/* Init CAN Hardware */
void can_init(const char* dev) {
bzero(&message, sizeof(can_message_t));
/* ... add your code here ... */
btr0=0x00;
btr1=0x14;
/* Using Interface cpc_usb0 */
strcpy(interface, dev);
// strcpy(interface, "/dev/cpc_usb0");
/*Open the CAN*/
if ((handle = CPC_OpenChannel(interface)) < 0) {
fprintf(stderr, "ERROR: %s\n", CPC_DecodeErrorMsg(handle));
exit(1);
}
PDEBUG("%s is CAN interface -> handle %d\n", interface, handle);
/* ############################# Init Parameters ######################*/
/*Define Handlers*/
CPC_AddHandler(handle, cpc_read_message_handler);
/*CPC_AddHandler(handle, get_steering_msg_handler);
CPC_AddHandler(handle, get_yaw_msg_handler);*/
/* This sets up the parameters used to initialize the CAN controller */
PDEBUG("Initializing CAN-Controller ... ");
CPCInitParamsPtr = CPC_GetInitParamsPtr(handle);
CPCInitParamsPtr->canparams.cc_type = SJA1000;
CPCInitParamsPtr->canparams.cc_params.sja1000.btr0 = btr0;
CPCInitParamsPtr->canparams.cc_params.sja1000.btr1 = btr1;
CPCInitParamsPtr->canparams.cc_params.sja1000.outp_contr = 0xda;
CPCInitParamsPtr->canparams.cc_params.sja1000.acc_code0 = 0xff;
CPCInitParamsPtr->canparams.cc_params.sja1000.acc_code1 = 0xff;
CPCInitParamsPtr->canparams.cc_params.sja1000.acc_code2 = 0xff;
CPCInitParamsPtr->canparams.cc_params.sja1000.acc_code3 = 0xff;
CPCInitParamsPtr->canparams.cc_params.sja1000.acc_mask0 = 0xff;
CPCInitParamsPtr->canparams.cc_params.sja1000.acc_mask1 = 0xff;
CPCInitParamsPtr->canparams.cc_params.sja1000.acc_mask2 = 0xff;
CPCInitParamsPtr->canparams.cc_params.sja1000.acc_mask3 = 0xff;
CPCInitParamsPtr->canparams.cc_params.sja1000.mode = 0;
CPC_CANInit(handle, 0);
PDEBUG("Done!\n\n");
cpcfd = CPC_GetFdByHandle(handle);
PDEBUG("Switch ON transimssion of CAN messages from CPC to PC\n");
/* switch on transmission of CAN messages from CPC to PC */
CPC_Control(handle, CONTR_CAN_Message | CONTR_CONT_ON);
PDEBUG("Initialization finished...\n");
}
int can_cpc_setup(can_cpc_device_p dev, int bitrate, int quanta_per_bit,
double sampling_point, double timeout) {
CPC_INIT_PARAMS_T* parameters;
double t = 1.0/(8*bitrate*1e3);
int brp = round(4*t*CAN_CPC_CLOCK_FREQUENCY/quanta_per_bit);
int tseg1 = round(quanta_per_bit*sampling_point);
int tseg2 = quanta_per_bit-tseg1;
parameters = CPC_GetInitParamsPtr(dev->handle);
parameters->canparams.cc_type = SJA1000;
parameters->canparams.cc_params.sja1000.btr0 =
((CAN_CPC_SYNC_JUMP_WIDTH-1) << 6)+(brp-1);
parameters->canparams.cc_params.sja1000.btr1 =
(CAN_CPC_TRIPLE_SAMPLING << 7)+((tseg2-1) << 4)+(tseg1-2);
parameters->canparams.cc_params.sja1000.outp_contr = 0xda;
parameters->canparams.cc_params.sja1000.acc_code0 = 0xff;
parameters->canparams.cc_params.sja1000.acc_code1 = 0xff;
parameters->canparams.cc_params.sja1000.acc_code2 = 0xff;
parameters->canparams.cc_params.sja1000.acc_code3 = 0xff;
parameters->canparams.cc_params.sja1000.acc_mask0 = 0xff;
parameters->canparams.cc_params.sja1000.acc_mask1 = 0xff;
parameters->canparams.cc_params.sja1000.acc_mask2 = 0xff;
parameters->canparams.cc_params.sja1000.acc_mask3 = 0xff;
parameters->canparams.cc_params.sja1000.mode = 0;
if (CPC_CANInit(dev->handle, 0))
return CAN_CPC_ERROR_SETUP;
dev->fd = CPC_GetFdByHandle(dev->handle);
dev->bitrate = bitrate;
dev->quanta_per_bit = quanta_per_bit;
dev->sampling_point = sampling_point;
dev->timeout = timeout;
if (CPC_Control(dev->handle, CONTR_CAN_Message | CONTR_CONT_ON))
return CAN_CPC_ERROR_SETUP;
return CAN_CPC_ERROR_NONE;
}
