39 lines
1.2 KiB
Java
39 lines
1.2 KiB
Java
package com.rusefi.io.can;
|
|
|
|
|
|
import peak.can.basic.*;
|
|
|
|
import static peak.can.basic.TPCANMessageType.PCAN_MESSAGE_STANDARD;
|
|
|
|
public class PCanHelper {
|
|
public static final TPCANHandle CHANNEL = TPCANHandle.PCAN_USBBUS1;
|
|
|
|
// @NotNull
|
|
public static PCANBasic create() {
|
|
PCANBasic can = new PCANBasic();
|
|
can.initializeAPI();
|
|
return can;
|
|
}
|
|
|
|
public static TPCANStatus init(PCANBasic can) {
|
|
return can.Initialize(CHANNEL, TPCANBaudrate.PCAN_BAUD_500K, TPCANType.PCAN_TYPE_NONE, 0, (short) 0);
|
|
}
|
|
|
|
public static TPCANStatus send(PCANBasic can, int id, byte[] payLoad) {
|
|
//log.info(String.format("Sending id=%x %s", id, HexBinary.printByteArray(payLoad)));
|
|
TPCANMsg msg = new TPCANMsg(id, PCAN_MESSAGE_STANDARD.getValue(),
|
|
(byte) payLoad.length, payLoad);
|
|
return can.Write(CHANNEL, msg);
|
|
}
|
|
|
|
public static PCANBasic createAndInit() {
|
|
PCANBasic pcan = create();
|
|
TPCANStatus initStatus = init(pcan);
|
|
if (initStatus != TPCANStatus.PCAN_ERROR_OK) {
|
|
System.out.println("TPCANStatus " + initStatus);
|
|
System.exit(-1);
|
|
}
|
|
return pcan;
|
|
}
|
|
}
|