Index: /trunk/MagicSoft/Cosy/candrv/vmodican.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/vmodican.cc (revision 1136) +++ /trunk/MagicSoft/Cosy/candrv/vmodican.cc (revision 1137) @@ -1,2 +1,33 @@ +/* ======================================================================== *\ +! +! * +! * This file is part of Stesy, the MAGIC Steering System +! * Software. It is distributed to you in the hope that it can be a useful +! * and timesaving tool in analysing Data of imaging Cerenkov telescopes. +! * It is distributed WITHOUT ANY WARRANTY. +! * +! * Permission to use, copy, modify and distribute this software and its +! * documentation for any purpose is hereby granted without fee, +! * provided that the above copyright notice appear in all copies and +! * that both that copyright notice and this permission notice appear +! * in supporting documentation. It is provided "as is" without express +! * or implied warranty. +! * +! +! +! Author(s): Thomas Bretz, 2001 +! +! Copyright: MAGIC Software Development, 2000-2001 +! +! +\* ======================================================================== */ + +/////////////////////////////////////////////////////////////////////// +// +// VmodIcan +// +// Class describing the interface to the Janz card in RawCan mode. +// +/////////////////////////////////////////////////////////////////////// #include "vmodican.h" @@ -13,4 +44,8 @@ ClassImp(VmodIcan); +// -------------------------------------------------------------------------- +// +// Prints a CAN Message. +// void VmodIcan::PrintMsg(Message *m) { @@ -24,4 +59,8 @@ } +// -------------------------------------------------------------------------- +// +// Embedded ioctl-function from C-lib +// int VmodIcan::Ioctl(int msg, void *arg) { @@ -29,4 +68,8 @@ } +// -------------------------------------------------------------------------- +// +// Enables/Disables the termination. +// void VmodIcan::SetTermination(int state) /* 0 = off, 1 = on */ { @@ -54,4 +97,10 @@ } +// -------------------------------------------------------------------------- +// +// Receiver Thread. Listener. Listens for incomming messages and processes +// these messages through the standard interface: +// - therefor overload HandleCanMessge +// void *VmodIcan::Thread() { @@ -63,12 +112,17 @@ struct timeval tv; - //cout << "waiting..." << endl; - - const int n = read(fd, &c, 1); // sleep until message arrive - + // + // Sleeps until a message arrives + // + const int n = read(fd, &c, 1); + + // + // read the time for the message as soon as possible + // gettimeofday(&tv, NULL); - //cout << "read n=" << n << " c=" << (int)c << endl; - + // + // if n==0 something strange happened. Stop receiver(?) + // if (n == 0) { @@ -77,6 +131,12 @@ } - switch(c) + // + // Check for what we received + // + switch (c) { + // + // Fast message (not used/working) + // case FAST_QUEUE: cout << "--> Fast Queue: " << flush; @@ -96,12 +156,17 @@ break; + // + // Plain Can Message to be processed + // case PLAIN_QUEUE: Message msg; + // + // Read the message from the card and process it + // if (Receive(&msg) < 0) return (void *)1; - //cal->PrintMsg(&msg); HandleMessage(&msg, &tv); @@ -112,6 +177,15 @@ } +// -------------------------------------------------------------------------- +// +// Does a basic message processing and hadles the so called command (cmd) +// stamp of the message. This is some kind of message type which is send +// by the can interface +// void VmodIcan::HandleMessage(Message *msg, struct timeval *tv) { + // + // Decode message + // const WORD_t desc = msg->data[2]<<8 | msg->data[3]; const BYTE_t rtr = (desc>>4)&1; @@ -158,8 +232,14 @@ return; case M_BCAN_RX_ind: + // + // Message is a message from the Can bus + // HandleCanMessage(cobid, &msg->data[4], tv); return; } + // + // Nothing of the above happened + // cout << hex; cout << "Cmd=0x" << (int)msg->cmd << ": "; @@ -174,21 +254,26 @@ } +// -------------------------------------------------------------------------- +// +// This is can_recv from the Janz software. +// +// /* can_recv - receive a message from standard interface +// * +// * This function reads a whole message from the standard host interface of +// * a VMOD-ICAN. +// * The module is selected by the module number . +// * +// * The structure is filled with the received message. +// * +// * RETURNS: +// * The function returns the number of message received, or -1 when the +// * system call failed. +// * The return value therefore 0 determines, that no message was available to +// * be read: can_recv() does not block in such a case and therefore +// * can be used to poll a module for incoming messages. +// */ +// int VmodIcan::Receive(Message *pm) /* receive buffer */ { - /* can_recv - receive a message from standard interface - * - * This function reads a whole message from the standard host interface of - * a VMOD-ICAN. - * The module is selected by the module number . - * - * The structure is filled with the received message. - * - * RETURNS: - * The function returns the number of message received, or -1 when the - * system call failed. - * The return value therefore 0 determines, that no message was available to - * be read: can_recv() does not block in such a case and therefore - * can be used to poll a module for incoming messages. - */ struct dpm_rw_can_desc arg; @@ -202,22 +287,25 @@ } +// -------------------------------------------------------------------------- +// +// This is can_recv_fast from the Janz software +// +// /* can_recv_fast - receive a message from layer2 interface +// * +// * This function reads a FastMessage from the layer2 fast message +// * interface of a VMOD-ICAN. +// * The module is selected by the file descriptor . +// * +// * The structure is filled with the received message. +// * +// * RETURNS: +// * The function returns -1 when the * system call failed. +// * The return value therefore 0 determines, that no message was available to +// * be read: can_recv_fast() does not block in such a case and therefore +// * can be used to poll a module for incoming messages. +// */ +// int VmodIcan::ReceiveFast(FastMessage *pm) { - - /* can_recv_fast - receive a message from layer2 interface - * - * This function reads a FastMessage from the layer2 fast message - * interface of a VMOD-ICAN. - * The module is selected by the file descriptor . - * - * The structure is filled with the received message. - * - * RETURNS: - * The function returns -1 when the * system call failed. - * The return value therefore 0 determines, that no message was available to - * be read: can_recv_fast() does not block in such a case and therefore - * can be used to poll a module for incoming messages. - */ - struct dpm_write_fast_can_desc arg; @@ -230,34 +318,36 @@ } - +// -------------------------------------------------------------------------- +// +// This is IcWriteBtrBCAN from the Janz software +// +// /* IcWriteBtrBCAN - Set bit timing parameters +// * +// * Set bit timing parameters in CAN controller. May only be used if +// * CAN controller is in bus-off state. stores the bus-timing +// * parameters as required by the 82C200 controller. See the description +// * of the CBTRreq-service for possible values. +// * +// * BTR1 is stored in the upper byte of and BTR0 in the lower. Examples +// * are: +// * .CS +// * Baudrate btr Macro +// * 1Mbit 0x2300 BTR_1MB +// * 500kBit 0x1c00 BTR_500KB +// * 250kBit 0x1c01 BTR_250KB +// * 125kBit 0x1c03 BTR_125KB +// * 100kBit 0x34c7 BTR_100KB +// * 50kBit 0x34cf BTR_50KB +// * 20kBit 0x7fcf BTR_20KB +// * .CE +// * +// * SERVICE: CBTRreq +// * +// * NOTE: +// * Raw ICANOS version of the firmware only. +// */ +// void VmodIcan::SetBaudRate(int rate) { - /* IcWriteBtrBCAN - Set bit timing parameters - * - * Set bit timing parameters in CAN controller. May only be used if - * CAN controller is in bus-off state. stores the bus-timing - * parameters as required by the 82C200 controller. See the description - * of the CBTRreq-service for possible values. - * - * BTR1 is stored in the upper byte of and BTR0 in the lower. Examples - * are: - * .CS - * Baudrate btr Macro - * 1Mbit 0x2300 BTR_1MB - * 500kBit 0x1c00 BTR_500KB - * 250kBit 0x1c01 BTR_250KB - * 125kBit 0x1c03 BTR_125KB - * 100kBit 0x34c7 BTR_100KB - * 50kBit 0x34cf BTR_50KB - * 20kBit 0x7fcf BTR_20KB - * .CE - * - * SERVICE: CBTRreq - * - * NOTE: - * Raw ICANOS version of the firmware only. - */ - - /* create message for vmod-ican */ Message msg; /* buffer for module messages */ @@ -305,19 +395,23 @@ } - +// -------------------------------------------------------------------------- +// +// This is IcBusOnBCAN from the Janz software +// +// /* IcBusOnBCAN - switch CANbus controller to bus-on state +// * +// * Switch CAN controller bus-on. You will need to use this +// * function explicitly after you have connected yourself +// * to the module with can_open() (or ican_open() under DOS/WINDOWS). +// * This is because the module comes up in the bus-off state. +// * +// * SERVICE: CONreq +// * +// * NOTE: +// * Raw ICANOS version of the firmware only. +// */ +// void VmodIcan::EnableCanBusConnection() { - /* IcBusOnBCAN - switch CANbus controller to bus-on state - * - * Switch CAN controller bus-on. You will need to use this - * function explicitly after you have connected yourself - * to the module with can_open() (or ican_open() under DOS/WINDOWS). - * This is because the module comes up in the bus-off state. - * - * SERVICE: CONreq - * - * NOTE: - * Raw ICANOS version of the firmware only. - */ Message msg; /* buffer for module messages */ @@ -330,33 +424,38 @@ } +// -------------------------------------------------------------------------- +// +// This is ican2_init_fast_canfrom the Janz software +// +// /* ican2_init_fast_can - initialize fast can access for VMOD-ICAN +// * +// * By this function, the user may initialize and enable the fast +// * host interface (layer2 access) for a VMOD-ICAN module. +// * +// * The calling application can request buffer elements in the queue +// * that sends data to the host and buffer elements for the queue +// * that transports data to the module. +// * +// * NOTE: +// * Notice that the message filtering on the VMOD-ICAN has to be +// * set correctly, so that messages can be received through the fast +// * interface. +// * +// * CAVE AT: +// * The and wbuffers> have no special limit, but the general +// * resources of the DPM must not be exceeded. +// * For the calculation you need to assume, that 16 buffers in one of the fast +// * interface queues take the same DPM space as 1 buffer in the standard +// * host interface. +// * +// * The user must use only one of the functions, either +// * ican2_init_fast_can or ican2_init_fast_can_prio +// * +// * RETURNS: +// * Zero if the operation performed successfully, or less than zero on error. +// */ +// int VmodIcan::EnableFastCan(int rbuffers, int wbuffers) { - /* ican2_init_fast_can - initialize fast can access for VMOD-ICAN - * - * By this function, the user may initialize and enable the fast - * host interface (layer2 access) for a VMOD-ICAN module. - * - * The calling application can request buffer elements in the queue - * that sends data to the host and buffer elements for the queue - * that transports data to the module. - * - * NOTE: - * Notice that the message filtering on the VMOD-ICAN has to be - * set correctly, so that messages can be received through the fast - * interface. - * - * CAVE AT: - * The and wbuffers> have no special limit, but the general - * resources of the DPM must not be exceeded. - * For the calculation you need to assume, that 16 buffers in one of the fast - * interface queues take the same DPM space as 1 buffer in the standard - * host interface. - * - * The user must use only one of the functions, either - * ican2_init_fast_can or ican2_init_fast_can_prio - * - * RETURNS: - * Zero if the operation performed successfully, or less than zero on error. - */ struct dpm_fast_can_desc hdp; @@ -372,22 +471,27 @@ } +// -------------------------------------------------------------------------- +// +// This is IcWriteEwlBCAN from the Janz software +// +// /* IcWriteEwlBCAN - Set error warning limit +// * +// * Set error warning limit in CAN controller. If this limit is passed, the +// * user will get a CEVTind message stating an error interrupt. This type +// * of message will also occur if the both error counter again fall below +// * this limit. +// * +// * RESTRICTIONS: +// * Will only take effect if CAN controller is in bus-off state. Requires +// * an SJA1000 CANbus controller, and will be no-op for 82C200. +// * +// * SERVICE: CBCONFreq +// * +// * NOTE: +// * Raw ICANOS version of the firmware only. +// */ +// void VmodIcan::DisableCanBusConnection() { - /* IcWriteEwlBCAN - Set error warning limit - * - * Set error warning limit in CAN controller. If this limit is passed, the - * user will get a CEVTind message stating an error interrupt. This type - * of message will also occur if the both error counter again fall below - * this limit. - * - * RESTRICTIONS: - * Will only take effect if CAN controller is in bus-off state. Requires - * an SJA1000 CANbus controller, and will be no-op for 82C200. - * - * SERVICE: CBCONFreq - * - * NOTE: - * Raw ICANOS version of the firmware only. - */ lout << "- Disconnect from Bus!" << endl; @@ -400,23 +504,28 @@ } +// -------------------------------------------------------------------------- +// +// This is can_close from the Janz software +// +// /* can_close - close connection to a VMOD-ICAN module +// * +// * The function can be used to close a connection to a VMOD-ICAN +// * that has been established by a can_open() call. +// * The module has to be selected by the file descriptor which was +// * obtained when you did the can_open() call. +// * +// * When you call can_close, all the resources that were used by the driver +// * for communication are freed. +// * +// * The VMOD-ICAN module under question will be reseted, to make sure that +// * the communication with the host will stop. That means especially that +// * no further interrupt will occur and that the module will not longer be +// * active on the CANbus. +// * +// * RETURNS: N/A +// */ +// void VmodIcan::Close() { - /* can_close - close connection to a VMOD-ICAN module - * - * The function can be used to close a connection to a VMOD-ICAN - * that has been established by a can_open() call. - * The module has to be selected by the file descriptor which was - * obtained when you did the can_open() call. - * - * When you call can_close, all the resources that were used by the driver - * for communication are freed. - * - * The VMOD-ICAN module under question will be reseted, to make sure that - * the communication with the host will stop. That means especially that - * no further interrupt will occur and that the module will not longer be - * active on the CANbus. - * - * RETURNS: N/A - */ lout << "- Close Device!" << endl; @@ -431,9 +540,11 @@ } +// -------------------------------------------------------------------------- +// +// Enable the fifo of the Janz card +// Allow VMOD to send messages through the fifo +// int VmodIcan::EnableFifo() { - // - // Allow VMOD to send messages through the fifo - // Message msg; /* connect message */ @@ -448,4 +559,8 @@ } +// -------------------------------------------------------------------------- +// +// Reset the module +// int VmodIcan::Reset() { @@ -457,16 +572,20 @@ } +// -------------------------------------------------------------------------- +// +// This is can_open from the Janz software +// +// /* can_open - open VMOD-ICAN device +// * +// * With this function call you open a VMOD-ICAN plugged +// * into a MODULbus carrier board for use. The module is +// * reseted and then initialized for communication to the host. +// * +// * A specific module is selected by it's device name (e.g. "/dev/dpm_01"). +// */ +// int VmodIcan::Open(const char *devname) /* pathname of device */ { - /* can_open - open VMOD-ICAN device - * - * With this function call you open a VMOD-ICAN plugged - * into a MODULbus carrier board for use. The module is - * reseted and then initialized for communication to the host. - * - * A specific module is selected by it's device name (e.g. "/dev/dpm_01"). - */ - - fd = open (devname, O_RDONLY, 0); + fd = open(devname, O_RDONLY, 0); if (fd < 0) @@ -481,46 +600,50 @@ } +// -------------------------------------------------------------------------- +// +// This is ican2_select_hostif from the Janz software +// +// /* ican2_select_hostif - switch standard host interface to new style mode +// * +// * The routine ican2_select_hostif() can be used to switch a module from +// * the standard host interface to the new style mode. The module is selected +// * by the module number . +// * +// * The calling application can request buffer for the communication +// * queue that sends data to the host and buffer for the reverse +// * communication direction (normal priority queue). By this function the hi- and +// * low-prioritized message-queues which sends data to the module are initialized +// * to a length of 1. +// * +// * NOTE: +// * To notify the module of the new situation, the driver sends +// * a M_NEWHOSTIF message to the module. This is the last message to be +// * transfered through the old style host interface. Immediately after +// * sending this message, the library is switched to the new style mode. +// * Any messages that are sent by the module in this time gap, may be lost. +// * It is therefore not recommended to use this function when you wait +// * for messages from the module. +// * +// * The selection of the new host interface is not reversible. It will stay +// * until the next reset for the module occurs. This will probably occur +// * when you use can_close(). +// * +// * HINTS: +// * When the new style mode is active, no more internal message buffering +// * on the module exists. That is whenever the module tries to send something +// * and cannot because the queue is full, this message will be dropped. +// * Thereby, when enabling the new style host interface you should create +// * enough buffers for the queue that sends to the host, to prevent the +// * loss of messages. If you loose messages, however you will be indicated +// * of that event by a MSGLOST messages (which will not be lost!). +// * +// * CAVE AT: +// * The parameters , , and +// * must be greater than 0, less than 128, and the total sum must not +// * exceed 236. These parameters aren't checked by the driver! +// */ +// int VmodIcan::StdHost2NewStyle(int rbuffers, int wbuffers, int wbuffers_hi, int wbuffers_low) -/* buffers in to, from, from_hi, from_low host queue */ -/* ican2_select_hostif - switch standard host interface to new style mode - * - * The routine ican2_select_hostif() can be used to switch a module from - * the standard host interface to the new style mode. The module is selected - * by the module number . - * - * The calling application can request buffer for the communication - * queue that sends data to the host and buffer for the reverse - * communication direction (normal priority queue). By this function the hi- and - * low-prioritized message-queues which sends data to the module are initialized - * to a length of 1. - * - * NOTE: - * To notify the module of the new situation, the driver sends - * a M_NEWHOSTIF message to the module. This is the last message to be - * transfered through the old style host interface. Immediately after - * sending this message, the library is switched to the new style mode. - * Any messages that are sent by the module in this time gap, may be lost. - * It is therefore not recommended to use this function when you wait - * for messages from the module. - * - * The selection of the new host interface is not reversible. It will stay - * until the next reset for the module occurs. This will probably occur - * when you use can_close(). - * - * HINTS: - * When the new style mode is active, no more internal message buffering - * on the module exists. That is whenever the module tries to send something - * and cannot because the queue is full, this message will be dropped. - * Thereby, when enabling the new style host interface you should create - * enough buffers for the queue that sends to the host, to prevent the - * loss of messages. If you loose messages, however you will be indicated - * of that event by a MSGLOST messages (which will not be lost!). - * - * CAVE AT: - * The parameters , , and - * must be greater than 0, less than 128, and the total sum must not - * exceed 236. These parameters aren't checked by the driver! - */ { struct dpm_new_hostif_desc_prio hdp; @@ -538,24 +661,29 @@ } +// -------------------------------------------------------------------------- +// +// This is can_send_hi from the Janz software +// +// /* can_send_hi - send message to standard host interface (high priority) +// * +// * This function performs the same action as can_send(), except it will +// * append message to the highest priority queue of the standard +// * host interface. +// * +// * NOTE: +// * Notice that the prioritized issue of the message take effect on the new style +// * mode of the standard host interface only. +// * +// * RETURNS: +// * The function returns the number of message send, or -1 when the system +// * call failed. +// * The return value 0 determines that no message could be send, +// * probably because there was no space in the targeted queue. can_send_hi() +// * does not block or retry in such a case, so you need to loop explicitly +// * until the message is send. +// */ +// int VmodIcan::SendHi(Message *pm) { - /* can_send_hi - send message to standard host interface (high priority) - * - * This function performs the same action as can_send(), except it will - * append message to the highest priority queue of the standard - * host interface. - * - * NOTE: - * Notice that the prioritized issue of the message take effect on the new style - * mode of the standard host interface only. - * - * RETURNS: - * The function returns the number of message send, or -1 when the system - * call failed. - * The return value 0 determines that no message could be send, - * probably because there was no space in the targeted queue. can_send_hi() - * does not block or retry in such a case, so you need to loop explicitly - * until the message is send. - */ struct dpm_rw_can_desc arg; @@ -568,25 +696,29 @@ } +// -------------------------------------------------------------------------- +// +// This is can_send_low from the Janz software +// +// /* can_send_low - send message to standard host interface (low priority) +// * +// * This function performs the same action as can_send(), except it will +// * append message to the lowest priority queue of the standard +// * host interface. +// * +// * NOTE: +// * Notice that the prioritized issue of the message take effect on the new +// * style mode of the standard host interface only. +// * +// * RETURNS: +// * The function returns the number of message send, or -1 when the system +// * call failed. +// * The return value 0 determines that no message could be send, +// * probably because there was no space in the targeted queue. can_send_low() +// * does not block or retry in such a case, so you need to loop explicitly +// * until the message is send. +// * +// */ int VmodIcan::SendLo(Message *pm) { - /* can_send_low - send message to standard host interface (low priority) - * - * This function performs the same action as can_send(), except it will - * append message to the lowest priority queue of the standard - * host interface. - * - * NOTE: - * Notice that the prioritized issue of the message take effect on the new - * style mode of the standard host interface only. - * - * RETURNS: - * The function returns the number of message send, or -1 when the system - * call failed. - * The return value 0 determines that no message could be send, - * probably because there was no space in the targeted queue. can_send_low() - * does not block or retry in such a case, so you need to loop explicitly - * until the message is send. - * - */ struct dpm_rw_can_desc arg; @@ -599,22 +731,27 @@ } +// -------------------------------------------------------------------------- +// +// This is can_send from the Janz software +// +// /* can_send - send message to standard host interface (mid priority) +// * +// * This function sends a complete message to the standard host interface of +// * a VMOD-ICAN. +// * +// * The message will be queued to the middle prioritized of the three +// * queues. +// * +// * RETURNS: +// * The function returns the number of message send, or -1 when the system +// * call failed. +// * The return value 0 determines that no message could be send, +// * probably because there was no space in the targeted queue. can_send() +// * does not block or retry in such a case, so you need to loop explicitly +// * until the message is send. +// */ +// int VmodIcan::Send(Message *pm) /* file descriptor, message to send */ { - /* can_send - send message to standard host interface (mid priority) - * - * This function sends a complete message to the standard host interface of - * a VMOD-ICAN. - * - * The message will be queued to the middle prioritized of the three - * queues. - * - * RETURNS: - * The function returns the number of message send, or -1 when the system - * call failed. - * The return value 0 determines that no message could be send, - * probably because there was no space in the targeted queue. can_send() - * does not block or retry in such a case, so you need to loop explicitly - * until the message is send. - */ struct dpm_rw_can_desc arg; @@ -627,24 +764,29 @@ } +// -------------------------------------------------------------------------- +// +// This is can_fast_send from the Janz software +// +// /* can_fast_send - send message to fast interface +// * +// * This function sends a message to the fast host interface (layer-2 +// * interface) of a VMOD-ICAN. The module is selected by the module number +// * . +// * The message to be send will be given in the structure . +// * +// * The fast host interface needs to be established before can_fast_send() +// * can be used successfully. +// * +// * RETURNS: +// * The function returns 1 if can_fast_send() completed successful. +// * Otherwise the return value 0 determines that the message could not be send, +// * probably because there was no space in the DPM. The function +// * does not block or retry in such a case, so you need to loop explicitly +// * until the message is send. +// * The function returns -1 when the system-call itself failed. +// */ +// int VmodIcan::Send(FastMessage *pm) /* file descriptor, message to send */ { - /* can_fast_send - send message to fast interface - * - * This function sends a message to the fast host interface (layer-2 - * interface) of a VMOD-ICAN. The module is selected by the module number - * . - * The message to be send will be given in the structure . - * - * The fast host interface needs to be established before can_fast_send() - * can be used successfully. - * - * RETURNS: - * The function returns 1 if can_fast_send() completed successful. - * Otherwise the return value 0 determines that the message could not be send, - * probably because there was no space in the DPM. The function - * does not block or retry in such a case, so you need to loop explicitly - * until the message is send. - * The function returns -1 when the system-call itself failed. - */ struct dpm_write_fast_can_desc arg; @@ -659,14 +801,18 @@ } +// -------------------------------------------------------------------------- +// +// This is IcSetAfil from the Janz software +// +// /* +// * IcSetAfil - Set software acceptance filter mask +// * +// * Set software acceptance filtering. +// * +// * SERVICE: SetAfilMask +// */ +// void VmodIcan::DisableAllCobIds() { - /* -*-Func-*- - * - * IcSetAfil - Set software acceptance filter mask - * - * Set software acceptance filtering. - * - * SERVICE: SetAfilMask - */ Message msg; @@ -685,18 +831,18 @@ } - +// -------------------------------------------------------------------------- +// +// This is IcSetAfil from the Janz software +// +// /* +// * IcSetAfil - Set software acceptance filter mask +// * +// * Set software acceptance filtering. +// * +// * SERVICE: SetAfilMask +// */ +// void VmodIcan::EnableCobId(WORD_t cobid, int flag) { - /* -*-Func-*- - * - * IcSetAfil - Set software acceptance filter mask - * - * Set software acceptance filtering. - * - * SERVICE: SetAfilMask - * - * NOTE: This service is available in both version of the firmware: Raw-CAN - * and CAL. - */ Message msg; @@ -713,51 +859,58 @@ } +// -------------------------------------------------------------------------- +// +// This is IcSendReqBCAN from the Janz software +// +// /* +// * IcSendReqBCAN - Send a CANbus message +// * +// * Issue request to send a CAN message. controls whether to send with +// * or without spec/confirmation. +// * .CS +// * spec action +// * 0 send only +// * 1 send with confirmation to the host. +// * 2 send and echo message to the host. +// * 3 send and generate both echo and confirmation. +// * .CE +// * +// * SERVICE: CTXreq, CTXCreq, CTXEreq, CTXCEreq +// * +// * NOTE: +// * Raw ICANOS version of the firmware only. +// */ +// void VmodIcan::SendCanFrame(WORD_t cobid, BYTE_t m[8]) { - /* -*-Func-*- - * - * IcSendReqBCAN - Send a CANbus message - * - * Issue request to send a CAN message. controls whether to send with - * or without spec/confirmation. - * .CS - * spec action - * 0 send only - * 1 send with confirmation to the host. - * 2 send and echo message to the host. - * 3 send and generate both echo and confirmation. - * .CE - * - * SERVICE: CTXreq, CTXCreq, CTXEreq, CTXCEreq - * - * NOTE: - * Raw ICANOS version of the firmware only. - */ - const WORD_t desc = MsgDescr(cobid, 8); - - Message msg; - - msg.cmd = M_BCAN_TX_req; - - msg.len = 12; - msg.data[0] = 0; - msg.data[1] = 0; - msg.data[2] = word_to_msb(desc); - msg.data[3] = word_to_lsb(desc); - - memcpy(&msg.data[4], m, 8); - - while (!Send(&msg)); - - /* - cout << "0x" << hex << (int)cobid << ": "; - for(int i=0; i<10; i++) - cout << hex << (int)msg.data[i+2] << " " << flush; - cout << endl; - cout << "- Message sent." << endl; - */ - -} - + const WORD_t desc = MsgDescr(cobid, 8); + + Message msg; + + msg.cmd = M_BCAN_TX_req; + + msg.len = 12; + msg.data[0] = 0; + msg.data[1] = 0; + msg.data[2] = word_to_msb(desc); + msg.data[3] = word_to_lsb(desc); + + memcpy(&msg.data[4], m, 8); + + while (!Send(&msg)); +} + +// -------------------------------------------------------------------------- +// +// Constructor. Sets logging. +// Set the receiving thread to priority -10 and detached. +// +// Open the device. +// reset the device +// Enable the fifo buffers +// Set the baud rate to the given rate +// Disable passthrough of all cobids (all canbus messages) +// and switch the can bus communication on +// VmodIcan::VmodIcan(const char *dev, const int baud, MLog &out) : Log(out), MThread(false)//: CanDriver(dev, baud) { @@ -781,4 +934,9 @@ } +// -------------------------------------------------------------------------- +// +// Destructor. Stopt the receiver, disables the bus connection and +// close the device +// VmodIcan::~VmodIcan() { @@ -788,4 +946,9 @@ } +// -------------------------------------------------------------------------- +// +// Sends a can frame with the given cobid and the given eight bytes +// through the can network +// void VmodIcan::SendCanFrame(WORD_t cobid, BYTE_t m0, BYTE_t m1, BYTE_t m2, BYTE_t m3,