Overview

Common labCAN bus device handling and management This group defines all common functions for handling of devices attached to labCAN bus.

Collaboration diagram for Device Management:

Enumerations
enum	LCB_CommState { LCB_COMM_STOPPED = 0x02, LCB_COMM_CONFIGURABLE = 0x80, LCB_COMM_OPERATIONAL = 0x01 }
	Communication state identifiers for LCB_SetCommState() More...

Functions
long	LCB_GetDevErrMsg (dev_hdl DeviceHandle, unsigned long DevErr, char *pMsgBuf, int MsgBufSize)
	Get the error string for a certain device error message. More...

long	LCB_GetDeviceProperty (dev_hdl DeviceHandle, int PropertyId, double *Value)
	Function for reading a device specific property. More...

long	LCB_GetDevName (dev_hdl DeviceHandle, char *pNameStringBuf, int StringBufSize)
	Query name of specific device. More...

long	LCB_GetNodeId (dev_hdl DeviceHandle)
	Query node identifier of specific device Each CANopen device has a unique node identifier that identifies the device on a CAN bus. More...

long	LCB_IsSimulated (dev_hdl DeviceHandle)
	Checks if the given DeviceHandle is a simulated device. More...

long	LCB_ReadDevParam (dev_hdl DeviceHandle, unsigned long DevParamId, void *pReadBuf, unsigned long BufSize, unsigned char AdjustEndian)
	Read certain parameter from device. More...

long	LCB_ReadLastDevErr (dev_hdl DeviceHandle, unsigned long *pDevErr)
	Read last device error from a specific device. More...

long	LCB_SetCommState (dev_hdl DeviceHandle, unsigned char CommState)
	Set device in a configurable state. More...

long	LCB_SetDeviceProperty (dev_hdl DeviceHandle, int PropertyId, double Value)
	Function for setting a device specific property. More...

long	LCB_WriteDevParam (dev_hdl DeviceHandle, unsigned long DevParamId, void *pWriteBuf, unsigned long BufSize, unsigned char AdjustEndian)
	Write certain parameter to device. More...

Enumeration Type Documentation

enum LCB_CommState

Communication state identifiers for LCB_SetCommState()

Enumerator
LCB_COMM_STOPPED	no process data communication
LCB_COMM_CONFIGURABLE	for configuration purposes - preoperational
LCB_COMM_OPERATIONAL	full communication - some parameters are not writable in this state

Function Documentation

long LCB_GetDevErrMsg	(	dev_hdl	DeviceHandle,
		unsigned long	DevErr,
		char *	pMsgBuf,
		int	MsgBufSize
	)

Get the error string for a certain device error message.

This function decodes the error code obtained by a call to LCB_ReadLastDevErr().

Parameters

[in]	DeviceHandle	Valid bus handle
[in]	DevErr	Device erorr code returned by readLastDevErr()
[out]	pMsgBuf	Message buffer for storage of error message string
[in]	MsgBufSize	Size of message buffer pMsgBuf in bytes

Return values

ERR_NOTSUP	The erro code is unknown - no message was found
ERR_PARAM_INVALID	Invalid device handle
ERR_NOERR	Error message was found

Examples:: capi_event_queue_test.cpp.

long LCB_GetDeviceProperty	(	dev_hdl	DeviceHandle,
		int	PropertyId,
		double *	Value
	)

Function for reading a device specific property.

See also: LCB_SetDeviceProperty

Parameters

[in]	DeviceHandle	Valid device handle
[in]	PropertyId	Device specific device property identifier
[out]	Value	Returns the current value of the given device property.

Return values

ERR_NOERR	Success
-ERR_NOTSUP	The given device property is not supported for the device given in DeviceHandle
<	0 Error code

Examples:: capi_contiflow_test.cpp, and capi_rotaxys_test.cpp.

long LCB_GetDevName	(	dev_hdl	DeviceHandle,
		char *	pNameStringBuf,
		int	StringBufSize
	)

Query name of specific device.

Normally all devices are named. That means each device carries a unique name

Parameters

[in]	DeviceHandle	Valid device handle
[out]	pNameStringBuf	Message buffer for storage of error message string
[in]	StringBufSize	Size of message buffer pMsgBuf in bytes

Returns: Error code - ERR_NOERR indicates success

Examples:: capi_event_queue_test.cpp, capi_nemaxys_test.cpp, and capi_nemesys_valve_test.cpp.

long LCB_GetNodeId ( dev_hdl DeviceHandle )

Query node identifier of specific device Each CANopen device has a unique node identifier that identifies the device on a CAN bus.

Parameters

[in] DeviceHandle Valid device handle

Return values

>=	0 Node ID
<	0 Error code

long LCB_IsSimulated ( dev_hdl DeviceHandle )

Checks if the given DeviceHandle is a simulated device.

Parameters

[in] DeviceHandle Valid device handle

Return values

0	It is a real device
1	It is a simulated device
<	0 Error code

Examples:: capi_rotaxys_test.cpp.

long LCB_ReadDevParam	(	dev_hdl	DeviceHandle,
		unsigned long	DevParamId,
		void *	pReadBuf,
		unsigned long	BufSize,
		unsigned char	AdjustEndian
	)

Read certain parameter from device.

Each device may contain a number of parameters to read or write. These parameters are device specific and you need a good knowledge or a good documentation of the device parameters.

Parameters

[in]	DeviceHandle	Valid device handle
[in]	DevParamId	Device parameter identifier
[out]	pReadBuf	Stores the data read from device
[in]	BufSize	Contains the size of the buffer
[in]	AdjustEndian	This parameter indicates if the function should adjust the endianess of the data read from device If the device bus transports the data in a different endian format like the host machine, then the endianess will be adjusted if this parameter is true. Normally this parameter should be set to true for numbers (integers, bytes...) and to false for string or other data.

Returns: Error code - ERR_NOERR indicates success

See also: LCB_WriteDevParam()

long LCB_ReadLastDevErr	(	dev_hdl	DeviceHandle,
		unsigned long *	pDevErr
	)

Read last device error from a specific device.

If an error occured then the device stores the last error so that it is accessible later at any time. This function reads the last error code from the device. Call LCB_GetDevErrMsg() to get a more descriptive error message for a certain device error code.

Parameters

[in]	DeviceHandle	Valid device handle
[out]	pDevErr	Returns last device error

Returns: Error code - ERR_NOERR indicates success

long LCB_SetCommState	(	dev_hdl	DeviceHandle,
		unsigned char	CommState
	)

Set device in a configurable state.

Some device parameters are only writeable if the device is not operational but in a configurable state. The function LCB_WriteDevParam() might require to set the device into an configurable state. To set the device into a configurable state, this function should be called with the parameter LCB_COMM_CONFIGURABLE. If the configuration is finished, the device should be set operational again by calling this function with the parameter LCB_COMM_OPERATIONAL.

Parameters

[in]	DeviceHandle	Valid device handle
[in]	CommState	The communication state to set this device to LCB_COMM_STOPPED LCB_COMM_CONFIGURABLE LCB_COMM_OPERATIONAL

Returns: Error code - ERR_NOERR indicates success

See also: LCB_CommState

long LCB_SetDeviceProperty	(	dev_hdl	DeviceHandle,
		int	PropertyId,
		double	Value
	)

Function for setting a device specific property.

Devices may support special device properties that are not accessible via the common device specific API. Use this function to set the value of a certain property by providing a property ID and a value.

See also: LCB_GetDeviceProperty

Parameters

[in]	DeviceHandle	Valid device handle
[in]	PropertyId	Device specific device property identifier
[in]	Value	Value to set for the given device property

Return values

ERR_NOERR	Success
-ERR_NOTSUP	The given device property is not supported for the device given in DeviceHandle
<	0 Error code

Examples:: capi_contiflow_test.cpp, and capi_rotaxys_test.cpp.

long LCB_WriteDevParam	(	dev_hdl	DeviceHandle,
		unsigned long	DevParamId,
		void *	pWriteBuf,
		unsigned long	BufSize,
		unsigned char	AdjustEndian
	)

Write certain parameter to device.

See readDevParam for a detailed description

Parameters

[in]	DeviceHandle	Valid device handle
[in]	DevParamId	Device parameter identifier
[out]	pWriteBuf	Stores the data read from device
[in]	BufSize	Contains the size of the buffer and returns the numer of bytes read from device
[in]	AdjustEndian	This parameter indicates if the function should adjust the endianess of the data before writing to device

Returns: Error code - ERR_NOERR indicates success

See also: LCB_ReadDevParam()

Note: For some parameters it might be necessary to set the device communication state machine into a configurable state.

Overview

Enumerations

Functions

Enumeration Type Documentation

Function Documentation