J2534_WIN: Basic CAN write and read.
Jessy Diamond Exum
parent
197ba906c5
commit
35fbee9d31
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@ -1,5 +1,6 @@
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// pandaJ2534DLL.cpp : Defines the exported functions for the DLL application.
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//
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// Protocol derived from the following site (which shall be referred to as The Protocol Reference).
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// https://web.archive.org/web/20130805013326/https://tunertools.com/prodimages/DrewTech/Manuals/PassThru_API-1.pdf
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#include "stdafx.h"
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#include "panda/panda.h"
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@ -7,7 +8,35 @@
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#include "J2534_v0404.h"
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#include <string>
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#include <array>
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//#include <std>
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#include <ctime>
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#include <chrono>
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class timer
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{
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// alias our types for simplicity
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using clock = std::chrono::system_clock;
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using time_point_type = std::chrono::time_point < clock, std::chrono::milliseconds >;
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public:
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// default constructor that stores the start time
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timer()
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{
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start = std::chrono::time_point_cast<std::chrono::milliseconds>(clock::now());
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}
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// gets the time elapsed from construction.
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long /*milliseconds*/ getTimePassed()
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{
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// get the new time
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auto end = clock::now();
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// return the difference of the times
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return (end - start).count();
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}
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private:
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time_point_type start;
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};
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//using namespace panda;
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@ -45,10 +74,11 @@ private:
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class J2534Connection {
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public:
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J2534Connection(
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panda::Panda* panda_dev,
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unsigned long ProtocolID,
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unsigned long Flags,
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unsigned long BaudRate
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) : ProtocolID(ProtocolID), Flags(Flags), BaudRate(BaudRate){}
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) : panda_dev(panda_dev), ProtocolID(ProtocolID), Flags(Flags), BaudRate(BaudRate){}
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virtual long PassThruReadMsgs(PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout) { *pNumMsgs = 0; return STATUS_NOERROR; };
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virtual long PassThruWriteMsgs(PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout) { return STATUS_NOERROR; };
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virtual long PassThruStartPeriodicMsg(PASSTHRU_MSG *pMsg, unsigned long *pMsgID, unsigned long TimeInterval) { return STATUS_NOERROR; };
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@ -104,24 +134,83 @@ protected:
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unsigned long Flags;
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unsigned long BaudRate;
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//Should only be used while the panda device exists, so a pointer should be ok.
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panda::Panda* panda_dev;
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std::array<std::unique_ptr<J2534_Message_Filter>, 10> filters;
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};
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#define val_is_29bit(num) (((num) & CAN_29BIT_ID) == CAN_29BIT_ID)
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class CAN_J2534Connection : public J2534Connection {
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public:
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CAN_J2534Connection(
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panda::Panda* panda_dev,
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unsigned long ProtocolID,
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unsigned long Flags,
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unsigned long BaudRate
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) : J2534Connection(ProtocolID, Flags, BaudRate) {};
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) : J2534Connection(panda_dev, ProtocolID, Flags, BaudRate) {};
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virtual long PassThruReadMsgs(PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout) {
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//Timeout of 0 means return immediately. Non zero means WAIT for that time then return. Dafuk.
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*pNumMsgs = 0;
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return STATUS_NOERROR;
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long err_code = STATUS_NOERROR;
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timer t = timer();
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unsigned long msgnum = 0;
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while (msgnum < *pNumMsgs) {
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auto msgs = this->panda_dev->can_recv();
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if (Timeout == 0) {
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if (msgs.size() == 0) break;
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} else if (t.getTimePassed() >= Timeout) {
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err_code = ERR_TIMEOUT;
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break;
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}
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//Should --prob-- ABSOLUTELY save messages to a buffer if they don't fit.
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for (auto& msg_in : msgs) {
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//if (this->_is_29bit() != msg_in.addr_29b) {}
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PASSTHRU_MSG *msg_out = &pMsg[msgnum++];
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msg_out->ProtocolID = this->ProtocolID;
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msg_out->DataSize = msg_in.len + 4;
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msg_out->Data[0] = msg_in.addr >> 24;
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msg_out->Data[1] = (msg_in.addr >> 16) & 0xFF;
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msg_out->Data[2] = (msg_in.addr >> 8) & 0xFF;
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msg_out->Data[3] = msg_in.addr & 0xFF;
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memcpy(&msg_out->Data[4], msg_in.dat, msg_in.len);
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msg_out->Timestamp = msg_in.recv_time;
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msg_out->RxStatus = msg_in.addr_29b ? CAN_29BIT_ID : 0;
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if (msgnum == *pNumMsgs) break;
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}
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}
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if (msgnum == 0)
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err_code = ERR_BUFFER_EMPTY;
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*pNumMsgs = msgnum;
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return err_code;
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}
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virtual long PassThruWriteMsgs(PASSTHRU_MSG *pMsg, unsigned long *pNumMsgs, unsigned long Timeout) {
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//There doesn't seem to be much reason to implement the timeout here.
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for (int msgnum = 0; msgnum < *pNumMsgs; msgnum++) {
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PASSTHRU_MSG* msg = &pMsg[msgnum];
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if (msg->ProtocolID != this->ProtocolID) {
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*pNumMsgs = msgnum;
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return ERR_MSG_PROTOCOL_ID;
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}
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if (msg->DataSize < 4 || msg->DataSize > 8 || val_is_29bit(msg->TxFlags) != this->_is_29bit()) {
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*pNumMsgs = msgnum;
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return ERR_INVALID_MSG;
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}
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uint32_t addr = msg->Data[0] << 24 | msg->Data[1] << 16 | msg->Data[2] << 8 | msg->Data[3];
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if (this->panda_dev->can_send(addr, this->_is_29bit(), &msg->Data[4], msg->DataSize - 4, panda::PANDA_CAN1) == FALSE) {
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*pNumMsgs = msgnum;
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return ERR_INVALID_MSG;
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}
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}
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return STATUS_NOERROR;
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}
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bool _is_29bit() {
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return (this->Flags & CAN_29BIT_ID) == CAN_29BIT_ID;
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}
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};
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typedef struct {
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@ -198,6 +287,11 @@ PANDAJ2534DLL_API long PTAPI PassThruOpen(void *pName, unsigned long *pDevice
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panda_index = pandas.size()-1;
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}
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new_panda->set_can_speed_kbps(panda::PANDA_CAN1, 500);
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new_panda->set_safety_mode(panda::SAFETY_ALLOUTPUT);
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//new_panda->set_can_loopback(TRUE);
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new_panda->set_can_loopback(FALSE);
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pandas[panda_index].panda = std::move(new_panda);
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*pDeviceID = panda_index;
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@ -234,7 +328,6 @@ PANDAJ2534DLL_API long PTAPI PassThruConnect(unsigned long DeviceID, unsigned lo
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}
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//TODO check if channel can be made
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switch (ProtocolID) {
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//SW seems to refer to Single Wire. https://www.nxp.com/files-static/training_pdf/20451_BUS_COMM_WBT.pdf
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//SW_ protocols may be touched on here: https://www.iso.org/obp/ui/#iso:std:iso:22900:-2:ed-1:v1:en
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@ -244,16 +337,16 @@ PANDAJ2534DLL_API long PTAPI PassThruConnect(unsigned long DeviceID, unsigned lo
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case J1850PWM_PS:
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case ISO9141: //This protocol could be implemented if 5 BAUD init support is added to the panda.
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case ISO9141_PS:
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panda.connections[channel_index].reset(new J2534Connection(ProtocolID, Flags, BaudRate));
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panda.connections[channel_index].reset(new J2534Connection(panda.panda.get(), ProtocolID, Flags, BaudRate));
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break;
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case ISO14230: //Only supporting Fast init until panda adds support for 5 BAUD init.
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case ISO14230_PS:
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panda.connections[channel_index].reset(new J2534Connection(ProtocolID, Flags, BaudRate));
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panda.connections[channel_index].reset(new J2534Connection(panda.panda.get(), ProtocolID, Flags, BaudRate));
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break;
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case CAN:
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case CAN_PS:
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//case SW_CAN_PS:
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panda.connections[channel_index].reset(new CAN_J2534Connection(ProtocolID, Flags, BaudRate));
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panda.connections[channel_index].reset(new CAN_J2534Connection(panda.panda.get(), ProtocolID, Flags, BaudRate));
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break;
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//case ISO15765:
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//case ISO15765_PS:
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