// **********************
// Turns canInterface off
// **********************
public static void CanBusOff(string canInterface)
{
string hardwareString0 = canInterface.Replace(" ", "");
string[] msgOutput = hardwareString0.Split(';');
// Need Error Checking to ensure that device closes
ECOMLibrary.CloseDevice((UInt32)BusInterface.ReturnHandle(canInterface));
ErrorLog.NewLogEntry("CAN", "Bus Off Success/Failed: " + msgOutput[1]);
}
} // End GenericCanTransmitSingle
//************************************
// CAN Transmit for multiple transmissions
//************************************
public static void CanTransmitMultiple(CanData can)
{
can.handle = BusInterface.ReturnHandle(can.hardware);
KvaserWriteCan writeCan = new KvaserWriteCan();
Thread t2 = new Thread(delegate()
{
writeCan.KvaserWriteMultiple(can);
});
t2.IsBackground = true;
t2.Start();
} // End GenericCanTransmitMultiple
// **********************
// Turns canInterface off
// **********************
public static void CanBusOff(string canInterface)
{
string hardwareString0 = canInterface.Replace(" ", "");
string[] msgOutput = hardwareString0.Split(';');
int iResult;
int iNumberOfErrors = 0;
iResult = neoCSNet2003.icsNeoDll.icsneoClosePort(BusInterface.ReturnHandle(canInterface), ref iNumberOfErrors);
if (iResult == 1)
{
ErrorLog.NewLogEntry("CAN", "Bus Off Success: " + msgOutput[1]);
}
else
{
ErrorLog.NewLogEntry("CAN", "Bus Off Failed: " + msgOutput[1]);
}
}
} // End GenericCanTransmitMultiple
// CAN Receive
public static bool CanReceive(CanData can)
{
// string hardwareString0 = can.hardware.Replace(" ", "");
// string[] msgOutput = hardwareString0.Split(';');
// to pull the can.handle from the hardware selection
can.handle = BusInterface.ReturnHandle(can.hardware);
//MainWindow.ErrorDisplayString("can.handle: " + can.handle + " ; msg: " + msgOutput[3]);
// Kvaser CAN Read
Array.Clear(can.msg, 0, 8);
can.status = Canlib.canRead(can.handle, out can.id, can.msg, out can.dlc, out can.flags, out can.time);
// MainWindow.ErrorDisplayString("can.handle in receive: " + can.handle);
CheckFlags(can);
if (can.status != Canlib.canStatus.canOK)
{
return(false);
}
else
{
return(true);
}
} // End Read
//************************************
// CAN Transmit for a single transmission
//************************************
public static void CanTransmitSingle(CanData can)
{
string hardwareString0 = can.hardware.Replace(" ", "");
string[] msgOutput = hardwareString0.Split(';');
can.handle = BusInterface.ReturnHandle(can.hardware);
// Threading Part
/*CanWrite writeCan = new CanWrite();
*
* // Starts the Kvaser threading
* Thread t2 = new Thread(delegate()
* {
* writeCan.KvaserWrite(can);
* });
* t2.Start();
*/
// Non-threading write option
Canlib.canWriteWait(can.handle, can.id, can.msg, can.dlc, can.flags, 1000);
CheckFlags(can);
} // End GenericCanTransmitSingle
public void ECOMWriteMultiple(CanData can)
{
for (int x = 0; x < can.number; x++)
{
can.handle = BusInterface.ReturnHandle(can.hardware);
//MainWindow.ErrorDisplayString("ECom Handle: " + Convert.ToString(can.handle));
ECOMLibrary.SFFMessage txMessage = new ECOMLibrary.SFFMessage();
ECOMLibrary.EFFMessage etxMessage = new ECOMLibrary.EFFMessage();
// Pulls the top 3 bits for IDH and the bottom 8 bits for IDL
txMessage.IDH = (byte)(can.id & 0x700);
txMessage.IDL = (byte)(can.id & 0x0FF);
// Converts the entire id into an unit for extended sending
etxMessage.ID = (UInt32)can.id;
txMessage.DataLength = (byte)can.dlc;
etxMessage.DataLength = (byte)can.dlc;
txMessage.options = (byte)can.flags;
etxMessage.options = (byte)can.flags;
// Puts the individual bytes into the can.msg byte array
if (can.dlc > 0)
{
txMessage.data1 = can.msg[0];
etxMessage.data1 = can.msg[0];
}
if (can.dlc > 1)
{
txMessage.data2 = can.msg[1];
etxMessage.data2 = can.msg[1];
}
if (can.dlc > 2)
{
txMessage.data3 = can.msg[2];
etxMessage.data3 = can.msg[2];
}
if (can.dlc > 3)
{
txMessage.data4 = can.msg[3];
etxMessage.data4 = can.msg[3];
}
if (can.dlc > 4)
{
txMessage.data5 = can.msg[4];
etxMessage.data5 = can.msg[4];
}
if (can.dlc > 5)
{
txMessage.data6 = can.msg[5];
etxMessage.data6 = can.msg[5];
}
if (can.dlc > 6)
{
txMessage.data7 = can.msg[6];
etxMessage.data7 = can.msg[6];
}
if (can.dlc > 7)
{
txMessage.data8 = can.msg[7];
etxMessage.data8 = can.msg[7];
}
if (can.flags == 4)
{
ECOMLibrary.CANTransmitMessageEx((UInt32)can.handle, ref etxMessage);
}
else
{
ECOMLibrary.CANTransmitMessage((UInt32)can.handle, ref txMessage);
}
System.Threading.Thread.Sleep(can.timeBtw);
if (can.increment == true)
{
can.id++;
}
}
}
} // End GenericCanTransmitMultiple
// CAN Receive
public static bool CanReceive(CanData can)
{
Byte ReturnError = 0;
ECOMLibrary.SFFMessage RxMessage = new ECOMLibrary.SFFMessage();
ECOMLibrary.EFFMessage ExMessage = new ECOMLibrary.EFFMessage();
try
{
//ECOM library call to get a standard message
ReturnError = ECOMLibrary.CANReceiveMessage((UInt32)BusInterface.ReturnHandle(can.hardware), ref RxMessage);
}
catch {
ErrorLog.NewLogEntry("ECOM", Convert.ToString(ReturnError));
}
if (ReturnError == 0)
{
// Converts the ID low and ID high
can.id = Convert.ToInt32(RxMessage.IDL + RxMessage.IDH);
can.dlc = Convert.ToInt32(RxMessage.DataLength);
can.time = Convert.ToInt64(RxMessage.TimeStamp);
// Puts the individual bytes into the can.msg byte array
if (can.dlc > 0)
{
can.msg[0] = RxMessage.data1;
}
if (can.dlc > 1)
{
can.msg[1] = RxMessage.data2;
}
if (can.dlc > 2)
{
can.msg[2] = RxMessage.data3;
}
if (can.dlc > 3)
{
can.msg[3] = RxMessage.data4;
}
if (can.dlc > 4)
{
can.msg[4] = RxMessage.data5;
}
if (can.dlc > 5)
{
can.msg[5] = RxMessage.data6;
}
if (can.dlc > 6)
{
can.msg[6] = RxMessage.data7;
}
if (can.dlc > 7)
{
can.msg[7] = RxMessage.data8;
}
// Revisions Needed -- Need to pull flag information
can.flags = Convert.ToInt32(RxMessage.options);
//MainWindow.ErrorDisplayString(Convert.ToString(can.flags));
// For error testing
// MainWindow.ErrorDisplayByteArray(can.msg);
//MainWindow.ErrorDisplayString(Convert.ToString(can.dlc));
}
else
{
ReturnError = ECOMLibrary.CANReceiveMessageEx((UInt32)BusInterface.ReturnHandle(can.hardware), ref ExMessage);
can.id = Convert.ToInt32(ExMessage.ID);
can.dlc = Convert.ToInt32(ExMessage.DataLength);
can.time = Convert.ToInt64(ExMessage.TimeStamp);
// Puts the individual bytes into the can.msg byte array
if (can.dlc > 0)
{
can.msg[0] = ExMessage.data1;
}
if (can.dlc > 1)
{
can.msg[1] = ExMessage.data2;
}
if (can.dlc > 2)
{
can.msg[2] = ExMessage.data3;
}
if (can.dlc > 3)
{
can.msg[3] = ExMessage.data4;
}
if (can.dlc > 4)
{
can.msg[4] = ExMessage.data5;
}
if (can.dlc > 5)
{
can.msg[5] = ExMessage.data6;
}
if (can.dlc > 6)
{
can.msg[6] = ExMessage.data7;
}
if (can.dlc > 7)
{
can.msg[7] = ExMessage.data8;
}
// Revisions Needed -- Need to pull flag information
can.flags = Convert.ToInt32(ExMessage.options);
// For error testing
// MainWindow.ErrorDisplayByteArray(can.msg);
}
if (ReturnError != 0)
{
return(false);
}
else
{
return(true);
}
} // End Read
//************************************
// CAN Transmit for a single transmission
//************************************
public static void CanTransmitSingle(CanData can)
{
// Implementation for Standard Message & Extended Message
can.handle = BusInterface.ReturnHandle(can.hardware);
//MainWindow.ErrorDisplayString("ECom Handle: " + Convert.ToString(can.handle));
ECOMLibrary.SFFMessage txMessage = new ECOMLibrary.SFFMessage();
ECOMLibrary.EFFMessage etxMessage = new ECOMLibrary.EFFMessage();
// Pulls the top 3 bits for IDH and the bottom 8 bits for IDL
txMessage.IDH = (byte)(can.id & 0x700);
txMessage.IDL = (byte)(can.id & 0x0FF);
// Converts the entire id into an unit for extended sending
etxMessage.ID = (UInt32)can.id;
txMessage.DataLength = (byte)can.dlc;
etxMessage.DataLength = (byte)can.dlc;
txMessage.options = (byte)can.flags;
etxMessage.options = (byte)can.flags;
// Puts the individual bytes into the can.msg byte array
if (can.dlc > 0)
{
txMessage.data1 = can.msg[0];
etxMessage.data1 = can.msg[0];
}
if (can.dlc > 1)
{
txMessage.data2 = can.msg[1];
etxMessage.data2 = can.msg[1];
}
if (can.dlc > 2)
{
txMessage.data3 = can.msg[2];
etxMessage.data3 = can.msg[2];
}
if (can.dlc > 3)
{
txMessage.data4 = can.msg[3];
etxMessage.data4 = can.msg[3];
}
if (can.dlc > 4)
{
txMessage.data5 = can.msg[4];
etxMessage.data5 = can.msg[4];
}
if (can.dlc > 5)
{
txMessage.data6 = can.msg[5];
etxMessage.data6 = can.msg[5];
}
if (can.dlc > 6)
{
txMessage.data7 = can.msg[6];
etxMessage.data7 = can.msg[6];
}
if (can.dlc > 7)
{
txMessage.data8 = can.msg[7];
etxMessage.data8 = can.msg[7];
}
// Non-threading write option
if (can.flags == 4)
{
ECOMLibrary.CANTransmitMessageEx((UInt32)can.handle, ref etxMessage);
}
else
{
ECOMLibrary.CANTransmitMessage((UInt32)can.handle, ref txMessage);
}
CheckFlags(can);
} // End GenericCanTransmitSingle
