Merge pull request #5 from mac-can/development

Merge latest development branch for release v0.2

Libraries/CANAPI/Makefile

@@ -136,7 +136,7 @@ incdir:
 clean:
 	$(RM) $(TARGET) $(OUTDIR)/*.o $(OUTDIR)/*.d
 
-distclean:
+pristine:
 	$(RM) $(TARGET) $(OUTDIR)/*.o $(OUTDIR)/*.d
 	$(RM) $(BINDIR)/$(TARGET) $(BINDIR)/$(STATIC) $(BINDIR)/$(LIBRARY).dylib
 

Libraries/TouCAN/Makefile

@@ -134,7 +134,7 @@ incdir:
 clean:
 	$(RM) $(TARGET) $(OUTDIR)/*.o $(OUTDIR)/*.d
 
-distclean:
+pristine:
 	$(RM) $(TARGET) $(OUTDIR)/*.o $(OUTDIR)/*.d
 	$(RM) $(BINDIR)/$(TARGET) $(BINDIR)/$(STATIC) $(BINDIR)/$(LIBRARY).dylib
 

Makefile

@@ -35,7 +35,7 @@ clean:
 	$(MAKE) -C Utilities/can_test $@
 	$(MAKE) -C Utilities/can_moni $@
 
-distclean:
+pristine:
 	$(MAKE) -C Trial $@
 	$(MAKE) -C Libraries/TouCAN $@
 	$(MAKE) -C Libraries/CANAPI $@

README.md

@@ -119,7 +119,7 @@ Type `can_test --help` to display all program options.
 
 #### macOS Big Sur
 
-- macOS Big Sur (11.2) on a MacBook Pro (2019)
+- macOS Big Sur (11.2.2) on a MacBook Pro (2019)
 - Apple clang version 12.0.0 (clang-1200.0.32.29)
 - Xcode Version 12.4 (12D4e)
 

Sources/MacCAN_Core/MacCAN.cpp

@@ -24,7 +24,7 @@
 ///
 /// \author      $Author: eris $
 ///
-/// \version     $Rev: 981 $
+/// \version     $Rev: 986 $
 ///
 /// \addtogroup  mac_can
 /// \{
@@ -81,7 +81,7 @@ MacCAN_Return_t CMacCAN::MapBitrate2Speed(MacCAN_Bitrate_t bitrate, MacCAN_BusSp
 //  Methods for DLC conversion
 //
 EXPORT
-uint8_t CMacCAN::DLc2Len(uint8_t dlc) {
+uint8_t CMacCAN::Dlc2Len(uint8_t dlc) {
     const static uint8_t dlc_table[16] = {
         0U, 1U, 2U, 3U, 4U, 5U, 6U, 7U, 8U, 12U, 16U, 20U, 24U, 32U, 48U, 64U
     };

Sources/MacCAN_Core/MacCAN.h

@@ -47,7 +47,7 @@
  *
  *  @author    $Author: eris $
  *
- *  @version   $Rev: 979 $
+ *  @version   $Rev: 986 $
  *
  *  @defgroup  mac_can  macOS User-Space Driver for CAN to USB Interfaces
  *  @{
@@ -327,7 +327,7 @@ class CMacCAN {
 /// \brief  Methods for DLC conversion.
 /// \{
 public:
-    static uint8_t DLc2Len(uint8_t dlc);
+    static uint8_t Dlc2Len(uint8_t dlc);
     static uint8_t Len2Dlc(uint8_t len);
 /// \}
 
@@ -382,5 +382,5 @@ extern char *MacCAN_GetVersion(void);  /**< retrieves version information. */
  */
 #endif /* MACCAN_H_INCLUDED */
 
-/* * $Id: MacCAN.h 979 2021-01-04 20:16:55Z eris $ *** (C) UV Software, Berlin ***
+/* * $Id: MacCAN.h 986 2021-02-25 21:17:24Z eris $ *** (C) UV Software, Berlin ***
  */

Sources/MacCAN_Core/README.md

@@ -2,7 +2,7 @@
 
 _Copyright © 2012-2021   Uwe Vogt, UV Software, Berlin ([email protected])_
 
-Version $Rev: 983 $
+Version $Rev: 985 $
 
 # Running CAN and CAN FD on a Mac®
 
@@ -25,7 +25,7 @@ But that poor boy only owned a Mac.
 In the absence of a CAN driver for Mac, I started developing an OS X user space driver for my PEAK USB-to-CAN dongle.
 Many thanks to Uwe Wilhelm, CEO of PEAK-System Technik GmbH, who had supported me with technical information and several hardware.
 
-### PCBUSB Library
+### PCBUSB Library for PEAK´s PCAN-USB Interfaces
 
 The _PCBUSB_ library realizes a USB user-space driver under macOS for PCAN® USB interfaces from PEAK-System Technik.
 See the [MacCAN](https://www.mac-can.com) website for further information, downloads and links.
@@ -49,6 +49,12 @@ The driver for TouCAN USB interfaces from Rusoku is the first driver implementat
 And it is open source;
 goto https://github.com/mac-can/RusokuCAN/.
 
+### CAN Leaf Interfaces from Kvaser
+
+Welcome the MacCAN-KvaserCAN driver for CAN Leaf interfaces from [Kvaser](https://www.kvaser.com) as the next member of the MacCAN family.
+Find its source code on GitHub;
+goto https://github.com/mac-can/MacCAN-KvaserCAN/.
+
 ## HowTo
 
 ### MacCAN API Specification
@@ -321,7 +327,8 @@ along with MacCAN-Core.  If not, see <http://www.gnu.org/licenses/>.
 
 Mac and macOS are trademarks of Apple Inc., registered in the U.S. and other countries. \
 PCAN is a registered trademark of PEAK-System Technik GmbH, Darmstadt, Germany. \
-Qt is a registered trademark of The Qt Company Ltd. and its subsidiaries.
+Qt is a registered trademark of The Qt Company Ltd. and its subsidiaries. \
+All other company, product and service names mentioned herein are trademarks, registered trademarks or service marks of their respective owners.
 
 ### Contact
 

Sources/TouCAN.cpp

@@ -339,6 +339,7 @@ MacCAN_Return_t CTouCAN::WriteMessage(MacCAN_Message_t message, uint16_t timeout
 
             int size = TouCAN_EncodeMessage(buffer, &message);
 
+            MACCAN_LOG_WRITE(buffer, (UInt32)size, ">");
             retVal = CANUSB_WritePipe(m_hDevice, TOUCAN_USB_TX_DATA_PIPE_REF, buffer, (UInt32)size, timeout);
             m_Status.transmitter_busy = (retVal != CANERR_NOERROR) ? 1 : 0;
             m_Counter.u64TxMessages += (retVal == CANERR_NOERROR) ? 1U : 0U;
@@ -386,6 +387,10 @@ MacCAN_Return_t CTouCAN::ReadMessage(MacCAN_Message_t &message, uint16_t timeout
             m_Status.queue_overrun = CANQUE_OverflowFlag(m_pTouCAN->m_ReceiveData.m_MsgQueue) ? 1 : 0;
             m_Counter.u64RxMessages += ((retVal == CANERR_NOERROR) && !message.sts) ? 1U : 0U;
             m_Counter.u64ErrorFrames += ((retVal == CANERR_NOERROR) && message.sts) ? 1U : 0U;
+
+            // issue #2: Reading asynchronous reception pipe occasionally stalls
+            if (!CANUSB_IsPipeAsyncRunning(m_pTouCAN->m_ReceivePipe))
+                MACCAN_LOG_PRINTF("! error: asynchronous reception pipe stalled\n");
         } else
             retVal = CMacCAN::ControllerOffline;
     }

Sources/TouCAN_Driver/TouCAN_USB.c

@@ -711,6 +711,8 @@ static void ReceptionCallback(void *refCon, UInt8 *buffer, UInt32 length) {
     assert(refCon);
     assert(buffer);
 
+    MACCAN_LOG_WRITE(buffer, length, "<");
+
     while (length >= TOUCAN_USB_RX_DATA_FRAME_SIZE) {
         bzero(&message, sizeof(MacCAN_Message_t));
         (void) TouCAN_DecodeMessage(&message, &buffer[index], &context->m_MsgParam);

Trial/Makefile

@@ -102,7 +102,7 @@ outdir:
 clean:
 	$(RM) $(TARGET) $(OUTDIR)/*.o $(OUTDIR)/*.d
 
-distclean:
+pristine:
 	$(RM) $(TARGET) $(OUTDIR)/*.o $(OUTDIR)/*.d
 
 install:

Trial/Sources/main.cpp

@@ -74,10 +74,15 @@ int main(int argc, const char * argv[]) {
     int option_test = OPTION_NO;
     int option_exit = OPTION_NO;
     int option_echo = OPTION_YES;
-//    int option_stop = OPTION_NO;
-//    int option_check = OPTION_NO;
+    int option_stop = OPTION_NO;
+    int option_check = OPTION_NO;
+    int option_retry = OPTION_NO;
     int option_repeat = OPTION_NO;
     int option_transmit = OPTION_NO;
+//    int option_trace = OPTION_NO;
+    int option_log = OPTION_NO;
+    uint64_t received = 0ULL;
+    uint64_t expected = 0ULL;
 
     for (int i = 1, opt = 0; i < argc; i++) {
         /* TouCAN-USB channel */
@@ -107,8 +112,9 @@ int main(int argc, const char * argv[]) {
         if (!strncmp(argv[i], "C:", 2) && sscanf(argv[i], "C:%i", &opt) == 1) delay = (useconds_t)opt * 1000U;
         if (!strncmp(argv[i], "U:", 2) && sscanf(argv[i], "U:%i", &opt) == 1) delay = (useconds_t)opt;
         /* receive messages */
-//        if (!strcmp(argv[i], "STOP")) option_stop = OPTION_YES;
-//        if (!strcmp(argv[i], "CHECK")) option_check = OPTION_YES;
+        if (!strcmp(argv[i], "STOP")) option_stop = OPTION_YES;
+        if (!strcmp(argv[i], "CHECK")) option_check = OPTION_YES;
+        if (!strcmp(argv[i], "RETRY")) option_retry = OPTION_YES;
         if (!strcmp(argv[i], "REPEAT")) option_repeat = OPTION_YES;
         if (!strcmp(argv[i], "SILENT")) option_echo = OPTION_NO;
         /* time-stamps */
@@ -117,7 +123,7 @@ int main(int argc, const char * argv[]) {
 //        if (!strcmp(argv[i], "REL") || !strcmp(argv[i], "RELATIVE")) option_time = OPTION_TIME_REL;
         /* logging and debugging */
 //        if (!strcmp(argv[i], "TRACE")) option_trace = OPTION_YES;
-//        if (!strcmp(argv[i], "LOG")) option_log = OPTION_YES;
+        if (!strcmp(argv[i], "LOG")) option_log = OPTION_YES;
         /* query some informations: hw, sw, etc. */
         if (!strcmp(argv[i], "INFO")) option_info = OPTION_YES;
         if (!strcmp(argv[i], "STAT")) option_stat = OPTION_YES;
@@ -142,7 +148,8 @@ int main(int argc, const char * argv[]) {
         perror("+++ error");
         return errno;
     }
-    MACCAN_LOG_OPEN();
+    if (option_log)
+        MACCAN_LOG_OPEN();
     MACCAN_LOG_PRINTF("# MacCAN-PeakCAN - %s", ctime(&now));
     retVal = CMacCAN::Initializer();
     if (retVal != CMacCAN::NoError) {
@@ -283,8 +290,11 @@ int main(int argc, const char * argv[]) {
 #endif
     fprintf(stdout, "Press Ctrl+C to abort...\n");
     while (running && (option_transmit-- > 0)) {
+retry:
         retVal = myDriver.WriteMessage(message);
-        if (retVal != CMacCAN::NoError) {
+        if ((retVal == CMacCAN::TransmitterBusy) && option_retry)
+            goto retry;
+        else if (retVal != CMacCAN::NoError) {
             fprintf(stderr, "+++ error: myDriver.WriteMessage returned %i\n", retVal);
             goto teardown;
         }
@@ -294,8 +304,8 @@ int main(int argc, const char * argv[]) {
     while (running) {
         if ((retVal = myDriver.ReadMessage(message, timeout)) == CMacCAN::NoError) {
             if (option_echo) {
-                fprintf(stdout, ">>> %i\t", frames++);
-                fprintf(stdout, "%7li.%04li\t%03x\t%c%c [%i]",
+                fprintf(stdout, ">>> %-6i  ", frames++);
+                fprintf(stdout, "%7li.%04li  %03x %c%c [%i]",
                                  message.timestamp.tv_sec, message.timestamp.tv_nsec / 100000,
                                  message.id, message.xtd? 'X' : 'S', message.rtr? 'R' : ' ', message.dlc);
                 for (int i = 0; i < message.dlc; i++)
@@ -316,15 +326,34 @@ int main(int argc, const char * argv[]) {
                     fflush(stdout);
                 }
             }
+            if (option_check && !message.sts) {
+                received = 0;
+                if(message.dlc > 0) received |= (uint64_t)message.data[0] << 0;
+                if(message.dlc > 1) received |= (uint64_t)message.data[1] << 8;
+                if(message.dlc > 2) received |= (uint64_t)message.data[2] << 16;
+                if(message.dlc > 3) received |= (uint64_t)message.data[3] << 24;
+                if(message.dlc > 4) received |= (uint64_t)message.data[4] << 32;
+                if(message.dlc > 5) received |= (uint64_t)message.data[5] << 40;
+                if(message.dlc > 6) received |= (uint64_t)message.data[6] << 48;
+                if(message.dlc > 7) received |= (uint64_t)message.data[7] << 56;
+                if(received != expected) {
+                    fprintf(stderr, "+++ error: received data is not equal to expected data (%" PRIu64 " : %" PRIu64 ")\n", received, expected);
+                    if(expected > received)
+                        fprintf(stderr, "           issue #198: old messages read again (offset -%" PRIu64 ")\a\n", expected - received);
+                    if(option_stop)
+                        goto teardown;
+                }
+                expected = received + 1;
+            }
         }
         else if (retVal != CMacCAN::ReceiverEmpty) {
             goto teardown;
         }
 #ifdef SECOND_CHANNEL
         if ((retVal = mySecond.ReadMessage(message, 0U)) == CMacCAN::NoError) {
             if (option_echo) {
-                fprintf(stdout, ">2> %i\t", frames++);
-                fprintf(stdout, "%7li.%04li\t%03x\t%c%c [%i]",
+                fprintf(stdout, ">2> %-6i  ", frames++);
+                fprintf(stdout, "%7li.%04li  %03x %c%c [%i]",
                                  message.timestamp.tv_sec, message.timestamp.tv_nsec / 100000,
                                  message.id, message.xtd? 'X' : 'S', message.rtr? 'R' : ' ', message.dlc);
                 for (int i = 0; i < message.dlc; i++)
@@ -399,7 +428,8 @@ int main(int argc, const char * argv[]) {
     }
     now = time(NULL);
     MACCAN_LOG_PRINTF("# MacCAN-PeakCAN - %s", ctime(&now));
-    MACCAN_LOG_CLOSE();
+    if (option_log)
+        MACCAN_LOG_CLOSE();
     fprintf(stdout, "Cheers!\n");
     return retVal;
 }

Utilities/can_moni/Makefile

@@ -99,7 +99,7 @@ incdir:
 clean:
 	$(RM) $(TARGET) $(OUTDIR)/*.o $(OUTDIR)/*.d
 
-distclean:
+pristine:
 	$(RM) $(TARGET) $(OUTDIR)/*.o $(OUTDIR)/*.d
 	$(RM) $(BINDIR)/$(TARGET)
 

Utilities/can_test/Makefile

@@ -98,7 +98,7 @@ incdir:
 clean:
 	$(RM) $(TARGET) $(OUTDIR)/*.o $(OUTDIR)/*.d
 
-distclean:
+pristine:
 	$(RM) $(TARGET) $(OUTDIR)/*.o $(OUTDIR)/*.d
 	$(RM) $(BINDIR)/$(TARGET)