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gs_usb.py
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gs_usb.py
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from struct import *
import platform
from usb.backend import libusb1
import usb.core
import usb.util
from .gs_usb_structures import *
from .gs_usb_frame import *
from .constants import *
# gs_usb VIDs/PIDs (devices currently in the linux kernel driver)
GS_USB_ID_VENDOR = 0x1D50
GS_USB_ID_PRODUCT = 0x606F
GS_USB_CANDLELIGHT_VENDOR_ID = 0x1209
GS_USB_CANDLELIGHT_PRODUCT_ID = 0x2323
GS_USB_CES_CANEXT_FD_VENDOR_ID = 0x1CD2
GS_USB_CES_CANEXT_FD_PRODUCT_ID = 0x606F
GS_USB_ABE_CANDEBUGGER_FD_VENDOR_ID = 0x16D0
GS_USB_ABE_CANDEBUGGER_FD_PRODUCT_ID = 0x10B8
#gs_usb mode
GS_CAN_MODE_RESET = 0
GS_CAN_MODE_START = 1
# gs_usb control request
_GS_USB_BREQ_HOST_FORMAT = 0
_GS_USB_BREQ_BITTIMING = 1
_GS_USB_BREQ_MODE = 2
_GS_USB_BREQ_BERR = 3
_GS_USB_BREQ_BT_CONST = 4
_GS_USB_BREQ_DEVICE_CONFIG = 5
class GsUsb:
def __init__(self, gs_usb):
self.gs_usb = gs_usb
self.capability = None
self.device_flags = None
def start(self, flags=(GS_CAN_MODE_NORMAL | GS_CAN_MODE_HW_TIMESTAMP)):
r"""
Start gs_usb device
:param flags: GS_CAN_MODE_LISTEN_ONLY, GS_CAN_MODE_HW_TIMESTAMP, etc.
"""
# Reset to support restart multiple times
self.gs_usb.reset()
# Detach usb from kernel driver in Linux/Unix system to perform IO
if "windows" not in platform.system().lower() and self.gs_usb.is_kernel_driver_active(
0
):
self.gs_usb.detach_kernel_driver(0)
#Only allow features that the device supports
flags &= self.device_capability.feature
# Only allow features that this driver supports
flags &= GS_CAN_MODE_LISTEN_ONLY | GS_CAN_MODE_LOOP_BACK | GS_CAN_MODE_ONE_SHOT | GS_CAN_MODE_HW_TIMESTAMP
self.device_flags = flags
mode = DeviceMode(GS_CAN_MODE_START, flags)
self.gs_usb.ctrl_transfer(0x41, _GS_USB_BREQ_MODE, 0, 0, mode.pack())
def stop(self):
r"""
Stop gs_usb device
"""
mode = DeviceMode(GS_CAN_MODE_RESET, 0)
try:
self.gs_usb.ctrl_transfer(0x41, _GS_USB_BREQ_MODE, 0, 0, mode.pack())
except usb.core.USBError:
pass
def set_bitrate(self, bitrate, sample_point=87.5):
r"""
Set bitrate with sample point 87.5% and clock rate 48MHz.
Ported from https://github.com/HubertD/cangaroo/blob/b4a9d6d8db7fe649444d835a76dbae5f7d82c12f/src/driver/CandleApiDriver/CandleApiInterface.cpp#L17-L112
It can also be calculated in http://www.bittiming.can-wiki.info/ with sample point 87.5% and clock rate 48MHz
"""
prop_seg = 1
sjw = 1
if ((self.device_capability.fclk_can == 48000000) and (sample_point == 87.5)):
if bitrate == 10000:
self.set_timing(prop_seg, 12, 2, sjw, 300)
elif bitrate == 20000:
self.set_timing(prop_seg, 12, 2, sjw, 150)
elif bitrate == 50000:
self.set_timing(prop_seg, 12, 2, sjw, 60)
elif bitrate == 83333:
self.set_timing(prop_seg, 12, 2, sjw, 36)
elif bitrate == 100000:
self.set_timing(prop_seg, 12, 2, sjw, 30)
elif bitrate == 125000:
self.set_timing(prop_seg, 12, 2, sjw, 24)
elif bitrate == 250000:
self.set_timing(prop_seg, 12, 2, sjw, 12)
elif bitrate == 500000:
self.set_timing(prop_seg, 12, 2, sjw, 6)
elif bitrate == 800000:
self.set_timing(prop_seg, 11, 2, sjw, 4)
elif bitrate == 1000000:
self.set_timing(prop_seg, 12, 2, sjw, 3)
else:
return False
return True
elif ((self.device_capability.fclk_can == 80000000) and (sample_point == 87.5)):
if bitrate == 10000:
self.set_timing(prop_seg, 12, 2, sjw, 500)
elif bitrate == 20000:
self.set_timing(prop_seg, 12, 2, sjw, 250)
elif bitrate == 50000:
self.set_timing(prop_seg, 12, 2, sjw, 100)
elif bitrate == 83333:
self.set_timing(prop_seg, 12, 2, sjw, 60)
elif bitrate == 100000:
self.set_timing(prop_seg, 12, 2, sjw, 50)
elif bitrate == 125000:
self.set_timing(prop_seg, 12, 2, sjw, 40)
elif bitrate == 250000:
self.set_timing(prop_seg, 12, 2, sjw, 20)
elif bitrate == 500000:
self.set_timing(prop_seg, 12, 2, sjw, 10)
elif bitrate == 800000:
self.set_timing(prop_seg, 7, 1, sjw, 10)
elif bitrate == 1000000:
self.set_timing(prop_seg, 12, 2, sjw, 5)
else:
return False
return True
else:
#device clk or sample point currently unsupported
return False
def set_timing(self, prop_seg, phase_seg1, phase_seg2, sjw, brp):
r"""
Set CAN bit timing
:param prop_seg: propagation Segment (const 1)
:param phase_seg1: phase segment 1 (1~15)
:param phase_seg2: phase segment 2 (1~8)
:param sjw: synchronization segment (1~4)
:param brp: prescaler for quantum where base_clk = 48MHz (1~1024)
"""
bit_timing = DeviceBitTiming(prop_seg, phase_seg1, phase_seg2, sjw, brp)
self.gs_usb.ctrl_transfer(0x41, _GS_USB_BREQ_BITTIMING, 0, 0, bit_timing.pack())
def send(self, frame):
r"""
Send frame
:param frame: GsUsbFrame
"""
#Frame size is different depending on HW timestamp feature support
hw_timestamps = ((self.device_flags & GS_CAN_MODE_HW_TIMESTAMP) == GS_CAN_MODE_HW_TIMESTAMP)
self.gs_usb.write(0x02, frame.pack(hw_timestamps))
return True
def read(self, frame, timeout_ms):
r"""
Read frame
:param frame: GsUsbFrame
:param timeout_ms: read time out in ms.
Note that timeout as 0 will block forever if no message is received
:return: return True if success else False
"""
#Frame size is different depending on HW timestamp feature support
hw_timestamps = ((self.device_flags & GS_CAN_MODE_HW_TIMESTAMP) == GS_CAN_MODE_HW_TIMESTAMP)
try:
data = self.gs_usb.read(0x81, frame.__sizeof__(hw_timestamps), timeout_ms)
except usb.core.USBError:
return False
GsUsbFrame.unpack_into(frame, data, hw_timestamps)
return True
@property
def bus(self):
return self.gs_usb.bus
@property
def address(self):
return self.gs_usb.address
@property
def serial_number(self):
r"""
Get gs_usb device serial number in string format
"""
return self.gs_usb.serial_number
@property
def device_info(self):
r"""
Get gs_usb device info
"""
data = self.gs_usb.ctrl_transfer(0xC1, _GS_USB_BREQ_DEVICE_CONFIG, 0, 0, 12)
return DeviceInfo.unpack(data)
@property
def device_capability(self):
r"""
Get gs_usb device capability
"""
if self.capability == None:
data = self.gs_usb.ctrl_transfer(0xC1, _GS_USB_BREQ_BT_CONST, 0, 0, 40)
self.capability = DeviceCapability.unpack(data)
return self.capability
def __str__(self):
try:
_ = "{} ({})".format(self.gs_usb.product, repr(self.gs_usb))
except (ValueError, usb.core.USBError):
return ""
return _
is_gs_usb_device = staticmethod(lambda dev : (dev.idVendor == GS_USB_ID_VENDOR and dev.idProduct == GS_USB_ID_PRODUCT)\
or (dev.idVendor == GS_USB_CANDLELIGHT_VENDOR_ID and dev.idProduct == GS_USB_CANDLELIGHT_PRODUCT_ID) \
or (dev.idVendor == GS_USB_CES_CANEXT_FD_VENDOR_ID and dev.idProduct == GS_USB_CES_CANEXT_FD_PRODUCT_ID) \
or (dev.idVendor == GS_USB_ABE_CANDEBUGGER_FD_VENDOR_ID and dev.idProduct == GS_USB_ABE_CANDEBUGGER_FD_PRODUCT_ID)) \
@classmethod
def scan(cls):
r"""
Retrieve the list of gs_usb devices handle
:return: list of gs_usb devices handle
"""
return [
GsUsb(dev)
for dev in usb.core.find(
find_all=True,
custom_match = cls.is_gs_usb_device,
backend=libusb1.get_backend(),
)
]
@classmethod
def find(cls, bus, address):
r"""
Find a specific gs_usb device
:return: The gs_usb device handle if found, else None
"""
gs_usb = usb.core.find(
custom_match = cls.is_gs_usb_device,
bus=bus,
address=address,
backend=libusb1.get_backend(),
)
if gs_usb:
return GsUsb(gs_usb)
return None