CAN_HANDLE canOpen_driver(s_BOARD *board)
{
VSCAN_HANDLE fd0 = 0;
char busname[64];
char* pEnd;
int i;
int baudrate;
printf("bus %s ", board->busname);
fd0 = VSCAN_Open(board->busname, VSCAN_MODE_NORMAL);
if(fd0 <= 0)
{
fprintf(stderr, "canOpen_driver (VScom): error opening %s\n", board->busname);
return (CAN_HANDLE)fd0;
}
printf("(fd = %d)\n", fd0);
baudrate = TranslateBaudeRate(board->baudrate);
if(baudrate == 0)
return 0;
if (VSCAN_Ioctl((VSCAN_HANDLE)fd0, VSCAN_IOCTL_SET_SPEED, (void *)baudrate) != VSCAN_ERR_OK)
{
fprintf(stderr, "canOpen_driver (VScom): IOCTL set speed failed\n");
return 0;
}
return (CAN_HANDLE)fd0;
}
/**
* \brief Default constructor
*/
CanBus::CanBus(QString device, int baudRate)
{
printf("CanBus::CanBus: %s %d\n", device.toStdString().c_str(), baudRate);
rDebug("CanBus initialize");
// Open and initialize the device
devHandler = VSCAN_Open(device.toAscii().data(), VSCAN_MODE_NORMAL);
if(devHandler < 0)
{
qFatal("Failed to open Can device ");
return;
}
rDebug("Can device "+device+" oppened correctly");
if(setBaudRate(baudRate) != 0)
rDebug("Failed setting baudRate");
}
/**
* @brief connects to the channels and initiates read thread.
* @param void
* @return S_OK for success, S_FALSE for failure
*/
HRESULT CDIL_CAN_VSCOM::startHardware(void)
{
USES_CONVERSION;
HRESULT hResult = S_FALSE;
//VALIDATE_VALUE_RETURN_VAL(sg_bCurrState, STATE_HW_INTERFACE_SELECTED, ERR_IMPROPER_STATE);
/* If no device available, exit */
if (strcmp(sg_VSCanCfg.szLocation, "") == NULL ||
strcmp(sg_VSCanCfg.szLocation, "\\\\.\\") == NULL )
{
return S_FALSE;
}
if (sg_VSCanCfg.bDebug)
{
VSCAN_Ioctl(0, VSCAN_IOCTL_SET_DEBUG_MODE, VSCAN_DEBUG_MODE_FILE);
VSCAN_Ioctl(0, VSCAN_IOCTL_SET_DEBUG, VSCAN_DEBUG_HIGH);
}
else
{
VSCAN_Ioctl(0, VSCAN_IOCTL_SET_DEBUG, VSCAN_DEBUG_NONE);
}
sg_VSCanCfg.hCan = VSCAN_Open(sg_VSCanCfg.szLocation, sg_VSCanCfg.dwMode);
if (sg_VSCanCfg.hCan > 0)
{
if (VSCAN_Ioctl(sg_VSCanCfg.hCan, VSCAN_IOCTL_SET_TIMESTAMP, sg_VSCanCfg.bTimestamps?VSCAN_TIMESTAMP_ON:VSCAN_TIMESTAMP_OFF) != VSCAN_ERR_OK)
{
sg_pIlog->logMessage(A2T(__FILE__), __LINE__, _("set timestamp ioctl failed"));
return (S_FALSE);
}
if (VSCAN_Ioctl(sg_VSCanCfg.hCan, VSCAN_IOCTL_SET_FILTER_MODE, sg_VSCanCfg.bDualFilter?VSCAN_FILTER_MODE_DUAL:VSCAN_FILTER_MODE_SINGLE) != VSCAN_ERR_OK)
{
sg_pIlog->logMessage(A2T(__FILE__), __LINE__, _("set filter mode ioctl failed"));
return (S_FALSE);
}
if (VSCAN_Ioctl(sg_VSCanCfg.hCan, VSCAN_IOCTL_SET_ACC_CODE_MASK, &sg_VSCanCfg.codeMask) != VSCAN_ERR_OK)
{
sg_pIlog->logMessage(A2T(__FILE__), __LINE__, _("set acceptance code mask ioctl failed"));
return (S_FALSE);
}
if (sg_VSCanCfg.vSpeed)
{
if (VSCAN_Ioctl(sg_VSCanCfg.hCan, VSCAN_IOCTL_SET_SPEED, (void*)sg_VSCanCfg.vSpeed) != VSCAN_ERR_OK)
{
sg_pIlog->logMessage(A2T(__FILE__), __LINE__, _("set speed ioctl failed"));
return (S_FALSE);
}
}
else
{
if (VSCAN_Ioctl(sg_VSCanCfg.hCan, VSCAN_IOCTL_SET_BTR, &sg_VSCanCfg.btr) != VSCAN_ERR_OK)
{
sg_pIlog->logMessage(A2T(__FILE__), __LINE__, _("set btr ioctl failed"));
return (S_FALSE);
}
}
sg_hEventRecv = CreateEvent(NULL, FALSE, FALSE, NULL);
if (sg_hEventRecv == NULL)
{
sg_pIlog->logMessage(A2T(__FILE__), __LINE__, _("could not create the receive event"));
hResult = S_FALSE;
}
if (VSCAN_SetRcvEvent(sg_VSCanCfg.hCan, sg_hEventRecv) != VSCAN_ERR_OK)
{
sg_pIlog->logMessage(A2T(__FILE__), __LINE__, _("VSCAN_SetRcvEvent failed"));
hResult = S_FALSE;
}
sg_hReadThread = CreateThread(NULL, 0, CanRxEvent, NULL, 0, &sg_dwReadThreadId);
if (sg_hReadThread == NULL)
{
sg_pIlog->logMessage(A2T(__FILE__), __LINE__, _("could not create the receive thread"));
hResult = S_FALSE;
}
hResult = S_OK;
sg_bCurrState = STATE_CONNECTED;
}
else
{
//log the error for open port failure
sg_pIlog->logMessage(A2T(__FILE__), __LINE__, _("error opening \"VScom CAN\" interface"));
hResult = ERR_LOAD_HW_INTERFACE;
}
return(hResult);
}
