void incBusLoad (int channel, int flags, int load)
{
canHandle handle;
unsigned char msg[8] = "Kvaser!";
int i, id = 100, dlc = sizeof(msg);
canStatus stat = canERR_PARAM;
handle = canOpenChannel(channel, flags);
if (handle < 0) {
check("canOpenChannel", handle);
return;
}
stat = canBusOff(handle);
check("canBusOff", stat);
stat = canSetBusParams(handle, bitrate, 0, 0, 0, 0, 0);
check("canSetBusParams", stat);
canBusOn(handle);
for (i = 0; i < load; i++) {
stat = canWrite(handle, id, &msg, dlc, 0);
check("canWrite", stat);
}
stat = canWriteWait(handle, id, &msg, dlc, 0, -1);
check("canWriteWait", stat);
canBusOff(handle);
canClose(handle);
}
/**
* Channels and their descriptors are numbered starting from zero.
* So I need to increment by 1 the handle returned by CANLIB because
* CANfestival CAN_HANDLEs with value zero are considered NOT VALID.
*
* The baud rate could be given directly as bit/s
* or using one of the BAUD_* constants defined
* in canlib.h
*/
CAN_HANDLE canOpen_driver(s_BOARD *board)
{
int fd0 = -1;
int channel, baud;
canStatus retval = canOK;
fd0--;
sscanf(board->busname, "%d", &channel);
baud = TranslateBaudRate(board->baudrate);
if (baud == 0)
{
sscanf(board->baudrate, "%d", &baud);
}
fd0 = canOpenChannel(channel, canWANT_EXCLUSIVE|canWANT_EXTENDED);
if (fd0 < 0)
{
fprintf(stderr, "canOpen_driver (Kvaser) : error opening channel %d\n", channel);
return (CAN_HANDLE)(fd0+1);
}
canBusOff(fd0);
/* values for tseg1, tseg2, sjw, noSamp and syncmode
* come from canlib example "simplewrite.c". The doc
* says that default values will be taken if baud is one of
* the BAUD_* values
*/
retval = canSetBusParams(fd0, baud, 4, 3, 1, 1, 0);
if (retval != canOK)
{
fprintf(stderr, "canOpen_driver (Kvaser) : canSetBusParams() error, returned value = %d, baud=%d, \n", retval, baud);
canClose((int)fd0);
return (CAN_HANDLE)retval;
}
canSetBusOutputControl(fd0, canDRIVER_NORMAL);
if (retval != canOK)
{
fprintf(stderr, "canOpen_driver (Kvaser) : canSetBusOutputControl() error, returned value = %d\n", retval);
canClose((int)fd0);
return (CAN_HANDLE)retval;
}
retval = canBusOn(fd0);
if (retval != canOK)
{
fprintf(stderr, "canOpen_driver (Kvaser) : canBusOn() error, returned value = %d\n", retval);
canClose((int)fd0);
return (CAN_HANDLE)retval;
}
return (CAN_HANDLE)(fd0+1);
}
void MainWindow::on_pushButtonBusOn_clicked()
{
bool fail = false;
canStatus stat;
qDebug() debugprefix << "on_pushButtonBusOn_clicked()";
if(busOn){
canBusOff(canHandle);
ui->pushButtonBusOn->setText("Go On Bus");
busOn = false;
}else{
// Timings
int br = (ui->comboBoxBaud->currentIndex()+1)*-1;
stat = canSetBusParams(canHandle, br , 0, 0, 0, 0, 0);
if (stat < 0){
char buf[128];
canGetErrorText(stat,buf,128);
qDebug() debugprefix << "canSetBusParams("<< br << ") " << buf;
fail = true;
}
// Silent
bool silent = ui->checkBox_Silent->isChecked();
if(silent){
stat = canSetBusOutputControl(canHandle, canDRIVER_SILENT);
}else{
stat = canSetBusOutputControl(canHandle, canDRIVER_NORMAL);
}
if (stat < 0){
char buf[128];
canGetErrorText(stat,buf,128);
qDebug() debugprefix << "canSetBusOutputControl("<< silent << ") " << buf;
fail = true;
}
if(fail == false){
stat = canBusOn(canHandle);
if (stat < 0){
char buf[128];
canGetErrorText(stat,buf,128);
qDebug() debugprefix << "canBusOn("<< br << ") " << buf;
fail = true;
QMessageBox msgBox;
msgBox.setText("Couldn't enter Bus-On state");
msgBox.exec();
}else{
ui->pushButtonBusOn->setText("Go Off Bus");
busOn = true;
}
}else{
QMessageBox msgBox;
msgBox.setText("Couldn't enter Bus-On state due to initialization errors");
msgBox.exec();
}
}
}
int main (int argc, char *argv[])
{
canHandle h;
int channel;
int bitrate = BAUD_1M;
errno = 0;
if (argc != 3 || (channel = 0, errno) != 0) {
printf("usage %s address byte1\n", argv[0]);
exit(1);
} else {
printf("Sending a message on channel %d\n", channel);
}
/* Allow signals to interrupt syscalls(e.g in canReadBlock) */
siginterrupt(SIGINT, 1);
/* Open channel, set parameters and go on bus */
//h = canOpenChannel(channel, canOPEN_EXCLUSIVE | canOPEN_REQUIRE_EXTENDED);
h = canOpenChannel(channel, canOPEN_EXCLUSIVE);
if (h < 0) {
printf("canOpenChannel %d failed\n", channel);
return -1;
}
canBusOff(h);
check("canSetBusParams", canSetBusParams(h, bitrate, 4, 3, 2, 1, 0));
// Work-around for Leaf bug
check("canSetBusOutputControl", canSetBusOutputControl(h, canDRIVER_NORMAL));
check("canBusOn", canBusOn(h));
//OY 8/20/2014
//unsigned char channel = atoi(argv[2]));
msg[0] = 0;
msg[2] = 1;
msg[3] = 41;
if (atoi(argv[2]) == 0)
msg[1] = 1;
if (atoi(argv[2]) == 100)
msg[1] = 2;
check("canWrite", canWrite(h, atoi(argv[1]), msg, 4, 0));
//printf("%d %d %d %d %d\n",msg[0], msg[1], msg[2], msg[3], channel);
check("canWriteSync", canWriteSync(h, 1000));
//check("canBusOff", canBusOff(h));
check("canClose", canClose(h));
return 0;
}
UNS8 canChangeBaudRate_driver( CAN_HANDLE fd0, char* baud)
{
int baudrate;
canStatus retval = canOK;
baudrate = TranslateBaudRate(baud);
if (baudrate == 0)
{
sscanf(baud, "%d", &baudrate);
}
fprintf(stderr, "%x-> changing to baud rate %s[%d]\n", (int)fd0, baud, baudrate);
canBusOff((int)fd0);
/* values for tseg1, tseg2, sjw, noSamp and syncmode
* come from canlib example "simplewrite.c". The doc
* says that default values will be taken if baud is one of
* the BAUD_* values
*/
retval = canSetBusParams((int)fd0, baudrate, 4, 3, 1, 1, 0);
if (retval != canOK)
{
fprintf(stderr, "canChangeBaudRate_driver (Kvaser) : canSetBusParams() error, returned value = %d, baud=%d, \n", retval, baud);
canClose((int)fd0);
return (UNS8)retval;
}
canSetBusOutputControl((int)fd0, canDRIVER_NORMAL);
if (retval != canOK)
{
fprintf(stderr, "canChangeBaudRate_driver (Kvaser) : canSetBusOutputControl() error, returned value = %d\n", retval);
canClose((int)fd0);
return (UNS8)retval;
}
retval = canBusOn((int)fd0);
if (retval != canOK)
{
fprintf(stderr, "canChangeBaudRate_driver (Kvaser) : canBusOn() error, returned value = %d\n", retval);
canClose((int)fd0);
return (UNS8)retval;
}
return 0;
}
/**
*
* CAN_HANDLES must have value >=1 while CANLIB wants handles >= 0
* so fd0 needs to be decremented before use.
*/
int canClose_driver(CAN_HANDLE fd0)
{
canStatus retval = canOK;
fd0--;
retval = canBusOff((int)fd0);
if (retval != canOK)
{
fprintf(stderr, "canClose_driver (Kvaser) : canBusOff() error, returned value = %d\n", retval);
canClose((int)fd0);
return retval;
}
retval = canClose((int)fd0);
if (retval != canOK)
{
fprintf(stderr, "canClose_driver (Kvaser) : canClose() error, returned value = %d\n", retval);
return retval;
}
return retval;
}
int CDeviceCAN::CloseCAN()
{
(void)canBusOff(canhandle);
canClose(canhandle);
return STATUS_OK;
}
int main(int argc, char *argv[])
{
canStatus stat;
canHandle hnd;
int channelRx;
int channelTx;
if (argc != 3) {
printUsageAndExit(argv[0]);
}
{
char *endPtr = NULL;
errno = 0;
channelRx = strtol(argv[1], &endPtr, 10);
if ( (errno != 0) || ((channelRx == 0) && (endPtr == argv[1])) ) {
printUsageAndExit(argv[0]);
}
channelTx = strtol(argv[2], &endPtr, 10);
if ( (errno != 0) || ((channelTx == 0) && (endPtr == argv[2])) ) {
printUsageAndExit(argv[0]);
}
}
canInitializeLibrary();
hnd = canOpenChannel(channelRx, canOPEN_REQUIRE_EXTENDED);
if (hnd < 0) {
printf("canOpenChannel %d", channelRx);
check("", hnd);
return -1;
}
stat = canBusOff(hnd);
check("canBusOff", stat);
if (stat != canOK) {
goto ErrorExit;
}
stat = canSetNotify(hnd, callback, canNOTIFY_ERROR | canNOTIFY_STATUS, NULL);
check("canSetNotify", stat);
if (stat != canOK) {
goto ErrorExit;
}
stat = canSetBusParams(hnd, bitrate, 0, 0, 0, 0, 0);
check("canSetBusParams", stat);
if (stat != canOK) {
goto ErrorExit;
}
stat = canBusOn(hnd);
check("canBusOn", stat);
if (stat != canOK) {
goto ErrorExit;
}
incBusLoad(channelTx, canOPEN_REQUIRE_EXTENDED, 0);
testBusLoad(hnd);
incBusLoad(channelTx, canOPEN_REQUIRE_EXTENDED, 100);
testBusLoad(hnd);
testBusLoad(hnd);
incBusLoad(channelTx, canOPEN_REQUIRE_EXTENDED, 300);
testBusLoad(hnd);
testBusLoad(hnd);
ErrorExit:
stat = canBusOff(hnd);
check("canBusOff", stat);
stat = canClose(hnd);
check("canClose", stat);
stat = canUnloadLibrary();
check("canUnloadLibrary", stat);
return 0;
}
void PerformTest(int argc, char **argv)
{
int handle1, handle2;
int br, i;
TIMECAPS tmcps;
int needTimeEndPeriod = 0;
switch (Bitrate) {
case 1000000:
br = canBITRATE_1M;
break;
case 500000:
br = canBITRATE_500K;
break;
case 250000:
br = canBITRATE_250K;
break;
case 125000:
br = canBITRATE_125K;
break;
case 100000:
br = canBITRATE_100K;
break;
case 62500:
br = canBITRATE_62K;
break;
case 50000:
br = canBITRATE_50K;
break;
case 20000:
br = Bitrate;
break;
case 10000:
br = Bitrate;
break;
case 5000:
br = Bitrate;
break;
default:
// qqq
printf("Unsupported bitrate, choose 1000/500/250/125/100/62.5/50/20/10/5 k.\n");
exit(1);
}
BitrateConverted = br;
if (timeGetDevCaps(&tmcps, sizeof(TIMECAPS)) == TIMERR_NOERROR) {
needTimeEndPeriod = 1;
// Set resolution as low as possible
timeBeginPeriod(tmcps.wPeriodMin);
if (Verbose && tmcps.wPeriodMin >= 8)
printf("PC-timer resolution set to %d\n", tmcps.wPeriodMin);
} else {
if (Verbose)
printf("Couldn't set PC-timer resolution\n");
}
handle1 = InitCtrl(First, br);
handle2 = InitCtrl(Second, br);
for (i=0; i<LoopCount; i++) {
if (Verbose) {
int j;
printf("\n*** Loop %d *** (", i);
for (j=0; j<argc; j++) printf("%s ", argv[j]);
printf(")\n");
fflush(stdout);
}
canBusOff(handle1);
canBusOff(handle2);
handle1 = ReInitialize(handle1, First, br);
handle2 = ReInitialize(handle2, Second, br);
timeStampTester(handle1, handle2);
if (_kbhit() && _getch() == 27) { // ESC hit?
break;
}
}
canClose(handle1);
canClose(handle2);
if (needTimeEndPeriod) {
timeEndPeriod(tmcps.wPeriodMin); // reset resolution
}
}
