int32_t readNTCAN(NTCAN_HANDLE handle, CMSG *msg, int32_t len)
{
NTCAN_RESULT result;
int32_t i,j;
int32_t timeout=0;
/* Reading Object of NTCAN device */
do {
result = canRead(handle,msg, &len, NULL);
timeout++;
/* If timeout error is recieved repeatly then read is aborted */
if(timeout > MAX_TIMEOUT)
{
result = canIoctl(handle, NTCAN_IOCTL_ABORT_RX, NULL);
if(errorCheck(CAN_IO_CTL,result != 0))
{ return 1; } // error check
printf("Repeated Timeout, read aborted\n");
return 2;
}
} while(errorCheck(CAN_READ,result) == 2);
if(errorCheck(CAN_READ,result) != 0)
{ return 1; } // error check
/* Printing read object of NTCAN device to screen */
printf("readNTCAN() successfull\n") ;
printf("Length of message recieved: %d\n", (len & 0x0F) );
for(j=0;j<len;j++)
{
printf("ID of NTCAN device: %x\n", msg->id);
for(i=0;i<(msg->len);i++)
{
printf("Byte %d of recieved message: %d\n", i, msg->data[i]);
}
}
return 0;
}
int32_t closeNTCAN(NTCAN_HANDLE handle, int32_t ID[])
{
NTCAN_RESULT result;
int32_t timeout = 0;
int32_t i=0;
/* Flushing system */
result = canIoctl(handle, NTCAN_IOCTL_FLUSH_RX_FIFO, NULL);
if(errorCheck(CAN_IO_CTL,result) != 0) // error check
{ return 1; }
printf("System Flushed\n");
/* Deleting ID */
for(i=1; i<ID[0]; i++) {
// Deletes all ids and retrys if timeout error
do {
result = canIdDelete(handle, ID[i]);
timeout++;
if(timeout>MAX_TIMEOUT) { // checks for max timeout
printf("Max timeout reached, aborting\n");
return 2; }
} while( errorCheck(CAN_ID_DELETE,result) == 2);
if(errorCheck(CAN_ID_DELETE,result) != 0) // error check
{ return 1; }
printf("Deleted NTCAN ID\n");
}
/* Closing NTCAN device */
result = canClose(handle); // closes device
if(errorCheck(CAN_CLOSE,result) != 0) // error check
{ return 1; }
printf("Deleted NTCAN device. Device successfully closed.\n");
return 0;
}
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
}
//-----------------------------------------------
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();
}
