DoCan_FD/main.cpp

#include <iostream>
#include <vector>
 
#define AGHAF_DYNAMIC_LIBRARY_INIT
#include <aghaf.h>
 
void doCanBus_1_callback(AGHAF_DoCAN_Event event, void *userContext) {
  (void)userContext;
  AGHAF_DoCAN_Channel channel = AGHAF_DoCAN_Event_getChannel(event);
 
  AGHAF_EventInfo info;
  AGHAF_Status status = AGHAF_Event_getInfo(event, &info);
  if (status == AGHAF_STATUS_OK) {
    switch (info.type) {
      case AGHAF_TypeNoEvent:
      case AGHAF_TypeDeviceEvent:
      case AGHAF_TypeEthernetEvent:
      case AGHAF_TypeCanEvent:
        break;
      case AGHAF_TypeDoCanEvent: {
        AGHAF_DoCAN_EventType eventType = AGHAF_DoCAN_Event_type(info);
        switch (eventType) {
          case AGHAF_DoCAN_EVENT_MSGTX:
            std::cout << __FUNCTION__ << "AGHAF_DOCAN_EVENT_MSGTX"
                      << reinterpret_cast<std::size_t>(channel) << std::endl;
            break;
          case AGHAF_DoCAN_EVENT_MSGTXERR: {
            std::cout << __FUNCTION__ << "AGHAF_DoCAN_EVENT_MSGTXERR"
                      << reinterpret_cast<std::size_t>(channel) << std::endl;
            uint8_t error = AGHAF_DoCAN_Event_getError(event);
            std::cout << static_cast<int>(error) << std::endl;
          } break;
          case AGHAF_DoCAN_EVENT_MSGRX: {
            std::cout << __FUNCTION__ << "AGHAF_DoCAN_EVENT_MSGRX"
                      << reinterpret_cast<std::size_t>(channel) << std::endl;
            uint32_t size = AGHAF_DoCAN_Event_getDataSize(event);
            auto *data = new uint8_t[size];
            AGHAF_DoCAN_Event_getData(event, data, &size);
            delete[] data;
          } break;
          case AGHAF_DoCAN_EVENT_MSGRXFF:
            std::cout << __FUNCTION__ << "AGHAF_DoCAN_MSGRXFF" << std::endl;
            break;
          case AGHAF_DoCAN_EVENT_MSGRXERR: {
            std::cout << __FUNCTION__ << "AGHAF_DoCAN_EVENT_MSGRXERR"
                      << reinterpret_cast<std::size_t>(channel) << std::endl;
            uint8_t error = AGHAF_DoCAN_Event_getError(event);
            std::cout << static_cast<int>(error) << std::endl;
          } break;
        }
      } break;
    }
  }
}
 
void doCanBus_2_callback(AGHAF_CAN_Event event, void *userContext) {
  (void)event;
  (void)userContext;
}
 
int main() {
#ifdef _WIN32
  AGHAF_loadLibrary(AGHAF_DEFAULT_FILENAME);
#endif
 
  uint32_t count = AGHAF_getDeviceCount();
  std::cout << count << std::endl;
  if (count > 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);
 
    AGHAF_openDevice(device);
    AGHAF_CAN_Bus canBus = AGHAF_CAN_getBus(device, 0);
    AGHAF_DoCAN_Bus doCanbus = AGHAF_DoCAN_getBus(device, 0);
 
    // BUS CAN FD -------------------------------
    AGHAF_CAN_Bus_deactivate(canBus);
    AGHAF_CAN_Bus_setParam(canBus, CAN_PARAM_LISTEN_ONLY, AGHAF_FALSE);
    AGHAF_CAN_Bus_setParam(canBus, CAN_PARAM_MODE, AGHAF_CAN_MODE_FD);
    AGHAF_CAN_Bus_setParam(canBus, CAN_PARAM_BAUDRATE, 1000000);
    AGHAF_CAN_Bus_setParam(canBus, CAN_PARAM_BAUDRATE_FD, 5000000);
    AGHAF_CAN_Bus_setParam(canBus, CAN_PARAM_TERMINATION, 120);
    AGHAF_CAN_Bus_activate(canBus);
    // --------------------------------------------
 
    AGHAF_DoCAN_registerCallback(doCanbus, &doCanBus_1_callback, nullptr);
 
    AGHAF_DoCAN_Channel channel = AGHAF_DoCAN_createChannel(doCanbus);
 
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_DIRECTION,
                                 AGHAF_DoCAN_CHANNEL_DIR_2WAY);
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_TXDL,
                                 AGHAF_DoCAN_TX_DL_CLASSIC_CAN);
    AGHAF_DoCAN_Channel_setParam(channel,
                                 AGHAF_DoCAN_CHANNEL_PARAM_PAD_HANDLING,
                                 AGHAF_DoCAN_PAD_ENABLE);
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_PAD_VALUE,
                                 0x06);
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_ADDRMODE,
                                 AGHAF_DoCAN_ADDR_MODE_PHYS);
 
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_TIMING_AS,
                                 1000);
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_TIMING_BS,
                                 2500);
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_TIMING_CS,
                                 0);
 
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_TIMING_AR,
                                 1000);
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_TIMING_BR,
                                 0);
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_TIMING_CR,
                                 1000);
 
    AGHAF_DoCAN_Channel_setParam(channel,
                                 AGHAF_DoCAN_CHANNEL_PARAM_TIMING_STMIN, 4);
 
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_REQ_ID_FMT,
                                 AGHAF_DoCAN_ID_FMT_XTD);
    AGHAF_DoCAN_Channel_setParam(channel,
                                 AGHAF_DoCAN_CHANNEL_PARAM_REQ_ID_VALUE, 0x400);
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_REQ_ID_AE,
                                 0);
 
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_RESP_ID_FMT,
                                 AGHAF_DoCAN_ID_FMT_XTD);
    AGHAF_DoCAN_Channel_setParam(
        channel, AGHAF_DoCAN_CHANNEL_PARAM_RESP_ID_VALUE, 0x900);
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_RESP_ID_AE,
                                 0);
 
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_WAITFRAME,
                                 0);
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_BLOCKSIZE,
                                 0);
    AGHAF_DoCAN_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_MAXDATALEN,
                                 65537);
 
    AGHAF_DoCAN_Channel_start(channel);
 
    std::vector<uint8_t> data;
    data.push_back(0x01);
    AGHAF_DoCAN_Channel_send(channel, static_cast<uint32_t>(data.size()),
                             data.data());
 
    AGHAF_DoCAN_Channel_stop(channel);
    AGHAF_DoCAN_releaseChannel(channel);
    AGHAF_CAN_Bus_deactivate(canBus);
 
    AGHAF_DoCAN_deregisterCallback(doCanbus, &doCanBus_1_callback);
 
    AGHAF_closeDevice(device);
  }
 
#ifdef _WIN32
  AGHAF_unloadLibrary();
#endif
  return 0;
}