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Add Neousys WDT_DIO CAN interface
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‎can/interfaces/__init__.py

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"cantact": ("can.interfaces.cantact", "CantactBus"),
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"gs_usb": ("can.interfaces.gs_usb", "GsUsbBus"),
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"nixnet": ("can.interfaces.nixnet", "NiXNETcanBus"),
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'neousys_wdt': ('can.interfaces.neousys_wdt', 'NeousysWdtBus'),
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}
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BACKENDS.update(

‎can/interfaces/neousys_wdt.py

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#
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# This kind of interface can be found for example on Neousys POC-551VTC
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# One needs to have correct drivers and DLL (Share object for Linux) from Neousys
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#
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# https://www.neousys-tech.com/en/support-service/resources/category/299-poc-551vtc-driver
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#
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# Beware this is only tested on Linux kernel higher thant 5.3. This should be drop in
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# with Windows but you have to replace with correct named DLL
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#
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import warnings
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from ctypes import *
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import threading
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import logging
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import platform
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import time
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from can import BusABC, Message
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logger = logging.getLogger(__name__)
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class WDT_CAN_SETUP(Structure):
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_fields_ = [
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("bitRate", c_uint),
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("recvConfig", c_uint),
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("recvId", c_uint),
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("recvMask", c_uint),
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]
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class WDT_CAN_MSG(Structure):
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_fields_ = [
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("id", c_uint),
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("flags", c_ushort),
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("extra", c_ubyte),
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("len", c_ubyte),
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("data", c_ubyte * 8),
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]
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# valid:2~16, sum of the Synchronization, Propagation, and Phase Buffer 1 segments, measured in time quanta.
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# valid:1~8, the Phase Buffer 2 segment in time quanta.
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# valid:1~4, Resynchronization Jump Width in time quanta
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# valid:1~1023, CAN_CLK divider used to determine time quanta
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class WDT_CAN_BITCLK(Structure):
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_fields_ = [
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("syncPropPhase1Seg", c_ushort),
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("phase2Seg", c_ushort),
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("jumpWidth", c_ushort),
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("quantumPrescaler", c_ushort),
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]
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WDT_CAN_MSG_CALLBACK = CFUNCTYPE(None, POINTER(WDT_CAN_MSG), c_uint)
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WDT_CAN_STATUS_CALLBACK = CFUNCTYPE(None, c_uint)
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WDT_CAN_MSG_EXTENDED_ID = 0x0004
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WDT_CAN_MSG_REMOTE_FRAME = 0x0040
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WDT_CAN_MSG_DATA_NEW = 0x0080
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WDT_CAN_MSG_DATA_LOST = 0x0100
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WDT_CAN_MSG_USE_ID_FILTER = 0x00000008
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WDT_CAN_MSG_USE_DIR_FILTER = (
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0x00000010 | WDT_CAN_MSG_USE_ID_FILTER
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) # only accept the direction specified in the message type
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WDT_CAN_MSG_USE_EXT_FILTER = (
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0x00000020 | WDT_CAN_MSG_USE_ID_FILTER
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) # filters on only extended identifiers
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WDT_CAN_STATUS_BUS_OFF = 0x00000080
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WDT_CAN_STATUS_EWARN = (
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0x00000040 # can controller error level has reached warning level.
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)
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WDT_CAN_STATUS_EPASS = (
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0x00000020 # can controller error level has reached error passive level.
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)
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WDT_CAN_STATUS_LEC_STUFF = 0x00000001 # a bit stuffing error has occurred.
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WDT_CAN_STATUS_LEC_FORM = 0x00000002 # a formatting error has occurred.
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WDT_CAN_STATUS_LEC_ACK = 0x00000003 # an acknowledge error has occurred.
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WDT_CAN_STATUS_LEC_BIT1 = (
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0x00000004 # the bus remained a bit level of 1 for longer than is allowed.
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)
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WDT_CAN_STATUS_LEC_BIT0 = (
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0x00000005 # the bus remained a bit level of 0 for longer than is allowed.
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)
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WDT_CAN_STATUS_LEC_CRC = 0x00000006 # a crc error has occurred.
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WDT_CAN_STATUS_LEC_MASK = (
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0x00000007 # this is the mask for the can last error code (lec).
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)
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class NeousysWdtBus(BusABC):
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def __init__(self, channel, device=0, bitrate=500000, **kwargs):
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"""
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:param channel: channel number
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:param device: device number
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:param bitrate: bit rate. Renamed to bitrate in next release.
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"""
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super(NeousysWdtBus, self).__init__(channel, **kwargs)
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self.canlib = None
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try:
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if platform.system() == "Windows":
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self.canlib = WinDLL("./WDT_DIO.dll")
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else:
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self.canlib = CDLL("libwdt_dio.so")
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logger.info("Loaded Neousys WDT_DIO Can driver")
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self.channel = channel
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self.device = device
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self.channel_info = "Neousys WDT_DIO Can: device {}, channel {}".format(
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self.device, self.channel
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)
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self.lock = threading.Lock()
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self.recv_msg_array = []
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# Init with accept all and wanted bitrate
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self.init_config = WDT_CAN_SETUP(bitrate, WDT_CAN_MSG_USE_ID_FILTER, 0, 0)
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# These can be needed in some old 2.x consepts not needed in 3.6 though
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# self.canlib.CAN_RegisterReceived.argtypes = [c_uint, WDT_CAN_MSG_CALLBACK]
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# self.canlib.CAN_RegisterReceived.restype = c_int
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# self.canlib.CAN_RegisterStatus.argtypes = [c_uint, WDT_CAN_STATUS_CALLBACK]
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# self.canlib.CAN_RegisterStatus.restype = c_int
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self._WDTCAN_Received = WDT_CAN_MSG_CALLBACK(self._WDTCAN_Received)
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self._WDTCAN_Status = WDT_CAN_STATUS_CALLBACK(self._WDTCAN_Status)
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if self.canlib.CAN_RegisterReceived(0, self._WDTCAN_Received) == 0:
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logger.error("Neousys WDT_DIO CANBus Setup receive callback")
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if self.canlib.CAN_RegisterStatus(0, self._WDTCAN_Status) == 0:
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logger.error("Neousys WDT_DIO CANBus Setup status callback")
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if (
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self.canlib.CAN_Setup(
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channel, byref(self.init_config), sizeof(self.init_config)
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)
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== 0
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):
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logger.error("Neousys WDT_DIO CANBus Setup Error")
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if self.canlib.CAN_Start(channel) == 0:
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logger.error("Neousys WDT_DIO CANBus Start Error")
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except OSError as e:
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logger.info("Cannot Neousys WDT_DIO CANBus dll or share object")
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def send(self, msg, timeout=None):
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"""
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:param msg: message to send
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:param timeout: timeout is not used here
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:return:
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"""
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if self.canlib is None:
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print("Can't send msg as Neousys WDT_DIO DLL/SO is not loaded")
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else:
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tx_msg = WDT_CAN_MSG(
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msg.arbitration_id, 0, 0, msg.dlc, (c_ubyte * 8)(*msg.data)
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)
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if self.canlib.CAN_Send(self.channel, byref(tx_msg), sizeof(tx_msg)) == 0:
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logger.error("Neousys WDT_DIO Can can't send message")
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def _recv_internal(self, timeout):
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msg = None
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# If there is message waiting in array
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# pass it as new message
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if len(self.recv_msg_array) > 0:
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self.lock.acquire()
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msg = self.recv_msg_array.pop(0)
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self.lock.release()
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return msg, False
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def _WDTCAN_Received(self, lpMsg, cbMsg):
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"""
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:param lpMsg struct CAN_MSG
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:param cbMsg message number
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:return:
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"""
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remote_frame = False
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extended_frame = False
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msg_bytes = bytearray(lpMsg.contents.data)
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if lpMsg.contents.flags & WDT_CAN_MSG_REMOTE_FRAME:
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remote_frame = True
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if lpMsg.contents.flags & WDT_CAN_MSG_EXTENDED_ID:
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extended_frame = True
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if lpMsg.contents.flags & WDT_CAN_MSG_DATA_LOST:
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print("_WDTCAN_Received flag CAN_MSG_DATA_LOST")
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msg = Message(
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timestamp=time.time(),
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arbitration_id=lpMsg.contents.id,
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is_remote_frame=remote_frame,
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is_extended_id=extended_frame,
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channel=self.channel,
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dlc=lpMsg.contents.len,
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data=msg_bytes[: lpMsg.contents.len],
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)
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# Reading happens in Callback function and
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# with Python-CAN it happens polling
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# so cache stuff in array to for poll
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self.lock.acquire()
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self.recv_msg_array.append(msg)
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self.lock.release()
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def _WDTCAN_Status(status):
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"""
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:param status BUS Status
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:return:
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"""
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print("_WDTCAN_Status" + str(status))
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def shutdown(self):
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WDTCan.CAN_Stop(self.channel)

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