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3ae429ae48bc2f8b847fad0a9768c5308f559f10
giesCANne/connections/candle_api/candle.h
T
RefuhrandClaude Opus 5 3ae429ae48 feat: add gs_usb support on Windows 
candleLight, CANable, CANnectivity and cantact adapters speak gs_usb. On
Linux and macOS the kernel driver exposes them as SocketCAN interfaces, so
SavvyCAN already reached them through Qt SerialBus. Windows has no such
driver, which left those adapters unusable there.

Add a GSUSBConnection that talks to the hardware directly over WinUSB:

- one connection per physical device, one SavvyCAN bus per CAN channel
- CAN FD including BRS, plus RTR, extended IDs and error frames
- known good bit timings for 16/48/80/160/170 MHz device clocks, with a
  generic solver for clocks the tables do not cover
- hardware timestamps, unwrapped across the 32 bit rollover and anchored
  to the host clock so they line up with the rest of SavvyCAN

gs_usb multiplexes every channel over a single USB bulk IN endpoint, so a
single reader thread drains it and hands frames to the connection thread in
batches, coalescing the wakeups. That keeps one producer on the lock free
queue, which the tx echo path already writes to.

Device scans skip adapters that a live connection holds. candle_dev_open()
shares the file handle and queues read URBs immediately, so probing a device
in use would consume frames the open connection is waiting for.

connections/candle_api is an unmodified copy of the candle Windows API, LGPL
3.0 rather than MIT and only compiled into Windows builds. See its README for
provenance.

Co-Authored-By: Claude Opus 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01XZnuZJ7zc3e8hk6C8bGDZN
2026-07-29 09:25:32 +02:00

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/*
Copyright (c) 2016 Hubert Denkmair <hubert@denkmair.de>
Copyright (c) 2026 Schildkroet
This file is part of the candle windows API.
This library is free software: you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation, either
version 3 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#include <stdbool.h>
#ifdef __cplusplus
extern "C" {
#endif
typedef void* candle_list_handle;
typedef void* candle_handle;
typedef enum {
CANDLE_DEVSTATE_AVAIL,
CANDLE_DEVSTATE_INUSE
} candle_devstate_t;
typedef enum {
CANDLE_FRAMETYPE_UNKNOWN,
CANDLE_FRAMETYPE_RECEIVE,
CANDLE_FRAMETYPE_ECHO,
CANDLE_FRAMETYPE_ERROR,
CANDLE_FRAMETYPE_TIMESTAMP_OVFL
} candle_frametype_t;
enum {
CANDLE_ID_EXTENDED = 0x80000000,
CANDLE_ID_RTR = 0x40000000,
CANDLE_ID_ERR = 0x20000000
};
/* Feature flags reported in candle_capability_t.feature */
enum {
/** CAN channel supports listen-only mode, in which it is not allowed to send dominant bits. */
CANDLE_FEATURE_LISTEN_ONLY = 0x0001,
/** CAN channel supports loopback mode, in which it receives own frames. */
CANDLE_FEATURE_LOOP_BACK = 0x0002,
/** CAN channel supports triple sampling mode */
CANDLE_FEATURE_TRIPLE_SAMPLE = 0x0004,
/** CAN channel supports not retransmitting in case of lost arbitration or missing ACK. */
CANDLE_FEATURE_ONE_SHOT = 0x0008,
/** CAN channel supports hardware timestamping of CAN frames. */
CANDLE_FEATURE_HW_TIMESTAMP = 0x0010,
/** CAN channel supports visual identification. */
CANDLE_FEATURE_IDENTIFY = 0x0020,
/** CAN channel supports user IDs (unsupported). */
CANDLE_FEATURE_USER_ID = 0x0040,
/** CAN channel supports padding of host frames (unsupported). */
CANDLE_FEATURE_PAD_PKTS_TO_MAX = 0x0080,
/** CAN channel supports transmitting/receiving CAN FD frames. */
CANDLE_FEATURE_FD = 0x0100,
/** CAN channel support LPC546xx specific quirks (Unused) */
CANDLE_FEATURE_REQ_USB_QUIRK_LPC546XX = 0x0200,
/** CAN channel supports extended bit timing limits. */
CANDLE_FEATURE_BT_CONST_EXT = 0x0400,
/** CAN channel supports configurable bus termination. */
CANDLE_FEATURE_TERMINATION = 0x0800,
/** CAN channel supports bus error reporting (Unsupported, always enabled) */
CANDLE_FEATURE_BERR_REPORTING = 0x1000,
/** CAN channel supports reporting of bus state. */
CANDLE_FEATURE_GET_STATE = 0x2000,
};
/* Flags in the flags byte of received/transmitted frames */
enum {
CANDLE_FRAME_FLAG_OVERFLOW = 0x01,
CANDLE_FRAME_FLAG_FD = 0x02,
CANDLE_FRAME_FLAG_BRS = 0x04,
CANDLE_FRAME_FLAG_ESI = 0x08,
};
typedef enum {
CANDLE_STATE_ERROR_ACTIVE = 0,
CANDLE_STATE_ERROR_WARNING = 1,
CANDLE_STATE_ERROR_PASSIVE = 2,
CANDLE_STATE_BUS_OFF = 3,
CANDLE_STATE_STOPPED = 4,
CANDLE_STATE_SLEEPING = 5,
} candle_can_state_t;
typedef enum {
CANDLE_MODE_NORMAL = 0x0000,
CANDLE_MODE_LISTEN_ONLY = 0x0001,
CANDLE_MODE_LOOP_BACK = 0x0002,
CANDLE_MODE_TRIPLE_SAMPLE = 0x0004,
CANDLE_MODE_ONE_SHOT = 0x0008,
CANDLE_MODE_HW_TIMESTAMP = 0x0010,
CANDLE_MODE_PAD_PKTS_TO_MAX = 0x0080,
CANDLE_MODE_FD = 0x0100,
} candle_mode_t;
typedef enum {
CANDLE_ERR_OK = 0,
CANDLE_ERR_CREATE_FILE = 1,
CANDLE_ERR_WINUSB_INITIALIZE = 2,
CANDLE_ERR_QUERY_INTERFACE = 3,
CANDLE_ERR_QUERY_PIPE = 4,
CANDLE_ERR_PARSE_IF_DESCR = 5,
CANDLE_ERR_SET_HOST_FORMAT = 6,
CANDLE_ERR_GET_DEVICE_INFO = 7,
CANDLE_ERR_GET_BITTIMING_CONST = 8,
CANDLE_ERR_PREPARE_READ = 9,
CANDLE_ERR_SET_DEVICE_MODE = 10,
CANDLE_ERR_SET_BITTIMING = 11,
CANDLE_ERR_BITRATE_FCLK = 12,
CANDLE_ERR_BITRATE_UNSUPPORTED = 13,
CANDLE_ERR_SEND_FRAME = 14,
CANDLE_ERR_READ_TIMEOUT = 15,
CANDLE_ERR_READ_WAIT = 16,
CANDLE_ERR_READ_RESULT = 17,
CANDLE_ERR_READ_SIZE = 18,
CANDLE_ERR_SETUPDI_IF_DETAILS = 19,
CANDLE_ERR_SETUPDI_IF_DETAILS2 = 20,
CANDLE_ERR_MALLOC = 21,
CANDLE_ERR_PATH_LEN = 22,
CANDLE_ERR_CLSID = 23,
CANDLE_ERR_GET_DEVICES = 24,
CANDLE_ERR_SETUPDI_IF_ENUM = 25,
CANDLE_ERR_SET_TIMESTAMP_MODE = 26,
CANDLE_ERR_DEV_OUT_OF_RANGE = 27,
CANDLE_ERR_GET_TIMESTAMP = 28,
CANDLE_ERR_SET_PIPE_RAW_IO = 29
} candle_err_t;
#pragma pack(push,1)
typedef struct {
uint32_t echo_id;
uint32_t can_id;
uint8_t can_dlc;
uint8_t channel;
uint8_t flags;
uint8_t reserved;
uint8_t data[8];
uint32_t timestamp_us;
} candle_frame_t;
/* CAN FD frame: same header as candle_frame_t but with 64-byte data payload */
typedef struct {
uint32_t echo_id;
uint32_t can_id;
uint8_t can_dlc;
uint8_t channel;
uint8_t flags;
uint8_t reserved;
uint8_t data[64];
uint32_t timestamp_us;
} candle_fd_frame_t;
typedef struct {
uint32_t feature;
uint32_t fclk_can;
uint32_t tseg1_min;
uint32_t tseg1_max;
uint32_t tseg2_min;
uint32_t tseg2_max;
uint32_t sjw_max;
uint32_t brp_min;
uint32_t brp_max;
uint32_t brp_inc;
} candle_capability_t;
typedef struct {
uint32_t prop_seg;
uint32_t phase_seg1;
uint32_t phase_seg2;
uint32_t sjw;
uint32_t brp;
} candle_bittiming_t;
#pragma pack(pop)
/*
* CAN FD DLC encoding:
* DLC 0-8 → 0-8 bytes (same as classic CAN)
* DLC 9 → 12 bytes
* DLC 10 → 16 bytes
* DLC 11 → 20 bytes
* DLC 12 → 24 bytes
* DLC 13 → 32 bytes
* DLC 14 → 48 bytes
* DLC 15 → 64 bytes
*/
static inline uint8_t candle_dlc_to_len(uint8_t dlc)
{
static const uint8_t tbl[16] = { 0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64 };
return (dlc <= 15u) ? tbl[dlc] : 0u;
}
static inline uint8_t candle_len_to_dlc(uint8_t len)
{
if (len <= 8u) return len;
if (len <= 12u) return 9u;
if (len <= 16u) return 10u;
if (len <= 20u) return 11u;
if (len <= 24u) return 12u;
if (len <= 32u) return 13u;
if (len <= 48u) return 14u;
return 15u;
}
#define DLL
/* Optional log callback — set once at startup to receive diagnostic messages.
* If NULL (the default) no logging is performed. */
typedef void (*candle_log_fn_t)(const wchar_t *msg);
extern candle_log_fn_t candle_log_fn;
/* Set to true to enable per-frame and per-control-transfer trace logs.
* Off by default; only error and setup messages are logged. */
extern bool candle_log_verbose;
bool __stdcall DLL candle_list_scan(candle_list_handle *list);
bool __stdcall DLL candle_list_free(candle_list_handle list);
bool __stdcall DLL candle_list_length(candle_list_handle list, uint8_t *len);
bool __stdcall DLL candle_dev_get(candle_list_handle list, uint8_t dev_num, candle_handle *hdev);
bool __stdcall DLL candle_dev_get_state(candle_handle hdev, candle_devstate_t *state);
wchar_t __stdcall DLL *candle_dev_get_path(candle_handle hdev);
bool __stdcall DLL candle_dev_open(candle_handle hdev);
bool __stdcall DLL candle_dev_get_timestamp_us(candle_handle hdev, uint32_t *timestamp_us);
bool __stdcall DLL candle_dev_close(candle_handle hdev);
bool __stdcall DLL candle_dev_free(candle_handle hdev);
bool __stdcall DLL candle_channel_count(candle_handle hdev, uint8_t *num_channels);
bool __stdcall DLL candle_channel_get_capabilities(candle_handle hdev, uint8_t ch, candle_capability_t *cap);
bool __stdcall DLL candle_channel_get_state(candle_handle hdev, uint8_t ch, candle_can_state_t *state);
bool __stdcall DLL candle_channel_set_timing(candle_handle hdev, uint8_t ch, candle_bittiming_t *data);
bool __stdcall DLL candle_channel_set_bitrate(candle_handle hdev, uint8_t ch, uint32_t bitrate);
bool __stdcall DLL candle_channel_start(candle_handle hdev, uint8_t ch, uint32_t flags);
bool __stdcall DLL candle_channel_stop(candle_handle hdev, uint8_t ch);
bool __stdcall DLL candle_frame_send(candle_handle hdev, uint8_t ch, candle_frame_t *frame);
bool __stdcall DLL candle_frame_read(candle_handle hdev, candle_frame_t *frame, uint32_t timeout_ms);
candle_frametype_t __stdcall DLL candle_frame_type(candle_frame_t *frame);
uint32_t __stdcall DLL candle_frame_id(candle_frame_t *frame);
bool __stdcall DLL candle_frame_is_extended_id(candle_frame_t *frame);
bool __stdcall DLL candle_frame_is_rtr(candle_frame_t *frame);
uint8_t __stdcall DLL candle_frame_dlc(candle_frame_t *frame);
uint8_t __stdcall DLL *candle_frame_data(candle_frame_t *frame);
uint32_t __stdcall DLL candle_frame_timestamp_us(candle_frame_t *frame);
/* CAN FD extensions */
bool __stdcall DLL candle_channel_set_data_timing(candle_handle hdev, uint8_t ch, candle_bittiming_t *data);
bool __stdcall DLL candle_fd_frame_send(candle_handle hdev, uint8_t ch, candle_fd_frame_t *frame);
bool __stdcall DLL candle_fd_frame_read(candle_handle hdev, candle_fd_frame_t *frame, uint32_t timeout_ms);
candle_frametype_t __stdcall DLL candle_fd_frame_type(candle_fd_frame_t *frame);
uint32_t __stdcall DLL candle_fd_frame_id(candle_fd_frame_t *frame);
bool __stdcall DLL candle_fd_frame_is_extended_id(candle_fd_frame_t *frame);
bool __stdcall DLL candle_fd_frame_is_rtr(candle_fd_frame_t *frame);
bool __stdcall DLL candle_fd_frame_is_fd(candle_fd_frame_t *frame);
bool __stdcall DLL candle_fd_frame_is_brs(candle_fd_frame_t *frame);
uint8_t __stdcall DLL candle_fd_frame_dlc(candle_fd_frame_t *frame);
uint8_t __stdcall DLL *candle_fd_frame_data(candle_fd_frame_t *frame);
uint32_t __stdcall DLL candle_fd_frame_timestamp_us(candle_fd_frame_t *frame);
candle_err_t __stdcall DLL candle_dev_last_error(candle_handle hdev);
#ifdef __cplusplus
}
#endif
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