int32_t initNTCAN(uint32_t baud, uint32_t flags,
int32_t ID[], int32_t net,
int32_t rxSize, int32_t rxTime,
int32_t txSize, int32_t txTime)
{
NTCAN_HANDLE handle; //
NTCAN_RESULT result; // Used for checking for error
int32_t i; // Index for multiple objects
int32_t timeout=0; // Current number of timeouts
/* Open can */
result = canOpen(net,flags,txSize,rxSize, // Opens device
txTime,rxTime,&handle);
if(errorCheck(CAN_OPEN,result) != 0) // Error check
{
return 0xFFFF; // returns 1 if error
}
// printf("canOpen() success\n");
/* Setting baudrate */
result = canSetBaudrate(handle,baud); // sets baudrate
if(errorCheck(CAN_SET_BAUDRATE,result) != 0) // Error check
{
return 0xFFFF; // returns 1 if error
}
result = canGetBaudrate(handle,&baud); // Reads buadrate
// printf("canSetBaudrate() success. Baudrate is %d\n",baud);
/* Adding an ID */
for(i=1; i<ID[0]; i++) {
do {
result = canIdAdd(handle,ID[i]); // Adds ID to handle
timeout++; // reapeat if Timeout
if(timeout>MAX_TIMEOUT) {
printf("Max timeout out reached, Aborting addID\n");
return 0xFFFF;
} // return if repeated error
} while( errorCheck(CAN_ID_ADD,result) == 2);
if(errorCheck(CAN_ID_ADD,result) != 0) // error check
{
return 0xFFFF;
}
// printf("canIdAdd() successful\n");
}
printf("Initializing sucessfull\n");
/* Flushing FIFO buffer */
result = canIoctl(handle,NTCAN_IOCTL_FLUSH_RX_FIFO,NULL);
if(errorCheck(CAN_IO_CTL,result) != 0) // flushing FIFO
{
return 0xFFFF; // error check
}
// printf("System flushed, device ready to use\n");
return handle; // returns handle for NTCAN device
}
int CESDDevice::setMessageId(unsigned long uiMessageId)
{
int iRetVal = 0;
m_iErrorState = 0;
iRetVal = canIdAdd(m_hDevice, uiMessageId);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
return m_iErrorState;
}
//-----------------------------------------------
CanESD::CanESD(int iIniBaudRate, int iNrNet)
{
//initial values
int net=1; /* logical net number (here: 0) */
uint32_t mode=0; /* mode used for canOpen() */
int32_t txqueuesize=100; /* size of transmit queue */
int32_t rxqueuesize=100; /* size of receive queue */
int32_t txtimeout=0; /* timeout for transmit operations in ms */
int32_t rxtimeout=0; /* timeout for receive operations in ms */
NTCAN_RESULT retvalue; /* return values of NTCAN API calls */
//uint32_t baud=2; /* configured CAN baudrate (here: 500 kBit/s.) */
CMSG cmsg[8]; /* can message buffer */
int rtr=0; /* rtr bit */
int32_t len; /* # of CAN messages */
retvalue = canOpen(iNrNet, mode, txqueuesize, rxqueuesize, txtimeout, rxtimeout, &m_Handle);
if (retvalue != NTCAN_SUCCESS)
{
LOGINFO("canOpen() failed: " << getErrorMessage(retvalue));
}
Sleep(300);
retvalue = canSetBaudrate(m_Handle, getBaudRate(iIniBaudRate));
if (retvalue != 0)
{
LOGINFO("canSetBaudrate() failed: " << getErrorMessage(retvalue));
canClose(m_Handle);
}
else
{
LOGINFO("Baudrate set to " << getBaudRate(iIniBaudRate));
}
Sleep(300);
//set Amtek Arm IDs
int i;
for(i=1; i < 2048; i++)
{
retvalue = canIdAdd(m_Handle, i);
if (retvalue != NTCAN_SUCCESS)
{
LOGERROR("canIdAdd() failed: " << getErrorMessage(retvalue));
}
}
Sleep(300);
m_LastID = -1;
}
/**
* Add a group of CAN identifier to the handle, so it can be received.
* The identifiers are generated by inverting the id and adding each value between 0 and 7
* This is used for generating the answer commands by the RCS5000.
* @param handle The handle to add the identifiers to.
* @param id The command id sent to the RCS5000.
* @return NTCAN_SUCESS if ok, or an error code.
*/
int CanESD::canIdAddGroup(HANDLE handle, int id)
{
int result = NTCAN_SUCCESS;
int i = 0;
int iRes = 0;
int cmd_id = invert(id);
//m_Mutex.lock();
for( i=0; i<8; ++i) {
iRes = canIdAdd(m_Handle, cmd_id+i);
//std::cout << "Adding CAN ID " << cmd_id+i << std::endl;
if( iRes != NTCAN_SUCCESS ) {
std::cout << "Adding CAN ID " << cmd_id+i << " failed with errorcode: " << iRes << " " << GetErrorStr(iRes) << std::endl;
result = iRes;
}
}
//m_Mutex.unlock();
return result;
}
//-----------------------------------------------
void CanESD::initIntern()
{
int ret=0;
/* Does this make any sense as the handle is opened somewhere later?!
//m_Handle = 9;
//m_Mutex.lock();
//ret=canClose(m_Handle);
if(ret == NTCAN_SUCCESS)
{
std::cout << "Can close ok ret = " << ret std::endl;
}
CAN_IF_STATUS *status;
ret=canStatus(m_Handle,status);
if(ret == NTCAN_SUCCESS)
{
std::cout << "Get status from can card ok ret = " << ret << std::endl;
}
*/
ret = 0;
int iCanNet = 1;
//m_IniFile.GetKeyInt( "CanCtrl", "NetESD", &iCanNet, true);
int iBaudrateVal = NTCAN_BAUD_250;
//m_IniFile.GetKeyInt( "CanCtrl", "BaudrateVal", &iBaudrateVal, true);
std::cout << "Initializing CAN network with id =" << iCanNet << ", baudrate=" << iBaudrateVal << std::endl;
int iRet;
if( m_bObjectMode )
//iRet = canOpen(iCanNet, NTCAN_MODE_OBJECT, 10000, 10000, 0, 0, &m_Handle);
iRet = canOpen(iCanNet, NTCAN_MODE_OBJECT, 10000, 10000, 1000, 0, &m_Handle);
else
//iRet = canOpen(iCanNet, 0, 10000, 10000, 0, 0, &m_Handle);
iRet = canOpen(iCanNet, 0, 10000, 10000, 1000, 0, &m_Handle);
sleep(0.3);
if(iRet == NTCAN_SUCCESS)
std::cout << "CanESD::CanESD(), init ok" << std::endl;
else
std::cout << "error in CANESD::receiveMsg: " << GetErrorStr(iRet) << std::endl;
/* ret=canClose(m_Handle);
if(ret == NTCAN_SUCCESS)
{
std::cout << "Can close ok ret = " << ret << std::endl;
if( m_bObjectMode )
iRet = canOpen(iCanNet, NTCAN_MODE_OBJECT, 10000, 10000, 0, 0, &m_Handle);
else
iRet = canOpen(iCanNet, 0, 10000, 10000, 0, 0, &m_Handle);
Sleep(300);
if(iRet == NTCAN_SUCCESS)
std::cout << "CanESD::CanESD(), init ok" << ret << std::endl;
else
std::cout << "error in CANESD::receiveMsg: " << GetErrorStr(iRet) << std::endl;
}
*/
iRet = canSetBaudrate(m_Handle, iBaudrateVal);
if(iRet == NTCAN_SUCCESS)
std::cout << "CanESD::CanESD(), canSetBaudrate ok" << std::endl;
else
std::cout << "error in CANESD::receiveMsg: " << GetErrorStr(iRet) << std::endl;
sleep(0.3);
long lArg;
iRet = canIoctl(m_Handle, NTCAN_IOCTL_FLUSH_RX_FIFO, NULL);
//if( iRet == NTCAN_SUCCESS )
// std::cout << (int)(lArg) << " messages in CAN receive queue" << std::endl;
// MMB/24.02.2006: Add all 11-bit identifiers as there is no loss in performance.
for( int i=0; i<=0x7FF; ++i ) {
iRet = canIdAdd( m_Handle, i );
if(iRet != NTCAN_SUCCESS)
std::cout << "error in CANESD::receiveMsg: " << GetErrorStr(iRet) << std::endl;
}
/*
iRet = canIdAddGroup(m_Handle, 0x98);
// for COB Arm
iRet = canIdAdd(m_Handle, 0x100);
iRet = canIdAdd(m_Handle, 0x101);
iRet = canIdAdd(m_Handle, 0x200);
iRet = canIdAdd(m_Handle, 0x201);
iRet = canIdAdd(m_Handle, 0x300);
iRet = canIdAdd(m_Handle, 0x301);
iRet = canIdAdd(m_Handle, 0x400);
iRet = canIdAdd(m_Handle, 0x401);
iRet = canIdAdd(m_Handle, 0x500);
iRet = canIdAdd(m_Handle, 0x501);
iRet = canIdAdd(m_Handle, 0x600);
iRet = canIdAdd(m_Handle, 0x601);
// for CAN-Open Harmonica
iRet = canIdAdd(m_Handle, 0x283);
iRet = canIdAdd(m_Handle, 0x282);
iRet = canIdAdd(m_Handle, 0x583);
iRet = canIdAdd(m_Handle, 0x582);
iRet = canIdAdd(m_Handle, 0x603);
iRet = canIdAdd(m_Handle, 0x602);
// for CAN-Open Harmonica and Cello Mimro
iRet = canIdAdd(m_Handle, 0x18a);
iRet = canIdAdd(m_Handle, 0x28a);
iRet = canIdAdd(m_Handle, 0x194);
iRet = canIdAdd(m_Handle, 0x294);
iRet = canIdAdd(m_Handle, 0x19e);
iRet = canIdAdd(m_Handle, 0x29e);
// for RCS5000 arm
iRet = canIdAdd(m_Handle, 0x111);
iRet = canIdAdd(m_Handle, 0x112);
iRet = canIdAdd(m_Handle, 0x113);
iRet = canIdAdd(m_Handle, 0x114);
iRet = canIdAdd(m_Handle, 0x115);
iRet = canIdAdd(m_Handle, 0x116);
iRet = canIdAdd(m_Handle, 0x788);
iRet = canIdAdd(m_Handle, 0x789);
iRet = canIdAdd(m_Handle, 0x78A);
iRet = canIdAdd(m_Handle, 0x78B);
iRet = canIdAdd(m_Handle, 0x78C);
iRet = canIdAdd(m_Handle, 0x78D);
iRet = canIdAdd(m_Handle, 0x78E);
iRet = canIdAdd(m_Handle, 0x78F);
iRet = canIdAddGroup(m_Handle, 0x00);
iRet = canIdAddGroup(m_Handle, 0x08);
iRet = canIdAddGroup(m_Handle, 0x10);
iRet = canIdAddGroup(m_Handle, 0x18);
iRet = canIdAddGroup(m_Handle, 0x20);
iRet = canIdAddGroup(m_Handle, 0x28);
iRet = canIdAddGroup(m_Handle, 0x30);
iRet = canIdAddGroup(m_Handle, 0x38);
iRet = canIdAddGroup(m_Handle, 0x40);
iRet = canIdAddGroup(m_Handle, 0x48);
iRet = canIdAddGroup(m_Handle, 0x50);
iRet = canIdAddGroup(m_Handle, 0x58);
iRet = canIdAddGroup(m_Handle, 0x60);
iRet = canIdAddGroup(m_Handle, 0x68);
iRet = canIdAddGroup(m_Handle, 0x98);
// for Mimro drive ctrl
iRet = canIdAdd(m_Handle, 0x123);
*/
/*
for(int i=0; i<2047; i++)
{
if (iRet != NTCAN_SUCCESS)
{
TRACE("canIdAdd: %x Error \n", i);
}
}
*/
sleep(0.3);
m_LastID = -1;
//m_Mutex.unlock();
}
int CESDDevice::init(const char* acInitString)
{
InitializeCriticalSection(&m_csDevice);
int i, iRetVal = 0;
int txTimeOut = 0;
char* pcToken;
char acString[128];
if(m_bInitFlag)
{
warning("device already initialized");
m_iErrorState = ERRID_DEV_ISINITIALIZED;
return m_iErrorState;
}
m_iDeviceId = -1;
m_iErrorState = 0;
strncpy(m_acInitString,acInitString,128);
strncpy(acString,acInitString,128);
pcToken = strtok( acString, ":" );
if( !pcToken )
{ m_iErrorState = ERRID_DEV_BADINITSTRING;
return m_iErrorState;
}
if( strcmp( pcToken, "ESD" ) != 0 )
{ m_iErrorState = ERRID_DEV_BADINITSTRING;
return m_iErrorState;
}
pcToken = strtok( NULL, "," );
if( !pcToken )
{ m_iErrorState = ERRID_DEV_BADINITSTRING;
return m_iErrorState;
}
m_iDeviceId = atoi(pcToken);
pcToken = strtok( NULL, "," );
if( !pcToken )
{ m_iErrorState = ERRID_DEV_BADINITSTRING;
return m_iErrorState;
}
m_iBaudRate = atoi(pcToken);
#if defined(__LINUX__)
m_uiTimeOut = 6;
#endif
#if defined (_WIN32)
switch( m_iBaudRate )
{
case 125:
case 250:
m_uiTimeOut = 4;
break;
case 500:
m_uiTimeOut = 3;
break;
case 1000:
m_uiTimeOut = 2;
break;
default:
m_uiTimeOut = 10;
break;
}
#endif
try
{
iRetVal = canOpen(
m_iDeviceId, // Net
0, // Mode
m_uiQueueSize, // TX Queue
m_uiQueueSize, // RX Queue
m_uiTimeOut, // Tx Timeout
m_uiTimeOut, // Rx Timeout
&m_hDevice);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can open failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
iRetVal = canOpen(
m_iDeviceId, // Net
0, // Mode
1, // TX Queue
1, // RX Queue
600, // Tx Timeout
100, // Rx Timeout
&m_hSyncDevice);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can open failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
catch(...)
{
warning("init ESD device failed no library found");
m_iErrorState = ERRID_DEV_NOLIBRARY;
return m_iErrorState;
}
for(i = 0; i <= m_iModuleCountMax; i++)
{
iRetVal = canIdAdd(m_hDevice, (MSGID_ACK + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
iRetVal = canIdAdd(m_hDevice, (MSGID_STATE + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
for(i = 0; i <= MAX_MP55; i++ )
{
iRetVal = canIdAdd(m_hDevice, (MSGID_MP55_RECV + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
iRetVal = canIdAdd(m_hDevice, (0x180 + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
iRetVal = canIdAdd(m_hDevice, (0x600 + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
for(i = 0; i < MAX_SCHUNK; i++ )
{
iRetVal = canIdAdd(m_hDevice, (MSGID_SCHUNK_RECV + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
iRetVal = canIdAdd(m_hSyncDevice, MSGID_ALL);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
m_iErrorState = setBaudRate();
if(m_iErrorState != 0)
return m_iErrorState;
m_iErrorState = clearReadQueue();
if(m_iErrorState != 0)
return m_iErrorState;
if(m_iErrorState == 0)
m_bInitFlag = true;
updateModuleIdMap();
return m_iErrorState;
}
int CESDDevice::reinit(unsigned char ucBaudRateId)
{
int i, iRetVal = 0;
m_iErrorState = 0;
if(!m_bInitFlag)
{
warning("device not initialized");
m_iErrorState = ERRID_DEV_NOTINITIALIZED;
return m_iErrorState;
}
switch(ucBaudRateId)
{
case BAUDRATEID_MOD_CAN_125K:
m_iBaudRate = 125;
break;
case BAUDRATEID_MOD_CAN_250K:
m_iBaudRate = 250;
break;
case BAUDRATEID_MOD_CAN_500K:
m_iBaudRate = 500;
break;
case BAUDRATEID_MOD_CAN_1000K:
m_iBaudRate = 1000;
break;
}
iRetVal = canClose(m_hDevice);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can close failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_EXITERROR;
}
iRetVal = canClose(m_hSyncDevice);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can close failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_EXITERROR;
}
m_bInitFlag = false;
iRetVal = canOpen(
m_iDeviceId, // Net
0, // Mode
m_uiQueueSize, // TX Queue
m_uiQueueSize, // RX Queue
20*m_uiTimeOut, // Tx Timeout
m_uiTimeOut, // Rx Timeout
&m_hDevice);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can open failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
/*iRetVal = canOpen(
m_iDeviceId, // Net
0, // Mode
1, // TX Queue
1, // RX Queue
600, // Tx Timeout
100, // Rx Timeout
&m_hSyncDevice);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can open failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}*/
m_iErrorState = setBaudRate();
if(m_iErrorState != 0)
return m_iErrorState;
for(i = 0; i <= m_iModuleCountMax; i++)
{
iRetVal = canIdAdd(m_hDevice, (MSGID_ACK + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
iRetVal = canIdAdd(m_hDevice, (MSGID_STATE + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
for(i = 0; i < MAX_MP55; i++ )
{
iRetVal = canIdAdd(m_hDevice, (MSGID_MP55_RECV + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
iRetVal = canIdAdd(m_hDevice, (0x180 + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
for(i = 0; i < MAX_SCHUNK; i++ )
{
iRetVal = canIdAdd(m_hDevice, (MSGID_SCHUNK_RECV + i));
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
}
iRetVal = canIdAdd(m_hSyncDevice, MSGID_ALL);
if(iRetVal != NTCAN_SUCCESS)
{
warning("can add ID failed Errorcode: %d", iRetVal);
getDeviceError(iRetVal);
m_iErrorState = ERRID_DEV_INITERROR;
return m_iErrorState;
}
m_iErrorState = clearReadQueue();
if(m_iErrorState != 0)
return m_iErrorState;
if(m_iErrorState == 0)
m_bInitFlag = true;
updateModuleIdMap();
return m_iErrorState;
}
