[1] | 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);
|
---|
| 429 |
|
---|
| 430 | //printf("sendFrame ncdTransmit -- vErr=%d, event=0x%x\n", vErr, event);
|
---|
| 431 |
|
---|
| 432 | if (vErr==VERR_QUEUE_IS_FULL)
|
---|
| 433 | {
|
---|
| 434 | printf("!");
|
---|
| 435 | }
|
---|
| 436 |
|
---|
| 437 | else if (vErr)
|
---|
| 438 | {
|
---|
| 439 | printf ("ERROR:(send frame) %s!\n", ncdGetErrorString (vErr));
|
---|
| 440 | // ncdDeactivateChannel (gPortHandle, gChannelMask);
|
---|
| 441 | // cleanUpPort ();
|
---|
| 442 | return vErr;
|
---|
| 443 | }
|
---|
| 444 |
|
---|
| 445 | return VSUCCESS;
|
---|
| 446 |
|
---|
| 447 | // Wait the acknowledgement frame
|
---|
| 448 | waitReceivingFrame();
|
---|
| 449 |
|
---|
| 450 | // Read the acknowledgement frame in the buffer
|
---|
| 451 | vErr = ncdReceive1 (gPortHandle,&pEvent);
|
---|
| 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 | */ |
---|