unsafe private CAN_FRAME[] GetCANFrames()
{
CAN_SEND_MODE mSendMode = (CAN_SEND_MODE)CAN.CAN_SEND_MODE_LIST[this.cbxSendMode.SelectedItem.ToString()];
CAN_FRAME_TYPE mFrameType = (CAN_FRAME_TYPE)CAN.CAN_FRAME_TYPE_LIST[this.cbxFrameType.SelectedItem];
CAN_FRAME_FORMAT mFrameFormat = (CAN_FRAME_FORMAT)CAN.CAN_FRAME_FORMAT_LIST[this.cbxFrameFormat.SelectedItem];
uint id = Convert.ToUInt32(tbxFrameID.Text, 16);
uint mSendNum = Convert.ToUInt32(this.tbxSendNum.Text, 10);
double mSendInterval = Convert.ToDouble(this.tbxSendInterval.Text);
string[] sDataArr = new Regex("[\\s]+").Replace(this.tbxFrameData.Text.Trim(), " ").Split(' ');
byte mDataLen = (byte)sDataArr.Length;
StringBuilder sbBuilder = new StringBuilder("0x");
for (int index = mDataLen - 1; index >= 0; index--)
{
sbBuilder.Append(sDataArr[index].PadLeft(2, '0'));
}
ulong data = Convert.ToUInt64(sbBuilder.ToString(), 16);
bool incID = chbxIncID.Checked;
bool incData = chbxIncData.Checked;
CAN_FRAME[] pCANFrames = new CAN_FRAME[mSendNum];
for (uint index = 0; index < mSendNum; index++)
{
CAN_OBJ pCANObj = new CAN_OBJ();
if (!incID)
{
pCANObj.ID = id;
}
else
{
pCANObj.ID = id + index;
if (mFrameFormat == CAN_FRAME_FORMAT.STANDARD_FRAME && pCANObj.ID > CAN.STANDARD_FRAME_ID_MAXIMUM)
{
pCANObj.ID = CAN.STANDARD_FRAME_ID_MAXIMUM;
}
else if (mFrameFormat == CAN_FRAME_FORMAT.EXTENDED_FRAME && pCANObj.ID > CAN.EXTENDED_FRAME_ID_MAXIMUM)
{
pCANObj.ID = CAN.EXTENDED_FRAME_ID_MAXIMUM;
}
}
//pCANObj.ID = incID ? id + index : id;
pCANObj.DataLen = mDataLen;
ulong ulData = incData ? data + index : data;
Marshal.Copy(BitConverter.GetBytes(ulData), 0, (IntPtr)pCANObj.Data, (int)CAN.FRAME_DATA_LENGTH_MAXIMUM);
pCANObj.SendType = (byte)mSendMode;
pCANObj.RemoteFlag = (byte)mFrameType;
pCANObj.ExternFlag = (byte)mFrameFormat;
pCANObj.TimeFlag = (byte)CAN_FRAME_TIME_FLAG.INVALID;
pCANObj.TimeStamp = 0;
pCANFrames[index] = new CAN_FRAME(pCANObj, DateTime.Now, CAN_FRAME_DIRECTION.SEND, CAN_FRAME_STATUS.UNKNOWN);
}
return(pCANFrames);
}
public static extern ECANStatus Receive(
UInt32 DeviceType,
UInt32 DeviceInd,
UInt32 CANInd,
out CAN_OBJ Receive,
UInt32 length,
UInt32 WaitTime);
private void ReadMessages2()
{
CAN_OBJ mMsg = new CAN_OBJ();
int sCount = 0;
do
{
uint mLen = 1;
if (!((ECANDLL.Receive(1, i, 1, out mMsg, mLen, 0) == ECANStatus.STATUS_OK) & (mLen > 0)))
{
break;
}
this.gRecMsgBuf2[this.gRecMsgBufHead2].ID = mMsg.ID;
this.gRecMsgBuf2[this.gRecMsgBufHead2].DataLen = mMsg.DataLen;
this.gRecMsgBuf2[this.gRecMsgBufHead2].data = mMsg.data;
this.gRecMsgBuf2[this.gRecMsgBufHead2].ExternFlag = mMsg.ExternFlag;
this.gRecMsgBuf2[this.gRecMsgBufHead2].RemoteFlag = mMsg.RemoteFlag;
if ((mMsg.ID == 0x141) || (mMsg.ID == 0x139) || (mMsg.ID == 0x143))
{
this.gRecMsgBufHead2 += 1;
if (this.gRecMsgBufHead2 >= REC_MSG_BUF_MAX)
{
this.gRecMsgBufHead2 = 0;
}
}
sCount++;
}while (sCount < 500);
}
public void SendTest()
{
CAN_OBJ sendMsg = new CAN_OBJ();
byte[] Msg = new byte[8];
sendMsg.SendType = 0;
sendMsg.data = new byte[8];
//sendMsg.Reserved = new byte[2];
sendMsg.ID = 0x601;
sendMsg.DataLen = Convert.ToByte(8);
sendMsg.ExternFlag = 0;
sendMsg.RemoteFlag = 0;
for (int i = 0; i < Msg.Length; i++)
{
sendMsg.data[i] = Msg[i];
}
uint mLen = 1;
if (ECANDLL.Transmit(1, 0, 0, ref sendMsg, (ushort)mLen) != ECANStatus.STATUS_OK)
{
MessageBox.Show("fail");
}
else
{
MessageBox.Show("sucess");
}
}
public bool Send(ref CAN_OBJ obj)
{
if (!IsOpened)
{
return(false);
}
return(ECANStatus.STATUS_OK ==
ECANDLL.Transmit(DefaultDeviceType, 0, 0, ref obj, 1));
}
public override bool SendData(CANData cdin)
{
CAN_OBJ co = new CAN_OBJ();
co.data = cdin.GetData();
co.ID = (uint)cdin.ID;
co.DataLen = (byte)cdin.getDataLen();
co.SendType = 1;
co.ExternFlag = 0x01;
co.RemoteFlag = 0x00;
lock (this) {
return(ECANDLL.Transmit(deviceType, useDeviceIndex, useCANIndex, ref co, 1) == ECANStatus.STATUS_OK);
}
}
public Motion()
{
mCan = new ComProc();
sendMsg = new CAN_OBJ();
recMsg = new CAN_OBJ();
speed = 0;
position = 0;
error = 0;
iscomplete = true;
SendTimer = new System.Timers.Timer();
SendTimer.Enabled = false; //初始化读取实时速度和位置的计时器，每5ms发送一次读取指令,读取速度和位置信息
SendTimer.AutoReset = false;
SendTimer.Interval = 50;
SendTimer.Elapsed += new System.Timers.ElapsedEventHandler(Send_tick);
}
private void ReadMessages()
{
mainform.canDataRWLock.EnterWriteLock();
CAN_OBJ mMsg = new CAN_OBJ();
try
{
int sCount = 0;
do
{
uint mLen = 1;
if (!((ECANDLL.Receive(1, 0, 0, out mMsg, mLen, 1) == ECANStatus.STATUS_OK) & (mLen > 0)))
{
break;
}
if (this.gRecMsgBuf[this.gRecMsgBufHead].data == null)
{
this.gRecMsgBuf[this.gRecMsgBufHead].data = new byte[8];
}
this.gRecMsgBuf[this.gRecMsgBufHead].ID = mMsg.ID;
this.gRecMsgBuf[this.gRecMsgBufHead].DataLen = mMsg.DataLen;
for (int i = 0; i < 8; i++)
{
this.gRecMsgBuf[this.gRecMsgBufHead].data[i] = mMsg.data[i];
}
this.gRecMsgBuf[this.gRecMsgBufHead].ExternFlag = mMsg.ExternFlag;
this.gRecMsgBuf[this.gRecMsgBufHead].RemoteFlag = mMsg.RemoteFlag;
this.gRecMsgBuf[this.gRecMsgBufHead].TimeFlag = mMsg.TimeFlag;
this.gRecMsgBuf[this.gRecMsgBufHead].TimeStamp = mMsg.TimeStamp;
this.gRecMsgBufHead += 1;
if (this.gRecMsgBufHead >= REC_MSG_BUF_MAX)
{
this.gRecMsgBufHead = 0;
}
sCount++;
} while (sCount < 500);
}
finally
{
mainform.canDataRWLock.ExitWriteLock();
}
return;
}
private void ReadMessages()
{
int m = 0;
int sCount = 0;
do
{
CAN_OBJ mMsg = new CAN_OBJ();
mMsg.ID = 0;
uint mLen = 1;
if ((ECANDLL.Receive(1, i, 0, out mMsg, mLen, 0) == ECANStatus.STATUS_OK))
{
}
else
{
break;
}
if (mMsg.ID == 0x139)
{
mad0 = (mMsg.data[0] + mMsg.data[1] * 256) / 1000.0;
}
if (mMsg.ID == 0x141)
{
mad1 = (mMsg.data[0] + mMsg.data[1] * 256) / 1000.0;
}
if (mMsg.ID == 0x143)
{
mad2 = (mMsg.data[0] + mMsg.data[1] * 256) / 1000.0;
m_starttime = m_starttime + 0.01;
p.x = mad0;
p.y = mad1;
p.z = mad2;
p.t = m_starttime;
ClsStaticStation.m_Global.madlist.Add(p);
}
sCount++;
}while (sCount < 500);
}
protected override void ReceiveData()
{
if (GetReceivedCount() <= 0)
{
return;
}
CAN_OBJ buffer = new CAN_OBJ();
ECANStatus getStatus = ECANDLL.Receive(
deviceType, useDeviceIndex, useCANIndex, ref buffer, 1, 20);
if (getStatus == ECANStatus.STATUS_OK)
{
Push(new CANData((int)buffer.ID, buffer.data));
}
// Or else you can get error info as you want
}
public bool Comm(CAN_OBJ sendmsg, out CAN_OBJ recmsg)
{
int sendnum;
int recnum;
uint mLen;
sendnum = 0;
recnum = 0;
CAN_OBJ msg = new CAN_OBJ();
if (!isOpen)
{
OpenComm();
}
mLen = 1;
while (ECANDLL.Transmit(1, 0, 0, ref sendmsg, (ushort)mLen) != ECAN.ECANStatus.STATUS_OK)
{
sendnum++;
Thread.Sleep(1);
if (sendnum == 10)
{
recmsg = msg;
return(false);
}
}
while (ECANDLL.Receive(1, 0, 0, out recmsg, 1, 1) != ECAN.ECANStatus.STATUS_OK)
{
recnum++;
Thread.Sleep(1);
if (recnum == 10)
{
return(false);
}
}
return(true);
}
public bool Comm(CAN_OBJ sendmsg, out CAN_OBJ recmsg)
{
int sendnum;
int recnum;
uint mLen;
sendnum = 0;
recnum = 0;
CAN_OBJ msg = new CAN_OBJ();
if (!isOpen)
{
StackTrace st = new StackTrace(new StackFrame(true));
LogHelper.WriteMLog("Fail to open the USB-CAN!", st);
OpenComm();
}
mLen = 1;
while (ECANDLL.Transmit(1, 0, 0, ref sendmsg, (ushort)mLen) != ECAN.ECANStatus.STATUS_OK)
{
sendnum++;
if (sendnum == 3)
{
recmsg = msg;
return(false);
}
}
Thread.Sleep(1);
while (ECANDLL.Receive(1, 0, 0, out recmsg, 1, 1) != ECAN.ECANStatus.STATUS_OK)
{
recnum++;
if (recnum == 3)
{
return(false);
}
}
return(true);
}
private void send(object obj)
{
CAN_OBJ frameinfo = new CAN_OBJ();
while (sendRunning)
{
while (!queueSendBuffer.IsEmpty)
{
CanDataWithInfo bi = null;
bool result = queueSendBuffer.TryDequeue(out bi);
//Console.WriteLine("queue count : " + queueSendBuffer.Count);
if (!result || null == bi)
{
continue;
}
byte[] bySend;
if (bi.bytes.Length != 8)
{
bySend = new byte[8];
Array.Copy(bi.bytes, 0, bySend, 0, bi.bytes.Length);
}
else
{
bySend = bi.bytes;
}
frameinfo.ID = bi.canId;
frameinfo.SendType = sendType;
frameinfo.RemoteFlag = 0;
frameinfo.ExternFlag = 0;
frameinfo.DataLen = (byte)bi.bytes.Length;
frameinfo.data = bySend;
//frameinfo.Reserved = new byte[2];
//logger.Info(Untils.ToHexString(frameinfo.data) + bi.info);
//Console.WriteLine(bi.info);
sendMsg(frameinfo, bi);
Thread.Sleep(1);
}
Thread.Sleep(5);
}
}
private void sendMsg(CAN_OBJ frameinfo, CanDataWithInfo bi)
{
if (ECANDLL.Transmit(4, 0, 0, ref frameinfo, (ushort)1) != ECANStatus.STATUS_OK)
{
Console.WriteLine("Transmit : fault");
ERR_INFO info = new ERR_INFO();
if (ECANDLL.ReadErrInfo(4, 0, 0, out info) != ECANStatus.STATUS_OK)
{
Console.WriteLine("ReadErrInfo : fault");
}
else
{
Console.WriteLine("ReadErrInfo : code " + info.ErrCode);
}
}
else
{
//写入文件记录
//logger.Info(Untils.ToHexString(frameinfo.data) + bi.info);
eventSended?.Invoke(this, new ByteEventArgs(DateTime.Now, new BytesWithInfo(frameinfo.data, bi.info)));
}
}
private void ReadMessagesold()
{
CAN_OBJ mMsg = new CAN_OBJ();
int m = 0;
int sCount = 0;
do
{
uint mLen = 1;
if (!((ECANDLL.Receive(1, i, 0, out mMsg, mLen, 1) == ECANStatus.STATUS_OK) & (mLen > 0)))
{
break;
}
// m = m + 1;
//if (m == 5)
{
m = 0;
this.gRecMsgBuf[this.gRecMsgBufHead].ID = mMsg.ID;
this.gRecMsgBuf[this.gRecMsgBufHead].DataLen = mMsg.DataLen;
this.gRecMsgBuf[this.gRecMsgBufHead].data = mMsg.data;
this.gRecMsgBuf[this.gRecMsgBufHead].ExternFlag = mMsg.ExternFlag;
this.gRecMsgBuf[this.gRecMsgBufHead].RemoteFlag = mMsg.RemoteFlag;
this.gRecMsgBufHead += 1;
if (this.gRecMsgBufHead >= REC_MSG_BUF_MAX)
{
this.gRecMsgBufHead = 0;
}
sCount++;
}
}while (sCount < 50);
}
private void receive(object obj)
{
CAN_OBJ vco1 = new CAN_OBJ();
while (receiveRunning)
{
//CAN_OBJ vco1 = new CAN_OBJ();
uint result = ECANDLL.Receive(4, 0, 0, out vco1, 1, 10000);
//Console.WriteLine("GetReceiveNum result : " + result);
Console.WriteLine("GetReceiveNum result data: " + Untils.ToHexString(vco1.data));
if (result != 0xFFFFFFFF && result != 0)
{
CanDataWithInfo can = new CanDataWithInfo(vco1.ID, vco1.data, "");
queueReceiveBuffer.Enqueue(can);
}
else
{
//Console.WriteLine("receive fault");
}
Thread.Sleep(10);
}
}
private void SendMessages2()
{
int sCount = 0;
do
{
if (this.gSendMsgBufHead2 == this.gSendMsgBufTail2)
{
break;
}
CAN_OBJ mMsg = this.gSendMsgBuf2[this.gSendMsgBufTail2];
this.gSendMsgBufTail2 += 1;
if (this.gSendMsgBufTail2 >= SEND_MSG_BUF_MAX)
{
this.gSendMsgBufTail2 = 0;
}
uint mLen = 1;
if (ECANDLL.Transmit(1, i, 1, ref mMsg, (ushort)mLen) != ECANStatus.STATUS_OK)
{
}
sCount++;
}while (sCount < 200);
}
private void SendMessages()
{
int sCount = 0;
do
{
if (this.gSendMsgBufHead == this.gSendMsgBufTail)
{
break;
}
CAN_OBJ mMsg = this.gSendMsgBuf[this.gSendMsgBufTail];
this.gSendMsgBufTail += 1;
if (this.gSendMsgBufTail >= SEND_MSG_BUF_MAX)
{
this.gSendMsgBufTail = 0;
}
uint mLen = 1;
string status;
if (ECANDLL.Transmit(1, 0, 0, ref mMsg, (ushort)mLen) != ECANStatus.STATUS_OK)
{
status = "send fail";
TxErrCnt++;
if (TxErrCnt >= 0xFFFFFFFF)
{
TxErrCnt = 0xFFFFFFFF;
}
}
else
{
status = "send success";
}
sCount++;
} while (sCount < 200);
}
public bool Receive(out CAN_OBJ obj, uint timeout = 0)
{
return(ECANStatus.STATUS_OK ==
ECANDLL.Receive(DefaultDeviceType, 0, 0, out obj, 1, timeout));
}
private void ReadMessages()
{
// lock write lock
canDataRWLock.EnterWriteLock();
try
{
// lock write lock
//canDataRWLock.TryEnterWriteLock(200);
CAN_OBJ frameinfo = new CAN_OBJ();
int mCount = 0;
bool add2buff;
/*
* int i = 0, j = 0;
* for (i = 0; i < dataChart.addChartCnt; i++)
* {
* for(j = 0; j < dataChart.addElementsCnt; j++)
* {
* if(dataChart.chart[i].Titles[j].Text == "S0")
*
* }
* }
*
*/
while (this.mCan.gRecMsgBufHead != this.mCan.gRecMsgBufTail && mCount < 50)
{
/*
* frameinfo = this.mCan.gRecMsgBuf[this.mCan.gRecMsgBufTail];
* this.mCan.gRecMsgBufTail += 1;
* if (this.mCan.gRecMsgBufTail >= ComProc.REC_MSG_BUF_MAX)
* {
* this.mCan.gRecMsgBufTail = 0;
* }
*/
// add queue data index
//canDataSemaphore.Wait();
if (dataChart.addChartCnt > 0)
{
if (monitorData.head < LevCanData.MAX_BUFF_LEN)
{
monitorData.head += 1;
}
else
{
monitorData.head = 0;
}
add2buff = true;
}
else
{
add2buff = false;
}
// decode data
monitorData.copyData(this.mCan.gRecMsgBuf[this.mCan.gRecMsgBufTail].data, 8);
monitorData.decodingData(this.mCan.gRecMsgBuf[this.mCan.gRecMsgBufTail].ID,
this.mCan.gRecMsgBuf[this.mCan.gRecMsgBufTail].TimeStamp);
// update data grid view
//int point_id = monitorData.getCanDataLevPoint(frameinfo.ID);
//if (point_id == 0)
//MessageBox.Show("PointId that decoded by method decodingData(candataID) Equas to zero","Warning", MessageBoxButtons.OK);
//else
//updateDataGridViewCellContents(point_id);
//canDataSemaphore.Release();
this.mCan.gRecMsgBufTail += 1;
if (this.mCan.gRecMsgBufTail >= ComProc.REC_MSG_BUF_MAX)
{
this.mCan.gRecMsgBufTail = 0;
}
mCount++;
}
}
finally
{
// unlock write lock
canDataRWLock.ExitWriteLock();
}
}
private void ReadMessages2()
{
CAN_OBJ frameinfo = new CAN_OBJ();
int mCount = 0;
while (this.mCan.gRecMsgBufHead2 != this.mCan.gRecMsgBufTail2)
{
string tmpstr;
frameinfo = this.mCan.gRecMsgBuf2[this.mCan.gRecMsgBufTail2];
this.mCan.gRecMsgBufTail2 += 1;
if (this.mCan.gRecMsgBufTail2 >= ComProc.REC_MSG_BUF_MAX)
{
this.mCan.gRecMsgBufTail2 = 0;
}
string str = "Rec: ";
if (frameinfo.TimeFlag == 0)
{
tmpstr = "Time: ";
}
else
{
tmpstr = "Time:" + string.Format("{0:X8}h", frameinfo.TimeStamp);
}
str = str + tmpstr;
tmpstr = " ID:" + string.Format("{0:X8}h", frameinfo.ID);
str = str + tmpstr + " Format:";
if (frameinfo.RemoteFlag == 0)
{
tmpstr = "Data ";
}
else
{
tmpstr = "Romte ";
}
str = str + tmpstr + " Type:";
if (frameinfo.ExternFlag == 0)
{
tmpstr = "Stand ";
}
else
{
tmpstr = "Exten ";
}
str = str + tmpstr;
if (frameinfo.RemoteFlag == 0)
{
str = str + " Data:";
if (frameinfo.DataLen > 8)
{
frameinfo.DataLen = 8;
}
int mlen = frameinfo.DataLen - 1;
for (int j = 0; j <= mlen; j++)
{
tmpstr = string.Format("{0:X2}h", frameinfo.data[j]);
str = str + tmpstr;
}
}
this.lbxParamsLog.Items.Add(str);
if (this.lbxParamsLog.Items.Count > 500)
{
this.lbxParamsLog.Items.Clear();
}
mCount++;
if (mCount >= 50)
{
break;
}
Application.DoEvents();
}
}
public void Timer_Tick(object sender, EventArgs e)
{
can.AddBuf1(APPID);
if (!can.RxFramesBuf1[APPID].IsEmpty)
{
while (!can.RxFramesBuf1[APPID].IsEmpty)
{
CAN_OBJ frame = can.RxFramesBuf1[APPID].Dequeue();
GSM_UpDownMotorRunReq1 = (frame.data[2] & 0x30) >> 4;
GSM_UpDownMotorSt1 = (frame.data[2] & 0x03);
}
}
can.AddBuf2(APPID);
if (!can.RxFramesBuf2[APPID].IsEmpty)
{
while (!can.RxFramesBuf2[APPID].IsEmpty)
{
CAN_OBJ frame = can.RxFramesBuf2[APPID].Dequeue();
GSM_UpDownMotorRunReq2 = (frame.data[2] & 0x30) >> 4;
GSM_UpDownMotorSt2 = (frame.data[2] & 0x03);
}
}
can.AddBuf3(APPID);
if (!can.RxFramesBuf3[APPID].IsEmpty)
{
while (!can.RxFramesBuf3[APPID].IsEmpty)
{
CAN_OBJ frame = can.RxFramesBuf3[APPID].Dequeue();
GSM_UpDownMotorRunReq3 = (frame.data[2] & 0x30) >> 4;
GSM_UpDownMotorSt3 = (frame.data[2] & 0x03);
}
}
can.AddBuf4(APPID);
if (!can.RxFramesBuf4[APPID].IsEmpty)
{
while (!can.RxFramesBuf4[APPID].IsEmpty)
{
CAN_OBJ frame = can.RxFramesBuf4[APPID].Dequeue();
GSM_UpDownMotorRunReq4 = (frame.data[2] & 0x30) >> 4;
GSM_UpDownMotorSt4 = (frame.data[2] & 0x03);
}
}
can.AddBuf5(APPID);
if (!can.RxFramesBuf5[APPID].IsEmpty)
{
while (!can.RxFramesBuf5[APPID].IsEmpty)
{
CAN_OBJ frame = can.RxFramesBuf5[APPID].Dequeue();
GSM_UpDownMotorRunReq5 = (frame.data[2] & 0x30) >> 4;
GSM_UpDownMotorSt5 = (frame.data[2] & 0x03);
}
}
can.AddBuf6(APPID);
if (!can.RxFramesBuf6[APPID].IsEmpty)
{
while (!can.RxFramesBuf6[APPID].IsEmpty)
{
CAN_OBJ frame = can.RxFramesBuf6[APPID].Dequeue();
GSM_UpDownMotorRunReq6 = (frame.data[2] & 0x30) >> 4;
GSM_UpDownMotorSt6 = (frame.data[2] & 0x03);
}
}
can.AddBuf7(APPID);
if (!can.RxFramesBuf7[APPID].IsEmpty)
{
while (!can.RxFramesBuf7[APPID].IsEmpty)
{
CAN_OBJ frame = can.RxFramesBuf7[APPID].Dequeue();
GSM_UpDownMotorRunReq7 = (frame.data[2] & 0x30) >> 4;
GSM_UpDownMotorSt7 = (frame.data[2] & 0x03);
}
}
can.AddBuf8(APPID);
if (!can.RxFramesBuf8[APPID].IsEmpty)
{
while (!can.RxFramesBuf8[APPID].IsEmpty)
{
CAN_OBJ frame = can.RxFramesBuf8[APPID].Dequeue();
GSM_UpDownMotorRunReq8 = (frame.data[2] & 0x30) >> 4;
GSM_UpDownMotorSt8 = (frame.data[2] & 0x03);
}
}
can.AddBuf9(APPID);
if (!can.RxFramesBuf9[APPID].IsEmpty)
{
while (!can.RxFramesBuf9[APPID].IsEmpty)
{
CAN_OBJ frame = can.RxFramesBuf9[APPID].Dequeue();
GSM_UpDownMotorRunReq9 = (frame.data[2] & 0x30) >> 4;
GSM_UpDownMotorSt9 = (frame.data[2] & 0x03);
}
}
can.AddBuf10(APPID);
if (!can.RxFramesBuf10[APPID].IsEmpty)
{
while (!can.RxFramesBuf10[APPID].IsEmpty)
{
CAN_OBJ frame = can.RxFramesBuf10[APPID].Dequeue();
GSM_UpDownMotorRunReq10 = (frame.data[2] & 0x30) >> 4;
GSM_UpDownMotorSt10 = (frame.data[2] & 0x03);
}
}
}
public static extern ECANStatus Transmit(
UInt32 DeviceType,
UInt32 DeviceInd,
UInt32 CANInd,
ref CAN_OBJ Send,
UInt16 length);
/// <summary>
/// 下载
/// </summary>
/// <param name="data">下载的数据</param>
/// <param name="ctoBuffer">返回数据</param>
/// <param name="ctoBufferLength">返回数据长度</param>
/// <returns></returns>
public EcanXcpResult XCP_Download(byte[] data, out byte[] ctoBuffer, UInt16 ctoBufferLength)
{
ctoBuffer = new byte[ctoBufferLength];
CAN_OBJ frameInfo = new CAN_OBJ(); // 报文帧
UInt32 numOfFrameTX; // 实际发送帧数量
UInt32 numOfFrameRX; // 接收帧数量
#region Packet Identifier:CMD Command:DOWNLOAD
// 报文帧ID为
frameInfo.ID = masterID;
// 发送帧类型 正常发送
frameInfo.SendType = 0;
// 是否为远程帧 0为数据帧
frameInfo.RemoteFlag = 0;
// 是否为扩展帧 0为标准帧，11位帧ID
frameInfo.ExternFlag = 0;
// 数据长度
frameInfo.DataLen = (byte)(data.Length + 2);
// CAN报文的数据
frameInfo.data = new byte[8];
// 系统保留
//CANObj.Reserved = new byte[3];
frameInfo.data[0] = 0xF0;
frameInfo.data[1] = (byte)data.Length;
Array.Copy(data, 0, frameInfo.data, 2, data.Length); // 将Data复制到FrameInfo
if ((numOfFrameTX = ECANDLL.Transmit(deviceType, deviceIndex, canIndex, frameInfo, 1)) != 1) // 如果发送命令失败
{
// Function not available / Operation not implemented
return(EcanXcpResult.XCP_ERR_NOT_IMPLEMENTED);
}
#endregion
#region 读取应答数据
for (int i = 0; i < 5; i++) // 尝试读取5次
{
if ((numOfFrameRX = ECANDLL.GetReceiveNum(deviceType, deviceIndex, canIndex)) > 0) // 如果收到数据帧
{
numOfFrameRX = ECANDLL.Receive(deviceType, deviceIndex, canIndex, out frameInfo, 1, 10);
if (frameInfo.data[0] == 0xFF) // Packet Identifier:RES
{
ctoBuffer = frameInfo.data; // 回传接收到的数据
// Acknowledge / no error
return(EcanXcpResult.XCP_ERR_OK);
}
else if (frameInfo.data[0] == 0xFE) // Packet Identifier:ERR
{
ctoBuffer = frameInfo.data; // 回传接收到的数据
#region Error Code
switch (frameInfo.data[1]) // 返回 Error Code
{
case 0:
return(EcanXcpResult.XCP_ERR_CMD_SYNCH);
case 0x10:
return(EcanXcpResult.XCP_ERR_CMD_BUSY);
case 0x11:
return(EcanXcpResult.XCP_ERR_DAQ_ACTIVE);
case 0x12:
return(EcanXcpResult.XCP_ERR_PGM_ACTIVE);
case 0x20:
return(EcanXcpResult.XCP_ERR_CMD_UNKNOWN);
case 0x21:
return(EcanXcpResult.XCP_ERR_CMD_SYNTAX);
case 0x22:
return(EcanXcpResult.XCP_ERR_OUT_OF_RANGE);
case 0x23:
return(EcanXcpResult.XCP_ERR_WRITE_PROTECTED);
case 0x24:
return(EcanXcpResult.XCP_ERR_ACCESS_DENIED);
case 0x25:
return(EcanXcpResult.XCP_ERR_ACCESS_DENIED);
case 0x26:
return(EcanXcpResult.XCP_ERR_PAGE_NOT_VALID);
case 0x27:
return(EcanXcpResult.XCP_ERR_MODE_NOT_VALID);
case 0x28:
return(EcanXcpResult.XCP_ERR_SEGMENT_NOT_VALID);
case 0x29:
return(EcanXcpResult.XCP_ERR_SEQUENCE);
case 0x2A:
return(EcanXcpResult.XCP_ERR_DAQ_CONFIG);
case 0x30:
return(EcanXcpResult.XCP_ERR_MEMORY_OVERFLOW);
case 0x31:
return(EcanXcpResult.XCP_ERR_GENERIC);
case 0x32:
return(EcanXcpResult.XCP_ERR_VERIFY);
case 0x33:
return(EcanXcpResult.XCP_ERR_RESOURCE_TEMPORARY_NOT_ACCESSIBLE);
default:
return(EcanXcpResult.XCP_ERR_INVALID_PARAMETER);
}
#endregion
}
else
{
ctoBuffer = frameInfo.data;// 回传接收到的数据
// Invalid parameter value
return(EcanXcpResult.XCP_ERR_INVALID_PARAMETER);
}
}
else//如果没有数据帧，等待1ms
{
System.Threading.Thread.Sleep(1);
}
}
// 尝试5次，超时
// A timeout was reached by calling a function synchronously
return(EcanXcpResult.XCP_ERR_INTERNAL_TIMEOUT);
#endregion
}
