//close the can bus after transmission
public static void Close()
{
for (int i = 0; i < CAN_Channel.numOfChan; i++)
{
switch (CAN_Channel._INTERFACEs[i])
{
case CAN_Channel.CAN_INTERFACE.KVASER:
Canlib.canBusOff(canHandle[i]);
status = Canlib.canClose(canHandle[i]);
canHandle[i] = 0;
KvaserInit = false;
ErrorControl(status: status, location: "canClose: Close()");
break;
case CAN_Channel.CAN_INTERFACE.PEAK:
PCANBasic.Uninitialize((ushort)canHandle[i]);
break;
}
}
CanInit = false;
}
//initialise the usb interface library based on which interface was selected
public static void initialiseCAN()
{
for (int i = 0; i < CAN_Channel.numOfChan; i++)
{
switch (CAN_Channel._INTERFACEs[i])
{
case CAN_Channel.CAN_INTERFACE.KVASER:
if (!KvaserInit)
{
Canlib.canInitializeLibrary();
}
if (CanInit)
{
Close();
}
numOfKvaser++;
canHandle[i] = Canlib.canOpenChannel(numOfKvaser - 1, Canlib.canOPEN_ACCEPT_VIRTUAL);
KvaserInit = true;
//check whether handle was gotten successfully
ErrorControl(handle: canHandle[i], location: "canOpenChannel: initialise()");
switch (CAN_Channel._BAUDRATEs[i])
{
case CAN_Channel.CAN_BAUDRATE._250K:
status = Canlib.canSetBusParams(canHandle[i], Canlib.canBITRATE_250K, 0, 0, 0, 0, 0);
break;
case CAN_Channel.CAN_BAUDRATE._500K:
status = Canlib.canSetBusParams(canHandle[i], Canlib.canBITRATE_500K, 0, 0, 0, 0, 0);
break;
case CAN_Channel.CAN_BAUDRATE._1M:
status = Canlib.canSetBusParams(canHandle[i], Canlib.canBITRATE_1M, 0, 0, 0, 0, 0);
break;
}
ErrorControl(status: status, location: "canSetBusParams: initialise()");
Canlib.canSetBusOutputControl(canHandle[i], Canlib.canDRIVER_NORMAL);
//turn the bus on with a handle to the open channel to write data
Canlib.canBusOn(canHandle[i]);
break;
case CAN_Channel.CAN_INTERFACE.PEAK:
if (CanInit)
{
Close();
}
numOfPeak++;
if (numOfPeak == 1)
{
canHandle[i] = PCANBasic.PCAN_USBBUS1;
}
if (numOfPeak == 2)
{
canHandle[i] = PCANBasic.PCAN_USBBUS2;
}
switch (CAN_Channel._BAUDRATEs[i])
{
case CAN_Channel.CAN_BAUDRATE._250K:
pCANBaudrate[numOfPeak - 1] = TPCANBaudrate.PCAN_BAUD_250K;
break;
case CAN_Channel.CAN_BAUDRATE._500K:
pCANBaudrate[numOfPeak - 1] = TPCANBaudrate.PCAN_BAUD_500K;
break;
case CAN_Channel.CAN_BAUDRATE._1M:
pCANBaudrate[numOfPeak - 1] = TPCANBaudrate.PCAN_BAUD_1M;
break;
}
if (PCANBasic.Initialize((ushort)canHandle[i], pCANBaudrate[numOfPeak - 1]) == TPCANStatus.PCAN_ERROR_INITIALIZE)
{
ErrorControl(-1, location: "PCANBasic.initialize: initialise()");
return;
}
break;
}
}
CanInit = true;
numOfPeak = 0;
numOfKvaser = 0;
}
public static void Transmitter(CAN_Channel.DataParameters data, int CAN_ID = 1)
{
switch (CAN_Channel._INTERFACEs[CAN_ID - 1])
{
case CAN_Channel.CAN_INTERFACE.KVASER:
//write data to the can bus
switch (data.Extended)
{
case true:
Canlib.canWrite(canHandle[CAN_ID - 1], Convert.ToInt32(data.Message_ID, 16),
data.CAN_Message, 8, Canlib.canMSG_EXT);
break;
case false:
Canlib.canWrite(canHandle[CAN_ID - 1], Convert.ToInt32(data.Message_ID, 16),
data.CAN_Message, 8, 0);
break;
}
break;
case CAN_Channel.CAN_INTERFACE.PEAK:
switch (data.Extended)
{
case true:
pCANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_EXTENDED;
goto default;
case false:
pCANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD;
goto default;
default:
pCANMsg.DATA = data.CAN_Message;
pCANMsg.ID = Convert.ToUInt32(data.Message_ID, 16);
pCANMsg.LEN = Convert.ToByte(data.Message_Length);
pCANStatus = PCANBasic.Write((ushort)canHandle[CAN_ID - 1], ref pCANMsg);
break;
}
//report any failure to the developer
if (pCANStatus < 0)
{
Console.WriteLine("Writing file failed, can status: " + pCANStatus +
"\nThe message time is: " + data.Message_Time +
"\nThe message ID is: " + data.Message_ID);
}
break;
}
}
