DoCan_FD/main.cpp

#include <vector>
#include <iostream>
 
#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);
                uint8_t *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;
}