source: pacpussensors/trunk/CanGateway/driver/PeakCanDriver.cpp@ 39

Last change on this file since 39 was 23, checked in by aschildk, 11 years ago

add PeakCanDriver write method

File size: 6.7 KB
Line 
1/********************************************************************
2// created: 2011/02/21 - 10:46
3// filename: PeakCanDriver.cpp
4//
5// author: Sergio Rodriguez
6//
7// version: $Id: PeakCanDriver.cpp srodrigu $
8//
9// purpose: Implementation of the PeakCanDriver class
10//
11*********************************************************************/
12
13
14#include "PeakCanDriver.h"
15#include <stdio.h>
16#include <cstring>
17#include <cstdlib>
18#include <iostream>
19
20#define DEFAULT_NODE "/dev/pcanusb0"
21#define WAIT_RECEIVING_FRAME_TIMEOUT 1000
22
23/**
24* Constructor which enables to initialize the different attributes of the class with default values.
25*/
26PeakCanDriver::PeakCanDriver (void)
27{
28 printf("Notice : PEAK CAN Driver used\n");
29 //szDevNode_ = DEFAULT_NODE;
30 mode_ = ReadOnly;
31}
32
33/**
34* Constructor which enables to initialize the different attributes of the class with default values.
35*/
36PeakCanDriver::PeakCanDriver (int channel)
37{
38 printf("Notice : PEAK CAN Driver used\n");
39 //szDevNode_ = DEFAULT_NODE;
40 mode_ = ReadOnly;
41}
42
43/**
44* Constructor which enables to initialize the different attributes of the class with default values.
45*/
46PeakCanDriver::PeakCanDriver (int channel, unsigned int bitRate)
47{
48 printf("Notice : PEAK CAN Driver used\n");
49 //szDevNode_ = DEFAULT_NODE;
50 mode_ = ReadOnly;
51}
52
53/**
54* Constructor which enables to initialize the different attributes of the class with default values.
55*/
56PeakCanDriver::PeakCanDriver(const char* port, const char* mode)
57{
58 szDevNode_ =(char*) malloc(14*sizeof(char));
59 strcpy(szDevNode_,DEFAULT_NODE);
60
61 printf("Notice : PEAK CAN Driver used\n");
62 //strcpy(szDevNode_, port);
63 printf("Driver to be connected at port: %s",szDevNode_);
64
65 if (!strcmp(mode,"ReadOnly")){
66 mode_ = ReadOnly;
67 printf(" in ReadOnly mode\n");
68 }
69 else if (!strcmp(mode,"WriteOnly")){
70 mode_ = WriteOnly;
71 printf(" in WriteOnly mode\n");
72 }
73 else if (!strcmp(mode,"ReadWrite")){
74 mode_ = ReadWrite;
75 printf(" in ReadWrite dual mode\n");
76 }
77 else{
78 mode_= ReadOnly;
79 printf(" in ReadOnly mode since mode was not identified.\n");
80 }
81}
82
83/**
84* Destructor which clean up the different attributs of the class.
85*/
86PeakCanDriver::~PeakCanDriver (void)
87{
88
89}
90
91/**
92* Member used to initialise the configuration of the CAN Card.
93* @see cleanUpPort (void)
94* @return a Pstatus variable which contain the error code of the function. On success, it return PSUCCESS. On failure, it return Pstatus error code.
95*/
96short PeakCanDriver::initPort (void)
97{
98
99 switch(mode_)
100 {
101 case ReadOnly:
102 canDeviceHandle_ = LINUX_CAN_Open(szDevNode_, O_RDONLY);
103 break;
104 case WriteOnly:
105 canDeviceHandle_ = LINUX_CAN_Open(szDevNode_, O_WRONLY);
106 break;
107 case ReadWrite:
108 canDeviceHandle_ = LINUX_CAN_Open(szDevNode_, O_RDWR);
109 break;
110 default:
111 printf("Error on CAN port operation mode selection.\n");
112 break;
113 }
114
115 return (!canDeviceHandle_)?1:PSUCCESS;
116}
117
118/**
119* Member used to clean up the configuration of the CAN Card.
120* @see initPort (void)
121* @return a Pstatus variable which contain the error code of the function. On success, it return PSUCCESS. On failure, it return Pstatus error code.
122*/
123short PeakCanDriver::cleanUpPort (void)
124{
125 if(canDeviceHandle_)
126 {
127 printf("Closing CAN Driver..");
128 CAN_Close(canDeviceHandle_);
129 return PSUCCESS;
130 }
131 printf("CAN Driver finished.\n");
132 return 1;
133}
134
135
136/**
137* Member which permit to send a frame on the CAN bus and test if the frame is well acknowledged.
138* @param flags a character which contain the flags of the sent frame.
139* @param dlc a character which defined the number of characters of the sent frame.
140* @param data a table of characters with the data of the sent frame.
141* @see receiveFrame (unsigned char * flags, unsigned char * dlc, unsigned char ** data)
142* @return a Pstatus variable which contain the error code of the function. On success, it return PSUCCESS. On failure, it return Pstatus error code.
143*/
144short PeakCanDriver::sendFrame (struct CanFrame frame)
145{
146 TPCANMsg msg;
147 msg.MSGTYPE = 0; //normal message
148 //msg.MSGTYPE |= MSGTYPE_EXTENDED; //extended ?
149 msg.ID = frame.id;
150 msg.LEN = frame.dlc;
151 memcpy(msg.DATA, frame.data, frame.dlc);
152 if(CAN_Write(canDeviceHandle_, &msg)) {
153 perror("application: CAN_Write()");
154 return errno;
155 }
156 return PSUCCESS;
157}
158
159
160/**
161* Member which permit to receive of a frame on the CAN bus.
162* @param flags a character pointer which contain the flags of the received frame.
163* @param dlc a character pointer which defined the number of characters of the received frame.
164* @param data a pointer of table of characters with the data of the received frame.
165* @see sendFrame (unsigned char flags, unsigned char dlc, unsigned char * data)
166* @return a Pstatus variable which contain the error code of the function. On success, it return PSUCCESS. On failure, it return Pstatus error code.
167*/
168short PeakCanDriver::receiveFrame (struct CanFrame &frame)
169{
170 TPCANRdMsg message;
171 __u32 status;
172
173 //if ((errno = CAN_Read(canDeviceHandle_, &message)))
174 if ((errno = LINUX_CAN_Read_Timeout(canDeviceHandle_, &message, READ_TIMEOUT)))
175 {
176 //Timeout:
177 //perror("application: CAN_Read()");
178 return errno;
179 }
180 else
181 {
182 //print_message(&message.Msg);
183 // check if a CAN status is pending
184 if (message.Msg.MSGTYPE & MSGTYPE_STATUS)
185 {
186 status = CAN_Status(canDeviceHandle_);
187 if ((int)status < 0)
188 {
189 errno = nGetLastError();
190 perror("application: CAN_Status()");
191 return errno;
192 }
193 else
194 printf("application: pending CAN status 0x%04x read.\n", (__u16)status);
195 }
196 }
197
198 /* Return the flags field, dlc field and data field of the sent frame */
199 //frame.flags = pEvent->tagData.msg.flags;
200 frame.dlc = message.Msg.LEN; //ok
201 frame.id = message.Msg.ID;
202
203 if( ( frame.dlc > 8 ) || ( frame.dlc < 0 ))
204 frame.dlc = 8;
205 memcpy(frame.data,message.Msg.DATA, frame.dlc);
206
207 return PSUCCESS;
208}
209
210
211/**
212* Member which wait the reception of a frame on the CAN bus.
213* @see sendFrame (unsigned char flags, unsigned char dlc, unsigned char * data)
214* @see receiveFrame (unsigned char * flags, unsigned char * dlc, unsigned char ** data)
215*/
216void PeakCanDriver::waitReceivingFrame(void)
217{
218
219}
220// print out the contents of a CAN message
221void PeakCanDriver::print_message(TPCANMsg *m)
222{
223 int i;
224
225 // print RTR, 11 or 29, CAN-Id and datalength
226 printf("message: %c %c 0x%08x %1d ",
227 (m->MSGTYPE & MSGTYPE_RTR) ? 'r' : 'm',
228 (m->MSGTYPE & MSGTYPE_EXTENDED) ? 'e' : 's',
229 m->ID,
230 m->LEN);
231
232 // don't print any telegram contents for remote frames
233 if (!(m->MSGTYPE & MSGTYPE_RTR))
234 for (i = 0; i < m->LEN; i++)
235 printf("0x%02x ", m->DATA[i]);
236
237 printf("\n");
238}
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