VMX-pi-HAL-CANBusMonitor

VMX-pi-HAL-CANBusMonitor

#include <stdio.h>  /* printf() */
#include "VMXPi.h"

int main(int argc, char *argv[])
{
	bool realtime = false;
	uint8_t update_rate_hz = 50;
	VMXPi vmx(realtime, update_rate_hz);
		if(vmx.IsOpen()) {

			/** CONFIGURE CAN; receive and display data; open 3 streams w/different address range /

			VMXErrorCode vmxerr;
			VMXCANReceiveStreamHandle canrxhandles[1];
			if (vmx.can.OpenReceiveStream(canrxhandles[0], 0x0, 0x0, 100, &vmxerr)) {
				printf("Opened CAN Receive Stream 1, handle:  %d\n", canrxhandles[0]);
			}

			/* Flush Rx/Tx fifo not necessary if invoking reset above. */
			if (vmx.can.FlushRxFIFO(&vmxerr)) {
				printf("Flushed CAN RX FIFO\n");
			}

			if (vmx.can.FlushTxFIFO(&vmxerr)) {
				printf("Flushed CAN TX FIFO\n");
			}

			if (vmx.can.SetMode(VMXCAN::VMXCAN_NORMAL)) {
				printf("Set CAN Mode to Normal.\n");
			}

			/* It's recommended to delay 20 Milliseconds after transitioning modes -
			 * to allow the CAN circuitry to stabilize; otherwise, sometimes
			 * there will be errors transmitting data during this period.
			 */
			vmx.time.DelayMilliseconds(20);

			VMXCAN::VMXCANMode can_mode;
			if(vmx.can.GetMode(can_mode)) {
				printf("Current CAN Mode:  ");
				switch(can_mode) {
				case VMXCAN::VMXCAN_LISTEN:
					printf("LISTEN");
					break;
				case VMXCAN::VMXCAN_LOOPBACK:
					printf("LOOPBACK");
					break;
				case VMXCAN::VMXCAN_NORMAL:
					printf("NORMAL");
					break;
				case VMXCAN::VMXCAN_CONFIG:
					printf("CONFIG");
					break;
				case VMXCAN::VMXCAN_OFF:
					printf("OFF (SLEEP)");
					break;
				}
				printf("\n");
			}

			/* Allow time for some CAN messages to be received. */
			for (int i = 0; i < 200; i++) {
				vmx.time.DelayMilliseconds(50);
				VMXCANBusStatus can_bus_status;
				if (vmx.can.GetCANBUSStatus(can_bus_status, &vmxerr)) {
					if(can_bus_status.busWarning) {
						printf("CAN Bus Warning.\n");
					}
					if(can_bus_status.busPassiveError) {
						printf("CAN Bus in Passive mode due to errors.\n");
					}
					if(can_bus_status.busOffError) {
						printf("CAN Bus Transmitter Off due to errors.\n");
					}
					if(can_bus_status.transmitErrorCount > 0) {
						printf("CAN Bus Tx Error Count:  %d\n", can_bus_status.transmitErrorCount);
					}
					if(can_bus_status.receiveErrorCount > 0) {
						printf("CAN Bus Rx Error Count:  %d\n", can_bus_status.receiveErrorCount);
					}
					if(can_bus_status.busOffCount > 0) {
						printf("CAN Bus Tx Off Count:  %d\n", can_bus_status.busOffCount);
					}
					if(can_bus_status.txFullCount > 0) {
						printf("CAN Bus Tx Full Count:  %d\n", can_bus_status.txFullCount);
					}
					if(can_bus_status.hwRxOverflow) {
						printf("CAN HW Receive Overflow detected.\n");
					}
					if(can_bus_status.swRxOverflow) {
						printf("CAN SW Receive Overflow detected.\n");
					}
					if(can_bus_status.busError) {
						printf("CAN Bus Error detected.\n");
					}
					if(can_bus_status.wake) {
						printf("CAN Bus Wake occured.\n");
					}
					if(can_bus_status.messageError) {
						printf("CAN Message Error detected.\n");
					}
				}

				for (int i = 0; i < 1; i++) {
					bool done = false;
					while (!done) {
						VMXCANTimestampedMessage stream_msg;
						uint32_t num_msgs_read;
						if (vmx.can.ReadReceiveStream(canrxhandles[i], &stream_msg, 1, num_msgs_read, &vmxerr)) {
					      if (num_msgs_read == 0) {
						done = true;
					      } else {
						bool is_eid = true;
						if (stream_msg.messageID & VMXCAN_IS_FRAME_11BIT) {
						  is_eid = false;
						  stream_msg.messageID &= ~VMXCAN_IS_FRAME_11BIT;
						}
						stream_msg.messageID &= ~VMXCAN_IS_FRAME_REMOTE;
						printf("[%10d] CAN Stream %d:  %d bytes from %s 0x%x:  ",
						    stream_msg.timeStampMS,
						    canrxhandles[i],
						    stream_msg.dataSize,
						    (is_eid ? "EID" : "ID "),
						    stream_msg.messageID);
						for ( int j = 0; j < stream_msg.dataSize; j++) {
						  printf("%02X ", stream_msg.data[j]);
						}
						printf("\n");
					}
				}
			}
		}
	}
}