Add Peak CAN driver

builds, driver works, no functional test (no pcan available)

---------

Co-authored-by: Jannes Brands <jannes@jannesbrands.de>
Co-authored-by: Austin Gill <notgnoshi@gmail.com>

Cargo.toml

@@ -8,11 +8,14 @@ keywords = ["agriculture", "can", "canbus", "isobus", "j1939", "agritech", "smar
 
 [dependencies]
 rand = "0.8.5"
+pcan-basic = { version = "1.0.2", optional = true }
 socketcan = { version = "2.0.0", optional = true }
 tracing = { version = "0.1.37", optional = true }
 
 [features]
 default = []
+# Peak driver
+peak = ["dep:pcan-basic"]
 # Socketcan driver
 socketcan = ["dep:socketcan"]
 # Optional logging instrumentation
@@ -21,8 +24,9 @@ tracing = ["dep:tracing"]
 [dev-dependencies]
 clap = { version = "4.3.19", features = ["derive"] }
 ctrlc = "3.4.0"
+tracing = "0.1.37"
 tracing-subscriber = "0.3.17"
 
 [[example]]
 name = "forward"
-required-features = ["socketcan", "tracing"]
+required-features = ["tracing"]

examples/forward.rs

@@ -2,9 +2,46 @@
 
 use std::sync::mpsc::channel;
 
-use ag_iso_stack::driver::{Driver, Frame, SocketcanDriver};
+#[cfg(feature = "peak")]
+use ag_iso_stack::driver::PeakDriver;
+#[cfg(feature = "socketcan")]
+use ag_iso_stack::driver::SocketcanDriver;
+use ag_iso_stack::driver::{Driver, Frame};
 use ag_iso_stack::tracing;
-use clap::Parser;
+use clap::{Parser, ValueEnum};
+#[cfg(feature = "peak")]
+use pcan_basic::bus::UsbBus;
+
+fn parse_usb_bus(s: &str) -> Option<UsbBus> {
+ let s = s.to_uppercase();
+ match s.as_str() {
+ "USB1" => Some(UsbBus::USB1),
+ "USB2" => Some(UsbBus::USB2),
+ "USB3" => Some(UsbBus::USB3),
+ "USB4" => Some(UsbBus::USB4),
+ "USB5" => Some(UsbBus::USB5),
+ "USB6" => Some(UsbBus::USB6),
+ "USB7" => Some(UsbBus::USB7),
+ "USB8" => Some(UsbBus::USB8),
+ "USB9" => Some(UsbBus::USB9),
+ "USB10" => Some(UsbBus::USB10),
+ "USB11" => Some(UsbBus::USB11),
+ "USB12" => Some(UsbBus::USB12),
+ "USB13" => Some(UsbBus::USB13),
+ "USB14" => Some(UsbBus::USB14),
+ "USB15" => Some(UsbBus::USB15),
+ "USB16" => Some(UsbBus::USB16),
+ _ => None,
+ }
+}
+
+#[derive(Debug, Clone, ValueEnum)]
+enum CanDriver {
+ #[cfg(feature = "socketcan")]
+ Socketcan,
+ #[cfg(feature = "peak")]
+ Pcan,
+}
 
 /// Forward CAN traffic from one interface to another
 #[derive(Debug, Parser)]
@@ -25,13 +62,29 @@ struct Options {
  /// Can be either a string interface name, or an integer interface index
  #[clap(short, long, default_value_t = String::from("can1"))]
  pub output_interface: String,
+
+ #[clap(short, long)]
+ pub driver: CanDriver,
 }
 
-fn create_driver(iface: &str) -> impl Driver {
- if let Ok(index) = iface.parse::<u32>() {
- SocketcanDriver::new_by_index(index)
- } else {
- SocketcanDriver::new_by_name(iface)
+fn create_driver(iface: &str, driver: CanDriver) -> Box<dyn Driver> {
+ match driver {
+ #[cfg(feature = "socketcan")]
+ CanDriver::Socketcan => {
+ if let Ok(index) = iface.parse::<u32>() {
+ Box::new(SocketcanDriver::new_by_index(index))
+ } else {
+ Box::new(SocketcanDriver::new_by_name(iface))
+ }
+ }
+ #[cfg(feature = "peak")]
+ CanDriver::Pcan => {
+ let bus = parse_usb_bus(iface).unwrap();
+ let baud = ag_iso_stack::driver::Baudrate::Baud250K;
+ Box::new(PeakDriver::new_usb(bus, baud))
+ }
+ #[allow(unreachable_patterns)]
+ _ => unreachable!(),
  }
 }
 
@@ -45,14 +98,16 @@ fn main() {
  .map_err(|_err| eprintln!("Unable to set global default subscriber"))
  .unwrap();
 
+ tracing::info!("AgIsoStack-rs example starts...");
+
  tracing::info!(
  "Forwarding CAN traffic from {} to {}",
  opts.input_interface,
  opts.output_interface
  );
 
- let mut input = create_driver(&opts.input_interface);
- let mut output = create_driver(&opts.output_interface);
+ let mut input = create_driver(&opts.input_interface, opts.driver.clone());
+ let mut output = create_driver(&opts.output_interface, opts.driver);
 
  input.open().unwrap();
  output.open().unwrap();

src/driver/driver.rs

@@ -1,6 +1,24 @@
 // Copyright 2023 Raven Industries inc.
 use crate::driver::Frame;
 
+#[derive(Debug, PartialEq, Copy, Clone)]
+pub enum Baudrate {
+ Baud1M,
+ Baud800K,
+ Baud500K,
+ Baud250K,
+ Baud125K,
+ Baud100K,
+ Baud95K,
+ Baud83K,
+ Baud50K,
+ Baud47K,
+ Baud33K,
+ Baud20K,
+ Baud10K,
+ Baud5K,
+}
+
 #[derive(Debug)]
 #[non_exhaustive]
 pub enum DriverOpenError {

src/driver/mod.rs

@@ -15,11 +15,17 @@ mod pgn;
 #[cfg(feature = "socketcan")]
 mod socketcan;
 
+#[cfg(feature = "peak")]
+mod peak;
+
 pub use address::Address;
 pub use can_id::{CanId, Priority, Type};
-pub use driver::{Driver, DriverCloseError, DriverOpenError, DriverReadError, DriverWriteError};
+pub use driver::{Baudrate, Driver, DriverCloseError, DriverOpenError, DriverReadError, DriverWriteError};
 pub use frame::{Channel, Frame};
 pub use pgn::Pgn;
 
 #[cfg(feature = "socketcan")]
 pub use self::socketcan::SocketcanDriver;
+
+#[cfg(feature = "peak")]
+pub use self::peak::PeakDriver;