public void DD_WriteRegister(byte[] addr, byte num, byte[] data)
{
byte[] poBuf = new byte[addr.Length + data.Length + 1 + 3 + 2];
poBuf[0] = m_bSourceAddress;
poBuf[1] = 0x03;
poBuf[2] = 0x10;
int offset = 3;
Buffer.BlockCopy(addr, 0, poBuf, offset, addr.Length);
offset += addr.Length;
poBuf[offset] = num;
offset += 1;
Buffer.BlockCopy(data, 0, poBuf, offset, data.Length);
offset += data.Length;
poBuf[offset] = 0x00;
offset += 1;
poBuf[offset] = 0x00;
offset += 1;
byte[] crc16 = CRC_Check.CRC16(poBuf, 0, poBuf.Length - 2);
poBuf[poBuf.Length - 2] = crc16[1];
poBuf[poBuf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[poBuf.Length - 2];
Buffer.BlockCopy(poBuf, 2, cmdBuf, 0, poBuf.Length - 2);
SendMultiFrame(cmdBuf, cmdBuf.Length);
}
public void EraseDidiRecord()
{
byte[] rdBuf = new byte[] { m_bSourceAddress, 0x03, 0xDD, 0xBD, 0x00, 0x06, 0x00, 0x00 };
byte[] crc16 = CRC_Check.CRC16(rdBuf, 0, rdBuf.Length - 2);
rdBuf[rdBuf.Length - 2] = crc16[1];
rdBuf[rdBuf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[6];
Buffer.BlockCopy(rdBuf, 2, cmdBuf, 0, rdBuf.Length - 2);
DataLinkLayer.SendCanFrame(DidiProtocolID, cmdBuf);
}
public void ReadDidiCurrentRecordData()
{
byte[] rdBuf = new byte[] { m_bSourceAddress, 0x03, 0xCC, 0xA4, 0x00, 0x08, 0x00, 0x02, 0x00, 0x00 };
byte[] crc16 = CRC_Check.CRC16(rdBuf, 0, rdBuf.Length - 2);
rdBuf[rdBuf.Length - 2] = crc16[1];
rdBuf[rdBuf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[8];
Buffer.BlockCopy(rdBuf, 2, cmdBuf, 0, rdBuf.Length - 2);
DataLinkLayer.SendCanFrame(DidiProtocolID, cmdBuf);
}
public void DD_ReleyEvent()
{
byte[] Buf = new byte[] { m_bSourceAddress, 0x03, 0x46, 0x02, 0x00, 0x00, 0x00, 0x00 };
byte[] crc16 = CRC_Check.CRC16(Buf, 0, Buf.Length - 2);
Buf[Buf.Length - 2] = crc16[1];
Buf[Buf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[6];
Buffer.BlockCopy(Buf, 2, cmdBuf, 0, 6);
DataLinkLayer.SendCanFrame(DidiProtocolID, cmdBuf);
}
public void DD_SettingBrakeStatus(byte status)
{
byte[] Buf = new byte[] { m_bSourceAddress, 0x03, 0x10, 0xA2, 0x68, 0x01, status, 0x00, 0x00, 0x00 };
byte[] crc16 = CRC_Check.CRC16(Buf, 0, Buf.Length - 2);
Buf[Buf.Length - 2] = crc16[1];
Buf[Buf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[8];
Buffer.BlockCopy(Buf, 2, cmdBuf, 0, 8);
DataLinkLayer.SendCanFrame(DidiProtocolID, cmdBuf);
}
public void DD_ReadFeedbackInfo()
{
byte[] rdBuf = new byte[] { m_bSourceAddress, 0x03, 0x03, 0xA2, 0xA0, 0x03, 0x00, 0x00 };
byte[] crc16 = CRC_Check.CRC16(rdBuf, 0, rdBuf.Length - 2);
rdBuf[rdBuf.Length - 2] = crc16[1];
rdBuf[rdBuf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[6];
Buffer.BlockCopy(rdBuf, 2, cmdBuf, 0, rdBuf.Length - 2);
DataLinkLayer.SendCanFrame(DidiProtocolID, cmdBuf);
}
public void DD_PowerOff()
{
byte[] poBuf = new byte[] { m_bSourceAddress, 0x03, 0x10, 0xA2, 0x00, 0x01, 0x00, 0x00, 0x5A, 0xE9 };
byte[] crc16 = CRC_Check.CRC16(poBuf, 0, poBuf.Length - 2);
poBuf[poBuf.Length - 2] = crc16[1];
poBuf[poBuf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[8];
Buffer.BlockCopy(poBuf, 2, cmdBuf, 0, 8);
DataLinkLayer.SendCanFrame(DidiProtocolID, cmdBuf);
}
private void CheckConnectReadSOH()
{
byte[] rdBuf = new byte[] { m_bSourceAddress, 0x03, 0x03, 0xA2, 0x00, 0x01, 0x00, 0x00 };
byte[] crc16 = CRC_Check.CRC16(rdBuf, 0, rdBuf.Length - 2);
rdBuf[rdBuf.Length - 2] = crc16[1];
rdBuf[rdBuf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[6];
Buffer.BlockCopy(rdBuf, 2, cmdBuf, 0, 6);
DataLinkLayer.SendCanFrame(DidiProtocolID, cmdBuf);
}
public void SendMultiFrame(byte[] dataBuf, int len, byte nCmd)
{
byte[] cmdBuf = new byte[len + 8];
cmdBuf[0] = m_bSourceAddress;
cmdBuf[1] = 0x03;
cmdBuf[2] = 0xDD;
cmdBuf[3] = nCmd;
byte[] lenBuf = BitConverter.GetBytes((short)cmdBuf.Length - 2);
cmdBuf[4] = lenBuf[1];
cmdBuf[5] = lenBuf[0];
Buffer.BlockCopy(dataBuf, 0, cmdBuf, 6, len);
byte[] crc16 = CRC_Check.CRC16(cmdBuf, 0, cmdBuf.Length - 2);
cmdBuf[cmdBuf.Length - 2] = crc16[1];
cmdBuf[cmdBuf.Length - 1] = crc16[0];
int nFrameLen = 0;
if ((cmdBuf.Length - 2) % 8 == 0)
{
nFrameLen = (cmdBuf.Length - 2) / 8;
}
else
{
nFrameLen = (cmdBuf.Length - 2) / 8 + 1;
}
m_bIsSendMultiFrame = true;
int nSendIndex = 2;
for (int n = nFrameLen; n > 0; n--)
{
byte[] byteCmdBuf = new byte[8];
if (nSendIndex + 8 > cmdBuf.Length)
{
Buffer.BlockCopy(cmdBuf, nSendIndex, byteCmdBuf, 0, (cmdBuf.Length - nSendIndex));
}
else
{
Buffer.BlockCopy(cmdBuf, nSendIndex, byteCmdBuf, 0, 8);
}
uint BqProtID = (uint)(BqProtocolID | (n - 1));
DataLinkLayer.SendCanFrame(BqProtID, byteCmdBuf);
nSendIndex += 8;
Thread.Sleep(5);
}
m_bIsSendMultiFrame = false;
}
private void SendSingleFrameData(byte[] rdBuf)
{
byte[] crc16 = CRC_Check.CRC16(rdBuf, 0, rdBuf.Length - 2);
rdBuf[rdBuf.Length - 2] = crc16[1];
rdBuf[rdBuf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[rdBuf.Length - 2];
Buffer.BlockCopy(rdBuf, 2, cmdBuf, 0, rdBuf.Length - 2);
DataLinkLayer.SendCanFrame(BqProtocolID, cmdBuf);
bReadBqBmsResp = false;
}
public void DD_ReadRegister(byte[] addr, byte num)
{
byte[] rdBuf = new byte[] { m_bSourceAddress, 0x03, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00 };
Buffer.BlockCopy(addr, 0, rdBuf, 3, addr.Length);
rdBuf[addr.Length + 3] = num;
byte[] crc16 = CRC_Check.CRC16(rdBuf, 0, rdBuf.Length - 2);
rdBuf[rdBuf.Length - 2] = crc16[1];
rdBuf[rdBuf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[6];
Buffer.BlockCopy(rdBuf, 2, cmdBuf, 0, rdBuf.Length - 2);
DataLinkLayer.SendCanFrame(DidiProtocolID, cmdBuf);
}
public void Didi_ReadRTC()
{
if (m_bIsStopCommunication)
{
return;
}
byte[] rdBuf = new byte[] { m_bSourceAddress, 0x03, 0x03, 0xA2, 0x48, 0x02, 0x00, 0x00 };
byte[] crc16 = CRC_Check.CRC16(rdBuf, 0, rdBuf.Length - 2);
rdBuf[rdBuf.Length - 2] = crc16[1];
rdBuf[rdBuf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[6];
Buffer.BlockCopy(rdBuf, 2, cmdBuf, 0, rdBuf.Length - 2);
DataLinkLayer.SendCanFrame(DidiProtocolID, cmdBuf);
}
public void AdjustDidiRTC(uint dt)
{
byte[] data = BitConverter.GetBytes(dt);
byte[] rdBuf = new byte[] { m_bSourceAddress, 0x03, 0x10, 0xA2, 0x48, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
rdBuf[rdBuf.Length - 3] = data[0];
rdBuf[rdBuf.Length - 4] = data[1];
rdBuf[rdBuf.Length - 5] = data[2];
rdBuf[rdBuf.Length - 6] = data[3];
byte[] crc16 = CRC_Check.CRC16(rdBuf, 0, rdBuf.Length - 2);
rdBuf[rdBuf.Length - 2] = crc16[1];
rdBuf[rdBuf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[10];
Buffer.BlockCopy(rdBuf, 2, cmdBuf, 0, rdBuf.Length - 2);
SendMultiFrame(cmdBuf, cmdBuf.Length);
}
public void AdjustDidiRTC(DateTime dt)
{
TimeSpan ts = dt - systemStartTime;
byte[] data = BitConverter.GetBytes(((uint)(ts.Ticks / Math.Pow(10, 7))));
byte[] rdBuf = new byte[] { m_bSourceAddress, 0x03, 0x10, 0xA2, 0x48, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 };
rdBuf[rdBuf.Length - 3] = data[0];
rdBuf[rdBuf.Length - 4] = data[1];
rdBuf[rdBuf.Length - 5] = data[2];
rdBuf[rdBuf.Length - 6] = data[3];
byte[] crc16 = CRC_Check.CRC16(rdBuf, 0, rdBuf.Length - 2);
rdBuf[rdBuf.Length - 2] = crc16[1];
rdBuf[rdBuf.Length - 1] = crc16[0];
byte[] cmdBuf = new byte[10];
Buffer.BlockCopy(rdBuf, 2, cmdBuf, 0, rdBuf.Length - 2);
SendMultiFrame(cmdBuf, cmdBuf.Length);
}
public void SendUpdateAppMultiFrame(byte[] dataBuf, int len, byte nCmd, List <UpdateInformation> queue, bool isAddQueue, object lockobj)
{
byte[] cmdBuf = new byte[len + 8];
cmdBuf[0] = m_bSourceAddress;
cmdBuf[1] = 0x03;
cmdBuf[2] = 0x45;
cmdBuf[3] = nCmd;
byte[] lenBuf = BitConverter.GetBytes((short)len);
cmdBuf[4] = lenBuf[1];
cmdBuf[5] = lenBuf[0];
Buffer.BlockCopy(dataBuf, 0, cmdBuf, 6, len);
byte[] crc16 = CRC_Check.CRC16(cmdBuf, 0, cmdBuf.Length - 2);
cmdBuf[cmdBuf.Length - 2] = crc16[1];
cmdBuf[cmdBuf.Length - 1] = crc16[0];
int nFrameLen = 0;
if ((cmdBuf.Length - 2) % 8 == 0)
{
nFrameLen = (cmdBuf.Length - 2) / 8;
}
else
{
nFrameLen = (cmdBuf.Length - 2) / 8 + 1;
}
m_bIsSendMultiFrame = true;
int nSendIndex = 2;
for (int n = nFrameLen; n > 0; n--)
{
byte[] byteCmdBuf = new byte[8];
if (nSendIndex + 8 > cmdBuf.Length)
{
Buffer.BlockCopy(cmdBuf, nSendIndex, byteCmdBuf, 0, (cmdBuf.Length - nSendIndex));
}
else
{
Buffer.BlockCopy(cmdBuf, nSendIndex, byteCmdBuf, 0, 8);
}
uint BqProtID = (uint)(BqProtocolID | (n - 1));
DataLinkLayer.SendCanFrame(BqProtID, byteCmdBuf);
nSendIndex += 8;
//Thread.Sleep(5);
if (isAddQueue)
{
UpdateInformation info = new UpdateInformation();
info.DirectionStr = "发送";
info.Length = byteCmdBuf.Length.ToString();
info.TimeStr = DateTime.Now.ToString("MM/dd HH:mm:ss") + string.Format(":{0}", DateTime.Now.Millisecond);
info.ID = string.Format("0x{0}", BqProtID.ToString("X"));
info.Content = BitConverter.ToString(byteCmdBuf);
if (n == nFrameLen)
{
if (nCmd == 0x13)
{
info.Comments = string.Format("根据最新固件信息获取固件状态—多帧第{0}帧，共{1}帧", nFrameLen - n + 1, nFrameLen);
}
else if (nCmd == 0x15)
{
uint index = (uint)(dataBuf[4] << 8 | dataBuf[5]);
info.Comments = string.Format("第{0}块从机升级包—多帧第{1}帧，共{2}帧", index, nFrameLen - n + 1, nFrameLen);
}
}
else
{
info.Comments = string.Format("第{0}帧，共{1}帧", nFrameLen - n + 1, nFrameLen);
}
//queue.Enqueue(info);
lock (lockobj)
{
queue.Add(info);
}
}
}
m_bIsSendMultiFrame = false;
}
