/// <summary>
/// Sends the oldest message in the queue to the CAN.
/// </summary>
private static void SendNextInQueue()
{
if (messageQueue.Count > 0)
{
int error = 0;
C4UFX.CANMessage mess = messageQueue.Dequeue();
C4UFX.SendCANMess(0, 0, mess, out error);
MessageSent?.Invoke(mess);
}
}
/// <summary>
/// Checks the status of the CAN.
/// </summary>
/// <param name="ForceErr">If true, force an error even if there is none.</param>
private static void CANCheckStatus(bool ForceErr)
{
int Result;
if (CANInterfaceStatus == CANSTAT.OK && !ForceErr)
{
byte[] DataBuffer = new byte[10];
Result = C4UFX.ReadReg(0, 0, 0x2D, 1, ref DataBuffer); // EFLG
if (Result == C4UFX.Resp_Ack)
{
InterfaceWarning?.Invoke(Warning.OK, DataBuffer[0] == 0);
InterfaceWarning?.Invoke(Warning.RxWarning, (DataBuffer[0] & 0x02) > 0);
InterfaceWarning?.Invoke(Warning.TxWarning, (DataBuffer[0] & 0x04) > 0);
InterfaceWarning?.Invoke(Warning.Buffer0Warning, (DataBuffer[0] & 0x08) > 0);
InterfaceWarning?.Invoke(Warning.Buffer1Warning, (DataBuffer[0] & 0x10) > 0);
InterfaceWarning?.Invoke(Warning.RxPassive, (DataBuffer[0] & 0x20) > 0);
InterfaceWarning?.Invoke(Warning.TxPassive, (DataBuffer[0] & 0x40) > 0);
InterfaceWarning?.Invoke(Warning.BussOff, (DataBuffer[0] & 0x80) > 0);
if ((DataBuffer[0] & 0x40) > 0 || (DataBuffer[0] & 0x80) > 0)
{
errorResetTmr.Start();
}
}
}
else
{
C4UFX.CANMessage errorMessage = new C4UFX.CANMessage();
int errorCode;
errorMessage.ID = 0;
errorMessage.DLC = 0;
for (int i = 0; i < 8; i++)
{
errorMessage.Data[i] = 0;
}
errorMessage.EID = true;
errorMessage.RTR = false;
errorMessage.MO = 0;
errorMessage.SendOption = 7;
Result = C4UFX.SendCANMess(0, 0, errorMessage, out errorCode);
switch (Result)
{
case C4UFX.Resp_Ack:
CANStatus?.Invoke(CANSTAT.OK);
break;
case C4UFX.Resp_NAck:
// message was transmitted but there was an error, so reset
CANInit();
CANStatus?.Invoke(CANSTAT.SENDERROR);
break;
case C4UFX.Resp_ErrImproperResponse:
CANStatus?.Invoke(CANSTAT.NOINTERFACE);
break;
default:
CANStatus?.Invoke(CANSTAT.ERROR);
break;
}
}
}