DoCan_v2_FD/main.cpp

#include <iostream>
#include <vector>
 
#define AGHAF_DYNAMIC_LIBRARY_INIT
#include <aghaf.h>
 
void onMessageTx(uint64_t timestamp, uint32_t canIdent, uint8_t canFlags,
                 uint32_t dataLen, uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)canIdent;
  (void)canFlags;
  (void)dataLen;
  (void)data;
  (void)userContext;
}
 
void onMessageTxError(uint64_t timestamp, AGHAF_DoCan_Error error,
                      void *userContext) {
  (void)timestamp;
  (void)error;
  (void)userContext;
}
 
void onMessageRx(uint64_t timestamp, uint32_t canIdent, uint8_t canFlags,
                 uint32_t dataLen, uint8_t const *data, void *userContext) {
  (void)timestamp;
  (void)canIdent;
  (void)canFlags;
  (void)dataLen;
  (void)data;
  (void)userContext;
}
 
void onMessageRxFF(uint64_t timestamp, uint32_t canIdent, uint8_t canFlags,
                   void *userContext) {
  (void)timestamp;
  (void)canIdent;
  (void)canFlags;
  (void)userContext;
}
 
void onMessageRxError(uint64_t timestamp, AGHAF_DoCan_Error error,
                      void *userContext) {
  (void)timestamp;
  (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);
 
        // 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);
        // --------------------------------------------
 
        AGHAF_DoCAN_v2_Channel channel = AGHAF_DoCAN_createChannel(can);
        AGHAF_DoCAN_v2_setOnMessageTxCallback(channel, &onMessageTx, nullptr);
        AGHAF_DoCAN_v2_setOnMessageTxErrorCallback(channel, &onMessageTxError,
                                                   nullptr);
        AGHAF_DoCAN_v2_setOnMessageRxCallback(channel, &onMessageRx, nullptr);
        AGHAF_DoCAN_v2_setOnMessageRxFFCallback(channel, &onMessageRxFF,
                                                nullptr);
        AGHAF_DoCAN_v2_setOnMessageRxErrorCallback(channel, &onMessageRxError,
                                                   nullptr);
 
        AGHAF_DoCAN_v2_Channel_setParam(channel,
                                        AGHAF_DoCAN_CHANNEL_PARAM_DIRECTION,
                                        AGHAF_DoCAN_CHANNEL_DIR_2WAY);
        AGHAF_DoCAN_v2_Channel_setParam(channel, AGHAF_DoCAN_CHANNEL_PARAM_TXDL,
                                        AGHAF_DoCAN_TX_DL_CLASSIC_CAN);
        AGHAF_DoCAN_v2_Channel_setParam(channel,
                                        AGHAF_DoCAN_CHANNEL_PARAM_PAD_HANDLING,
                                        AGHAF_DoCAN_PAD_ENABLE);
        AGHAF_DoCAN_v2_Channel_setParam(
            channel, AGHAF_DoCAN_CHANNEL_PARAM_PAD_VALUE, 0x06);
        AGHAF_DoCAN_v2_Channel_setParam(channel,
                                        AGHAF_DoCAN_CHANNEL_PARAM_ADDRMODE,
                                        AGHAF_DoCAN_ADDR_MODE_PHYS);
 
        AGHAF_DoCAN_v2_Channel_setParam(
            channel, AGHAF_DoCAN_CHANNEL_PARAM_TIMING_AS, 1000);
        AGHAF_DoCAN_v2_Channel_setParam(
            channel, AGHAF_DoCAN_CHANNEL_PARAM_TIMING_BS, 2500);
        AGHAF_DoCAN_v2_Channel_setParam(channel,
                                        AGHAF_DoCAN_CHANNEL_PARAM_TIMING_CS, 0);
 
        AGHAF_DoCAN_v2_Channel_setParam(
            channel, AGHAF_DoCAN_CHANNEL_PARAM_TIMING_AR, 1000);
        AGHAF_DoCAN_v2_Channel_setParam(channel,
                                        AGHAF_DoCAN_CHANNEL_PARAM_TIMING_BR, 0);
        AGHAF_DoCAN_v2_Channel_setParam(
            channel, AGHAF_DoCAN_CHANNEL_PARAM_TIMING_CR, 1000);
 
        AGHAF_DoCAN_v2_Channel_setParam(
            channel, AGHAF_DoCAN_CHANNEL_PARAM_TIMING_STMIN, 4);
 
        AGHAF_DoCAN_v2_Channel_setParam(channel,
                                        AGHAF_DoCAN_CHANNEL_PARAM_REQ_ID_FMT,
                                        AGHAF_DoCAN_ID_FMT_XTD);
        AGHAF_DoCAN_v2_Channel_setParam(
            channel, AGHAF_DoCAN_CHANNEL_PARAM_REQ_ID_VALUE, 0x400);
        AGHAF_DoCAN_v2_Channel_setParam(channel,
                                        AGHAF_DoCAN_CHANNEL_PARAM_REQ_ID_AE, 0);
 
        AGHAF_DoCAN_v2_Channel_setParam(channel,
                                        AGHAF_DoCAN_CHANNEL_PARAM_RESP_ID_FMT,
                                        AGHAF_DoCAN_ID_FMT_XTD);
        AGHAF_DoCAN_v2_Channel_setParam(
            channel, AGHAF_DoCAN_CHANNEL_PARAM_RESP_ID_VALUE, 0x900);
        AGHAF_DoCAN_v2_Channel_setParam(
            channel, AGHAF_DoCAN_CHANNEL_PARAM_RESP_ID_AE, 0);
 
        AGHAF_DoCAN_v2_Channel_setParam(channel,
                                        AGHAF_DoCAN_CHANNEL_PARAM_WAITFRAME, 0);
        AGHAF_DoCAN_v2_Channel_setParam(channel,
                                        AGHAF_DoCAN_CHANNEL_PARAM_BLOCKSIZE, 0);
        AGHAF_DoCAN_v2_Channel_setParam(
            channel, AGHAF_DoCAN_CHANNEL_PARAM_MAXDATALEN, 65537);
 
        AGHAF_DoCAN_v2_Channel_start(channel);
 
        std::vector<uint8_t> data;
        data.push_back(0x01);
        AGHAF_DoCAN_v2_Channel_send(channel, static_cast<uint32_t>(data.size()),
                                    data.data());
 
        AGHAF_DoCAN_v2_Channel_stop(channel);
        AGHAF_DoCAN_v2_releaseChannel(channel);
        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;
}