ADLINK PCI-7841, cPCI-7841 User Manual

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NuCOM©

PCI-7841/cPCI-7841/PM-7841

Dual-Port Isolated CAN Interface Card

User’s Manual

Manual Rev. 3.00

Revision Date: June 28, 2006

Part No: 50-11109-1010

Advance Technologies; Automate the World.

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The information in this document is subject to change without prior notice in order to improve reliability, design, and function and does not represent a commitment on the part of the manufacturer.

In no event will the manufacturer be liable for direct, indirect, special, incidental, or consequential damages arising out of the use or inability to use the product or documentation, even if advised of the possibility of such damages.

This document contains proprietary information protected by copyright. All rights are reserved. No part of this manual may be reproduced by any mechanical, electronic, or other means in any form without prior written permission of the manufacturer.

Trademarks

NuDAQ, NuIPC, DAQBench are registered trademarks of ADLINK TECHNOLOGY INC.

Product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies.

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Getting Service from ADLINK

Customer Satisfaction is top priority for ADLINK Technology Inc. Please contact us should you require any service or assistance.

ADLINK TECHNOLOGY INC.

Web Site: http://www.adlinktech.com

Sales & Service: Service@adlinktech.com

TEL: +886-2-82265877

FAX: +886-2-82265717

Address: 9F, No. 166, Jian Yi Road, Chungho City,

Taipei, 235 Taiwan

Please email or FAX this completed service form for prompt and satisfactory service.

List of Tables

Table 1-1: PCI-7841 Specifications ........................................... 4

Table 1-2: cPCI-7841 Specifications ......................................... 4

Table 1-3: PM-7841 Specifications ............................................ 5

List of Tables iii

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List of Figures

Figure 2-1: Default Base Address Configuration........................ 13

Figure 2-2: IRQ Settings ............................................................ 14

iv List of Figures

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1 Introduction

The PCI/cPCI/PM-7841 is a Controller Area Network (CAN) interface card used for industrial PC with PCI, Compact-PCI, and PC104 bus. It supports dual ports CAN’s interface that can run independently or bridged at the same time. The built-in CAN controller provides bus arbitration and error detection with auto correction and re-transmission function. The PCI cards are plug and play therefore it is not necessary to set any jumper for matching the PC environment.

The CAN (Controller Area Network) is a serial bus system originally developed by Bosch for use in automobiles, is increasing being used in industry automation. It multi-master protocol, realtime capability, error correction and high noise immunity make it especially suited for intelligent I/O devices control network.

The PCI/cPCI/PM-7841 is programmed by using the ADLINK‘s software library. The programming of this PCI card is as easy as AT bus add-on cards.

1.1 PCI/cPCI/PM-7841 Features

The PCI-7841 is a Dual-Port Isolated CAN Interface Card with the following features:

X Two independent CAN network operation

X Bridge function supports

X Compatible with CAN specification 2.0 parts A and B

X Optically isolated CAN interface up to 2500 Vrms isolation

protection

X Direct memory mapping to the CAN controllers

X Powerful master interface for CANopen, DeviceNet and

SDS application layer protocol

X Up to 1Mbps programmable transfer rate

X Supports standard DeviceNet data rates 125, 250 and 500

Kbps

X PCI bus plug and play

X DOS library and examples included

Introduction 1

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The cPCI-7841 is a Dual-Port Isolated CAN Interface Card with the following features:

X Two independent CAN network operation

X Bridge function supports

X Compatible with CAN specification 2.0 parts A and B

X Optically isolated CAN interface up to 2500 Vrms isolation

protection

X Direct memory mapping to the CAN controllers

X Powerful master interface for CANopen, DeviceNet and

SDS application layer protocol

X Up to 1Mbps programmable transfer rate

X Supports standard DeviceNet data rates 125, 250 and 500

Kbps

X PCI bus plug and play

X compact-PCI industry bus

X DOS library and examples included

The PM-7841 is a Dual-Port Isolated CAN Interface Card with the following features:

X Two independent CAN network operation

X Bridge function supports

X Compatible with CAN specification 2.0 parts A and B

X Optically isolated CAN interface up to 2500 Vrms isolation

protection

X Direct memory mapping to the CAN controllers

X Powerful master interface for CANopen, DeviceNet and

SDS application layer protocol

X Up to 1Mbps programmable transfer rate

X Supports standard DeviceNet data rates 125, 250 and 500

Kbps

X DIP-Switch for base address configuration

X Software Programmable Memory-Mapped Address

X PC-104 industry form factor

X DOS library and examples included

2Introduction

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1.2 Applications

X Industry automation

X Industry process monitoring and control

X Manufacture automation

X Product testing

Introduction 3

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1.3 Specifications

PCI-7841 Specification Table

Ports 2 CAN channels (V2.0 A,B)

CAN Controller SJA1000

CAN Transceiver 82c250

Signal Support CAN_H, CAN_L

Isolation Voltage 2500 Vrms

Connectors Dual DB-9 male connectors

Operation Temperature

Storage Temperature

Humidity 5% ~ 95% non-condensing

IRQ Level Set by Plug and Play BIOS

I/O port address Set by Plug and Play BIOS

Power Consumption

(without external devices)

Size 132(L)mm x 98(H)mm

Table 1-1: PCI-7841 Specifications

cPCI-7841 Specification Table

Ports 2 CAN channels (V2.0 A,B)

CAN Controller SJA1000

CAN Transceiver 82c250

Signal Support CAN_H, CAN_L

Isolation Voltage 2500 Vrms

Connectors Dual male connectors

Operation Temperature

Storage Temperature

Humidity 5% ~ 95% non-condensing

IRQ Level Set by Plug and Play BIOS

I/O port address Set by Plug and Play BIOS

Power Consumption

(without external devices)

Table 1-2: cPCI-7841 Specifications

0 ~ 60

°C

-20°C ~ 80°C

400mA @5VDC ( Typical)

900mA @5VDC ( Maximum)

0 ~ 60

°C

-20

°C ~ 80°C

400mA @5VDC ( Typical)

900mA @5VDC ( Maximum)

4Introduction

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Size 132(L)mm x 98(H)mm

Table 1-2: cPCI-7841 Specifications

PM-7841 Specification Table

Ports 2 CAN channels (V2.0 A,B)

CAN Controller SJA1000

CAN Transceiver 82c250/82c251

Signal Support CAN_H, CAN_L

Isolation Voltage 1000 Vrms

Connectors Dual 5 male connectors

Operation Temperature

Storage Temperature

Humidity 5% ~ 95% non-condensing

IRQ Level Set by Jumper

I/O port address Set by DIP Switch

Memory Mapped Space 128 Bytes by Software

Power Consumption

(without external devices)

Size 90.17(L)mm x 95.89(H)mm

Table 1-3: PM-7841 Specifications

0 ~ 60

°C

-20

°C ~ 80°C

400mA @5VDC ( Typical)

900mA @5VDC ( Maximum)

Introduction 5

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6Introduction

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2 Installation

This chapter describes how to install the PCI/cPCI/PM-7841. At first, the contents in the package and unpacking information that you should be careful are described.

2.1 Before Installing the PCI/cPCI/PM-7841

Your PCI/cPCI/PM-7841 card contains sensitive electronic components that can be easily damaged by static electricity.

The card should be done on a grounded anti-static mat. The operator should be wearing an anti-static wristband, grounded at the same point as the anti-static mat.

Inspect the card module carton for obvious damage. Shipping and handling may cause damage to your module. Be sure there are no shipping and handing damages on the module before processing.

After opening the card module carton, exact the system module and place it only on a grounded anti-static surface component side up.

Note: DO NOT APPLY POWER TO THE CARD IF IT HAS BEEN

DAMAGED.

You are now ready to install your PCI/cPCI/PM-7841.

2.2 Installing PCI-7841

What you have:

In addition to this User's Manual, the package includes the following items:

X PCI-7841 Dual Port PCI Isolated CAN Interface Card

X ADLINK CD-ROM

If any of these items is missing or damaged, contact the dealer from whom you purchased the product. Save the shipping materials and carton in case you want to ship or store the product in the future.

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PCI-7841 Layout:

Terminator Configuration

A 120 Ohm terminal resistor is installed for each port, while JP1 enables the terminal resistor for port0 and JP2 enables the terminal resistor for port 1

Connector Pin Definition

P3 and P4 are CAN connectors; pin definition is as follows:

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2.3 Installing cPCI-7841

What you have

In addition to this User's Manual, the package includes the following items:

X cPCI-7841 Dual Port Compact-PCI Isolated CAN Interface

Card

X ADLINK CD-ROM

cPCI-7841 Layout

Terminator Configuration

A 120 Ohm terminal resistor is installed for each port, while JP1 enables the terminal resistor for port0 and JP2 enables the terminal resistor for port 1

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Connector Pin Definition

J1 and J2 are CAN connectors; pin definition is as follows:

2.4 Installing PM-7841

What you have

In addition to this User's Manual, the package includes the following items:

X PM-7841 Dual Port PC-104 Isolated CAN Interface Card

X ADLINK CD-ROM

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PM-7841 Layout

Terminator Configuration

A 120 Ohm terminal resistor is installed for each port, while JP1 enables the.

terminal resistor for port0 and JP2 enables the terminal resistor for port 1.

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Connector Pin Define

J1 and J2 are CAN connectors; pin definition is as follows:

2.5 Jumper and DIP Switch Description

You can configure the output of each channel and base address by setting jumpers and DIP switches on the PM-7841. The card's jumpers and switches are preset at the factory. Under normal circumstances, you should not need to change the jumper settings.

A jumper switch is closed (sometimes referred to as "shorted") with the plastic cap inserted over two pins of the jumper. A jumper is open with the plastic cap inserted over one or no pin(s) of the jumper.

2.6 Base Address Setting

The PM-7841 requires 16 consecutive address locations in I/O address space. The base address of the PM-7841 is restricted by the following conditions.

1. The base address must be within the range 200hex to

3F0hex.

2. The base address should not conflict with any PC

reserved I/O address.

The PM-7841's I/O port base address is selectable by an 5 position DIP switch SW1 ( refer to Table 2.1). The address settings for I/O port from Hex 200 to Hex 3F0 is described in Table 2.2 below. The default base address of your PM-7841 is set to hex 200 in the factory( see Figure below).

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SW1 : Base Address = 0x200

12345

A ( 8 7 6 5 4 )

Figure 2-1: Default Base Address Configuration

(*): default setting ON : 0 X: don't care OFF : 1

Note: A4,…, A9 correspond to PC-104(ISA) bus address lines.

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2.7 IRQ Level Setting

A hardware interrupt can be triggered by the external Interrupt signal which is from JP3 ad JP4.

The jumper setting is specified as below:

Note: Be aware that there is no other add-on cards sharing the

same interrupt level in the system.

Interrupt Default Setting = IRQ15

(IRQ)

X 15 12 11 10

Figure 2-2: IRQ Settings

9 7 6 5 3

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3 Function Reference

The cPCI/PCI-7841 functions are organize into the following sections:

X CAN layer functions

X Card Initialization and configuration functions

X CAN layer I/O functions

X CAN layer status functions

X CAN layer Error and Event Handling functions

X DeviceNet layer functions

X Send and Receive packet functions

X Connection establish and release functions

X DeviceNet object class functions

The particular functions associated with each function are presented in next page.

3.1 Functions Table

CAN layer functions

Function Type Function Name

PM-7841 Initial PM7841_Install()

GetDriverVersion()

CanOpenDriver()

CanCloseDriver()

CanConfigPort()

CanDetectBaudrate()

_7841_Read()

_7841_Write()

CanEnableReceive()

CanDisableReceive()

CanSendMsg()

CanRcvMsg()

CanGetRcvCnt()

Function Reference 15

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CanClearOverrun()

CanClearRxBuffer()

CanClearTxBuffer()

CanGetErrorCode()

CanGetErrorWarningLimit()

CanSetErrorWarningLimit()

CanGetRxErrorCount()

CanGetTxErrorCount()

CanSetTxErrorCount()

CanGetPortStatus()

CanGetLedStatus()1

CanSetLedStatus()1

Error and Event handling functions

Operation System Function Name

DOS

Windows 95/98/NT CanInstallEvent()

CanInstallCallBack()

CanRemoveCallBack()

Note: only for compact PCI and PC-104 version.

PORT_STRUCT structure define

The PORT_STRUCT structure defines the mode of id-mode, acceptance code, acceptance mask and baud rate of a physical CAN port. It is used by the CanPortConfig(), and CanGetPortStatus() functions.

typedef struct _tagPORT_STRUCT { int mode; // 0 for 11-bit; 1 for 29-

bit DWORD accCode, accMask; int baudrate; BYTE brp, tseg1, tseg2;// Reserved BYTE sjw, sam; // Reserved }PORT_STRUCT;

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Members

mode: 0 means using 11-bit in CAN-ID field

1 means using 29-bit in CAN-ID field.

accCode:Acceptance Code for CAN controller.

accMask:Acceptance Mask for CAN controller.

baudrate:Baud rate setting for the CAN controller.

Value Baudrate

0 125 Kbps

1 250 Kbps

2 500 Kbps

31M bps

CanPortConfig(), CanGetPortStatus(), and PORT_STATUS structure

PORT_STATUS structure define

The PORT_STATUS structure defines the status register and PORT_STRUCT of CAN port. It is used by the CanGetPortStatus() functions.

typedef struct _tagPORT_STATUS { PORT_STRUCT port; PORT_REG status; }PORT_STATUS; Members

port: PORT_STRUCT data status: status is the status register

mapping of CAN controller. typedef union _tagPORT_REG { struct PORTREG_BIT bit; unsigned short reg; }PORT_REG; struct PORTREG_BIT { unsigned short RxBuffer: 1; unsigned short DataOverrun: 1; unsigned short TxBuffer: 1;

Function Reference 17

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unsigned short TxEnd: 1; unsigned short RxStatus: 1; unsigned short TxStatus: 1; unsigned short ErrorStatus: 1;

unsigned short BusStatus: 1; unsigned short reserved: 8; };

CAN_PACKET structure define

The CAN_PACKET structure defines the packet format of CAN packet. It is used by the CanSendMsg(), and CanRcvMsg() functions.

typedef struct _tagCAN_PACKET { DWORD CAN_ID; BYTE rtr; BYTE len; BYTE data[8] DWORD time; BYTE reserved }CAN_PACKET;

Members

CAN_ID: CAN ID field (32-bit unsigned integer)

rtr: CAN RTR bit.

len: Length of data field.

data: Data (8 bytes maximum)

time: Reserved for future use

reserved: Reserved byte

DEVICENET_PACKET structure define

The DEVICENET_PACKET structure defines the packet format of DeviceNet packet. It is widely used by the DeviceNet layer functions.

typedef struct _tagDEVICENET_PACKET { BYTE Group; BYTE MAC_ID; BYTE HostMAC_ID; BYTE MESSAGE_ID; BYTE len; BYTE data[8]; DWORD time; BYTE reserved; }DEVICENET_PACKET;

Members

Group: Group of DeviceNet packet.

MAC_ID: Address of destination.

HostMAC_ID:Address of source.

MESSAGE_ID:Message ID of DeviceNet packet.

len: Length of data field.

data: Data (8 bytes maximum).

3.2 CAN LAYER Functions

CAN-layer Card Initialization Functions

PM7841_Install(base, irq_chn, 0xd000)

Purpose Get the version of driver Prototype C/C++ int PM7841_Install(int baseAddr, int irq_chn, int memorySpace) Parameters baseAddr:Base Address of PM-7841(DIP

Switch) Irq_chn: IRQ channel (Jumpper) MemorySpace: Memory Mapping Range Return Value A signed integer

0 : Successful

-1: Failed

Remarks PM7841 is PC104(ISA) CAN interface card.

It will need 32-bytes I/O space and 1K

memory space. See Also none Usage C/C++

#include “pm7841.h” int ret; ret = PM7841_Install( baseAddr, irq_ch, memorySpace);

GetDriverVersion()

Purpose Get the version of driver Prototype C/C++

WORD GetDriverVersion(void) Parameters none Return Value A 16-bit unsigned integer

High byte is the major version

Low byte is the major version

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Remarks Call this function to retrieve the version of

current using driver. This function is for your program to get the version of library and

dynamic-linked library. See Also none Usage C/C++

#include “pci7841.h”

WORD version = GetDriverVersion(); majorVersion = version >> 8; minorVersion = version & 0x00FF;

CanOpenDriver()

Purpose Open a specific port, and initialize driver. Prototype C/C++

int CanOpenDriver(int card, int port)) Parameters card: index of card port: index of port Return Value Return a handle for open port

-1 if error occurs

Remarks Call this function to open a port

Under DOS operation system, you will

receive –1 if there is not enough memory. If

writing program for the Windows system. It

will return -1, if you want to open a port had

been opened. And you must use Can-

CloseDriver() to close the port after using. See Also CanCloseDriver() Usage C/C++

#include “pci7841.h” int handle = CanOpenDriver(); CanSendMsg(handle, &msg); CanCloseDriver(handle);

CanCloseDriver()

Purpose Close an opened port, and release driver. Prototype C/C++ int CanCloseDriver(int handle)

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Parameters handle : handle retrieve from CanOpen-

Driver() Port : index of port

Return Value Return 0 if successful

-1 if error occurs Remarks Call this function to close a port. See Also CanOpenDriver() Usage See usage of CanOpenDriver().

CanConfigPort()

Purpose Configure properties of a port Prototype C/C++

int CanConfigPort(int handle, PORT_STRUCT *ptrStruct)

Parameters handle : handle retrieve from CanOpen-

Driver() PtrStruct : a pointer of PORT_STRUCT

type

Return Value Return 0 is successful

-1 if error occurs Remarks Configure a port that had been opened.

The properties of a CAN port such as baud rate, acceptance code, acceptance mask, operate mode. After configuration is over,

the port is ready to send and receive data. See Also PORT_STRUCT structure define Usage C/C++

#include “pci7841.h PORT_STRUCT port_struct; int handle = CanOpenDriver(0, 0);//Open port 0 of

card 0 port_struct.mode = 0;//CAN2.0A (11-bit CAN id) port_struct.accCode = 0;//This setting of

acceptance code and port_struct.accMask = 0x7FF; //mask enable all

MAC_IDs input port_struct.baudrate = 0;//125K bps CanConfigPort(handle, &port_struct);

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CanCloseDriver(handle);

CanDetectBaudrate()

Purpose Perform auto-detect baud rate algorithm. Prototype C/C++

int CanDetectBaudrate(int handle, int miliSecs)

Parameters handle: handle retrieve from CanOpen-

Driver()

MiliSecs: timeout time(ms) Return Value Return –1 if error occurs Others is the baudrate

Value Baudrate

0 125 Kbps

1 250 Kbps

2 500 Kbps

31 Mbps

Remarks Call this function to detect the baud rate of

a port.

The function performs an algorithm to

detect your baud rate. It needs that there

are activities on the network. And it will

return a –1 when detecting no activity on

the network or time was exceeded. See Also none Usage C/C++

#include “pci7841.h PORT_STRUCT port_struct;” int handle = CanOpenDriver(); port_struct.mode = 0;//CAN2.0A (11-bit CAN id) port_struct.accCode = 0;//This setting of

acceptance code and

port_struct.accMask = 0x7FF;//mask enable all

MAC_IDs input

port_struct.baudrate = CanDetectBaudrate(handle,

1000):

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CanConfigPort(handle, &port_struct); CanCloseDriver(handle);

Visual Basic(Windows 95/98/NT)

CanRead()

Purpose Direct read the register of PCI-7841. Prototype C/C++

BYTE CanRead(int handle, int offset)

Parameters handle : handle retrieve from CanOpen-

Driver()

offset : offset of register Return Value Return data read from port. Remarks Direct read the register of PCI-7841. See Also CanWrite() Usage none

CanWrite()

Purpose Direct write the register of PCI-7841. Prototype C/C++

void CanWrite(int handle, int offset, BYTE

data) Parameters handle : handle retrieve from CanOpen-

Driver()

Offset : offset of register

data : data write to the port Return Value none Remarks Call this function to directly write a register

of PCI-7841 See Also CanRead() Usage none

CAN-layer I/O Functions

CanEnableReceive()

Purpose Enable receive of a CAN port. Prototype C/C++

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void CanEnableReceive(int handle);

Parameters handle : handle retrieve from CanOpen-

Driver() Return Value none Remarks Call this function to enable receive.

Any packet on the network that can induce

a interrupt on your computer. If that packet

can pass your acceptance code and accep-

tance mask setting. So if your program

doesn’t want to be disturbed. You can call

CanDisableReceive() to disable receive

and CanEnableReceive() to enable

receives. See Also CanDisableReceive() Usage none

CanDisableReceive()

Purpose Disable receive of a CAN port. Prototype C/C++

void CanEnableReceive(int handle); Parameters handle : handle retrieve from CanOpen-

Driver() Return Value none Remarks Please refer the CanEnableReceive() See Also CanEnableReceive() Usage none

CanSendMsg()

Purpose Send can packet to a port Prototype C/C++

int CanSendMsg(int handle, CAN_PACKET

*packet); Parameters handle : handle retrieve from CanOpen-

Driver()

Packet : CAN_PACKET data Return Value Return 0 is successful

Function Reference 25

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-1 if error occurs

Remarks Send a message to an opened CAN port.

Actually, this function copies the data to the sending queue. Error occurs when the port has not been opened yet or the packet is a NULL pointer. You can use the Error and Event handling functions to handle the

exceptions. See Also CanRcvMsg() Usage C/C++

#include “pci7841.h PORT_STRUCT port_struct; CAN_PACKET sndPacket, rcvPacket; int handle = CanOpenDriver(0, 0);//open the port

0 of card 0 CanConfigPort(handle, &port_struct); CanSendMsg(handle, &sndPacket); if(CanRcvMsg(handle, &rcvPacket) == 0) { } CanCloseDriver(handle);

CanRcvMsg()

Purpose Receive a can packet from a port Prototype C/C++

int CanSendMsg(int handle, CAN_PACKET *packet);

Parameters handle : handle retrieve from CanOpen-

Driver() Packet : CAN_PACKET data

Return Value Return 0 is successful

-1 if error occurs

Remarks Receive a message from an opened CAN

port. There are only 64-bytes FIFO under hard-

ware. It can store from 3 to 21 packets. So there are memory buffer under driver. When data comes, the driver would move it from

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card to memory. It starts after your port configuration is done. This function copies the buffer to your application. So if your program has the critical section to process the data on the network. We suggest that you can call the CanClearBuffer() to clear the buffer first. Error would be happened most under the following conditions:

1. You want to access a port that has not be opened.

2. Your packet is a NULL pointer.

3. The receive buffer is empty. You can use the Status handling functions

to handle the exceptions. See Also CanSendMsg() Usage See the CanSendMsg()

CAN-layer Status Functions

CanClearOverrun()

Purpose Clear data overrun status Prototype C/C++

void CanClearOverrun(int handle) Parameters handle : handle retrieve from CanOpen-

Driver() Return Value none Remarks Clear the data overrun status

Sometimes if your system has heavy load,

and the bus is busy. The data overrun

would be signalled. A Data Overrun signals,

that data are lost, possibly causing incon-

sistencies in the system. See Also CanRcvMsg() Usage C/C++

#include “pci7841.h int handle = CanOpenDriver(0, 0);//open the port

0 of card 0

Function Reference 27

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…. CanClearOverrun(handle); CanCloseDriver(handle);

CanClearRxBuffer()

Purpose Clear data in the receive buffer Prototype C/C++

void CanClearRxBuffer(int handle)

Parameters handle : handle retrieve from CanOpen-

Driver() Return Value none Remarks Clear the data in the receive buffer

There are 2-type of buffer defined in the

driver. First one is the FIFO in the card, the

second one is the memory space inside the

driver. Both of them would be cleared after

using this function. See Also CanRcvMsg() Usage C/C++

#include “pci7841.h int handle = CanOpenDriver(0, 0);//open the port

0 of card 0 …. CanClearRxBuffer(handle); CanCloseDriver(handle);

CanClearTxBuffer()

Purpose Clear Transmit Buffer Prototype C/C++

void CanClearTxBuffer(int handle)

Parameters handle : handle retrieve from CanOpen-

Driver() Return Value none Remarks Clear the data in the transmit buffer.

Under a busy DeviceNet Network, your

transmit request may not be done due to

the busy in the network. The hardware will

send it automatically when bus is free. The

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un-send message would be stored in the memory of the driver. The sequence of outgoing message is the FIRST-IN-FIRSTOUT. According this algorithm, if your program need to send an emergency data, you can clear the transmit buffer and send it

again. See Also CanRcvMsg() Usage C/C++

#include “pci7841.h

int handle = CanOpenDriver(0, 0);//open the port

0 of card 0 …. CanClearTxBuffer(handle); CanCloseDriver(handle);

CanGetErrorCode()

Purpose Get the Error Code Prototype C/C++ BYTE CanGetErrorCode(int handle) Parameters handle : handle retrieve from CanOpen-

Driver()

Return Value error code

Return error code is an 8-bit data

Bit Symbol Name Value Function

7 ERRC1 Error Code 1

6 ERRC0 Error Code 0

5 DIR Direction

4 SEG4 Segment 4

3 SEG3 Segment 3

2 SEG2 Segment 2

1 SEG1 Segment 1

0 SEG0 Segment 0

Function Reference 29

1 Rx error occurred during reception

0 Tx error occurred during ransmission

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Bit interpretation of ERRC1 and ERRC2

Bit ERRC1 Bit ERRC2 Function

0 0 bit error

0 1 form error

1 0 stuff error

1 1 other type of error

Bit interpretation of SEG4 to SEG 0

SEG4 SEG3 SEG2 SEG1 SEG0 Function

00011 start of frame

00010 ID.28 to ID.21

00110 ID.20 to ID.18

00100 bit SRTR

00101 bit IDE

00111 ID.17 to ID.13

01111 ID.12 to ID.5

01110 ID.4 to ID.0

01100 RTR bit

01101 reserved bit 1

01001 reserved bit 0

01011Data length code

01010 Data field

01000 CRC sequence

11000 CRC delimiter

11001acknowledge slot

11010 end of frame

10010 intermission

10001 active error flag

10110passive error flag

10011tolerate dominant bits

10111 error delimiter

11100 overload flag

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Remarks Get the information about the type and

location of errors on the bus. When a bus error occurs, if your program

installed the call-back function or error-handling event. The error-bit position would be captured into the card. The value would be fixed in the card until your program read it back.

CanSetErrorWarningLimit()

Usage C/C++

#include “pci7841.h int handle = CanOpenDriver(0, 0);//open the port

0 of card 0 …. BYTE data = CanGetErrorCode(); CanCloseDriver(handle);

CanSetErrorWarningLimit()

Purpose Set the Error Warning Limit Prototype C/C++

void CanSetErrorWarningLimit(int handle, BYTE value)

Parameters handle : handle retrieve from CanOpen-

Driver()

Value : Error Warning Limit Return Value none Remarks Set the error warning limit. If your program

has installed the error warning event or call-

back function. The error warning will be sig-

naled after the value of error counter pass-

ing the limit you set. See Also CanGetErrorWarningLimit() Usage C/C++

#include “pci7841.h int handle = CanOpenDriver(0, 0);//open the port

0 of card 0

….

Function Reference 31

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CanSetErrorWarning(handle, 96); CanCloseDriver(handle);

CanGetErrorWarningLimit()

Purpose Get the Error Warning Limit Prototype C/C++

BYTE CanGetErrorWarningLimit(int handle)

Visual Basic(Windows 95/98/NT)

Parameters handle : handle retrieve from CanOpen-

Driver() Return Value 0-255 (Error warning limit value) Remarks Get the error warning limit See Also CanSetErrorWarningLimit() Usage C/C++

#include “pci7841.h int handle = CanOpenDriver(0, 0);//open the port

0 of card 0 …. BYTE limit = CanClearOverrun(handle); CanCloseDriver(handle);

CanGetRxErrorCount()

Purpose Get the current value of the receive error

counter

Prototype C/C++

BYTE CanGetRxErrorCount(int handle)

Parameters handle : handle retrieve from CanOpen-

Driver() Return Value value Remarks This function reflects the current of the

receive error counter. After hardware reset

happened, the value returned would be ini-

tialized to 0. If a bus-off event occurs, the

returned value would be 0. See Also CanRcvMsg() Usage C/C++

32 Function Reference

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#include “pci7841.h int handle = CanOpenDriver(0, 0);//open the port

0 of card 0 …. BYTE error_count = CanGetRxErrorCount(); CanCloseDriver(handle);

CanGetTxErrorCount()

Purpose Get the current value of the transmit error

counter

Prototype C/C++

BYTE CanGetTxErrorCount(int handle)

Parameters handle : handle retrieve from CanOpen-

Driver() Return Value value Remarks This function reflects the current of the

transmit error counter. After hardware reset

happened, the value would set to 127. A

bus-off event occurs when the value

reaches 255. You can call the CanSetTxEr-

rorCount() to set the value from 0 to 254 to

clear the bus-off event. See Also CanRcvMsg() Usage C/C++

#include “pci7841.h int handle = CanOpenDriver(0, 0);//open the port

0 of card 0 …. BYTE error_count = CanGetTxErrorCount(handle); CanCloseDriver(handle);

CanSetTxErrorCount()

Purpose Set the current value of the transmit error

counter

Prototype C/C++

void CanSetTxErrorCount(int handle, BYTE value)

Function Reference 33

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Parameters handle : handle retrieve from CanOpen-

Driver()

value : a byte value Return Value None Remarks This function set the current of the transmit

error counter.

Please see the remark of CanGetTxError-

Count(). See Also CanRcvMsg() Usage C/C++

#include “pci7841.h int handle = CanOpenDriver(0, 0);//open the port

0 of card 0 …. CanSetTxErrorCount(handle, 0); CanCloseDriver(handle);

CanGetPortStatus()

Purpose Get Port Status Prototype C/C++

int CanGetPortStatus(int handle, PORT_STATUS *PortStatus)

Parameters handle : handle retrieve from CanOpen-

Driver() PortStatus : Pointer of PORT_STATUS

structure

Return Value No Error: 0

Error: -1

Remarks Get Port Status(See the structure define for

detailed description) See Also Usage C/C++

#include “pci7841.h PORT_STATUS port_status; int handle = CanOpenDriver(0, 0);// open the port

0 of card 0 CanGetPortStatus(&port_status); CanClearOverrun();

34 Function Reference

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CanCloseDriver(handle);

CanGetLedStatus()

Purpose Get the LED status of cPCI-7841 and PM-

7841

Prototype C/C++

BYTE CanGetLedStatus (int card, int index);

Parameters card : card number

Index : index of LED

Return Value status of Led

Value Function

0 Led Off

1Led On

Remarks Get the status of Led

This function supports the cPCI-7841 and

PM-7841. See Also CanSetLEDStatus() Usage C/C++

#include “pci7841.h int handle = CanOpenDriver(0, 0);//open the port

0 of card 0 …. BYTE flag = CanGetLedStatus(0, 0);; CanCloseDriver(handle);

CanSetLedStatus()

Purpose Set the Led Status of cPCI-7841 Prototype C/C++

void CanSetLedStatus(int card, int index, int flashMode);

Parameters card : card number

Index : index of Led

flashMode :

Value Function

Function Reference 35

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0Led Off

1 Led On

Return Value none Remarks Set Led status of cPCI-7841 and PM-7841

This function supports the cPCI-7841 and

PM-7841 See Also CanRcvMsg() Usage C/C++

#include “pci7841.h int handle = CanOpenDriver(0, 0);//open the port

0 of card 0 …. CanSetLedStatus(0, 0, 2);//Set Led to flash CanCloseDriver(handle);

CanGetRcvCnt()

Purpose Get the how many message in the FIFO Prototype C/C++

int _stdcall CanGetRcvCnt(int handle)

Parameters handle : handle retrieve from CanOpen-

Driver()

Return Value value indicates the left unread messages in

the FIFO.

Remarks Get the unread message count in the FIFO.

Because the interrupt would be very busy while CAN bus is busy. There is possibility to lost the event in Windows system. A way to solve to this problem is to call this function at free time while program running. You also can call this function to make sure that

receiving FIFO is empty. See Also CanGetReceiveEvent() Usage C/C++

#include “pci7841.h int handle = CanOpenDriver(0, 0);//open the port

0 of card 0 ….. int count = CanGetRcvCnt(handle);.

36 Function Reference

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Error and Event Handling Functions

When the exception occurs, your program may need to take some algorithm to recover the problem. The following functions are operation-system depended functions. You should care about the restriction in the operation-system.

DOS Environment

CanInstallCallBack()

Purpose Install callback function of event under DOS

environment

Prototype C/C++ (DOS)

void far*CanInstallCallBack(int handle, int index, void (far* proc)() );

Parameters handle : handle retrieve from CanOpen-

Driver() Index : event type

Index Type

2 Error Warning

3 Data Overrun

4Wake Up

5 Error Passive

6 Arbitration Lost

7 Bus Error

void (far *proc)() : Call-back function The suggested prototype of the call-back

function is like void (far ErrorWarning)();

Return Value Previous call back function (NULL when

there is no Call back installed)

Remarks Install the call-back function for event han-

dling In normal state, all hardware interrupt of

cPCI/PCI-7841 wouldn’t be set except receive and transmit interrupt. After calling the CanInstallCallBack(), the corresponding interrupt would be activated. The interrupt

Function Reference 37

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occurs when the event happened. It will not be disabled until using CanRemoveCallBack() or a hardware reset.

Actually, the call-back function is a part of ISR. You need to care about the DOS reentrance problem, and returns as soon as

possible to preventing the lost of data. See Also CanRemoveCallBack() Usage C/C++(DOS)

#include “pci7841.h void (far ErrorWarning)(); int handle = CanOpenDriver(0, 0); // open the port 0 of card 0 … // Installs the ErrorWarning handling event and

stores the previous one.

void (far *backup) = CanInstallCallBack(0, 2,

ErrorWarning);

CanRemoveCallBack(0, 2, NULL);//Remove the call-

back function

CanCloseDriver(handle);

CanRemoveCallBack()

Purpose Remove the callback function of event

under DOS environment Prototype C/C++(DOS)

int CanRemoveCallBack(int handle, int

index, void (far* proc)() ); Parameters handle : handle retrieve from CanOpen-

Driver()

Index : event type

Index Type

2 Error Warning

3 Data Overrun

4 Wake Up

5 Error Passive

6 Arbitration Lost

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7 Bus Error

void (far *proc)() : Previous call-back function

Return Value Return 0 is successful

-1 if error occurs

Remarks Install the call-back function for event han-

dling In normal state, all hardware interrupt of

cPCI/PCI-7841 wouldn’t be set except receive and transmit interrupt. After calling the CanInstallCallBack(), the corresponding interrupt would be activated. The interrupt occurs when the event happened. It will not be disabled until using CanRemoveCallBack() or a hardware reset.

Actually, the call-back function is a part of ISR. You need to care about the DOS reentrance problem, and returns as soon as possible to preventing the lost of data.

See Also CanRemoveCallBack() Usage C/C++ (DOS)

#include “pci7841.h void (far ErrorWarning)(); int handle = CanOpenDriver(0, 0);//open the port

0 of card 0 … // Installs the ErrorWarning handling event and

stores the previous one. void (far *backup) = CanInstallCallBack(0, 2,

ErrorWarning); CanRemoveCallBack(0, 2, NULL);//Remove the call-

back function

Function Reference 39

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CanCloseDriver(handle);

Windows 95/98 Environment

CanGetReceiveEvent()

Purpose Install the event under Windows 95/98/NT

system

Prototype C/C++ (Windows 95/98/NT)

void CanGetReceiveEvent(int handle, HANDLE *hevent);

Parameters handle : handle retrieve from CanOpen-

Driver()

Heven : HANDLE point for receive event Return Value none Remarks Retrieve receive notify event

Under Windows 95/98/NT environment,

your program can wait the input message

by waiting an event. You can refer to follow-

ing program to use this function. But the

CAN system is a heavy-load system. Under

the full speed(of course, it depends on your

system), the hardware receives the mes-

sage faster than the event occurs. Under

this condition, the event could be combined

by OS. So the total count of event may be

less than actually receive. You can call the

CanGetRcvCnt() to retrieve the unread

message in the driver’s FIFO. See Also CanGetRcvCnt() Usage C/C++ (Windows 95/98/NT)

#include “pci7841.h HANDLE recvEvent0;

int handle = CanOpenDriver(0, 0); // open the port 0 of card 0 int count1; CanGetReceiveEvent(handle, rcvEvent0); if(WaitForSingleObject(rcvEvent0, INFINITE) == WAIT_OBJECT_0) {

40 Function Reference

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// You need not to call ResetEvent()….. err=CanRcvMsg(handle,&rcvMsg[0] [rcvPatterns[0]]); rcvPatterns[0]++; } cout1 = CanGetRcvCnt(handle[0]); // To retrieve number of unread // in the FIFO

CanInstallEvent()

Purpose Install the event under Windows 95/98/NT

system

Prototype C/C++ (Windows 95/98/NT)

int CanInstallEvent(int handle, int index, HANDLE hEvent);

Parameters handle : handle retrieve from CanOpen-

Driver() Index : event type

Index Type

2 Error Warning

3 Data Overrun

4Wake Up

5 Error Passive

6 Arbitration Lost

7 Bus Error

HEvent : HANDLE created from CreateEvent()(Win32 SDK)

Return Value Return 0 is successful

-1 if error occurs

Remarks Install the notify event

Unlike the Dos environment, there is only one error handling function under Windows 95/98/NT environment. First you need to create an event object, and send it to the DLL. The DLL would make a registry in the kernel and pass it to the VxD(SYS in NT

Function Reference 41

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system). You can’t release the event object

you created, because it was attached to the

VxD. The VxD would release the event

object when you installed another event.

One way to disable the event handling is

that you install another event which handle

is NULL (ex: CanInstallEvent(handle, index,

NULL)). And you can create a thread to

handle the error event. See Also CanRemoveCallBack(),CanInstallCall-

Back() Usage C/C++ (Windows 95/98/NT)

#include “pci7841.h int handle = CanOpenDriver(0, 0); // open the port 0 of card 0 … // Installs the ErrorWarning handling event and

stores the previous one.

HANDLE hEvent = CreateEvent(NULL, FALSE, TRUE,

“ErrorWarning”); CanInstallEvent(0, 2, hEvent); //..create a thread ….

Thread function

WaitForSingleObject(hEvent, INFINITE); ResetEvent(hEvent); // Event handling

42 Function Reference

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Warranty Policy

Thank you for choosing ADLINK. To understand your rights and enjoy all the after-sales services we offer, please read the following carefully.

1. Before using ADLINK’s products please read the user man-

ual and follow the instructions exactly. When sending in damaged products for repair, please attach an RMA application form which can be downloaded from: http:// rma.adlinktech.com/policy/.

2. All ADLINK products come with a limited two-year war-

ranty, one year for products bought in China:

X The warranty period starts on the day the product is

shipped from ADLINK’s factory.

X Peripherals and third-party products not manufactured

by ADLINK will be covered by the original manufactur-

ers' warranty.

X For products containing storage devices (hard drives,

flash cards, etc.), please back up your data before send-

ing them for repair. ADLINK is not responsible for any

loss of data.

X Please ensure the use of properly licensed software with

our systems. ADLINK does not condone the use of

pirated software and will not service systems using such

software. ADLINK will not be held legally responsible for

products shipped with unlicensed software installed by

the user.

X For general repairs, please do not include peripheral

accessories. If peripherals need to be included, be cer-

tain to specify which items you sent on the RMA Request

& Confirmation Form. ADLINK is not responsible for

items not listed on the RMA Request & Confirmation

Form.

Warranty Policy 43

Page 52

3. Our repair service is not covered by ADLINK's guarantee in the following situations:

X Damage caused by not following instructions in the

User's Manual.

X Damage caused by carelessness on the user's part dur-

ing product transportation.

X Damage caused by fire, earthquakes, floods, lightening,

pollution, other acts of God, and/or incorrect usage of voltage transformers.

X Damage caused by unsuitable storage environments

(i.e. high temperatures, high humidity, or volatile chemicals).

X Damage caused by leakage of battery fluid during or

after change of batteries by customer/user.

X Damage from improper repair by unauthorized ADLINK

technicians.

X Products with altered and/or damaged serial numbers

are not entitled to our service.

X This warranty is not transferable or extendible.

X Other categories not protected under our warranty.

4. Customers are responsible for shipping costs to transport damaged products to our company or sales office.

5. To ensure the speed and quality of product repair, please download an RMA application form from our company website: http://rma.adlinktech.com/policy. Damaged products with attached RMA forms receive priority.

If you have any further questions, please email our FAE staff: service@adlinktech.com.

44 Warranty Policy

ADLINK PCI-7841, cPCI-7841 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

List of Tables

List of Figures

1 Introduction

1.1 PCI/cPCI/PM-7841 Features

1.2 Applications

1.3 Specifications

2 Installation

2.1 Before Installing the PCI/cPCI/PM-7841

2.2 Installing PCI-7841

2.3 Installing cPCI-7841

2.4 Installing PM-7841

2.5 Jumper and DIP Switch Description

2.6 Base Address Setting

2.7 IRQ Level Setting

3 Function Reference

3.1 Functions Table

PORT_STRUCT structure define

CAN_PACKET structure define

Members

DEVICENET_PACKET structure define

Members

3.2 CAN LAYER Functions

CAN-layer Card Initialization Functions

PM7841_Install(base, irq_chn, 0xd000)

GetDriverVersion()

CanOpenDriver()

CanCloseDriver()

CanConfigPort()

CanDetectBaudrate()

CanRead()

CanWrite()

CAN-layer I/O Functions

CanEnableReceive()

CanDisableReceive()

CanSendMsg()

CanRcvMsg()

CAN-layer Status Functions

CanClearOverrun()

CanClearRxBuffer()

CanClearTxBuffer()

CanGetErrorCode()

CanSetErrorWarningLimit()

CanGetErrorWarningLimit()

CanGetRxErrorCount()

CanGetTxErrorCount()

CanSetTxErrorCount()

CanGetPortStatus()

CanGetLedStatus()

CanSetLedStatus()

CanGetRcvCnt()

Error and Event Handling Functions

CanInstallCallBack()

CanRemoveCallBack()

CanCloseDriver(handle);

CanGetReceiveEvent()

CanInstallEvent()

Warranty Policy