Merge pull request #20 from mac-can/development

Release candidate 1 for version 0.3

Author: mac-can

Examples/C++/Makefile

@@ -30,6 +30,7 @@ LDFLAGS =
 CXX = g++
 LD = g++
 RM = rm -f
+CP = cp
 
 all: $(TARGET1) $(TARGET2)
 
@@ -41,3 +42,9 @@ $(TARGET2):	$(SOURCE2)
 
 clean:
 	@-$(RM) *.o *~ $(TARGET1) $(TARGET2)
+pristine:
+	@-$(RM) *.o *~ $(TARGET1) $(TARGET2)
+
+install:
+	@-$(CP) $(TARGET1) /usr/local/bin
+	@-$(CP) $(TARGET2) /usr/local/bin

Examples/C++/can_send.cpp

@@ -38,7 +38,7 @@ int main(int argc, const char * argv[]) {
 
     can_sio_param_t port;
     port.name = (char*)SERIAL_PORT;
-    port.attr.options = CANSIO_SLCAN;
+    port.attr.protocol = CANSIO_LAWICEL;
     port.attr.baudrate = CANSIO_BD57600;
     port.attr.bytesize = CANSIO_8DATABITS;
     port.attr.parity = CANSIO_NOPARITY;

Examples/Makefile

@@ -0,0 +1,16 @@
+all:
+# if any Makefile failed, stop building all...
+	@for m in `find . -mindepth 2 -name Makefile`; do\
+		$(MAKE) -C `dirname $$m`; \
+		if [ $$? -ne 0 ]; then exit 1; fi; \
+	done
+
+clean:
+	-@for m in `find . -mindepth 2 -name Makefile`; do\
+		$(MAKE) -C `dirname $$m` clean; \
+	done
+
+pristine:
+	-@for m in `find . -mindepth 2 -name Makefile`; do\
+		$(MAKE) -C `dirname $$m` pristine; \
+	done

Examples/Python/CANAPI.py

@@ -52,9 +52,9 @@
     Interface API for various CAN interfaces from different
     vendors running under multiple operating systems.
 
-    $Author: makemake $
+    $Author: quaoar $
 
-    $Rev: 1274 $
+    $Rev: 1278 $
 """
 from ctypes import *
 import platform
@@ -69,7 +69,7 @@
 
 # CAN API V3 - Python Wrapper
 #
-CAN_API_V3_PYTHON = {'major': 0, 'minor': 2, 'patch': 2}
+CAN_API_V3_PYTHON = {'major': 0, 'minor': 3, 'patch': 1}
 
 # CAN Identifier Ranges
 #
@@ -122,6 +122,13 @@
     (49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64): c_uint8(0xF)
 }
 
+# CAN Acceptance Filter: (code ^ id) & mask == 0
+#
+CANACC_CODE_11BIT = 0x000  # mask for 11-bit acceptance code
+CANACC_MASK_11BIT = 0x000  # mask for 11-bit acceptance mask
+CANACC_CODE_29BIT = 0x00000000  # mask for 29-bit acceptance code
+CANACC_MASK_29BIT = 0x00000000  # mask for 29-bit acceptance mask
+
 # CAN 2.0 Predefined Bit-rates (as index acc. CiA)
 #
 CANBTR_INDEX_1M = c_int32(0)     # bit-rate: 1000 kbit/s
@@ -638,6 +645,70 @@ def bitrate(self):
             print('+++ exception: {}'.format(e))
             raise
 
+    def filter11bit(self, code, mask):
+        """
+          sets a 11-bit filter for the CAN controller.
+
+          :param code: 11-bit code for the filter (or None)
+          :param mask: 11-bit mask for the filter (or None)
+          :return: result, code, mask
+            result: 0 if successful, or a negative value on error
+            code: 11-bit code for the filter
+            mask: 11-bit mask for the filter
+        """
+        try:
+            # set the 11-bit filter (if code or mask are not None)
+            if code is not None or mask is not None:
+                __filter = c_uint64(0)
+                if code is not None:
+                    __filter.value = code << 32
+                if mask is not None:
+                    __filter.value |= mask & 0xFFFFFFFF
+                result = self.__m_library.can_property(self.__m_handle, 42, byref(__filter), 8)
+                if result < 0:
+                    return int(result), None, None
+            # get the 11-bit filter
+            __value = c_uint64(0)
+            result = self.__m_library.can_property(self.__m_handle, 40, byref(__value), 8)
+            if result < 0:
+                return int(result), None, None
+            return int(result), int(__filter.value >> 32), int(__filter.value & 0xFFFFFFFF)
+        except Exception as e:
+            print('+++ exception: {}'.format(e))
+            raise
+
+    def filter29bit(self, code, mask):
+        """
+          sets a 29-bit filter for the CAN controller.
+
+          :param code: 29-bit code for the filter (or None)
+          :param mask: 29-bit mask for the filter (or None)
+          :return: result, code, mask
+            result: 0 if successful, or a negative value on error
+            code: 29-bit code for the filter
+            mask: 29-bit mask for the filter
+        """
+        try:
+            # set the 29-bit filter (if code or mask are not None)
+            if code is not None or mask is not None:
+                __filter = c_uint64(0)
+                if code is not None:
+                    __filter.value = code << 32
+                if mask is not None:
+                    __filter.value |= mask & 0xFFFFFFFF
+                result = self.__m_library.can_property(self.__m_handle, 43, byref(__filter), 8)
+                if result < 0:
+                    return int(result), None, None
+            # get the 29-bit filter
+            __value = c_uint64(0)
+            result = self.__m_library.can_property(self.__m_handle, 41, byref(__value), 8)
+            if result < 0:
+                return int(result), None, None
+            return int(result), int(__filter.value >> 32), int(__filter.value & 0xFFFFFFFF)
+        except Exception as e:
+            print('+++ exception: {}'.format(e))
+            raise
+
     def hardware(self):
         """
           retrieves the hardware version of the CAN controller
@@ -780,6 +851,20 @@ def len2dlc(length):
     else:
         print('>>> can.status() >>> 0x{:02X}'.format(status.byte))
 
+    # set acceptance filter
+    code = CANACC_CODE_11BIT
+    mask = CANACC_MASK_11BIT
+    print('>>> can.filter11bit(0x{:03X}, 0x{:03X})'.format(code, mask))
+    res, code, mask = can.filter11bit(code=code, mask=mask)
+    if res < CANERR_NOERROR:
+        print('+++ error: can.filter11bit returned {}'.format(res))
+    code = CANACC_CODE_29BIT
+    mask = CANACC_MASK_29BIT
+    print('>>> can.filter29bit(0x{:08X}, 0x{:08X})'.format(code, mask))
+    res, code, mask = can.filter29bit(code=code, mask=mask)
+    if res < CANERR_NOERROR:
+        print('+++ error: can.filter29bit returned {}'.format(res))
+
     # start the CAN controller
     if bitRate.index > 0:   # FIXME: Expected type 'int', got 'c_int32[int]' instead
         print('>>> can.start([{},[{},{},{},{},{}],[{},{},{},{},])'.format(bitRate.btr.frequency,
@@ -831,5 +916,5 @@ def len2dlc(length):
     # have a great time
     print('Bye, bye!')
 
-# * $Id: CANAPI.py 1274 2024-04-21 17:34:21Z makemake $ *** (c) UV Software, Berlin ***
+# * $Id: CANAPI.py 1278 2024-04-23 08:34:36Z quaoar $ *** (c) UV Software, Berlin ***
 #

Examples/Python/CANAPI_SerialCAN.py

@@ -54,7 +54,7 @@
 
     $Author: makemake $
 
-    $Rev: 1261 $
+    $Rev: 1397 $
 """
 from CANAPI import *
 from ctypes import *
@@ -66,7 +66,10 @@
 
 # SerialCAN protocol options
 #
-CANSIO_SLCAN = 0x00  # Lawicel SLCAN protocol
+CANSIO_LAWICEL = 0x00          # Lawicel SLCAN protocol
+CANSIO_CANABLE = 0x01          # CANable SLCAN protocol
+CANSIO_AUTO    = 0xFF          # auto detect (not realized yet)
+CANSIO_SLCAN = CANSIO_LAWICEL  # Lawicel SLCAN protocol (default)
 
 # Baud rate (CBAUDEX compatible, e.g. CygWin)
 #
@@ -112,10 +115,10 @@ class SerialAttr(LittleEndianStructure):
         ('bytesize', c_uint8),
         ('parity', c_uint8),
         ('stopbits', c_uint8),
-        ('options', c_uint8)
+        ('protocol', c_uint8)
     ]
     def __init__(self):
-        self.options = CANSIO_SLCAN
+        self.protocol = CANSIO_SLCAN
         self.baudrate = CANSIO_BD57600
         self.bytesize = CANSIO_8DATABITS
         self.parity = CANSIO_NOPARITY

Examples/Python/Makefile

@@ -0,0 +1,9 @@
+all:
+	@-echo python3 Nothing to be done for ''all''
+
+clean:
+	@-rm -f *.pyc
+
+pristine:
+	@-rm -f *.pyc
+	@-rm -rf __pycache__

Examples/Python/can_recv.py

@@ -42,6 +42,8 @@ def sigterm(signo, frame):
                     help='CAN API V3 driver library, default=\'' + lib + '\'')
 parser.add_argument('--port', type=str, nargs=1, default=[com],
                     help='Serial port, default=' + str(com))
+parser.add_argument('--protocol', type=str, nargs=1, default='LAWICEL',
+                    help='SLCAN protocol LAWICEL or CANable, default=LAWICEL')
 args = parser.parse_args()
 lib = args.input
 com = args.port[0]
@@ -63,11 +65,15 @@ def sigterm(signo, frame):
 # serial port settings
 port = SerialPort()
 port.name = c_char_p(com.encode('utf-8'))
-port.attr.options = CANSIO_SLCAN
 port.attr.baudrate = CANSIO_BD57600
 port.attr.bytesize = CANSIO_8DATABITS
 port.attr.parity = CANSIO_NOPARITY
 port.attr.stopbits = CANSIO_1STOPBIT
+if args.protocol[0] == 'CANable':
+    print('!!! Using {} protocol'.format(args.protocol[0]))
+    port.attr.protocol = CANSIO_CANABLE
+else:
+    port.attr.protocol = CANSIO_LAWICEL
 
 # initialize the CAN interface
 print('>>> can.init({}, 0x{:02X})'.format(port.name, opMode.byte))

Examples/Python/can_send.py

@@ -46,6 +46,8 @@ def sigterm(signo, frame):
                     help='Serial port, default=' + str(com))
 parser.add_argument('--frames', type=int, nargs=1, default=[num],
                     help='number of CAN frames to be sent, default=' + str(num))
+parser.add_argument('--protocol', type=str, nargs=1, default='LAWICEL',
+                    help='SLCAN protocol LAWICEL or CANable, default=LAWICEL')
 args = parser.parse_args()
 lib = args.input
 com = args.port[0]
@@ -76,11 +78,15 @@ def sigterm(signo, frame):
 # serial port settings
 port = SerialPort()
 port.name = c_char_p(com.encode('utf-8'))
-port.attr.options = CANSIO_SLCAN
 port.attr.baudrate = CANSIO_BD57600
 port.attr.bytesize = CANSIO_8DATABITS
 port.attr.parity = CANSIO_NOPARITY
 port.attr.stopbits = CANSIO_1STOPBIT
+if args.protocol[0] == 'CANable':
+    print('!!! Using {} protocol'.format(args.protocol[0]))
+    port.attr.protocol = CANSIO_CANABLE
+else:
+    port.attr.protocol = CANSIO_LAWICEL
 
 # initialize the CAN interface
 print('>>> can.init({}, 0x{:02X})'.format(port.name, opMode.byte))

Libraries/CANAPI/Makefile

@@ -51,7 +51,7 @@ current_OS := $(patsubst MINGW%,MinGW,$(current_OS))
 current_OS := $(patsubst MSYS%,MinGW,$(current_OS))
 
 MAJOR = 0
-MINOR = 2
+MINOR = 3
 PATCH = 0
 
 ifeq ($(PATCH),0)
@@ -70,14 +70,16 @@ WRAPPER_DIR = $(HOME_DIR)/Sources/Wrapper
 
 OBJECTS = $(OUTDIR)/can_api.o $(OUTDIR)/can_btr.o \
 	$(OUTDIR)/slcan.o $(OUTDIR)/serial.o \
-	$(OUTDIR)/buffer.o $(OUTDIR)/queue.o $(OUTDIR)/logger.o
+	$(OUTDIR)/buffer.o $(OUTDIR)/queue.o \
+	$(OUTDIR)/timer.o $(OUTDIR)/logger.o \
 
 DEFINES = -DOPTION_CAN_2_0_ONLY=0 \
 	-DOPTION_CANAPI_DRIVER=1 \
 	-DOPTION_CANAPI_RETVALS=1 \
 	-DOPTION_CANAPI_COMPANIONS=1 \
 	-DOPTION_CANAPI_DEBUG_LEVEL=0 \
 	-DOPTION_SERIAL_DEBUG_LEVEL=0 \
+	-DOPTION_SLCAN_FAKE_COMMANDS=1 \
 	-DOPTION_SLCAN_DEBUG_LEVEL=0
 
 HEADERS = -I$(SOURCE_DIR) \
@@ -200,18 +202,18 @@ incdir:
 	$(CP) $(CANAPI_DIR)/can_btr.h $(INCDIR)
 
 clean:
-	$(RM) $(TARGET) $(STATIC) $(OUTDIR)/*.o $(OUTDIR)/*.d
+	@-$(RM) $(TARGET) $(STATIC) $(OUTDIR)/*.o $(OUTDIR)/*.d
 
 pristine:
 ifeq ($(current_OS),Darwin)
-	$(RM) *.dylib *.a $(OUTDIR)/*.o $(OUTDIR)/*.d
-	$(RM) $(BINDIR)/*.dylib $(BINDIR)/*.a
+	@-$(RM) *.dylib *.a $(OUTDIR)/*.o $(OUTDIR)/*.d
+	@-$(RM) $(BINDIR)/*.dylib $(BINDIR)/*.a
 endif
 ifeq ($(current_OS),$(filter $(current_OS),Linux Cygwin))
-	$(RM) *.so.* *.a $(OUTDIR)/*.o $(OUTDIR)/*.d
-	$(RM) $(BINDIR)/*.so.* $(BINDIR)/*.a
+	@-$(RM) *.so.* *.a $(OUTDIR)/*.o $(OUTDIR)/*.d
+	@-$(RM) $(BINDIR)/*.so.* $(BINDIR)/*.a
 endif
-	$(RM) $(INCDIR)/*.h
+	@-$(RM) $(INCDIR)/*.h
 
 install:
 	@echo "Copying library file..."
@@ -243,6 +245,9 @@ $(OUTDIR)/buffer.o: $(SERIAL_DIR)/buffer.c $(SERIAL_DIR)/buffer_p.c
 $(OUTDIR)/queue.o: $(SERIAL_DIR)/queue.c $(SERIAL_DIR)/queue_p.c
 	$(CC) $(CFLAGS) -MMD -MF $*.d -o $@ -c $<
 
+$(OUTDIR)/timer.o: $(SERIAL_DIR)/timer.c $(SERIAL_DIR)/timer_p.c
+	$(CC) $(CFLAGS) -MMD -MF $*.d -o $@ -c $<
+
 $(OUTDIR)/logger.o: $(SERIAL_DIR)/logger.c $(SERIAL_DIR)/logger_p.c
 	$(CC) $(CFLAGS) -MMD -MF $*.d -o $@ -c $<