X2CAN API a Pascal

Jeden z našich zákazníků potřeboval před nedávnem pracovat s převodníkem USB2CAN Triple z Pascalu. Abychom mu dokázali že není problém používat X2CAN API napsané v C/C++, vytvořil jsem tento ukázkový kód. Ač jsem programoval v Pascalu naposledy na VŠ před rokem 2000, podařilo se tento funkční kód vytvořit během 3 hodin včetně instalace FreePascalu. Jelikož jsou moje znalosti Pascalu nulové, na případné chyby mne prosím upozorněte.

Ukázkový kód inicializuje převodník USB2CAN Triple a odešle 1 zprávu na CAN sběrnici. Ve funkci TRIPLE_PrepareAdapter je případně třeba upravit číslo COM portu.

David Španěl

program test_usb2can_triple;

uses DynLibs,Crt;

type
CANMessageTime = record
        Hour: UInt16;
        Minute: UInt16;
        Second: UInt16;
        Milliseconds: UInt16;
        TimeStampUS: UInt32;
end;

type
CAN_MESSAGE = record
        Id1: UInt16;
        Id2: UInt32;
        Id: UInt32;
        length: UInt8; (*to je vzdy delka, ne DLC*)
        rtr: Boolean;
        st_ext: Boolean;
        fd_can: Boolean;
        fd_esi: Boolean;
        fd_br_switch: Boolean; (*baud rate switch*)
        fd_sid11: Boolean;
        data: array [0..Pred(8)] of UInt8;
        fd_data: ^UInt8;
        time: CANMessageTime;
        port: UInt32;
        dont_delete: Boolean;
end;

var Hbar_X2CAN: Thandle;
var Hbar_Base: Thandle;
var adapter: IntPtr;
var IsOK: Boolean;
var msg: CAN_MESSAGE;
var ret: Boolean;
var RXLen: UInt32;

function USB2CAN_TRIPLE_PrepareAdapter(port_number : UInt32; combo: Boolean ) :IntPtr;  cdecl; external 'X2CAN_3th_dll.dll' name 'USB2CAN_TRIPLE_PrepareAdapter';
function USB2CAN_TRIPLE_Open(speed : Integer; errFnc : IntPtr) : Boolean; cdecl;  external 'X2CAN_3th_dll.dll' name 'USB2CAN_TRIPLE_Open';
procedure USB2CAN_TRIPLE_Close () ; cdecl;  external 'X2CAN_3th_dll.dll' name 'USB2CAN_TRIPLE_Close';
procedure USB2CAN_TRIPLE_SelectActualAdapter (adapter : IntPtr) ; cdecl;  external 'X2CAN_3th_dll.dll' name 'USB2CAN_TRIPLE_SelectActualAdapter';

function USB2CAN_TRIPLE_SendCANMessage(var message: CAN_MESSAGE): Boolean ; cdecl;  external 'X2CAN_3th_dll.dll' name 'USB2CAN_TRIPLE_SendCANMessage';
procedure CANMsgUpdateFrom29 (message : Pointer) ; cdecl;  external 'X2CAN_3th_dll.dll' name 'CANMsgUpdateFrom29';

function USB2CAN_TRIPLE_GetCANMessage(message: Pointer): Boolean ; cdecl;  external 'X2CAN_3th_dll.dll' name 'USB2CAN_TRIPLE_GetCANMessage';

procedure USB2CAN_TRIPLE_PrepareAdapterSpeedC1 (adapter : IntPtr; speed: UInt32; liso: Boolean) ; cdecl;  external 'X2CAN_3th_dll.dll' name 'USB2CAN_TRIPLE_PrepareAdapterSpeedC1';
procedure USB2CAN_TRIPLE_PrepareAdapterSpeedC2 (adapter : IntPtr; speed: UInt32; liso: Boolean) ; cdecl;  external 'X2CAN_3th_dll.dll' name 'USB2CAN_TRIPLE_PrepareAdapterSpeedC2';
procedure USB2CAN_TRIPLE_PrepareAdapterSpeedC3 (adapter : IntPtr; speed: Uint32; liso: Boolean; esi: Boolean; iso_crt: Boolean) ; cdecl;  external 'X2CAN_3th_dll.dll' name 'USB2CAN_TRIPLE_PrepareAdapterSpeedC3';

function USB2CAN_TRIPLE_GetRXBufferLength(): UInt32 ; cdecl;  external 'X2CAN_3th_dll.dll' name 'USB2CAN_TRIPLE_GetRXBufferLength';

begin

IsOk := false;

Hbar_Base := LoadLibrary('BaseW32_dll.dll');
Hbar_X2CAN := LoadLibrary('X2CAN_3th_dll.dll');

if(Hbar_Base >=32) then
        writeln('Hbar_Base: OK')
else
        writeln('Hbar_Base: ERROR');

if(Hbar_X2CAN >=32) then
        writeln('Hbar_X2CAN: OK')
else
        writeln('Hbar_X2CAN: ERROR');

adapter := USB2CAN_TRIPLE_PrepareAdapter(12,false);
USB2CAN_TRIPLE_SelectActualAdapter(adapter);
USB2CAN_TRIPLE_PrepareAdapterSpeedC1(adapter,250,false);
USB2CAN_TRIPLE_PrepareAdapterSpeedC2(adapter,250,false);
USB2CAN_TRIPLE_PrepareAdapterSpeedC3(adapter,2501000,false,false,true);
IsOK := USB2CAN_TRIPLE_Open(250,0);

if(IsOK=true) then
        writeln('USB2CAN Open: OK')
else
        writeln('USB2CAN Open: ERROR');

msg.Id := $0CF00401;
msg.Id1 := 10;
msg.Id2 := 0;
msg.port:= 1;
msg.fd_can := false;
msg.rtr := false;
msg.st_ext := true;
msg.fd_data := nil;
msg.length:=8;
msg.data[1] := 123;

CANMsgUpdateFrom29(@msg);
ret := USB2CAN_TRIPLE_SendCANMessage(msg);
if(ret=true) then
        writeln('USB2CAN Send: OK')
else
        writeln('USB2CAN Send: ERROR');

while true do
begin
        RXLen := USB2CAN_TRIPLE_GetRXBufferLength();
        writeln(RXLen);
        if(RXLen>0) then
        begin
                ret := USB2CAN_TRIPLE_GetCANMessage(@msg);
                writeln(msg.Id);
        end;
        Delay(100);
end;

USB2CAN_TRIPLE_Close();

FreeLibrary(Hbar_X2CAN);
FreeLibrary(Hbar_Base);

end.