISCONNECT This will Page 24 CANopen Magic Pro DLL User Manual disconnect the node from the current network Next the function is called with operation set to ESACAN_SN_CONNECT which will connect the node to the new network The reason why this feature is performed in two steps is because it is not possible to switch from one network to another using the same CAN interface if there are any nodes still connected to the old network while the current node is trying to connect to the new
44. pe ESACAN_NODEINFO The status indicates if the node has been found on the bus or not or written to or not The device type holds the value read from Index 1000H subindex OOH The status may have one of the following values ESACAN_NOTFOUND node was not found Ignore devicetype ESACAN_FOUND node was found Read devicetype ESACAN_NOTWRITTEN node was not written to ESACAN_WRITTEN node was written to Callback Functions The PROGRESS_CALLBACK is a function pointer type with the following prototype void __stdcall PROGRESS_CALLBACK float percentage unsigned long callbackparam Page 13 CANopen Magic Pro DLL User Manual called during operations such as SDO download passed is the percentage of the operation that is completed and a user defined parameter Used for providing feedback to the user The FINISHED_CALLBACK is a function pointer type with the following prototype void __stdcall FINISHED_CALLBACK RESULTS results unsigned long callbackparam called when an operation such as SDO download is complete Passed is a RESULTS type containing the result of the operation and a user defined parameter The results code is one of e OK ERR_PROTOCOL e ERR_USERCANCELLED The MESSAGE_CALLBACK is a fucntion pointer type with the following prototype void __stdcall MESSAGE_CALLBACK wchar_t msg unsigned long callbackparam called when an operation needs to
45. peed Gets the current time in timestamp format Lists available CAN interfaces Lists available CAN networks Adds a new network Deletes a network Gets the current baudrate of a network Initializes a CAN interface Finishes with a CAN interface Changes the baud rate on the fly Resets the CAN interface Turns on or off error frame reception Turns on and off self receive Checks if the current network is functional Registers a transmit callback function Registers a receive callback function Registers a major error callback function Transmits a plain CAN message Initializes the DLL Page 10 CANopen Magic Pro DLL User Manual CANopenDLL_Shutdown Finishes with the DLL CANopenConfig_WriteDCF Writes a DCF to a node CANopenConfig_WriteNCF Writes a NCF to the network CANopenServer_Startup Starts a minimal CANopen server CANopenServer_Shutdown Stops the minimal CANopen server MicroLSS_ScanAndConfig Scans for and configures MicroLSS slaves The rest of this chapter describes how the functions are used The function reference chapter lists each function in detail 3 2 Adding to a Project Microsoft Visual C To use the DLL in a project Make copies of the lib file and h file for your project Add the copied lib file to the project Include the header file in any files that will call CANopen functions Copy the dll file into the same folder as the executable Ensure the correct lib file is used You must use the one
46. s include this file see WINDOWSCECAN_API functions as being imported from a DLL whereas this DLL sees symbols defined with this macro as being exported ifdef WINDOWSCECAN_EXPORTS define WINDOWSCECAN_API __declspec dllexport else define WINDOWSCECAN_API __declspec dllimport endif opens the CAN controller returns INVALID for error or a handle to controller WINDOWSCECAN_API HANDLE __ stdcall WinCE_Open wchar_t name name of CAN interface CAN1 etc int baudrate baudrate in kbps closes a CAN controller WINDOWSCECAN_API void __ stdcall WinCE_Close HANDLE controller handle to previously opened can controller ye sets the receive event for a CAN controller returns 1 for success O for error WINDOWSCECAN_API int __ stdcall WinCE_SetReceiveEvent HANDLE controller handle to can controller to set event for wchar_t eventname name of the event to use must be previously created starts CAN controller returns 1 for success O for error WINDOWSCECAN_API int __stdcall WinCE_Start HANDLE controller handle to can controller to start stops a CAN controller returns 1 for success O for error Page 40 CANopen Magic Pro DLL User Manual WINDOWSCECAN_API int __stdcall WinCE_Stop HANDLE controller handle to can controller to stop transmits CAN message returns 1 for success
47. shed function will return ERR_USERCANCELLED in the results code Nothing 4 22 CANopen_ScanNetwork Prototype Params Desc Returns void CANopen_ScanNetwork ESACAN_NODEINFO pnodeinfo FINISHED_CALLBACK FinishedFunc unsigned long callbackparam RESULTS presult pnodeinfo pointer to an array of 127 ESACAN_NODEINFO structures Once the network scan is complete the array will hold the results of the scan FinishedFunc pointer to the callback function that will be called when the network scan is complete callbackparam value passed to callback function Scans the network and determines which nodes are present and their device type Entry 0 in the array contains the details for node 1 entry 126 in the array contains the details for node 127 Nothing Page 28 CANopen Magic Pro DLL User Manual 4 23 CANopen_MassExpeditedWrite Prototype void CANopen_MassExpeditedWrite unsigned int index unsigned char subindex unsigned char buffer unsigned long size ESACAN_NODEINFO pnodeinfo FINISHED_CALLBACK FinishedFunc unsigned long callbackparam RESULTS preturnresult Params index index of OD entry to send data to subindex subindex of OD entry to send data to buffer pointer to buffer that holds the data size number of bytes in buffer to send to each node pnodeinfo pointer to an array of 127 ESACAN_NODEINFO structures Once the write is complete the array w
48. ueeescueeesguueesguueesuanersuuneegaeenys 23 4 11 Hardware 23 CANopen Magic Pro DLL User Manual 4 12 Hardware _InitialiZe 24 4 13 Hardware E VEE 24 4 14 Hardware _SwitChHNetworkS 24 4 15 Hardware _Re Set ccccccccccccccceeccceeucueevcueeevcueneucueneucueeeugueeeugeeeesgueeeugueeesgueetguneres 25 4 16 Hardware_ErrorFrames erroreei ean anA ATEA AVE E EE 25 4 17 Hardware_SelfReceive 25 4 18 15 26 4 19 CANopen 5 27 4 20 5 27 4 21 CAN Celis 28 4 22 acts 28 4 23 29 4 24 5 a ec ce need ces ewe eens 29 4 25 CANopen_SetScanMassOperationDelay 29 4 26 CANopen_FInNdLSSS1av
49. ult pointer to buffer to receive results of calling the function callbackparam value passed to callback function Finds a single LSS slave on the network and returns information about the slave When calling this function there must be only one LSS slave on the network The ESACAN_LSSSLAVE type is filled with the information about the found LSS slave if one was found Nothing 4 27 CANopen_SetLSSSlaveConfig Prototype Params Desc void CANopen_SetLSSSlaveConfig ESACAN_LSSSLAVE plssslave FINISHED_CALLBACK FinishedFunc unsigned long callbackparam RESULTS preturnresult plssslave description of LSS slave whose configuration is to be set along with the configuration to set FinishedFunc pointer to a callback function that is called when the operation has completed preturnresult pointer to buffer to receive results of calling function callbackparam value passed to callback function Configures the node ID of a specific LSS slave on the network and optionally instructs the slave to store the configuration A description of which LSS slave to configure is passed along with the ID to use To send the store command set storeconfguration to 1 otherwise set it to 0 The necessary commands will be sent to configure the node ID and store the configuration If successful the Page 30 CANopen Magic Pro DLL User Manual Returns node will boot up into Pre operational mode using the node ID Can be use
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