private bool GetApplicationChannel(int appChIdx, ref UInt64 chMask, ref int chIdx)
{
XLDefine.XL_Status status = driver.XL_GetApplConfig(applicationName, (uint)appChIdx, ref hwType, ref hardwareIndex, ref hardwareChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_LIN);
Trace.WriteLine("XL_GetApplConfig : " + status);
chMask = driver.XL_GetChannelMask(hwType, (int)hardwareIndex, (int)hardwareChannel);
chIdx = driver.XL_GetChannelIndex(hwType, (int)hardwareIndex, (int)hardwareChannel);
Trace.WriteLine("chMask : " + chMask + " chIdx: " + chIdx);
if (chIdx < 0 || chIdx >= driverConfig.channelCount)
{
return(false);
}
return((driverConfig.channel[chIdx].channelBusCapabilities & XLDefine.XL_BusCapabilities.XL_BUS_ACTIVE_CAP_LIN) != 0);
}
/////////////////////////////////////////////////////////////////////////
///
public bool GetAppChannelAndTestIsOk(uint appChIdx, ref UInt64 chMask, ref int chIdx)
{
XLDefine.XL_Status status = UDSDemo.XL_GetApplConfig(appName, appChIdx, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
{
Console.WriteLine("XL_Get application Configuration:" + status + Environment.NewLine);
}
chMask = UDSDemo.XL_GetChannelMask(hwType, (int)hwIndex, (int)hwChannel);
chIdx = UDSDemo.XL_GetChannelIndex(hwType, (int)hwIndex, (int)hwChannel);
if (chIdx < 0 || chIdx >= driverConfig.channelCount)
{
// the (hwType, hwIndex, hwChannel) triplet stored in the application configuration does not refer to any available channel.
return(false);
}
// test if CAN is available on this channel
return((driverConfig.channel[chIdx].channelBusCapabilities & XLDefine.XL_BusCapabilities.XL_BUS_ACTIVE_CAP_CAN) != 0);
/////////////////////////////////////////////////////////////////////////
///
}
private static bool GetAppChannelAndTestIsOk(uint appChIdx, ref UInt64 chMask, ref int chIdx)
{
XL_Status status = CANDriver.XL_GetApplConfig(appName, appChIdx, ref hwType, ref hwIndex, ref hwChannel, XL_BusTypes.XL_BUS_TYPE_CAN);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
Console.WriteLine("XL_GetApplConfig : " + status);
PrintFunctionError();
}
chMask = CANDriver.XL_GetChannelMask(hwType, (int)hwIndex, (int)hwChannel);
chIdx = CANDriver.XL_GetChannelIndex(hwType, (int)hwIndex, (int)hwChannel);
if (chIdx < 0 || chIdx >= driverConfig.channelCount)
{
// the (hwType, hwIndex, hwChannel) triplet stored in the application configuration does not refer to any available channel.
return(false);
}
// test if CAN is available on this channel
return((driverConfig.channel[chIdx].channelBusCapabilities & XL_BusCapabilities.XL_BUS_ACTIVE_CAP_CAN) != 0);
}
private bool GetAppChannelAndTestIsOk(uint appChIdx, ref UInt64 chMask, ref int chIdx)
{
XLDefine.XL_Status status = CANDriver.XL_GetApplConfig(appName, appChIdx, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
info += "XL_GetApplConfig : " + status + "\n";
}
chMask = CANDriver.XL_GetChannelMask(hwType, (int)hwIndex, (int)hwChannel);
chIdx = CANDriver.XL_GetChannelIndex(hwType, (int)hwIndex, (int)hwChannel);
if (chIdx < 0 || chIdx >= driverConfig.channelCount)
{
return(false);
}
if ((driverConfig.channel[chIdx].channelBusCapabilities & XLDefine.XL_BusCapabilities.XL_BUS_ACTIVE_CAP_CAN) == 0)
{
return(false);
}
if (canFdModeNoIso > 0)
{
if ((driverConfig.channel[chIdx].channelCapabilities & XLDefine.XL_ChannelCapabilities.XL_CHANNEL_FLAG_CANFD_BOSCH_SUPPORT) == 0)
{
info += driverConfig.channel[chIdx].name.TrimEnd(' ', '\0') + " " + driverConfig.channel[chIdx].transceiverName.TrimEnd(' ', '\0') + " does not support CAN FD NO-ISO";
return(false);
}
}
else
{
if ((driverConfig.channel[chIdx].channelCapabilities & XLDefine.XL_ChannelCapabilities.XL_CHANNEL_FLAG_CANFD_ISO_SUPPORT) == 0)
{
info += driverConfig.channel[chIdx].name.TrimEnd(' ', '\0') + " " + driverConfig.channel[chIdx].transceiverName.TrimEnd(' ', '\0') + " does not support CAN FD ISO";
return(false);
}
}
return(true);
}
public long CanTpCreateConnection(string appName, uint appChannel, XLDefine.XL_HardwareType hwType, uint hwIndex, uint hwChannel, XLDefine.XL_BusTypes busType)
{
XLDefine.XL_Status status;
status = CANTPDriver.XL_OpenDriver();
Console.WriteLine("Open Driver : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-1);
}
status = CANTPDriver.XL_SetApplConfig(appName, appChannel, hwType, hwIndex, hwChannel, busType);
Console.WriteLine("SetApplConfig : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-2);
}
accessMask = CANTPDriver.XL_GetChannelMask(hwType, (int)hwIndex, (int)hwChannel);
permissionMask = accessMask;
txMask = accessMask;
status = CANTPDriver.XL_OpenPort(ref portHandle, appName, accessMask, ref permissionMask, 1024, XLDefine.XL_InterfaceVersion.XL_INTERFACE_VERSION, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
Console.WriteLine("Open Port : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-3);
}
status = CANTPDriver.XL_CanRequestChipState(portHandle, accessMask);
Console.WriteLine("Can Request Chip State: " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-4);
}
status = CANTPDriver.XL_ActivateChannel(portHandle, accessMask, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN, XLDefine.XL_AC_Flags.XL_ACTIVATE_NONE);
Console.WriteLine("Activate Channel : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-5);
}
status = CANTPDriver.XL_SetNotification(portHandle, ref eventHandle, 1);
Console.WriteLine("Set Notification : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-6);
}
status = CANTPDriver.XL_ResetClock(portHandle);
Console.WriteLine("Reset Clock : " + status + "\n\n");
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-7);
}
Console.WriteLine("Start Rx thread...");
rxThread = new Thread(new ThreadStart(CanTp_ReceptionInd));
rxThread.Start();
return(0);
}
/// <summary>
/// The initialization of the Vector CAN driver
/// </summary>
/// <param name="_iEventHandle"></param>
/// <param name="_iPortHandle"></param>
/// <param name="_ui64TransmitMask"></param>
public void xlStartCan(ref int _iEventHandle, ref int _iPortHandle, ref UInt64 _ui64TransmitMask)
{
UInt64 ui64AccessMask = 0;
UInt64 ui64PermissionMask = 0;
uint uiHWType = 0;
uint uiHWIndex = 0;
uint uiHWChannel = 0;
uint uiBusType = (uint)XLClass.XLbusTypes.XL_BUS_TYPE_CAN;
uint uiFlags = 0;
XLClass.XLstatus xlRet;
if ((_xlDriverTx.XL_GetApplConfig("xlCANSimulator", 0, ref uiHWType, ref uiHWIndex, ref uiHWChannel, uiBusType) != XLClass.XLstatus.XL_SUCCESS) ||
(_xlDriverTx.XL_GetApplConfig("xlCANSimulator", 1, ref uiHWType, ref uiHWIndex, ref uiHWChannel, uiBusType) != XLClass.XLstatus.XL_SUCCESS))
{
_xlDriverTx.XL_SetApplConfig("xlCANSimulator", 0, 0, 0, 0, 0);
_xlDriverTx.XL_SetApplConfig("xlCANSimulator", 1, 0, 0, 0, 0);
}
log("DRIVER-Open xlCANSimulator configuration");
_xlDriverTx.XL_GetApplConfig("xlCANSimulator", 0, ref uiHWType, ref uiHWIndex, ref uiHWChannel, uiBusType);
ui64AccessMask |= _xlDriverTx.XL_GetChannelMask((int)uiHWType, (int)uiHWIndex, (int)uiHWChannel);
ui64PermissionMask = ui64AccessMask;
_ui64TransmitMaskTx = ui64AccessMask;
xlRet = _xlDriverTx.XL_OpenPort(ref _iPortHandle, "xlCANSimulator", ui64AccessMask, ref ui64PermissionMask, (uint)1024, uiBusType);
if (XLClass.XLstatus.XL_SUCCESS != xlRet)
{
log("DRIVER-Open port failed");
}
else
{
log("DRIVER-Open port success");
}
xlRet = _xlDriverTx.XL_CanRequestChipState(_iPortHandle, ui64AccessMask);
if (XLClass.XLstatus.XL_SUCCESS != xlRet)
{
log("DRIVER-Request chip state failed");
}
else
{
log("DRIVER-Request chip state success");
}
xlRet = _xlDriverTx.XL_ActivateChannel(_iPortHandle, ui64AccessMask, uiBusType, uiFlags);
if (XLClass.XLstatus.XL_SUCCESS != xlRet)
{
log("DRIVER-Activate channel failed");
}
else
{
log("DRIVER-Activate channel success");
}
xlRet = _xlDriverTx.XL_SetNotification(_iPortHandle, ref _iEventHandle, 1);
if (XLClass.XLstatus.XL_SUCCESS != xlRet)
{
log("DRIVER-Set notificaiton failed");
}
else
{
log("DRIVER-Set notificaiton success");
}
xlRet = _xlDriverTx.XL_ResetClock(_iPortHandle);
if (XLClass.XLstatus.XL_SUCCESS != xlRet)
{
log("DRIVER-Reset clock failed");
}
else
{
log("DRIVER-Reset clock success");
}
}
public XLInterface()
{
MessageTypes = new Dictionary <int, string>();
MessageTypes.Add(FULL_THROTTLE_ON, "Throttle On");
MessageTypes.Add(FULL_THROTTLE_OFF, "Throttle Off");
MessageTypes.Add(FULL_BRAKE_ON, "Brake On");
MessageTypes.Add(FULL_BRAKE_OFF, "Brake Off");
XLDefine.XL_Status status;
driver = new XLDriver();
driverConfig = new XLClass.xl_driver_config();
driver.XL_GetDriverConfig(ref driverConfig);
// If the application name cannot be found in VCANCONF...
if ((driver.XL_GetApplConfig(appName, 0, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN) != XLDefine.XL_Status.XL_SUCCESS))
{
//...create the item with two CAN channels
status = driver.XL_SetApplConfig(appName, 0, XLDefine.XL_HardwareType.XL_HWTYPE_CANCASEXL, 0, 0, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
Console.WriteLine(status);
}
// Read setting of CAN1
driver.XL_GetApplConfig(appName, 0, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
// Notify user if no channel is assigned to this application
if (hwType == XLDefine.XL_HardwareType.XL_HWTYPE_NONE)
{
PrintAssignError();
}
accessMask = driver.XL_GetChannelMask(hwType, (int)hwIndex, (int)hwChannel);
txMask = accessMask; // this channel is used for Tx
PrintConfig();
permissionMask = accessMask;
// Open port
status = driver.XL_OpenPort(ref portHandle, appName, accessMask, ref permissionMask, 1024, XLDefine.XL_InterfaceVersion.XL_INTERFACE_VERSION, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
Console.WriteLine("\n\nOpen Port : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
// Check port
status = driver.XL_CanRequestChipState(portHandle, accessMask);
Console.WriteLine("Can Request Chip State: " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
// Activate channel
status = driver.XL_ActivateChannel(portHandle, accessMask, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN, XLDefine.XL_AC_Flags.XL_ACTIVATE_NONE);
Console.WriteLine("Activate Channel : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
// Reset time stamp clock
status = driver.XL_ResetClock(portHandle);
Console.WriteLine("Reset Clock : " + status + "\n\n");
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
}
// -----------------------------------------------------------------------------------------------
/// <summary>
/// MAIN
///
/// Sends and receives CAN messages using main methods of the "XLDriver" class.
/// This demo requires two connected CAN channels (Vector network interface).
/// The configuration is read from Vector Hardware Config (vcanconf.exe).
/// </summary>
// -----------------------------------------------------------------------------------------------
//[STAThread]
public String InitCANtransmitter()
{
// Open XL Driver
status = CANDemo.XL_OpenDriver();
//Console.WriteLine("Open Driver : " + status);
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
// Get XL Driver configuration
status = CANDemo.XL_GetDriverConfig(ref driverConfig);
//Console.WriteLine("Get Driver Config : " + status);
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
// If the application name cannot be found in VCANCONF...
if ((CANDemo.XL_GetApplConfig(appName, 0, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN) != XLDefine.XL_Status.XL_SUCCESS) ||
(CANDemo.XL_GetApplConfig(appName, 1, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN) != XLDefine.XL_Status.XL_SUCCESS))
{
//...create the item with two CAN channels
CANDemo.XL_SetApplConfig(appName, 0, XLDefine.XL_HardwareType.XL_HWTYPE_NONE, 0, 0, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
CANDemo.XL_SetApplConfig(appName, 1, XLDefine.XL_HardwareType.XL_HWTYPE_NONE, 0, 0, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
PrintAssignError();
}
else // else try to read channel assignments
{
string str;
// Read setting of CAN1
CANDemo.XL_GetApplConfig(appName, 0, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
// Notify user if no channel is assigned to this application
if (hwType == XLDefine.XL_HardwareType.XL_HWTYPE_NONE)
{
PrintAssignError();
}
accessMask = CANDemo.XL_GetChannelMask(hwType, (int)hwIndex, (int)hwChannel);
txMask = accessMask; // this channel is used for Tx
/*
* // Read setting of CAN2
* CANDemo.XL_GetApplConfig(appName, 1, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
*
* // Notify user if no channel is assigned to this application
* if (hwType == XLDefine.XL_HardwareType.XL_HWTYPE_NONE) PrintAssignError();
*
* accessMask |= CANDemo.XL_GetChannelMask(hwType, (int)hwIndex, (int)hwChannel); // OR: access both channels for RX later
*/
permissionMask = accessMask;
// Open port
status = CANDemo.XL_OpenPort(ref portHandle, appName, accessMask, ref permissionMask, 1024, XLDefine.XL_InterfaceVersion.XL_INTERFACE_VERSION, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
//Console.WriteLine("\n\nOpen Port : " + status);
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
// Check port
status = CANDemo.XL_CanRequestChipState(portHandle, accessMask);
//Console.WriteLine("Can Request Chip State: " + status);
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
// Activate channel
status = CANDemo.XL_ActivateChannel(portHandle, accessMask, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN, XLDefine.XL_AC_Flags.XL_ACTIVATE_NONE);
//Console.WriteLine("Activate Channel : " + status);
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
// Get RX event handle
status = CANDemo.XL_SetNotification(portHandle, ref eventHandle, 1);
//Console.WriteLine("Set Notification : " + status);
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
// Reset time stamp clock
CANDemo.XL_ResetClock(portHandle);
//Console.WriteLine("Reset Clock : " + status + "\n\n");
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
}
return(status.ToString());
}