public bool CAN_OpenChannel(int mode)
{
int _hnd = -1;
if (mode == 0)
{
_hnd = Canlib.canOpenChannel(this._Channel, Canlib.canOPEN_ACCEPT_LARGE_DLC);
}
else
{
_hnd = Canlib.canOpenChannel(this._Channel, Canlib.canOPEN_ACCEPT_LARGE_DLC);
}
if (_hnd >= 0)
{
this.handle = _hnd;
Canlib.canAccept(handle, 0x7DF, Canlib.canFILTER_SET_CODE_STD);
Canlib.canAccept(handle, 0x7D0, Canlib.canFILTER_SET_MASK_STD);
return(true);
}
else
{
return(false);
}
}
public bool CanLongMsgSend(int id, byte[] data, int datalength, int retrycount, double timeout, ref int EcuID, ref byte[] READDATA, ref string errmsg)
{
if ((datalength < 9) || (data.Length < 9))
{
errmsg = "Command Data Length <=8";
return(false);
}
bool _LoopChk = true;
int _EcuID;
byte[] _EcuData = new byte[8];
int _EcuDlc;
int _EcuFlags;
long _EcuTime;
int _Ecu_FS = -1; // 정상적으로 수신시 확인되는 값, FS FlowStatus, BS BlockSize, STmin
int _Ecu_BS = 0;
int _Ecu_STmin = 0;
double _Ecu_Stmin_sec; // 소수점단위 계산
bool _Ecu_FlowControl_Receive_OK = false;
byte[] _Data_FF = new byte[8];
byte[] _Data_CF = new byte[8];
int _LastSendDataIndex = 0;
Canlib.canStatus status;
Stopwatch _stopwatch_total = new Stopwatch();
Stopwatch _stopwatch_send = new Stopwatch();
// 명령 만들기
_Data_FF[0] = 0x10;
Int32 _DataLength_12bit = 0x00000000;
_DataLength_12bit = (Int32)datalength;
_DataLength_12bit = _DataLength_12bit & 0x00000FFF;
byte byte1Lownibble;
byte byte2;
byte1Lownibble = (byte)((_DataLength_12bit & 0x00000F00) >> 16);
byte2 = (byte)(_DataLength_12bit & 0x000000FF);
_Data_FF[0] = (byte)(0x10 | byte1Lownibble);
_Data_FF[1] = byte2;
_Data_FF[2] = data[0];
_Data_FF[3] = data[1];
_Data_FF[4] = data[2];
_Data_FF[5] = data[3];
_Data_FF[6] = data[4];
_Data_FF[7] = data[5];
_LastSendDataIndex = 6;
//
//Canlib.canBusOn(handle);
//status = Canlib.canWrite(handle, id, _Data_FF, 8, flags);
//Open up a new handle for reading
readHandle = Canlib.canOpenChannel(channel, Canlib.canOPEN_ACCEPT_LARGE_DLC);
status = Canlib.canAccept(readHandle, 0x7DF, Canlib.canFILTER_SET_CODE_STD);
status = Canlib.canAccept(readHandle, 0x7D0, Canlib.canFILTER_SET_MASK_STD);
status = Canlib.canBusOn(readHandle);
if (status == Canlib.canStatus.canOK)
{
onBus = true;
}
else
{
onBus = false;
}
if (readHandle < 0)
{
errmsg = "canOpenChannel Handle create error";
return(false);
}
if (!onBus)
{
errmsg = "onBus false";
return(false);
}
_stopwatch_total.Reset();
_stopwatch_total.Start();
_stopwatch_send.Reset();
_stopwatch_send.Start();
// Receive Channel Open -> SEND
Canlib.canBusOn(handle);
status = Canlib.canWrite(handle, id, _Data_FF, 8, flags);
while (_LoopChk)
{
// TimeOut Check
long st = _stopwatch_total.ElapsedMilliseconds;
double _durationtime = st / 1000.0; // ms -> sec
if (_durationtime > timeout)
{
// 설정시간안에 메세지 및 처리를 못했을 경우 종료
errmsg = "timeout error";
_LoopChk = false;
break;
}
// Message Recieve Check
bool _RecvOK = false;
status = Canlib.canReadWait(readHandle, out _EcuID, _EcuData, out _EcuDlc, out _EcuFlags, out _EcuTime, 100); // 100ms timeout
if (status == Canlib.canStatus.canOK)
{
if ((_EcuFlags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
errmsg = "***ERROR FRAME RECEIVED***";
}
else
{
errmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_EcuID, _EcuDlc, _EcuData[0], _EcuData[1], _EcuData[2], _EcuData[3], _EcuData[4],
_EcuData[5], _EcuData[6], _EcuData[7], _EcuTime);
if (_EcuID == 0x07D9)
{
_RecvOK = true;
}
}
}
else if (status != Canlib.canStatus.canERR_NOMSG)
{
errmsg = "TimeOut:NO MSG";
}
//CheckStatus("Read message " + errmsg, status);
//Canlib.canBusOff(readHandle);
if ((_EcuID == 0x07D9) && (_RecvOK))
{
byte EcuFC_Check = _EcuData[0];
EcuFC_Check = (byte)((EcuFC_Check & 0x00F0) >> 4);
if (EcuFC_Check == 3)
{
_LoopChk = false;
_Ecu_FS = (_EcuData[0] & 0x000F);
_Ecu_BS = (int)(_EcuData[1] & 0x00FF);
_Ecu_STmin = (int)(_EcuData[2] & 0x00FF);
if (_Ecu_STmin <= 0x7F)
{
_Ecu_Stmin_sec = _Ecu_STmin * 0.001;
}
if (_Ecu_STmin >= 0xF1)
{
_Ecu_Stmin_sec = (_Ecu_STmin - 0xF0) * 0.0001;
}
_Ecu_FlowControl_Receive_OK = true;
}
string sndmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2}\r",
id, 8, _Data_FF[0], _Data_FF[1], _Data_FF[2], _Data_FF[3], _Data_FF[4],
_Data_FF[5], _Data_FF[6], _Data_FF[7]);
CheckStatus("PC->ECU " + sndmsg, Canlib.canStatus.canOK);
CheckStatus("ECU->PC " + errmsg, status);
}
}
Canlib.canClose(readHandle);
if (!_Ecu_FlowControl_Receive_OK)
{
errmsg = "Ecu FlowControl not arrived";
return(false);
}
if (_Ecu_FS > 0)
{
errmsg = "Ecu FlowControl signal Busy";
return(false);
}
// ECU에서 FC를 정상적으로 수신후 데이터 전송....
_stopwatch_total.Reset();
_stopwatch_total.Start();
_stopwatch_send.Reset();
_stopwatch_send.Start();
_LoopChk = true;
int _SequenceNumber = 1;
byte _SN = (byte)_SequenceNumber;
int _BlockSendLoopCount = _Ecu_BS;
Canlib.canBusOn(handle);
bool _EcuLastReceiveOK = false;
// CF 전송후 수신확인.
//Open up a new handle for reading
readHandle = Canlib.canOpenChannel(channel, Canlib.canOPEN_ACCEPT_LARGE_DLC);
status = Canlib.canAccept(readHandle, 0x7DF, Canlib.canFILTER_SET_CODE_STD);
status = Canlib.canAccept(readHandle, 0x7D0, Canlib.canFILTER_SET_MASK_STD);
status = Canlib.canBusOn(readHandle);
if (status == Canlib.canStatus.canOK)
{
onBus = true;
}
else
{
onBus = false;
}
if (readHandle < 0)
{
errmsg = "canOpenChannel Handle create error";
return(false);
}
if (!onBus)
{
errmsg = "onBus false";
return(false);
}
while (_LoopChk)
{
// TimeOut Check
long st = _stopwatch_total.ElapsedMilliseconds;
double _durationtime = st / 1000.0; // ms -> sec
if (_durationtime > timeout)
{
// 설정시간안에 메세지 및 처리를 못했을 경우 종료
errmsg = "timeout error";
_LoopChk = false;
break;
}
if (datalength < _LastSendDataIndex)
{
_LoopChk = false;
break;
}
_stopwatch_send.Reset();
_stopwatch_send.Start();
// CF 전송
for (int hs = 0; hs < _BlockSendLoopCount; hs++)
{
// FF전송후 CF 데이터 전송 준비
_Data_CF[0] = 0x20;
_Data_CF[0] = (byte)(_Data_CF[0] + _SN);
for (int i = 0; i < 7; i++)
{
if (_LastSendDataIndex < datalength)
{
_Data_CF[1 + i] = data[_LastSendDataIndex];
}
else
{
_Data_CF[1 + i] = 0x00; // 0xAA;
}
_LastSendDataIndex++;
}
_SN++;
if (_SN > 16)
{
_SN = 0;
}
status = Canlib.canWrite(handle, id, _Data_CF, 8, flags);
long _dt = _stopwatch_send.ElapsedMilliseconds;
string sndmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10:D5}ms\r",
id, 8, _Data_CF[0], _Data_CF[1], _Data_CF[2], _Data_CF[3], _Data_CF[4],
_Data_CF[5], _Data_CF[6], _Data_CF[7], _dt);
CheckStatus("PC->ECU " + sndmsg, status);
break; // Only One Run-----------------------------------------------실제 전송될 데이터 길이만큼만 전송함----------------------------------------------------------
}
// Message Recieve Check
bool _RecvOK = false;
bool _FinalReceiveCheck = true;
Stopwatch _Final = new Stopwatch();
_Final.Reset();
_Final.Start();
while (_FinalReceiveCheck)
{
if ((_Final.ElapsedMilliseconds / 1000.0) > 3.0)
{
errmsg = "Finnal ECU Receive Msg TIMEOUT";
_FinalReceiveCheck = false;
break;
}
status = Canlib.canReadWait(readHandle, out _EcuID, _EcuData, out _EcuDlc, out _EcuFlags, out _EcuTime, 100); // 100ms timeout
if (status == Canlib.canStatus.canOK)
{
if ((_EcuFlags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
errmsg = "***ERROR FRAME RECEIVED***";
}
else
{
errmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_EcuID, _EcuDlc, _EcuData[0], _EcuData[1], _EcuData[2], _EcuData[3], _EcuData[4],
_EcuData[5], _EcuData[6], _EcuData[7], _EcuTime);
if (_EcuID == 0x07D9)
{
_RecvOK = true;
CheckStatus("ECU->PC " + errmsg, status);
}
}
}
else if (status != Canlib.canStatus.canERR_NOMSG)
{
errmsg = "TimeOut:NO MSG";
}
//CheckStatus("Read message " + errmsg, status);
//Canlib.canBusOff(readHandle);
if ((_EcuID == 0x07D9) && (_RecvOK))
{
Canlib.canBusOn(handle);
byte[] temp = new byte[8] {
0x30, 0x00, 0x02, 0xAA, 0xAA, 0xAA, 0xAA, 0xAA
};
status = Canlib.canWrite(handle, 0x07D1, _Data_FF, 8, flags);
CheckStatus("PC->ECU " + "PC AutoResponse(0x30,0x00,0x02,0xAA,0xAA,0xAA,0xAA,0xaa", status);
Canlib.canBusOff(handle);
status = Canlib.canReadWait(readHandle, out _EcuID, _EcuData, out _EcuDlc, out _EcuFlags, out _EcuTime, 100);
if (status == Canlib.canStatus.canOK)
{
errmsg = String.Format("ID={0:X4} {1} {2:X2} {3:X2} {4:X2} {5:X2} {6:X2} {7:X2} {8:X2} {9:X2} {10}\r",
_EcuID, _EcuDlc, _EcuData[0], _EcuData[1], _EcuData[2], _EcuData[3], _EcuData[4],
_EcuData[5], _EcuData[6], _EcuData[7], _EcuTime);
if (_EcuID == 0x07D9)
{
_RecvOK = true;
CheckStatus("ECU->PC " + errmsg, status);
}
}
_FinalReceiveCheck = false;
_EcuLastReceiveOK = true;
_LoopChk = false;
break;
}
}
}
if (readHandle >= 0)
{
Canlib.canClose(readHandle);
}
if (_EcuLastReceiveOK)
{
if (_EcuData[1] == 0x62)
{
return(true);
}
return(false);
}
else
{
return(false);
}
}
/*
* Looks for messages and sends them to the output box.
*/
void Receiver_MessageHandlerLoop(object sender, DoWorkEventArgs e)
{
BackgroundWorker worker = sender as BackgroundWorker;
Canlib.canStatus status = Canlib.canStatus.canERR_NOMSG;
bool noError = true;
int errorFrameCount = 0;
//Create a Windows event handle
Object winHandle = new IntPtr(-1);
status = Canlib.canIoCtl(readHandle, Canlib.canIOCTL_GET_EVENTHANDLE, ref winHandle);
if (status != Canlib.canStatus.canOK)
{
worker.ReportProgress((int)ReceiverReport.ERROR_STOP, status);
noError = false;
}
status = Canlib.canAccept(readHandle, 0x610, Canlib.canFILTER_SET_CODE_STD);
if (status != Canlib.canStatus.canOK)
{
worker.ReportProgress((int)ReceiverReport.ERROR_STOP, status);
noError = false;
}
status = Canlib.canAccept(readHandle, 0xFFE, Canlib.canFILTER_SET_MASK_STD);
if (status != Canlib.canStatus.canOK)
{
worker.ReportProgress((int)ReceiverReport.ERROR_STOP, status);
noError = false;
}
WaitHandle waitHandle = (WaitHandle) new CanlibWaitEvent(winHandle);
while (noError && isReaderBusOn && readHandle >= 0)
{
//Wait for 25ms for an event to occur on the channel (BBMS CAN communication period: 25ms)
bool eventHappened = waitHandle.WaitOne(25);
if (!eventHappened)
{
continue;
}
int id;
byte[] data = new byte[Defined.MAX_DLC];
int dlc;
int flags;
long time;
string msgLog;
//To attain the initial msg
status = Canlib.canRead(readHandle, out id, data, out dlc, out flags, out time);
//This while loop is to repeat canRead() until the msg boxes for readHandle becomes exhausted.
while (status == Canlib.canStatus.canOK)
{
if ((flags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
msgLog = "***ERROR FRAME RECEIVED*** Count = " + (++errorFrameCount);
if (errorFrameCount > Defined.ERROR_FRAME_ENDURANCE_COUNT_LIMIT)
{
worker.ReportProgress((int)ReceiverReport.REPORT_RUNNING, "Too many error frames received. Bus off.");
break;
}
}
else
{
msgLog = String.Format("0x{0:x3} {1} {2:x2} {3:x2} {4:x2} {5:x2} {6:x2} {7:x2} {8:x2} {9:x2} @{10}",
id, dlc, data[0], data[1], data[2], data[3], data[4],
data[5], data[6], data[7], time);
}
//Sends the message to the ProcessMessage method
worker.ReportProgress((int)ReceiverReport.REPORT_RUNNING, "[Rx] " + msgLog);
//Result status of the following canRead() will finish the while loop if status!=Canlib.canStatus.canOK
status = Canlib.canRead(readHandle, out id, data, out dlc, out flags, out time);
}
//If the reason to exit the while loop of canRead() was not canERR_NOMSG, an error is expected.
if (status != Canlib.canStatus.canERR_NOMSG)
{
//Sends the error status to the ProcessMessage method and breaks the loop
worker.ReportProgress((int)ReceiverReport.ERROR_STOP, status);
noError = false;
}
}
if (isReaderBusOn)
{
worker.ReportProgress((int)ReceiverReport.FORCED_STOP, "Force Bus Off");
}
}
