Kvaser SDK migration from CAN CLASSIC to CAN FD

CanFDTest

Hardware needed

Tools needed for “CanFDTest”

The program CanFDTest

The procedure RunCanFDExamplePlease

Summary

Commands used for CAN FD:

Appendix A Procedure RunCanFDExamplePlease

procedure TFormCanFDtest.RunCanFDExamplePlease;
  var
    I          : integer;                 // INT32
    N          : integer;                 // INT32
    R          : integer;                 // INT32
    TX         : integer;                 // INT32
    RX         : integer;                 // INT32
    numCh      : integer;                 // INT32
    MyChNames  : array of string;         //
    TX_MyHnd   : canHandle;               // canHandle = integer = INT32
    RX_MyHnd   : canHandle;               // canHandle = integer = INT32
    BUF        : TByteBUF0064;            // Array 64 bytes of 8bit char
    MyStringBuf: TByteBUF1024;            // Array 1024 bytes of 8bit char
    id         : Longint;                 // Warning LONGINT is 32b or 64b depending of
                                          // target platform. check if using iOS or LINUX!
    dlc        : Cardinal;                // UINT32
    Flag       : Cardinal;                // UINT32
    HelpFlag   : THelpFlag absolute Flag; // UINT32, HelpFlag share adress with Flag
    myTime     : Cardinal;                // UINT32

  begin
    I := sizeof(id);
    dummy(I);

    begin

      case MyApp of
        canCL:
          begin
            Memo.Lines.Add('Hello! Starting TestCanLIB_STD. Using CLASSIC CAN')
          end;
        canFD:
          begin
            Memo.Lines.Add('Hello! Starting TestCanLIB_STD. Using FD CAN');
          end;
      end;

      /// *********************************************************
      /// Section one, INITIALIZATION
      /// *********************************************************
      // Open CanLib.DLL
      canInitializeLibrary;
      // No errorchecking here, will be done later when opening channel...

      // Find out how many channels(interfaces) we can use
      R := canGetNumberOfChannels(numCh);
      if MyErrorCheck(Memo, R, 'canGetNumberOfChannels') then
      begin
        exit;
      end;
      Memo.Lines.Add('Found ' + numCh.ToString + ' channels');

      setlength(MyChNames, numCh);
      for I := Low(MyChNames) to High(MyChNames) do
      begin
        canGetChannelData(I, canCHANNELDATA_DEVDESCR_ASCII, MyStringBuf, sizeof(MyStringBuf));
        canGetChannelData(I, canCHANNELDATA_CHAN_NO_ON_CARD, N, sizeof(N));
        MyChNames[I] := (I+1).ToString+'  '+string(MyStringBuf)+' ' + (N+1).ToString;
        Memo.Lines.Add('Found channel: ' + MyChNames[I]);
      end;

      // Check that the selected channels exist
      if MyErrorCheck(Memo, TX_MySelCh, RX_MySelCh, 1, numCh, 'numCh') then
      begin
        exit;
      end;

      Memo.Lines.Add('Selected TX:' + MyChNames[TX_MySelCh - 1]);
      Memo.Lines.Add('Selected RX:' + MyChNames[RX_MySelCh - 1]);

      // Next step is to open the Channels
      // Please check the FLAGs!
      // CAN FD needs different settings!
      case MyApp of
        canCL: // Classic CAN communication
          begin
            TX_MyHnd := canOpenChannel(TX_MySelCh - 1, canOPEN_ACCEPT_VIRTUAL);
            RX_MyHnd := canOpenChannel(RX_MySelCh - 1, canOPEN_ACCEPT_VIRTUAL);
            if MyErrorCheck(Memo, TX_MyHnd, RX_MyHnd, 'canOpenChannel') then
            begin
              exit;
            end;
          end;
        canFD: // CAN FD communication
          begin
            TX_MyHnd:=canOpenChannel(TX_MySelCh-1, canOPEN_ACCEPT_VIRTUAL OR canOPEN_CAN_FD);
            RX_MyHnd:=canOpenChannel(RX_MySelCh-1, canOPEN_ACCEPT_VIRTUAL OR canOPEN_CAN_FD);
            if MyErrorCheck(Memo, TX_MyHnd, RX_MyHnd, 'canOpenChannel FD') then
            begin
              exit
            end;
          end;
      end;

      /// *****************************************************************************
      ///
      /// Now is a good time to enable messages, but we do not need it in this example
      /// canSetNotify(MyHnd, Self.Handle, $FFFFFFFF);
      ///
      /// *****************************************************************************
      case MyApp of
        canCL: // Classic CAN communication
          begin
            TX := canSetBusParams(TX_MyHnd, canBITRATE_500K, 0, 0, 0, 0, 0);
            RX := canSetBusParams(RX_MyHnd, canBITRATE_500K, 0, 0, 0, 0, 0);
            if MyErrorCheck(Memo, TX, RX, 'canSetBusParams') then
            begin
              exit
            end;
          end;
        canFD: // CAN FD communication
          begin
            TX := canSetBusParams(TX_MyHnd, canFD_BITRATE_500K_80P, 0, 0, 0, 0, 0);
            RX := canSetBusParams(RX_MyHnd, canFD_BITRATE_500K_80P, 0, 0, 0, 0, 0);
            if MyErrorCheck(Memo, TX, RX, 'canSetBusParams') then
            begin
              exit
            end;

            TX := canSetBusParamsFD(TX_MyHnd, canFD_BITRATE_1M_80P, 0, 0, 0);
            RX := canSetBusParamsFD(RX_MyHnd, canFD_BITRATE_1M_80P, 0, 0, 0);
            if MyErrorCheck(Memo, TX, RX, 'canSetBusParamsFD') then
            begin
              exit
            end;
          end;
      end;

      // Turn BUS on
      TX := canBusOn(TX_MyHnd);
      RX := canBusOn(RX_MyHnd);
      if MyErrorCheck(Memo, TX, RX, 'canBusOn') then
      begin
        exit
      end;

      // Remove all pending transmissions, might not be needed
      TX := canFlushTransmitQueue(TX_MyHnd);
      RX := canFlushTransmitQueue(RX_MyHnd);
      if MyErrorCheck(Memo, TX, RX, 'canFlushTransmitQueue') then
      begin
        exit
      end;

      sleep(250); // Take a short nap...

      // Remove all pending transmissions, do we really wanna do this in a sharp application?
      // Might remove wanted frames.
      TX := canFlushReceiveQueue(TX_MyHnd);
      RX := canFlushReceiveQueue(RX_MyHnd);
      if MyErrorCheck(Memo, TX, RX, 'canFlushReceiveQueue') then
      begin
        exit
      end;

      // CAN is open for traffic
      Memo.Lines.Add('CAN open, waiting');

      /// *********************************************************
      /// Section two, Sending
      /// *********************************************************
      // Create one frame and transmit
      // Transmitting from TX_MySelCh

      case MyApp of
        canCL: // Classic CAN communication
          begin
            BUF := 'Hello!';
            id  := 111;
            dlc := 8;
            /// For Classic CAN dlc can be at most 8, unless canOPEN_ACCEPT_LARGE_DLC is used.
            /// CanWrite can only transfer max 8 bytes, regardless of dlc
            /// In this example BUF is 64 bytes wide, but only 8 bytes can be sent.
            Flag := canMSG_STD;

            R := canWrite(TX_MyHnd, id, @BUF, dlc, Flag);
            if MyErrorCheck(Memo, R, 'canWrite') then
            begin
              exit
            end;

            Memo.Lines.Add('TX ID:'+id.ToString+' dlc:'+dlc.ToString+' B :'+MyConvert(BUF, dlc));
          end;
        canFD: // CAN FD communication
          begin
            BUF  := 'Hello World!';
            id   := 222;
            dlc  := 16; 
            // for CAN FD dlc CAN be one of the following 0-8, 12, 16, 20, 24, 32, 48, 64
            Flag := canMSG_STD OR canFDMSG_FDF OR canFDMSG_BRS;

            R := canWrite(TX_MyHnd, id, @BUF, dlc, Flag);
            if MyErrorCheck(Memo, R, 'canWrite (FD)') then
            begin
              exit
            end;

            Memo.Lines.Add('TX ID:' + id.ToString + ' dlc:' + dlc.ToString + ' bytes :' +
             MyConvert(BUF, dlc));
          end;
      end;

      /// *********************************************************
      /// Section three, Recieving
      /// *********************************************************
      // Now if we are lucky, some bytes have arrived to RX
      BUF := '';
      I   := 0;
      repeat
        inc(I);
        sleep(100);

        // Always use 64 byte wide buffer to avoid errors!!!
        dlc  := 4;
        Flag := 0;
        R    := canRead(RX_MyHnd, id, @BUF, dlc, Flag, myTime);
        /// WARNING, make sure that BUF is mminimum 64 bytes wide!
        Memo.Lines.Add('Read attemp no ' + I.ToString + ' Result :' + R.ToString);
      until (I >= 5) OR (R = canOK);

      case R of
        canOK:
          begin
            dummy(id, BUF, dlc, Flag, HelpFlag.canMSG_Flag, myTime);

            // Examine the Flag(HelpFlag) and do someting...
            if MycanMSG_RTR in HelpFlag.canMSG_Flag then
              Memo.Lines.Add('RX Flag: <MycanMSG_RTR>');

            if MycanMSG_STD in HelpFlag.canMSG_Flag then
              Memo.Lines.Add('RX Flag: <MycanMSG_STD>');

            if MycanMSG_EXT in HelpFlag.canMSG_Flag then
              Memo.Lines.Add('RX Flag: <MycanMSG_EXT>');

            if MycanMSG_ERROR_FRAME in HelpFlag.canMSG_Flag then
              Memo.Lines.Add('RX Flag: <MycanMSG_ERROR_FRAME>');

            if MycanFDMSG_FDF in HelpFlag.canMSG_Flag then
              Memo.Lines.Add('RX Flag: <MycanFDMSG_FDF>');

            if MycanFDMSG_BRS in HelpFlag.canMSG_Flag then
              Memo.Lines.Add('RX Flag: <MycanFDMSG_BRS>');

            Memo.Lines.Add('RX ID:' + id.ToString + ' dlc:' + dlc.ToString + ' bytes :' +
             MyConvert(BUF, dlc));
          end;
        canERR_NOMSG:
          begin
            Memo.Lines.Add('Ooops, no data????');
          end;
      else
        begin
          Memo.Lines.Add('Some error happened, check! ' + R.ToString);
        end;
      end;

      /// *********************************************************
      /// Section three, Finalizing
      /// *********************************************************
      // We are done
      Memo.Lines.Add('DONE, start the cleanup process');

      TX := canBusOff(TX_MyHnd);
      RX := canBusOff(RX_MyHnd);
      if MyErrorCheck(Memo, TX, RX, 'canBusOff') then
      begin
        exit
      end;

      TX := canClose(TX_MyHnd);
      RX := canClose(RX_MyHnd);
      if MyErrorCheck(Memo, TX, RX, 'canClose') then
      begin
        exit
      end;

      Memo.Lines.Add('If you can read this, everything worked!');
    end;
  end;