Changeset 116 in pacpussensors for trunk/CanGateway/driver/KVaserCanDriver.cpp

Timestamp:

12/16/15 16:57:50 (9 years ago)

Author:

ydroniou

Message:

Fix KVaser for Linux \o/

File:

• trunk/CanGateway/driver/KVaserCanDriver.cpp (modified) (12 diffs)

trunk/CanGateway/driver/KVaserCanDriver.cpp

@@ -4 +4 @@
 
 #include "KVaserCanDriver.h"
+/*
 #ifdef WIN32
 #include "kvaser/windows/canlib.h"
@@ -9 +10 @@
 #include "kvaser/linux/canlib.h"
 #endif
+*/
+
+
+#include <canlib.h>
+
 #include <cassert>
 #include <cstdio>
@@ -44 +50 @@
 // Check a status code and issue an error message if the code isn't canOK.
 //
-void ErrorExit(char* id, canStatus stat)
+void ErrorExit(string id, canStatus stat)
 {
     char buf[50];
@@ -123 +129 @@
 
 
-void KVaserCanDriver::displayHardware() 
+void KVaserCanDriver::displayHardware()
 {
         LOG_INFO("----------------------------------------------------------");
@@ -139 +145 @@
   canHandle_ = canOpenChannel(hwChannel, 0);
     if (canHandle_ < 0) {
-        ErrorExit("canOpenChannel", (canStatus)canHandle_);
+        ErrorExit("canOpenChannel", (canStatus) canHandle_);
     }
-        else 
+        else
         {
                 int ret = 0;
@@ -153 +159 @@
                                 break;
                         case 500000:
-                                ret = canSetBusParams(canHandle_, canBITRATE_500K, 0, 0, 0, 0, 0);
+                                ret = canSetBusParams(canHandle_, canBITRATE_500K, 4, 3, 1, 1, 0);
                                 break;
                         default:
@@ -166 +172 @@
                 if (ret < 0) {
                         ErrorExit("canBusOn", (canStatus)ret);
-        
+
                 }
         }
@@ -184 +190 @@
     canInitializeLibrary();
 #endif
-    
+
         // open the physical CAN interface
         initialize(kvaserHardwareType_, canChannel_, canBitRate_);
@@ -199 +205 @@
 short KVaserCanDriver::cleanUpPort (void)
 {
-        
+
         //traceXLCommand("xlCloseDriver", xlCloseDriver());
 
@@ -215 +221 @@
 {
         canStatus stat = canWrite(canHandle_, frame.id,frame.data, frame.dlc, 0);
-        if (stat == canOK ) 
+        if (stat == canOK )
         {
                 return 0;
         } else {
                 LOG_WARN("Kvaser driver - sendFrame method - Failed to send the CAN frame");
-                return 1; 
+                return 1;
         }
 }
@@ -236 +242 @@
         //DWORD timestamp;
         unsigned long timestamp;
-        
+
         canStatus stat = canReadWait(canHandle_, &id, msg, &dlc, &flags, &timestamp, WAIT_RECEIVING_FRAME_TIMEOUT);
-        if (stat == canOK ) 
+        if (stat == canOK )
         {
-                if ((flags & canMSG_ERROR_FRAME) == 0) 
+                if ((flags & canMSG_ERROR_FRAME) == 0)
                 {
                         // Get the message data
@@ -254 +260 @@
                         memcpy(frame.data, msg, frame.dlc);
                         return 0;
-                } 
-        } 
+                }
+        }
         else if (stat == canERR_NOMSG ) {
                         // timeout occurs
                         LOG_WARN("Kvaser card - receiveFrame() method - TIMEOUT");
                         return 1;
-        } 
+        }
         else {
                         // An error frame.