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);
}
/* Writes the given packet out on both channels
*
* returns: 0 on success, negative error code otherwise
*/
int
CANIOKvaser::WritePacket(CanPacket &pkt)
{
int ret;
//printf("CANIO: WRITE: pkt: %s\n", pkt.toString());
for (int i=0; i < DUALCAN_NR_CHANNELS; i++) {
if ((ret = canWriteWait(channels[i], pkt.id, pkt.msg, pkt.dlc,
pkt.flags, 1000)) < 0) {
printf("CANIO: write wait error %d\n", ret);
return ret;
}
if ((ret = canWriteSync(channels[i], 10000)) < 0) {
printf("CANIO: error %d on write sync\n", ret);
switch (ret) {
case canERR_TIMEOUT:
printf("CANIO: TIMEOUT error\n");
break;
default:
break;
}
return ret;
}
}
return 0;
}
static bool dbg_kavaser_can_send(uint32 ch, uint32 msg_id, uint8 *data, uint8 dlc)
{
int flag = 0;
dbg_kvaser.status = canWriteWait(dbg_kvaser.handle, msg_id, data, dlc, flag, -1);
if (dbg_kvaser.status != canOK) {
printf("dbg_kavaser_can_send:canWriteWait err=%d\n", dbg_kvaser.status);
fflush(stdout);
return FALSE;
}
printf("dbg_kavaser_can_send:canWriteWait msg_id=0x%x err=%d\n", msg_id, dbg_kvaser.status);
fflush(stdout);
return TRUE;
}
/**
*
* CAN_HANDLES must have value >=1 while CANLIB wants handles >= 0
* so fd0 needs to be decremented before use.
*
*/
UNS8 canSend_driver(CAN_HANDLE fd0, Message const *m)
{
canStatus retval = canOK;
unsigned flags = 0;
fd0--;
flags |= canMSG_STD;
if (m->cob_id & 0x20000000)
{
/* TODO: is it correct to desume this info from cob_id? */
flags |= canMSG_EXT;
}
if (m->cob_id & 0x40000000)
{
flags |= canMSG_RTR;
}
/*
* TODO: when should I set canMSG_ERROR_FRAME?
*/
retval = canWriteWait((int)fd0, m->cob_id, m->data, m->len, 10000, flags);
if (retval != canOK)
{
fprintf(stderr, "canSend_driver (Kvaser) : canWriteWait() error, cob_id=%08X, len=%u, flags=%08X, returned value = %d\n",
m->cob_id, m->len, flags, retval);
canClose((int)fd0);
return retval;
}
//fprintf(stderr, "canSend_driver (Kvaser) : canWriteWait() send packet, cob_id=%08X, len=%u, flags=%08X, returned value = %d\n",
// m->cob_id, m->len, flags, retval);
return retval;
}
