Skip to content

Instantly share code, notes, and snippets.

@mac-can
Last active May 9, 2021
Embed
What would you like to do?
macOS Library for PCAN-USB Interfaces: Python Example
from PCANBasic import * ## PCAN-Basic library import
import string ## String functions
import time ## Time-related library
import select ## Waiting for I/O completion
import signal ## Set handlers for asynchronous events
import sys ## System-specific parameters and functions
def sigterm(signo, frame):
result = PCANBasic().Uninitialize(PCAN_NONEBUS)
if result != PCAN_ERROR_OK:
print("Error: {}".format(PCANBasic().GetErrorText(result)))
sys.exit(1)
else:
sys.exit(0)
pcan = PCANBasic()
channel = PCAN_USBBUS1
baudrate = PCAN_BAUD_250K
result = pcan.Initialize(channel,baudrate)
if result != PCAN_ERROR_OK:
print("Error: {}".format(pcan.GetErrorText(result)))
sys.exit(1)
result = pcan.GetValue(channel,PCAN_RECEIVE_EVENT)
if result[0] == PCAN_ERROR_OK:
fd = result[1]
else:
fd = -1
print("Press ^C to abort...")
signal.signal(signal.SIGTERM, sigterm)
signal.signal(signal.SIGINT, sigterm)
while 1:
result = pcan.Read(channel)
if result[0] == PCAN_ERROR_OK:
CANmsg = result[1]
print("ID={:03X} LEN={:d} DATA=[{}]".format(CANmsg.ID,CANmsg.LEN,' '.join('{:02X}'.format(x) for x in CANmsg.DATA)))
elif result[0] == PCAN_ERROR_QRCVEMPTY:
if fd != -1:
select.select([fd],[],[])
else:
time.sleep(0.001)
result = pcan.Uninitialize()
if result != PCAN_ERROR_OK:
print("Error: {}".format(pcan.GetErrorText(result)))
sys.exit(1)
else:
sys.exit(0)
# PCANBasic.py
#
# ~~~~~~~~~~~~
#
# PCAN-Basic API
#
# ~~~~~~~~~~~~
#
# ------------------------------------------------------------------
# Author : Keneth Wagner
# Last change: 14.01.2021 Wagner
# Modified: 9.05.2021 info@mac-can.com
#
# Language: Python 2.7, 3.7
# ------------------------------------------------------------------
#
# Copyright (C) 1999-2021 PEAK-System Technik GmbH, Darmstadt
# more Info at http://www.peak-system.com
#
# Module Imports
#
from ctypes import *
from string import *
import platform
if platform.system() == "Darwin":
# To solve an issue with file system relative paths that are not allowed
# in hardened programs in Python 2.7 (under macOS).
# Installation path on macOS is '/usr/local/lib'
from ctypes.util import find_library
#///////////////////////////////////////////////////////////
# 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
# DEPRECATED parameters
#
PCAN_DEVICE_NUMBER = PCAN_DEVICE_ID # DEPRECATED. Use PCAN_DEVICE_ID instead
# PCAN parameter values
#
PCAN_PARAMETER_OFF = int(0x00) # The PCAN parameter is not set (inactive)
PCAN_PARAMETER_ON = int(0x01) # The PCAN parameter is set (active)
PCAN_FILTER_CLOSE = int(0x00) # The PCAN filter is closed. No messages will be received
PCAN_FILTER_OPEN = int(0x01) # The PCAN filter is fully opened. All messages will be received
PCAN_FILTER_CUSTOM = int(0x02) # The PCAN filter is custom configured. Only registered messages will be received
PCAN_CHANNEL_UNAVAILABLE = int(0x00) # The PCAN-Channel handle is illegal, or its associated hardware is not available
PCAN_CHANNEL_AVAILABLE = int(0x01) # The PCAN-Channel handle is available to be connected (PnP Hardware: it means furthermore that the hardware is plugged-in)
PCAN_CHANNEL_OCCUPIED = int(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 = int(0x00) # Logs system exceptions / errors
LOG_FUNCTION_ENTRY = int(0x01) # Logs the entries to the PCAN-Basic API functions
LOG_FUNCTION_PARAMETERS = int(0x02) # Logs the parameters passed to the PCAN-Basic API functions
LOG_FUNCTION_LEAVE = int(0x04) # Logs the exits from the PCAN-Basic API functions
LOG_FUNCTION_WRITE = int(0x08) # Logs the CAN messages passed to the CAN_Write function
LOG_FUNCTION_READ = int(0x10) # Logs the CAN messages received within the CAN_Read function
LOG_FUNCTION_ALL = int(0xFFFF) # Logs all possible information within the PCAN-Basic API functions
TRACE_FILE_SINGLE = int(0x00) # A single file is written until it size reaches PAN_TRACE_SIZE
TRACE_FILE_SEGMENTED = int(0x01) # Traced data is distributed in several files with size PAN_TRACE_SIZE
TRACE_FILE_DATE = int(0x02) # Includes the date into the name of the trace file
TRACE_FILE_TIME = int(0x04) # Includes the start time into the name of the trace file
TRACE_FILE_OVERWRITE = int(0x80) # Causes the overwriting of available traces (same name)
FEATURE_FD_CAPABLE = int(0x01) # Device supports flexible data-rate (CAN-FD)
FEATURE_DELAY_CAPABLE = int(0x02) # Device supports a delay between sending frames (FPGA based USB devices)
FEATURE_IO_CAPABLE = int(0x04) # Device supports I/O functionality for electronic circuits (USB-Chip devices)
SERVICE_STATUS_STOPPED = int(0x01) # The service is not running
SERVICE_STATUS_RUNNING = int(0x04) # The service is running
# Other constants
#
MAX_LENGTH_HARDWARE_NAME = int(33) # Maximum length of the name of a device: 32 characters + terminator
MAX_LENGTH_VERSION_STRING = int(18) # Maximum length of a version string: 17 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_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
# 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
#///////////////////////////////////////////////////////////
# PCAN-Basic API function declarations
#///////////////////////////////////////////////////////////
# PCAN-Basic API class implementation
#
class PCANBasic:
"""
PCAN-Basic API class implementation
"""
def __init__(self):
# Loads the PCANBasic API
#
if platform.system() == 'Windows':
# Loads the API on Windows
self.__m_dllBasic = windll.LoadLibrary("PCANBasic")
elif platform.system() == 'Linux':
# Loads the API on Linux
self.__m_dllBasic = cdll.LoadLibrary("libpcanbasic.so")
elif platform.system() == 'Darwin':
# Loads the API on Mac
#
# NOTE:
# ~~~~~
# The macOS library for PCAN-USB interfaces from PEAK-System, PCBUSB library,
# is a third-party software creaded and mantained by the MacCAN project. For
# information and support, please contact MacCAN (info@mac-can).
#
self.__m_dllBasic = cdll.LoadLibrary(find_library("libPCBUSB.dylib"))
if self.__m_dllBasic == None:
print ("Exception: The PCAN-Basic DLL couldn't be loaded!")
# Initializes a PCAN Channel
#
def Initialize(
self,
Channel,
Btr0Btr1,
HwType = TPCANType(0),
IOPort = c_uint(0),
Interrupt = c_ushort(0)):
"""
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:
print ("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:
print ("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:
print ("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:
print ("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:
print ("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-touple, 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 touple 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:
print ("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-touple, 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 touple 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:
print ("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:
print ("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:
print ("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:
print ("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-touple, 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 touple 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:
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])()
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:
print ("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)
else:
mybuffer = c_int(0)
mybuffer.value = Buffer
res = self.__m_dllBasic.CAN_SetValue(Channel,Parameter,byref(mybuffer),sizeof(mybuffer))
return TPCANStatus(res)
except:
print ("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-touple, 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 touple 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:
print ("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-touple, 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 touple with 2 values
"""
try:
mybuffer = TPCANHandle(0)
res = self.__m_dllBasic.CAN_LookUpChannel(Parameters,byref(mybuffer))
return TPCANStatus(res),mybuffer
except:
print ("Exception on PCANBasic.LookUpChannel")
raise
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment