public void Write(byte[] data)
{
var niTx = new NiCan.NCTYPE_CAN_FRAME();
if (ExtendedId)
{
niTx.ArbitrationId = TransmittId | 0x20000000;
}
else
{
niTx.ArbitrationId = TransmittId;
}
niTx.DataLength = 8;
niTx.IsRemote = NiCan.NC_FALSE;
niTx.Data0 = data[0];
niTx.Data1 = data[1];
niTx.Data2 = data[2];
niTx.Data3 = data[3];
niTx.Data4 = data[4];
niTx.Data5 = data[5];
niTx.Data6 = data[6];
niTx.Data7 = data[7];
NiCan.ncWrite(_handle, NiCan.CanFrameSize, ref niTx);
IoLog.Instance.WirteLine("Tx: 0x" + niTx.ArbitrationId.ToString("X4") + " " + Tools.ByteArrayToCStyleString(data));
}
public void RestartCard(byte moduleAddress)
{
IoLog.Instance.WirteLine("Restart Module:" + moduleAddress);
var niTx = new NiCan.NCTYPE_CAN_FRAME();
niTx.ArbitrationId = 0x1558FFFF | 0x20000000;
niTx.DataLength = 2;
niTx.IsRemote = NiCan.NC_FALSE;
niTx.Data0 = 0xAA;
niTx.Data1 = moduleAddress;
NiCan.ncWrite(_handle, NiCan.CanFrameSize, ref niTx);
IoLog.Instance.WirteLine("Tx: 0x" + niTx.ArbitrationId.ToString("X4") + " "
+ Tools.ByteArrayToCStyleString(new byte[] { niTx.Data0, niTx.Data1 }));
}
public void Read(out byte[] data, int tiemoutMs)
{
int items = 0;
long startTick = DateTime.Now.Ticks;
data = null;
var rx = new NiCan.NCTYPE_CAN_STRUCT();
bool isFound = false;
do
{
if (DateTime.Now.Ticks - startTick > tiemoutMs * 10000)
{
throw new Iso15765TimeoutException("P2 Max Expired,Read Timeout.");
}
items = NiCanTools.ReadPending(_handle);
if (items != 0)
{
for (int i = 0; i < items; i++)
{
NiCanTools.NiCanStatusCheck(NiCan.ncRead(_handle, NiCan.CanStructSize, ref rx));
UInt32 arbId = rx.ArbitrationId & 0x1FFFFFFF;
byte[] datatemp = new byte[]
{ rx.Data0,
rx.Data1,
rx.Data2,
rx.Data3,
rx.Data4,
rx.Data5,
rx.Data6,
rx.Data7, };
data = new byte[rx.DataLength];
Buffer.BlockCopy(datatemp, 0, data, 0, rx.DataLength);
IoLog.Instance.WirteLine("Rx: 0x" + arbId.ToString("X4") + " " + "Data:" + Tools.ByteArrayToCStyleString(data));
if (arbId == ReceiveId)
{
isFound = true;
}
}
}
} while (!isFound);
}
