Can_v2_FD/main.cpp

#include <iostream>
#include <vector>
 
#define AGHAF_DYNAMIC_LIBRARY_INIT
#include <aghaf.h>
 
void onMessageTx(uint64_t timestamp, uint32_t ident, uint8_t flags,
                 uint16_t dataLen, uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)ident;
  (void)flags;
  (void)dataLen;
  (void)data;
  (void)userContext;
}
 
void onMessageRx(uint64_t timestamp, uint32_t ident, uint8_t flags,
                 uint16_t dataLen, uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)ident;
  (void)flags;
  (void)dataLen;
  (void)data;
  (void)userContext;
}
 
void onError(uint64_t timestamp, AGHAF_CAN_Error error, void *userContext) {
  (void)timestamp;
  (void)error;
  (void)userContext;
}
 
void onBusChange(uint64_t timestamp, uint8_t chipState, void *userContext) {
  (void)timestamp;
  (void)chipState;
  (void)userContext;
}
 
void onBusLoad(uint64_t timestamp, uint8_t chipState, uint8_t busLoad,
               AGHAF_CAN_Error error, void *userContext) {
  (void)timestamp;
  (void)chipState;
  (void)busLoad;
  (void)error;
  (void)userContext;
}
 
int main() {
#ifdef _WIN32
  AGHAF_loadLibrary(AGHAF_DEFAULT_FILENAME);
#endif
 
  AGHAF_CAN_v2_useAPI();
 
  if (AGHAF_getDeviceCount() > 0) {
    AGHAF_DeviceInfo *devicesInfo = nullptr;
    uint32_t deviceInfoNumber = 0;
    AGHAF_getDeviceList(&devicesInfo, &deviceInfoNumber);
 
    AGHAF_Device device =
        AGHAF_getDeviceBySN(devicesInfo[0].productNo, devicesInfo[0].serialNo);
 
    AGHAF_freeDeviceList(devicesInfo);
 
    if (AGHAF_openDevice(device) == AGHAF_STATUS_OK) {
      if (AGHAF_CAN_v2_getCount(device) > 0) {
        AGHAF_CAN can = AGHAF_CAN_v2_get(device, 0);
 
        AGHAF_CAN_v2_setOnMessageTxCallback(can, &onMessageTx, nullptr);
        AGHAF_CAN_v2_setOnMessageRxCallback(can, &onMessageRx, nullptr);
        AGHAF_CAN_v2_setOnErrorCallback(can, &onError, nullptr);
        AGHAF_CAN_v2_setOnBusChangeCallback(can, &onBusChange, nullptr);
        AGHAF_CAN_v2_setOnBusLoadCallback(can, &onBusLoad, nullptr);
 
        // BUS CAN FD -------------------------------
        AGHAF_CAN_v2_deactivate(can);
        AGHAF_CAN_v2_setParam(can, CAN_PARAM_LISTEN_ONLY, AGHAF_FALSE);
        AGHAF_CAN_v2_setParam(can, CAN_PARAM_MODE, AGHAF_CAN_MODE_FD);
        AGHAF_CAN_v2_setParam(can, CAN_PARAM_BAUDRATE, 1000000);
        AGHAF_CAN_v2_setParam(can, CAN_PARAM_BAUDRATE_FD, 5000000);
        AGHAF_CAN_v2_setParam(can, CAN_PARAM_TERMINATION, 120);
        AGHAF_CAN_v2_activate(can);
        // --------------------------------------------
 
        std::vector<uint8_t> dataToSend;
        dataToSend.push_back(0x01);
        AGHAF_CAN_v2_sendMessage(can, 0x100,
                                 AGHAF_CAN_MSG_FDF | AGHAF_CAN_MSG_BRS,
                                 dataToSend.size(), dataToSend.data());
 
        AGHAF_CAN_v2_deactivate(can);
      } else {
        std::cerr << "no CAN on this device\n";
      }
      AGHAF_closeDevice(device);
    } else {
      std::cerr << "device is used by another application\n";
    }
  } else {
    std::cerr << "no exxotest device connected\n";
  }
 
#ifdef _WIN32
  AGHAF_unloadLibrary();
#endif
  return 0;
}