1 | /// @date created 2006/08/07 - 14:14
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2 | /// @author Gerald Dherbomez
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3 | /// @version $Id: XLVectorCanDriver.cpp 888 2010-11-16 07:59:53Z gdherbom $
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4 |
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5 | #include "XLVectorCanDriver.h"
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6 |
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7 | #include <cassert>
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8 | #include <cstdio>
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9 | #include <iomanip>
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10 | #include <iostream>
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11 | #include <string>
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12 |
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13 | #include "kernel/Log.h"
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14 |
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15 | using namespace pacpus;
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16 | using namespace std;
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17 |
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18 | DECLARE_STATIC_LOGGER("pacpus.base.XLVectorCanDriver");
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19 |
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20 | #define WAIT_RECEIVING_FRAME_TIMEOUT 1000
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21 |
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22 | #define RX_QUEUE_SIZE 4096
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23 | #define QUEUE_LEVEL 1
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24 |
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25 | bool checkXlStatus(const XLstatus status) {
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26 | if ( status != XL_SUCCESS ) {
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27 | XLstringType error = xlGetErrorString(status);
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28 | LOG_ERROR(error);
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29 | return false;
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30 | } else {
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31 | return true;
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32 | }
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33 |
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34 | }
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35 |
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36 | XLstatus traceXLCommand(char * cmd, XLstatus status)
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37 | {
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38 | LOG_TRACE(cmd << " : " << xlGetErrorString(status));
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39 | checkXlStatus(status);
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40 | return status;
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41 | }
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42 |
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43 | /**
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44 | * Constructor which enables to initialize the different attributes of the class with default values.
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45 | * @see ~XLVectorCanDriver (void)
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46 | * @see XLVectorCanDriver (unsigned int gHwTypeT, Vaccess gChannelMaskT, unsigned int gCanIdT, unsigned int gBitRateT,int gHwChannelT)
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47 | */
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48 |
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49 | XLVectorCanDriver::XLVectorCanDriver(int channel, unsigned int bitRate)
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50 | {
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51 | LOG_INFO("Notice : VECTOR XL CAN Driver used\n");
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52 | /*
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53 | gPortHandle = INVALID_PORTHANDLE;
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54 | gChannelMask = 0x3;
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55 | gPermissionMask = 0;
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56 | gCanId = 0x2A9;
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57 | gBitRate = bitRate;
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58 | gHwType = HWTYPE_CANAC2PCI;
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59 | gHwChannel = channel;
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60 | gEventHandle = 0;
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61 | */
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62 | traceXLCommand("xlOpenDriver", xlOpenDriver());
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63 | // initialize("canXL", XL_HWTYPE_CANBOARDXL, 0, channel, bitRate); // TODO - Fix this hardcoded hardware value
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64 | initialize("canXL", -1, 0, channel, bitRate);
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65 | }
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66 |
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67 |
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68 | /**
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69 | * Constructor which enables to initialize the different attributes of the class with default values.
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70 | * @see ~XLVectorCanDriver (void)
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71 | * @see XLVectorCanDriver (unsigned int gHwTypeT, Vaccess gChannelMaskT, unsigned int gCanIdT, unsigned int gBitRateT,int gHwChannelT)
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72 | */
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73 |
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74 | XLVectorCanDriver::XLVectorCanDriver (void)
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75 | {
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76 | LOG_INFO("Notice : VECTOR XL CAN Driver used\n");
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77 | /*
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78 | gPortHandle = INVALID_PORTHANDLE;
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79 | gChannelMask = 0x3;
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80 | gPermissionMask = 0;
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81 | gCanId = 0x2A9;
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82 | gBitRate = 500000;
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83 | gHwType = HWTYPE_CANAC2PCI;
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84 | gHwChannel = 0;
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85 | gEventHandle = 0;*/
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86 |
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87 | initialize("canXL", -1, 0, 0, 500000);
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88 | }
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89 |
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90 |
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91 | void XLVectorCanDriver::displayHardware() {
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92 | XLdriverConfig driverConfig;
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93 | traceXLCommand("xlGetDriverConfig", xlGetDriverConfig(&driverConfig));
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94 |
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95 | LOG_INFO("----------------------------------------------------------");
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96 | LOG_INFO("- " << setfill('0') << setw(2) << driverConfig.channelCount << " channels Hardware Configuration -");
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97 | LOG_INFO("----------------------------------------------------------");
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98 |
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99 | char str[XL_MAX_LENGTH + 1] = "";
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100 |
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101 | for (unsigned int i = 0; i < driverConfig.channelCount; ++i) {
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102 | XLchannelConfig channel = driverConfig.channel[i];
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103 | LOG_INFO("- Ch:" << setfill('0') << setw(2) << channel.channelIndex << ", "
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104 | << "CM:0x" << hex << setfill('0') << setw(3) << channel.channelMask << ", ");
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105 |
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106 | strncpy_s(str, channel.name, 23);
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107 | printf(" %23s,", str);
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108 | memset(str, 0, sizeof(str));
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109 |
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110 | if (channel.transceiverType != XL_TRANSCEIVER_TYPE_NONE) {
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111 | strncpy_s(str, channel.transceiverName, 13);
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112 | printf("%13s -\n", str);
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113 | } else {
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114 | printf(" no Cab! -\n", str);
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115 | }
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116 | }
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117 |
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118 | LOG_INFO("----------------------------------------------------------");
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119 | }
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120 |
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121 | /**
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122 | * Constructor which enables to initialize the different attributes of the class with values given in parameters.
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123 | * @see ~XLVectorCanDriver (void)
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124 | * @see XLVectorCanDriver (void)
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125 | */
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126 | XLVectorCanDriver::XLVectorCanDriver(const std::string &name, const int hwType, const int hwIndex, const int hwChannel, unsigned long bitrate)
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127 | {
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128 | initialize(name, hwType, hwIndex, hwChannel, bitrate);
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129 | }
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130 |
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131 | void XLVectorCanDriver::initialize(const std::string &name, const int hwType, const int hwIndex, const int hwChannel, unsigned long bitrate)
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132 | {
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133 | printf("Notice : VECTOR XL CAN Driver used\n");
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134 | displayHardware();
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135 | /*gPortHandle = INVALID_PORTHANDLE;
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136 | gChannelMask = gChannelMaskT;
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137 | gPermissionMask = 0;
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138 | gCanId = gCanIdT;
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139 | gBitRate = gBitRateT;
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140 | gHwType = gHwTypeT;
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141 | gHwChannel = gHwChannelT;
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142 | gEventHandle = 0;*/
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143 |
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144 | this->accessMask = xlGetChannelMask(hwType, hwIndex, hwChannel);
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145 | if(!this->accessMask) {
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146 | traceXLCommand("xlGetChannelMask", XL_ERR_HW_NOT_PRESENT);
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147 | } else {
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148 | traceXLCommand("xlGetChannelMask", XL_SUCCESS);
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149 | }
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150 | XLaccess permissionMask = this->accessMask;
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151 |
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152 | traceXLCommand("xlOpenPort",
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153 | xlOpenPort(&this->port, const_cast<char*>(name.c_str()), this->accessMask,
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154 | &permissionMask, RX_QUEUE_SIZE, XL_INTERFACE_VERSION, XL_BUS_TYPE_CAN));
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155 | if ( this->port == XL_INVALID_PORTHANDLE ) {
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156 | checkXlStatus(XL_ERR_HW_NOT_PRESENT);
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157 | }
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158 |
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159 | if (this->accessMask == permissionMask) {
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160 | traceXLCommand("xlCanSetChannelBitrate",
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161 | xlCanSetChannelBitrate(this->port, this->accessMask, bitrate));
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162 | } else {
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163 | LOG_DEBUG("No init access");
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164 | }
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165 | traceXLCommand("xlSetNotification",
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166 | xlSetNotification(this->port, &this->msgEvent, QUEUE_LEVEL));
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167 | traceXLCommand("xlCanSetReceiveMode",
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168 | xlCanSetReceiveMode(this->port, 1, 1));
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169 | traceXLCommand("xlActivateChannel",
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170 | xlActivateChannel(this->port, this->accessMask, XL_BUS_TYPE_CAN,
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171 | XL_ACTIVATE_RESET_CLOCK));
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172 | }
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173 |
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174 |
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175 | /**
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176 | * Constructor which enables to select the channel and to initialize the different attributes of the class with default values..
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177 | * @see ~XLVectorCanDriver (void)
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178 | * @see XLVectorCanDriver (void)
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179 | */
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180 |
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181 | XLVectorCanDriver::XLVectorCanDriver(int channel)
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182 | {
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183 | printf("Notice : VECTOR XL CAN Driver used\n");
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184 |
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185 | /*
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186 | gPortHandle = INVALID_PORTHANDLE;
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187 | gChannelMask = 0x3;
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188 | gPermissionMask = 0;
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189 | gCanId = 0x2A9;
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190 | gBitRate = 1000000;
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191 | gHwType = HWTYPE_CANAC2PCI;
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192 | gHwChannel = channel;
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193 | gEventHandle = 0;
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194 | */
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195 |
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196 | initialize("can", 0, 0, channel, 500);
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197 | }
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198 |
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199 |
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200 |
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201 | /**
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202 | * Destructor which clean up the different attributs of the class.
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203 | * @see XLVectorCanDriver (void)
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204 | * @see XLVectorCanDriver (unsigned int gHwTypeT, Vaccess gChannelMaskT, unsigned int gCanIdT, unsigned int gBitRateT,int gHwChannelT)
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205 | */
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206 | XLVectorCanDriver::~XLVectorCanDriver (void)
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207 | {
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208 | traceXLCommand("xlDeactivateChannel",
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209 | xlDeactivateChannel(this->port, this->accessMask));
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210 | traceXLCommand("xlClosePort",
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211 | xlClosePort(this->port));
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212 | this->port = XL_INVALID_PORTHANDLE;
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213 | }
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214 |
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215 |
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216 | /**
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217 | * Member used to initialise the configuration of the CAN Card.
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218 | * @see cleanUpPort (void)
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219 | * @return a Vstatus variable which contain the error code of the function. On success, it return VSUCCESS. On failure, it return Vstatus error code which is defined in VCanD.h
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220 | */
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221 | short XLVectorCanDriver::initPort (void)
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222 | {
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223 | /*
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224 | Vstatus vErr;
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225 | VsetAcceptance acc;
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226 |
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227 | // Open the driver
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228 | vErr = ncdOpenDriver ();
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229 | if (vErr)
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230 | {
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231 | printf ("ERROR:initport %s!\n", ncdGetErrorString (vErr));
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232 | return vErr;
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233 | }
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234 |
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235 | // Select the channel
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236 | gChannelMask = ncdGetChannelMask (gHwType,0,gHwChannel);
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237 | if (!gChannelMask)
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238 | {
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239 | printf ("ERROR: (initport) Channel not present!\n");
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240 | printf ("ERROR:(initport) %s!\n", ncdGetErrorString (VERROR));
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241 | return vErr;
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242 | }
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243 |
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244 | // Select the index
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245 | int gChannelIndex = ncdGetChannelIndex (gHwType,0,gHwChannel);
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246 | if ( gChannelIndex == -1 )
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247 | {
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248 | printf ("ERROR: (initport) Channel not present!\n");
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249 | printf ("ERROR:(initport) %s!\n", ncdGetErrorString (VERROR));
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250 | return vErr;
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251 | }
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252 |
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253 | // Open a port
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254 | vErr = ncdOpenPort (&gPortHandle,"PACPUS_CANDriver",gChannelMask,gChannelMask,&gPermissionMask,1024);
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255 | if (vErr != VSUCCESS)
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256 | {
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257 | printf ("ERROR:(init port) %s!\n", ncdGetErrorString (vErr));
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258 | return vErr;
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259 | }
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260 |
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261 | // Only if permission to initialize the channel
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262 | if (gPermissionMask)
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263 | {
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264 | // Set the bus timing
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265 | vErr = ncdSetChannelBitrate (gPortHandle,gPermissionMask,gBitRate);
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266 | if (vErr)
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267 | {
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268 | printf ("ERROR: %s!\n", ncdGetErrorString (vErr));
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269 | if (gPortHandle!=INVALID_PORTHANDLE)
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270 | {
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271 | ncdClosePort (gPortHandle);
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272 | gPortHandle = INVALID_PORTHANDLE;
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273 | }
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274 | return vErr;
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275 | }
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276 | }
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277 | else if (gBitRate)
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278 | {
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279 | printf ("WARNING: No init access! Bitrate ignored.\n");
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280 | }
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281 |
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282 | // Enable the TX and disable the TXRQ notifications
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283 | vErr = ncdSetChannelMode (gPortHandle,gChannelMask,1,0);
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284 | if (vErr)
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285 | {
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286 | printf ("ERROR:(init port) %s!\n", ncdGetErrorString (vErr));
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287 | if (gPortHandle!=INVALID_PORTHANDLE)
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288 | {
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289 | ncdClosePort (gPortHandle);
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290 | gPortHandle = INVALID_PORTHANDLE;
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291 | }
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292 | return vErr;
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293 | }
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294 |
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295 | // create a synchronisation object
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296 | gEventHandle = CreateEvent (NULL, FALSE, FALSE, NULL);
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297 | vErr = ncdSetNotification (gPortHandle, (unsigned long*)&gEventHandle, 1);
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298 | if (vErr)
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299 | {
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300 | printf ("ERROR(init port): %s!\n", ncdGetErrorString (vErr));
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301 | ncdDeactivateChannel (gPortHandle, gChannelMask);
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302 | cleanUpPort ();
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303 | return vErr;
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304 | }
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305 |
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306 | // Open the acceptance filter
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307 | acc.mask = 0x000; // relevant=1
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308 | acc.code = 0x000;
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309 |
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310 | vErr = ncdSetChannelAcceptance (gPortHandle,gChannelMask,&acc);
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311 | if (vErr)
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312 | {
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313 | printf ("ERROR: %s!\n", ncdGetErrorString (vErr));
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314 | if (gPortHandle!=INVALID_PORTHANDLE)
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315 | {
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316 | ncdClosePort (gPortHandle);
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317 | gPortHandle = INVALID_PORTHANDLE;
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318 | }
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319 | return vErr;
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320 | }
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321 |
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322 | // Go on bus
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323 | vErr = ncdActivateChannel (gPortHandle,gChannelMask);
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324 | if (vErr)
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325 | {
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326 | printf ("ERROR: %s!\n", ncdGetErrorString (vErr));
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327 | ncdDeactivateChannel (gPortHandle, gChannelMask);
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328 | cleanUpPort ();
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329 | return vErr;
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330 | }
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331 |
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332 | // Reset the clocks of all channels connected to the port
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333 | vErr = ncdResetClock(gPortHandle);
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334 | if (vErr)
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335 | {
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336 | printf ("ERROR: %s!\n", ncdGetErrorString (vErr));
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337 | ncdDeactivateChannel (gPortHandle, gChannelMask);
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338 | cleanUpPort ();
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339 | return vErr;
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340 | }
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341 |
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342 | return VSUCCESS;
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343 | */
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344 | traceXLCommand("xlOpenDriver", xlOpenDriver());
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345 | return 0;
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346 | }
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347 |
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348 |
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349 | /**
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350 | * Member used to clean up the configuration of the CAN Card.
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351 | * @see initPort (void)
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352 | * @return a Vstatus variable which contain the error code of the function. On success, it return VSUCCESS. On failure, it return Vstatus error code which is defined in VCanD.h
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353 | */
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354 | short XLVectorCanDriver::cleanUpPort (void)
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355 | {
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356 | /*
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357 | Vstatus vErr;
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358 | vErr = ncdDeactivateChannel(gPortHandle, gChannelMask);
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359 | if (vErr)
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360 | {
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361 | printf ("ERROR: (cleanUpPort) Channel not correctly deactivated!\n Driver not correctly closed!\n");
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362 | printf ("ERROR: %s!\n", ncdGetErrorString (vErr));
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363 | return vErr;
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364 | }
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365 | vErr = ncdClosePort (gPortHandle);
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366 | if (vErr)
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367 | {
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368 | printf ("ERROR: (cleanUpPort) Port not correctly closed!\n Driver not correctly closed!\n");
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369 | printf ("ERROR: %s!\n", ncdGetErrorString (vErr));
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370 | return vErr;
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371 | }
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372 | gPortHandle = INVALID_PORTHANDLE;
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373 | vErr = ncdCloseDriver ();
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374 | if (vErr)
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375 | {
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376 | printf ("ERROR: (cleanUpPort) Driver not correctly closed!\n");
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377 | printf ("ERROR: %s!\n", ncdGetErrorString (vErr));
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378 | return vErr;
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379 | }
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380 |
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381 | return VSUCCESS;
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382 | */
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383 | traceXLCommand("xlCloseDriver", xlCloseDriver());
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384 |
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385 | return 0;
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386 | }
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387 |
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388 |
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389 | /**
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390 | * Member which permit to send a frame on the CAN bus and test if the frame is well acknowledged.
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391 | * @param flags a character which contain the flags of the sent frame.
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392 | * @param dlc a character which defined the number of characters of the sent frame.
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393 | * @param data a table of characters with the data of the sent frame.
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394 | * @see receiveFrame (unsigned char * flags, unsigned char * dlc, unsigned char ** data)
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395 | * @return a Vstatus variable which contain the error code of the function. On success, it return VSUCCESS. On failure, it return Vstatus error code which is defined in VCanD.h
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396 | */
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397 | //Vstatus XLVectorCanDriver::sendFrame (unsigned char flags, unsigned char dlc, unsigned char * data, int identifiant)
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398 | short XLVectorCanDriver::sendFrame (struct CanFrame frame)
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399 | {
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400 |
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401 | XLevent e;
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402 | e.tag = XL_TRANSMIT_MSG;
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403 | e.tagData.msg.id = frame.id;
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404 | e.tagData.msg.flags = 0;
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405 | e.tagData.msg.dlc = frame.dlc;
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406 | memcpy(e.tagData.msg.data, frame.data, frame.dlc);
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407 |
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408 | unsigned int count = 1;
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409 | LOG_DEBUG(xlGetEventString(&e));
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410 | traceXLCommand("xlCanTransmit",
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411 | xlCanTransmit(this->port, this->accessMask, &count, &e));
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412 |
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413 | /*
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414 | Vstatus vErr;
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415 | Vevent event;
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416 | Vevent * pEvent = NULL;
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417 |
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418 | // Create frame to send
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419 | event.tag = V_TRANSMIT_MSG;
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420 | event.tagData.msg.id = frame.id;
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421 | event.tagData.msg.flags = 0;
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422 | event.tagData.msg.dlc = frame.dlc;
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423 |
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424 | for (int i = 0; i < frame.dlc; i++)
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425 | event.tagData.msg.data[i] = frame.data[i];
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426 |
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427 | // Send the frame
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428 | vErr = ncdTransmit (gPortHandle, gChannelMask, &event);
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429 |
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430 | //printf("sendFrame ncdTransmit -- vErr=%d, event=0x%x\n", vErr, event);
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431 |
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432 | if (vErr==VERR_QUEUE_IS_FULL)
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433 | {
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434 | printf("!");
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435 | }
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436 |
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437 | else if (vErr)
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438 | {
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439 | printf ("ERROR:(send frame) %s!\n", ncdGetErrorString (vErr));
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440 | // ncdDeactivateChannel (gPortHandle, gChannelMask);
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441 | // cleanUpPort ();
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442 | return vErr;
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443 | }
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444 |
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445 | return VSUCCESS;
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446 |
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447 | // Wait the acknowledgement frame
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448 | waitReceivingFrame();
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449 |
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450 | // Read the acknowledgement frame in the buffer
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451 | vErr = ncdReceive1 (gPortHandle,&pEvent);
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452 | //printf("sendFrame ncdReceive1 -- vErr=%d, pEvent=0x%x\n", vErr, pEvent);
|
---|
453 |
|
---|
454 | if ( (pEvent==NULL) && (vErr==VERR_QUEUE_IS_EMPTY) )
|
---|
455 | {
|
---|
456 | printf ("%s\n",ncdGetErrorString (vErr));
|
---|
457 | printf ("%s!\n",ncdGetErrorString (vErr));
|
---|
458 | // ncdDeactivateChannel (gPortHandle, gChannelMask);
|
---|
459 | // cleanUpPort ();
|
---|
460 | return vErr;
|
---|
461 | }
|
---|
462 |
|
---|
463 | // If frame is well acknoledged
|
---|
464 | if (pEvent->tagData.msg.flags & 0x40)
|
---|
465 | return VSUCCESS;
|
---|
466 | else
|
---|
467 | {
|
---|
468 | //printf("%x ",pEvent->tagData.msg.flags);
|
---|
469 | //printf (" no acknolegement of frame!\n");
|
---|
470 |
|
---|
471 | return VERROR;
|
---|
472 | }*/
|
---|
473 |
|
---|
474 | return 1;
|
---|
475 | }
|
---|
476 |
|
---|
477 |
|
---|
478 | /**
|
---|
479 | * Member which permit to receive of a frame on the CAN bus.
|
---|
480 | * @param flags a character pointer which contain the flags of the received frame.
|
---|
481 | * @param dlc a character pointer which defined the number of characters of the received frame.
|
---|
482 | * @param data a pointer of table of characters with the data of the received frame.
|
---|
483 | * @see sendFrame (unsigned char flags, unsigned char dlc, unsigned char * data)
|
---|
484 | * @return a Vstatus variable which contain the error code of the function. On success, it return VSUCCESS. On failure, it return Vstatus error code which is defined in VCanD.h
|
---|
485 | */
|
---|
486 | //Vstatus XLVectorCanDriver::receiveFrame (unsigned char * flags, unsigned char * dlc, unsigned char * data, int * identifiant)
|
---|
487 | short XLVectorCanDriver::receiveFrame (struct CanFrame &frame)
|
---|
488 | {
|
---|
489 |
|
---|
490 |
|
---|
491 | XLhandle handle;
|
---|
492 | traceXLCommand("xlSetNotification",
|
---|
493 | xlSetNotification(this->port, &handle, 1));
|
---|
494 | XLevent e;
|
---|
495 | unsigned int count = 1;
|
---|
496 |
|
---|
497 | int queueSize;
|
---|
498 | //bool found = false;
|
---|
499 | //DWORD begin = timeGetTime();
|
---|
500 | //while ( !found ) {
|
---|
501 | /*DWORD now = timeGetTime();
|
---|
502 | /DEBUG("begin: %ld, now: %ld", begin, now);
|
---|
503 | if ( now - begin >= timeout ) {
|
---|
504 | return NULL;
|
---|
505 | }
|
---|
506 | */
|
---|
507 | traceXLCommand("xlGetReceiveQueueLevel",
|
---|
508 | xlGetReceiveQueueLevel(this->port, &queueSize));
|
---|
509 | if ( queueSize < 1 ) {
|
---|
510 | if (WaitForSingleObject(handle, WAIT_RECEIVING_FRAME_TIMEOUT) == WAIT_TIMEOUT)
|
---|
511 | {
|
---|
512 | LOG_TRACE("waitReceivingFrame : no frame receiving in the last " << WAIT_RECEIVING_FRAME_TIMEOUT/1000 << " seconds.");
|
---|
513 | return 1;
|
---|
514 | }
|
---|
515 | }
|
---|
516 |
|
---|
517 | if (xlReceive(this->port, &count, &e) == XL_SUCCESS) {
|
---|
518 | LOG_TRACE(xlGetEventString(&e));
|
---|
519 | //found = (e.tagData.msg.id & id) == id;
|
---|
520 | frame.id = e.tagData.msg.id;
|
---|
521 | frame.dlc = static_cast<uint8_t>(e.tagData.msg.dlc);
|
---|
522 | memcpy(frame.data,e.tagData.msg.data, frame.dlc);
|
---|
523 | return 0;
|
---|
524 | } else {
|
---|
525 | return 1;
|
---|
526 | }
|
---|
527 | //}
|
---|
528 |
|
---|
529 | //return new CanMessage(e);
|
---|
530 |
|
---|
531 |
|
---|
532 | /*
|
---|
533 | int L ;
|
---|
534 | Vstatus vErr;
|
---|
535 | Vevent * pEvent = NULL;
|
---|
536 |
|
---|
537 | do {
|
---|
538 | // Read frame in the buffer
|
---|
539 | ncdGetReceiveQueueLevel( gPortHandle , &L );
|
---|
540 | if( L <= 0 )
|
---|
541 | {
|
---|
542 | if (WaitForSingleObject (gEventHandle,WAIT_RECEIVING_FRAME_TIMEOUT) == WAIT_TIMEOUT)
|
---|
543 | {
|
---|
544 | //printf("no frame receiving in the %d last seconds\n", WAIT_RECEIVING_FRAME_TIMEOUT/1000);
|
---|
545 | return VERR_QUEUE_IS_EMPTY;
|
---|
546 | }
|
---|
547 | }
|
---|
548 |
|
---|
549 | vErr = ncdReceive1 (gPortHandle,&pEvent);
|
---|
550 | if( vErr == VERROR )
|
---|
551 | {
|
---|
552 | printf ("receiveframe ERROR - ERROR: %s\n", ncdGetErrorString (vErr));
|
---|
553 | // ncdDeactivateChannel (gPortHandle, gChannelMask);
|
---|
554 | // cleanUpPort ();
|
---|
555 |
|
---|
556 | return vErr;
|
---|
557 | }
|
---|
558 |
|
---|
559 | } while((( pEvent==NULL ) && ( vErr==VERR_QUEUE_IS_EMPTY )) || ( vErr == VERROR ));
|
---|
560 |
|
---|
561 | // Return the flags field, dlc field and data field of the sent frame
|
---|
562 | //frame.flags = pEvent->tagData.msg.flags;
|
---|
563 | frame.dlc = pEvent->tagData.msg.dlc;
|
---|
564 | frame.id = pEvent->tagData.msg.id;
|
---|
565 | if( ( frame.dlc > 8 ) || ( frame.dlc < 0 ))
|
---|
566 | frame.dlc = 8;
|
---|
567 |
|
---|
568 | memcpy(frame.data,pEvent->tagData.msg.data, frame.dlc);
|
---|
569 |
|
---|
570 | return VSUCCESS;*/
|
---|
571 |
|
---|
572 | }
|
---|
573 |
|
---|
574 |
|
---|
575 | /**
|
---|
576 | * Member which wait the reception of a frame on the CAN bus.
|
---|
577 | * @see sendFrame (unsigned char flags, unsigned char dlc, unsigned char * data)
|
---|
578 | * @see receiveFrame (unsigned char * flags, unsigned char * dlc, unsigned char ** data)
|
---|
579 | */
|
---|
580 | void XLVectorCanDriver::waitReceivingFrame(void)
|
---|
581 | {
|
---|
582 |
|
---|
583 | if (WaitForSingleObject (msgEvent,WAIT_RECEIVING_FRAME_TIMEOUT) == WAIT_TIMEOUT)
|
---|
584 | {
|
---|
585 | LOG_TRACE("waitReceivingFrame - Error : no frame receiving in the " << WAIT_RECEIVING_FRAME_TIMEOUT/1000 << " %d last seconds");
|
---|
586 | }
|
---|
587 | /*
|
---|
588 | if (WaitForSingleObject (gEventHandle,WAIT_RECEIVING_FRAME_TIMEOUT) == WAIT_TIMEOUT)
|
---|
589 | {
|
---|
590 | printf("waitReceivingFrame - Error : no frame receiving in the %d last seconds\n", WAIT_RECEIVING_FRAME_TIMEOUT/1000);
|
---|
591 | }
|
---|
592 | */
|
---|
593 | }
|
---|
594 |
|
---|
595 | /*
|
---|
596 | Vstatus XLVectorCanDriver::AcceptId(int id)
|
---|
597 | {
|
---|
598 | if(ncdAddAcceptanceRange(gPortHandle,gChannelMask,id,id)!=VSUCCESS)
|
---|
599 | {
|
---|
600 | printf("erreur lors de la configuration du filtre");
|
---|
601 | return VERROR;
|
---|
602 | }
|
---|
603 | else
|
---|
604 | return VSUCCESS;
|
---|
605 | }
|
---|
606 | */
|
---|
607 |
|
---|
608 |
|
---|
609 | /*
|
---|
610 | Vstatus XLVectorCanDriver::AcceptIdRange(int deb,int fin)
|
---|
611 | {
|
---|
612 | if(ncdAddAcceptanceRange(gPortHandle,gChannelMask,deb,fin)!=VSUCCESS)
|
---|
613 | {
|
---|
614 | printf("erreur lors de la configuration du filtre");
|
---|
615 | return VERROR;
|
---|
616 | }
|
---|
617 | else
|
---|
618 | return VSUCCESS;
|
---|
619 | }
|
---|
620 | */ |
---|