public override void SetBitrate(int value)
{
var initConfig = new NativeFunctions.INIT_CONFIG();
initConfig.AccCode = 0;
initConfig.AccMask = 0xffffff;
initConfig.Filter = 0;
switch (value)
{
case 1000000:
initConfig.Timing0 = 0;
initConfig.Timing1 = 0x14;
break;
case 800000:
initConfig.Timing0 = 0;
initConfig.Timing1 = 0x16;
break;
case 666000:
initConfig.Timing0 = 0x80;
initConfig.Timing1 = 0xb6;
break;
case 500000:
initConfig.Timing0 = 0;
initConfig.Timing1 = 0x1c;
break;
case 400000:
initConfig.Timing0 = 0x80;
initConfig.Timing1 = 0xfa;
break;
case 250000:
initConfig.Timing0 = 0x01;
initConfig.Timing1 = 0x1c;
break;
case 200000:
initConfig.Timing0 = 0x81;
initConfig.Timing1 = 0xfa;
break;
case 125000:
initConfig.Timing0 = 0x03;
initConfig.Timing1 = 0x1c;
break;
case 100000:
initConfig.Timing0 = 0x04;
initConfig.Timing1 = 0x1c;
break;
case 80000:
initConfig.Timing0 = 0x83;
initConfig.Timing1 = 0xff;
break;
case 50000:
initConfig.Timing0 = 0x09;
initConfig.Timing1 = 0x1c;
break;
default:
throw (new Exception("Bitrate not supported"));
}
initConfig.Mode = 0;
this.FDevice.PerformBlocking(() =>
{
NativeFunctions.ThrowIfError(
NativeFunctions.InitCAN(
this.FDevice.DeviceType
, this.FDevice.DeviceIndex
, this.FChannelIndex
, ref initConfig)
, this.FDevice.DeviceType
, this.FDevice.DeviceIndex
, this.FChannelIndex);;
});
}
public void ThreadedUpdate()
{
// Send frames
{
var framesToSend = new List <NativeFunctions.CAN_OBJ>();
// Pull them from the queue
{
NativeFunctions.CAN_OBJ frame;
while (this.FTxQueue.TryTake(out frame))
{
framesToSend.Add(frame);
}
}
// Send them out
if (framesToSend.Count > 0)
{
var framesSent = NativeFunctions.Transmit(
this.FDevice.DeviceType
, this.FDevice.DeviceIndex
, this.FChannelIndex
, framesToSend.ToArray()
, (UInt16)framesToSend.Count);
// Queue again anything that didn't send
for (int i = (int)framesSent; i < framesToSend.Count; i++)
{
this.FTxQueue.Add(framesToSend[i]);
}
}
// Alternative method : force send everything
//int txOffset = 0;
//while(txOffset != framesToSend.Count)
//{
// var framesSent = NativeFunctions.Transmit(
// this.FDevice.DeviceType
// , this.FDevice.DeviceIndex
// , this.FChannelIndex
// , framesToSend.GetRange(txOffset, framesToSend.Count - txOffset).ToArray()
// , (UInt16)framesToSend.Count);
// txOffset += (int) framesSent;
//}
}
// Receive frames
{
var rxCountOnDevice = NativeFunctions.GetReceiveNum(this.FDevice.DeviceType
, this.FDevice.DeviceIndex
, this.FChannelIndex);
if (rxCountOnDevice > 0)
{
var rxBuffer = new NativeFunctions.CAN_OBJ[rxCountOnDevice];
var rxCount = NativeFunctions.ReceiveArray(this.FDevice.DeviceType
, this.FDevice.DeviceIndex
, this.FChannelIndex
, rxBuffer
, (UInt32)rxBuffer.Length
, 0);
for (int i = 0; i < rxCount; i++)
{
var nativeFrame = rxBuffer[i];
var frame = new Candle.Frame();
{
frame.Identifier = nativeFrame.ID;
frame.Extended = nativeFrame.ExternFlag == 1;
frame.RTR = nativeFrame.RemoteFlag == 1;
frame.Error = false; // Not sure how we get error frames with GCAN
frame.Data = new byte[nativeFrame.DataLen];
Buffer.BlockCopy(nativeFrame.data, 0, frame.Data, 0, nativeFrame.DataLen);
frame.Timestamp = nativeFrame.TimeStamp;
}
this.IncrementRx(frame.LengthOnBus);
this.FRxQueue.Add(frame);
}
}
}
}
