PEAK-System Forum

Code: Select all

#include <iostream>
#include <windows.h>
#include "PCANBasic.h"  // Make sure this header is available
using namespace std;
// Function declarations
int LoadDLL();
int UnloadDLL();
bool GetFunctionAddress(HINSTANCE h_module);

// Define CAN FD bitrate manually
#define CAN_FD_BITRATE "f_clock=80000000, nom_brp=5, nom_tseg1=15, nom_tseg2=4, nom_sjw=4, data_brp=2, data_tseg1=7, data_tseg2=2, data_sjw=2"

// Typedefs for functions from the DLL
typedef TPCANStatus (__stdcall *PCAN_InitializeFD)(TPCANHandle Channel, const char* BitrateFD);
typedef TPCANStatus (__stdcall *PCAN_Uninitialize)(TPCANHandle Channel);
typedef TPCANStatus (__stdcall *PCAN_ReadFD)(TPCANHandle Channel, TPCANMsgFD* MessageBuffer, TPCANTimestampFD* TimestampBuffer);
typedef TPCANStatus (__stdcall *PCAN_WriteFD)(TPCANHandle Channel, TPCANMsgFD* MessageBuffer);

// Function pointers for DLL functions
PCAN_InitializeFD g_CAN_InitializeFD = nullptr;
PCAN_Uninitialize   g_CAN_Uninitialize   = nullptr;
PCAN_ReadFD       g_CAN_ReadFD       = nullptr;
PCAN_WriteFD      g_CAN_WriteFD      = nullptr;

// DLL handle and other global variables
HINSTANCE g_i_DLL = nullptr;
TPCANHandle g_hChannel;

// Function to load the DLL
int LoadDLL()
{
    if (g_i_DLL == nullptr)
    {
        g_i_DLL = LoadLibrary("PCANBasic.dll");
        if (g_i_DLL == nullptr)
        {
            std::cerr << "ERROR: Cannot load PCANBasic.dll" << std::endl;
            return -1;
        }
        else
        {
            if (GetFunctionAddress(g_i_DLL))
            {
                std::cout << "Loaded functions from PCANBasic.dll" << std::endl;
            }
            else
            {
                std::cerr << "ERROR: Cannot load function addresses" << std::endl;
                return -2;
            }
        }
    }
    return 0;
}

// Function to load the function addresses from the DLL
bool GetFunctionAddress(HINSTANCE h_module)
{
    g_CAN_InitializeFD = reinterpret_cast<PCAN_InitializeFD>(GetProcAddress(h_module, "CAN_InitializeFD"));
    g_CAN_Uninitialize   = reinterpret_cast<PCAN_Uninitialize>(GetProcAddress(h_module, "CAN_Uninitialize"));
    g_CAN_ReadFD       = reinterpret_cast<PCAN_ReadFD>(GetProcAddress(h_module, "CAN_ReadFD"));
    g_CAN_WriteFD      = reinterpret_cast<PCAN_WriteFD>(GetProcAddress(h_module, "CAN_WriteFD"));

    return g_CAN_InitializeFD && g_CAN_Uninitialize && g_CAN_ReadFD && g_CAN_WriteFD;
}

// Function to unload the DLL
int UnloadDLL()
{
    if (g_i_DLL)
    {
        FreeLibrary(g_i_DLL);
        g_CAN_InitializeFD = nullptr;
        g_CAN_Uninitialize   = nullptr;
        g_CAN_ReadFD       = nullptr;
        g_CAN_WriteFD      = nullptr;
        return 0;
    }
    return -1;
}

int main()
{
    int ret;
    TPCANStatus CANStatus;
    TPCANMsgFD SendMessageBuffer;
    TPCANTimestampFD TimestampBuffer;

    std::cout << "PCAN-Basic CAN FD" << std::endl;
    std::cout << "Using 500k nominal + 2M data baud rate" << std::endl;

    // Initialize channel (for example, USB Channel 1)
    g_hChannel = PCAN_USBBUS1;

    // Load the DLL and get the function pointers
    ret = LoadDLL();
    if (ret != 0)
    {
        std::cerr << "Error loading DLL: " << ret << std::endl;
        return -1;
    }


    // Initialize the CAN FD interface with a manually defined bitrate
    CANStatus = g_CAN_InitializeFD(g_hChannel, CAN_FD_BITRATE);
    if (CANStatus != PCAN_ERROR_OK)
    {
        std::cerr << "Error initializing CAN FD interface: 0x" 
                  << std::hex << CANStatus << std::dec << std::endl;
        UnloadDLL();
        return -1;
    }
    std::cout << "CAN FD interface initialized" << std::endl;

    // Send CAN FD frame
    std::cout << "Sending CAN FD frame..." << std::endl;
    SendMessageBuffer.ID = 0x1234;      // Sample CAN FD ID
    SendMessageBuffer.DLC = 8;          // Message length (8 bytes)
    SendMessageBuffer.MSGTYPE = PCAN_MESSAGE_FD; // Specify FD frame

    // Fill the data field (8 bytes for example)
    SendMessageBuffer.DATA[0] = 0x11;
    SendMessageBuffer.DATA[1] = 0x22;
    SendMessageBuffer.DATA[2] = 0x33;
    SendMessageBuffer.DATA[3] = 0x44;
    SendMessageBuffer.DATA[4] = 0x55;
    SendMessageBuffer.DATA[5] = 0x66;
    SendMessageBuffer.DATA[6] = 0x77;
    SendMessageBuffer.DATA[7] = 0x88;

    CANStatus = g_CAN_WriteFD(g_hChannel, &SendMessageBuffer);
    if (CANStatus != PCAN_ERROR_OK)
    {
        std::cerr << "Error sending CAN FD frame: 0x" 
                  << std::hex << CANStatus << std::dec << std::endl;
    }
    else
    {
        std::cout << "CAN FD frame sent successfully" << std::endl;
    }

    // Read a CAN FD frame from the channel
    std::cout << "Reading CAN FD message..." << std::endl;
    CANStatus = g_CAN_ReadFD(g_hChannel, &SendMessageBuffer, &TimestampBuffer);
    if (CANStatus == PCAN_ERROR_OK)
    {
        std::cout << "Received CAN FD frame with ID: 0x" 
                  << std::hex << SendMessageBuffer.ID << std::dec << std::endl;
    }
    else
    {
        std::cerr << "Error receiving CAN FD frame: 0x" 
                  << std::hex << CANStatus << std::dec << std::endl;
    }

    // Uninitialize the CAN channel and unload the DLL
    CANStatus = g_CAN_Uninitialize(g_hChannel);
    if (CANStatus != PCAN_ERROR_OK)
    {
        std::cerr << "Error uninitializing CAN FD channel" << std::endl;
    }

    std::cout << "Press Enter to exit..." << std::endl;
    std::cin.get();

    UnloadDLL();
    return 0;
}