private TPCANStatus WriteFrame(uint nCAN_ID, byte byLen, bool isRemote, byte[] arrData)
{
TPCANMsg CANMsg;
//TextBox txtbCurrentTextBox;
// We create a TPCANMsg message structure
//
CANMsg = new TPCANMsg();
CANMsg.DATA = new byte[8];
// We configurate the Message. The ID,
// Length of the Data, Message Type
// and the data
//
CANMsg.ID = nCAN_ID; // Convert.ToUInt32(txtID.Text, 16);
CANMsg.LEN = byLen; // Convert.ToByte(nudLength.Value);
CANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_EXTENDED; // (chbExtended.Checked) ? TPCANMessageType.PCAN_MESSAGE_EXTENDED : TPCANMessageType.PCAN_MESSAGE_STANDARD;
// If a remote frame will be sent, the data bytes are not important.
//
if (isRemote)
{
CANMsg.MSGTYPE |= TPCANMessageType.PCAN_MESSAGE_RTR;
}
else
{
Buffer.BlockCopy(arrData, 0, CANMsg.DATA, 0, byLen);
}
// The message is sent to the configured hardware
//
return(PCANBasic.Write(m_PcanHandle, ref CANMsg));
}
public void Write(string id, byte[] data)
{
TPCANStatus result;
TPCANMsg msg;
msg = new TPCANMsg();
msg.ID = Convert.ToUInt32(id, 16);
msg.LEN = Convert.ToByte(data.Length);
msg.DATA = new byte[8];
msg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD;
for (int i = 0; i < msg.LEN; i++)
{
msg.DATA[i] = data[i];
}
PCANBasic.Write(mChannel, ref msg);
result = PCANBasic.Write(mChannel, ref msg);
if (result != TPCANStatus.PCAN_ERROR_OK)
{
StringBuilder strMsg = new StringBuilder(256);
PCANBasic.GetErrorText(result, 0, strMsg);
//Console.WriteLine(strMsg.ToString());
}
}
public bool Send(IMessage message)
{
if (this.IsOpen)
{
//TPCANStatus status = PCANBasic.GetStatus(m_handle);
//while ((status & TPCANStatus.PCAN_ERROR_XMTFULL) != 0)
//{
// if ((status & ~TPCANStatus.PCAN_ERROR_ANYBUSERR) != 0)
// {
// m_errorStatus = status.ToString();
// return false;
// }
// status = PCANBasic.GetStatus(m_handle);
//}
PCANMessage pmsg = (PCANMessage)message;
var msg = pmsg.NativeMessage;
TPCANStatus result = PCANBasic.Write(m_handle, ref msg);
pmsg.NativeMessage = msg; // Save possibly updated message data.
if (this.UpdateStatusFromOperation(result) == TPCANStatus.PCAN_ERROR_OK)
{
return(true);
}
}
return(false);
}
private void btnSaveSettings_Click(object sender, EventArgs e)
{
TPCANMsg CANMsg;
TPCANStatus stsResult;
CANMsg = new TPCANMsg();
CANMsg.DATA = new byte[8];
//get ID from BOX
byte MasterUnitId, NewMasterId = 0;
try
{
MasterUnitId = (byte)((Convert.ToUInt16(MasterID.Text)));
NewMasterId = (byte)((Convert.ToUInt16(boxNewMasterId.Text)));
}
catch {
MessageBox.Show("Wrong ID. Please fill in value 1-255");
return;
}
//construct can ID
byte[] bytes = { 0x18, 0x00, MasterUnitId, 0x00 };
if (BitConverter.IsLittleEndian)
{
Array.Reverse(bytes);
}
uint id = BitConverter.ToUInt32(bytes, 0);
// If the system architecture is little-endian (that is, little end first),
// reverse the byte array.
////////////////////////////////////////////
//create and send settings message
////////////////////////////////////////////
//Max avaliable current we read from textbox -boxAvailCurrent
CANMsg.ID = id;
CANMsg.LEN = 8;
CANMsg.MSGTYPE = (TPCANMessageType.PCAN_MESSAGE_EXTENDED);
CANMsg.DATA[0] = 0; //CAN adress Hi
CANMsg.DATA[1] = 0; //CAN address LO
CANMsg.DATA[2] = (byte)boxBaudRate.SelectedIndex; //baudrate
CANMsg.DATA[3] = NewMasterId; //ID
CANMsg.DATA[4] = 0;
CANMsg.DATA[5] = 0;
CANMsg.DATA[6] = 0;
CANMsg.DATA[7] = 0;
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsg);
// The message was successfully sent
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
MessageBox.Show(GetFormatedError(stsResult));
}
}
public void SendFrame(Frame frame)
{
var msg = new TPCANMsg()
{
DATA = frame.Data,
ID = (uint)frame.Id,
LEN = (byte)frame.Data.Length,
MSGTYPE = frame.Type == FrameType.Standard ? TPCANMessageType.PCAN_MESSAGE_STANDARD : TPCANMessageType.PCAN_MESSAGE_EXTENDED
};
var ret = PCANBasic.Write(Channel, ref msg);
CheckError(ret);
}
/// <summary>
/// Sends the PCAN data.
/// </summary>
/// <param name="msg">The MSG.</param>
/// <returns>TPCANStatus.</returns>
public TPCANStatus sendPCANData(ref TPCANMsg msg)
{
TPCANStatus stsResult = TPCANStatus.PCAN_ERROR_BUSOFF;
if (this.isRunning)
{
stsResult = PCANBasic.Write(this._canChannel, ref msg);
if (sleepTime > 0)
{
Thread.Sleep(sleepTime);
}
}
return(stsResult);
}
private void WriteRawFrame()
{
TPCANStatus status;
TPCANMsg raw_frame;
while (!m_thread_stop)
{
raw_frame = m_queue_tx.Take();
if ((status = PCANBasic.Write(m_sock, ref raw_frame)) != TPCANStatus.PCAN_ERROR_OK)
{
throw new Exception(GetFormatedError(status));
}
}
}
private void CAN_write_only(byte[] msg)
{
TPCANStatus stsResult;
CANMsgWriteOnly = new TPCANMsg();
CANMsgWriteOnly.LEN = 8;
CANMsgWriteOnly.DATA = msg;
CANMsgWriteOnly.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_EXTENDED;
CANMsgWriteOnly.ID = 418377643;
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWriteOnly);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
MessageBox.Show(Convert.ToString(stsResult));
}
}
void send_message_PEAK(vscp_message msg)
{
UInt32 id = (UInt32)((msg.priority << 26) | (msg.vclass << 16) | (msg.type << 8) | (msg.nickname));
if (System.Convert.ToBoolean(msg.hard_mask))
{
id |= (1 << 25);
}
TPCANMsg CANMsg;
TPCANStatus stsResult;
// We create a TPCANMsg message structure
//
CANMsg = new TPCANMsg();
CANMsg.DATA = new byte[8];
// We configurate the Message. The ID (max 0x1FF),
// Length of the Data, Message Type (Standard in
// this example) and die data
//
CANMsg.ID = id;
CANMsg.LEN = (byte)msg.lenght;
CANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_EXTENDED;
// We get so much data as the Len of the message
//
for (int i = 0; i < CANMsg.LEN; i++)
{
CANMsg.DATA[i] = Convert.ToByte(msg.data.Substring(i * 2, 1) + msg.data.Substring(i * 2 + 1, 1), 16);
}
// The message is sent to the configured hardware
//
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsg);
// The message was successfully sent
//
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
MessageBox.Show(GetFormatedError(stsResult));
}
}
private byte[] SSPC_Ctrl(byte[] msg, bool msginProg)
{
TPCANStatus stsResult;
CANMsgWrite = new TPCANMsg();
CANMsgWrite.LEN = 8;
CANMsgWrite.DATA = new byte[8];
CANMsgWrite.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_EXTENDED;
CANMsgWrite.ID = ID1;
CANMsgWrite.DATA = msg;
TPCANTimestamp.micros = 185;
TPCANTimestamp.millis = 158903185;
TPCANTimestamp.millis_overflow = 0;
byte[] inComingData = new byte[8];
stsResult = PCANBasic.GetStatus(m_PcanHandle);
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWrite);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
MessageBox.Show(Convert.ToString(stsResult));
}
else
{
System.Threading.Thread.Sleep(10);
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
MessageBox.Show(Convert.ToString(stsResult));
}
else
{
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
for (int i = 0; i < CANMsgRead.LEN; i++)
{
inComingData[i] = CANMsgRead.DATA[i];
}
}
}
return(inComingData);
}
public TPCANStatus send(TPCANMsg CANMsg)
{
isBusy = true;
//System.Threading.Thread.Sleep(1000);
//while (InterOperationFlag.isSerialBusy != false)
//{
// System.Threading.Thread.Sleep(100);
//}
//InterOperationFlag.isCanBusy = true;
CANMsg.LEN = 8;
CANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD;
Logger.Instance.logPacket(CANMsg.DATA, true, (int)CANMsg.ID);
TPCANStatus temp = PCANBasic.Write(m_PcanHandle, ref CANMsg);
//InterOperationFlag.isCanBusy = false;
return(temp);
}
public TPCANStatus WriteFrame(TPCANHandle CanHandle, string writeID, byte[] writeData)
{
//CREATE MESSAGE STRUCTURE
TPCANMsg CANMsg = new TPCANMsg();
CANMsg.DATA = new byte[8];
//CONFIGURATE THE MESSAGE
CANMsg.ID = Convert.ToUInt32(writeID, 16);
CANMsg.LEN = Convert.ToByte(8);
CANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD;
//GET TRANSMIT DATA MESSAGE
for (int i = 0; i < GetLengthFromDLC(CANMsg.LEN, true); i++)
{
CANMsg.DATA[i] = writeData[i];
}
return(PCANBasic.Write(CanHandle, ref CANMsg));
}
public TPCANStatus send(TPCANMsg CANMsg)
{
CANMsg.LEN = 8;
CANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD;
return(PCANBasic.Write(m_PcanHandle, ref CANMsg));
}
private void boardVoltage_thread(Object source, ElapsedEventArgs e)
{
TPCANStatus stsResult;
CANMsgWrite = new TPCANMsg();
CANMsgWrite.LEN = 8;
CANMsgWrite.DATA = new byte[8];
CANMsgWrite.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_EXTENDED;
CANMsgWrite.ID = ID1;
CANMsgWrite.DATA = new byte[8];
CANMsgRead.ID = 0;
CANMsgRead.LEN = 8;
TPCANTimestamp.micros = 185;
TPCANTimestamp.millis = 158903185;
TPCANTimestamp.millis_overflow = 0;
byte counTer = 0;
byte[] writeMSG = new byte[8];
byte[] dataRead = new byte[8];
byte[] dataReadchnl = new byte[8];
byte chnlCount = 0;
byte groupCount = 0;
bool skipProcess = false;
int[] dataInPUT = new int[15];
try
{
CANMsgWrite.ID = 418377632;
CANMsgWrite.DATA[0] = 0x3D;
CANMsgWrite.DATA[1] = 0x00;
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
}
catch (System.NullReferenceException)
{
}
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWrite);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
// MessageBox.Show(Convert.ToString(stsResult));
}
System.Threading.Thread.Sleep(5);
while (CANMsgRead.ID != 418357487)
{
if (counTer > 5)
{
counTer = 0;
skipProcess = true;
break;
}
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
counTer++;
}
if ((skipProcess == false) && (CANMsgRead.DATA[0] == 0x3E))
{
for (int i = 0; i < CANMsgRead.LEN; i++)
{
dataInPUT[i] = CANMsgRead.DATA[i];
}
inComingBrdData[0] = (dataInPUT[2] + dataInPUT[3] * 256) / 10;
}
skipProcess = false;
counTer = 0;
CANMsgWrite.ID = 418377633;
CANMsgWrite.DATA[0] = 0xA3;
CANMsgWrite.DATA[1] = 0x00;
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWrite);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
}
System.Threading.Thread.Sleep(5);
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
if ((CANMsgRead.DATA[0] == 0xA4) && (CANMsgRead.DATA[4] + CANMsgRead.DATA[5] < 255))
{
for (int i = 0; i < CANMsgRead.LEN; i++)
{
dataInPUT[i] = CANMsgRead.DATA[i];
}
inComingBrdData[1] = ((dataInPUT[4] + (dataInPUT[5] * 256) + (dataInPUT[6] * 65536) + (dataInPUT[7] * 16777216)) / 100);
}
CANMsgWrite.ID = 418377635;
CANMsgWrite.DATA[0] = 0x05;
CANMsgWrite.DATA[1] = 0x00;
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWrite);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
}
System.Threading.Thread.Sleep(5);
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
if (CANMsgRead.DATA[0] == 06)
{
for (int i = 0; i < CANMsgRead.LEN; i++)
{
dataInPUT[i] = CANMsgRead.DATA[i];
}
inComingChnlData[0, 3] = dataInPUT[2] & 0x01;
inComingChnlData[1, 3] = dataInPUT[2] & 0x02;
inComingChnlData[2, 3] = dataInPUT[2] & 0x04;
inComingChnlData[3, 3] = dataInPUT[2] & 0x08;
inComingChnlData[4, 3] = dataInPUT[2] & 0x10;
inComingChnlData[5, 3] = dataInPUT[2] & 0x20;
inComingChnlData[6, 3] = dataInPUT[2] & 0x40;
inComingChnlData[7, 3] = dataInPUT[2] & 0x80;
}
CANMsgWrite.DATA[0] = 0x0D;
CANMsgWrite.DATA[1] = 0x00;
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWrite);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
}
System.Threading.Thread.Sleep(5);
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
if (CANMsgRead.DATA[0] == 0x0E)
{
for (int i = 0; i < CANMsgRead.LEN; i++)
{
dataInPUT[i] = CANMsgRead.DATA[i];
}
inComingChnlData[0, 4] = dataInPUT[2] & 0x01;
inComingChnlData[1, 4] = dataInPUT[2] & 0x02;
inComingChnlData[2, 4] = dataInPUT[2] & 0x04;
inComingChnlData[3, 4] = dataInPUT[2] & 0x08;
inComingChnlData[4, 4] = dataInPUT[2] & 0x10;
inComingChnlData[5, 4] = dataInPUT[2] & 0x20;
inComingChnlData[6, 4] = dataInPUT[2] & 0x40;
inComingChnlData[7, 4] = dataInPUT[2] & 0x80;
}
CANMsgWrite.DATA[0] = 0x07;
CANMsgWrite.DATA[1] = 0x00;
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWrite);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
}
System.Threading.Thread.Sleep(5);
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
if (CANMsgRead.DATA[0] == 0x08)
{
for (int i = 0; i < CANMsgRead.LEN; i++)
{
dataInPUT[i] = CANMsgRead.DATA[i];
}
inComingChnlData[0, 5] = dataInPUT[2] & 0x01;
inComingChnlData[1, 5] = dataInPUT[2] & 0x02;
inComingChnlData[2, 5] = dataInPUT[2] & 0x04;
inComingChnlData[3, 5] = dataInPUT[2] & 0x08;
inComingChnlData[4, 5] = dataInPUT[2] & 0x10;
inComingChnlData[5, 5] = dataInPUT[2] & 0x20;
inComingChnlData[6, 5] = dataInPUT[2] & 0x40;
inComingChnlData[7, 5] = dataInPUT[2] & 0x80;
}
CANMsgWrite.DATA[0] = 0x49;
CANMsgWrite.DATA[1] = 0x00;
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWrite);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
}
System.Threading.Thread.Sleep(5);
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
if (CANMsgRead.DATA[0] == 0x4A)
{
for (int i = 0; i < CANMsgRead.LEN; i++)
{
dataInPUT[i] = CANMsgRead.DATA[i];
}
inComingChnlData[0, 6] = dataInPUT[2] & 0x01;
inComingChnlData[1, 6] = dataInPUT[2] & 0x02;
inComingChnlData[2, 6] = dataInPUT[2] & 0x04;
inComingChnlData[3, 6] = dataInPUT[2] & 0x08;
inComingChnlData[4, 6] = dataInPUT[2] & 0x10;
inComingChnlData[5, 6] = dataInPUT[2] & 0x20;
inComingChnlData[6, 6] = dataInPUT[2] & 0x40;
inComingChnlData[7, 6] = dataInPUT[2] & 0x80;
}
CANMsgWrite.DATA[0] = 0x43;
CANMsgWrite.DATA[1] = 0x00;
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWrite);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
}
System.Threading.Thread.Sleep(5);
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
if (CANMsgRead.DATA[0] == 0x44)
{
for (int i = 0; i < CANMsgRead.LEN; i++)
{
dataInPUT[i] = CANMsgRead.DATA[i];
}
inComingChnlData[0, 7] = dataInPUT[2] & 0x01;
inComingChnlData[1, 7] = dataInPUT[2] & 0x02;
inComingChnlData[2, 7] = dataInPUT[2] & 0x04;
inComingChnlData[3, 7] = dataInPUT[2] & 0x08;
inComingChnlData[4, 7] = dataInPUT[2] & 0x10;
inComingChnlData[5, 7] = dataInPUT[2] & 0x20;
inComingChnlData[6, 7] = dataInPUT[2] & 0x40;
inComingChnlData[7, 7] = dataInPUT[2] & 0x80;
}
while (chnlCount < 0x08)
{
if (groupModeSwitch.IsOn == true)
{
try
{
CANMsgWrite.ID = 418377634;
CANMsgWrite.DATA[0] = 0x35;
CANMsgWrite.DATA[1] = groupArray[groupCount];
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
}
catch (System.NullReferenceException)
{
}
}
else
{
try
{
CANMsgWrite.ID = 418377634;
CANMsgWrite.DATA[0] = 0x35;
CANMsgWrite.DATA[1] = chnlArray[chnlCount];
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
}
catch (System.NullReferenceException)
{
}
}
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWrite);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
}
System.Threading.Thread.Sleep(20);
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
if ((CANMsgRead.DATA[0] == 0x36) && ((CANMsgRead.DATA[1] == chnlArray[chnlCount]) || (CANMsgRead.DATA[1] == groupArray[groupCount])) && (CANMsgRead.DATA[2] + CANMsgRead.DATA[3] < 255))
{
for (int i = 0; i < CANMsgRead.LEN; i++)
{
dataInPUT[i] = CANMsgRead.DATA[i];
}
inComingChnlData[chnlCount, 0] = chnlCount;
inComingChnlData[chnlCount, 1] = ((dataInPUT[2]) + ((dataInPUT[3]) * 256)) / 10;
}
if (groupModeSwitch.IsOn == true)
{
try
{
CANMsgWrite.ID = 418377636;
CANMsgWrite.DATA[0] = 0x0F;
CANMsgWrite.DATA[1] = groupArray[groupCount];
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
}
catch (System.NullReferenceException)
{
}
}
else
{
try
{
CANMsgWrite.ID = 418377636;
CANMsgWrite.DATA[0] = 0x0F;
CANMsgWrite.DATA[1] = chnlArray[chnlCount];
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
}
catch (System.NullReferenceException)
{
}
}
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWrite);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
}
System.Threading.Thread.Sleep(20);
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
if ((CANMsgRead.DATA[0] == 0x10) && ((CANMsgRead.DATA[1] == chnlArray[chnlCount]) || (CANMsgRead.DATA[1] == groupArray[groupCount])) && (CANMsgRead.DATA[2] + CANMsgRead.DATA[3] < 250))
{
for (int i = 0; i < CANMsgRead.LEN; i++)
{
dataInPUT[i] = CANMsgRead.DATA[i];
}
inComingChnlData[chnlCount, 0] = chnlCount;
inComingChnlData[chnlCount, 2] = (((dataInPUT[2]) + (dataInPUT[3])));
}
if (groupModeSwitch.IsOn == true)
{
try
{
CANMsgWrite.ID = 418377639;
CANMsgWrite.DATA[0] = 0x03;
CANMsgWrite.DATA[1] = groupArray[groupCount];
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
}
catch (System.NullReferenceException)
{
}
}
else
{
try
{
CANMsgWrite.ID = 418377639;
CANMsgWrite.DATA[0] = 0x03;
CANMsgWrite.DATA[1] = chnlArray[chnlCount];
CANMsgWrite.DATA[2] = 0x00;
CANMsgWrite.DATA[3] = 0x00;
CANMsgWrite.DATA[4] = 0x00;
CANMsgWrite.DATA[5] = 0x00;
CANMsgWrite.DATA[6] = 0x00;
CANMsgWrite.DATA[7] = 0x00;
}
catch (System.NullReferenceException)
{
}
}
stsResult = PCANBasic.Write(m_PcanHandle, ref CANMsgWrite);
if (stsResult != TPCANStatus.PCAN_ERROR_OK)
{
}
System.Threading.Thread.Sleep(10);
stsResult = PCANBasic.Read(m_PcanHandle, out CANMsgRead, out TPCANTimestamp);
if ((CANMsgRead.DATA[0] == 0x04) && (CANMsgRead.DATA[1] == chnlArray[chnlCount]))
{
for (int i = 0; i < CANMsgRead.LEN; i++)
{
dataInPUT[i] = CANMsgRead.DATA[i];
}
inComingChnlData[chnlCount, 8] = ((dataInPUT[2] * (10 - 1) / 255) + 1);
}
if (groupModeSwitch.IsOn == true)
{
groupCount++;
if (groupCount > 0x03)
{
groupCount = 0;
}
}
else
{
chnlCount++;
}
}
}
/// <summary>Send a frame</summary>
public void Send(Frame f)
{
TPCANMsg msg = Frame(f);
PCANBasic.Write((byte)iface, ref msg);
}
unsafe public void sendFame(UInt32 len, UInt32 startIndex = 0)
{
if (Form_SetCANParam.form_setcan.checkCANFDMode.Checked == false)//send can frame
{
TPCANStatus result1;
TPCANMsg CANMsg;
CANMsg = new TPCANMsg();
CANMsg.DATA = new byte[8];
CANMsg.MSGTYPE = 0x00;
if (len > 48)
{
return;
}
CANMsg.ID = arrSendBuf[startIndex].ID;
CANMsg.LEN = arrSendBuf[startIndex].DataLen;
CANMsg.MSGTYPE |= (arrSendBuf[startIndex].ExternFlag == 1) ? TPCANMessageType.PCAN_MESSAGE_EXTENDED : TPCANMessageType.PCAN_MESSAGE_STANDARD;
if (arrSendBuf[startIndex].RemoteFlag == 1)
{
CANMsg.MSGTYPE |= TPCANMessageType.PCAN_MESSAGE_RTR;//0数据帧；1远程帧
}
for (int i = 0; i < CANMsg.LEN; i++)
{
CANMsg.DATA[i] = arrSendBuf[startIndex].Data[i];
}
result1 = PCANBasic.Write(PCAN_PARA1.PCANIndex, ref CANMsg);
// int result = VCI_Transmit(0x04, 0x00, CANINDEX, ref arrSendBuf[startIndex], len);
if (result1 < 0)
{
MessageBox.Show("发送失败");
}
}
else//send can fd frame
{
TPCANStatus result1;
TPCANMsgFD CANMsg;
CANMsg = new TPCANMsgFD();
CANMsg.DATA = new byte[64];
// CANMsg.MSGTYPE = 0x00;
if (len > 48)
{
return;
}
CANMsg.ID = arrSendBuf[startIndex].ID;
CANMsg.DLC = arrSendBuf[startIndex].DataLen;
CANMsg.MSGTYPE |= (arrSendBuf[startIndex].ExternFlag == 1) ? TPCANMessageType.PCAN_MESSAGE_EXTENDED : TPCANMessageType.PCAN_MESSAGE_STANDARD;
CANMsg.MSGTYPE |= (Form_BasicFunction.form_basic.checkEnableCANFD.Checked) ? TPCANMessageType.PCAN_MESSAGE_FD : TPCANMessageType.PCAN_MESSAGE_STANDARD;
CANMsg.MSGTYPE |= (Form_BasicFunction.form_basic.EnableCANFD_BRS.Checked) ? TPCANMessageType.PCAN_MESSAGE_BRS : TPCANMessageType.PCAN_MESSAGE_STANDARD;
if (arrSendBuf[startIndex].RemoteFlag == 1)
{
CANMsg.MSGTYPE |= TPCANMessageType.PCAN_MESSAGE_RTR;//0数据帧；1远程帧
}
for (int i = 0; i < CANMsg.DLC; i++)
{
CANMsg.DATA[i] = arrSendBuf[startIndex].Data[i];
}
result1 = PCANBasic.WriteFD(PCAN_PARA1.PCANIndex, ref CANMsg);
// int result = VCI_Transmit(0x04, 0x00, CANINDEX, ref arrSendBuf[startIndex], len);
if (result1 < 0)
{
MessageBox.Show("发送失败");
}
}
}
public void WriteCan(short Ch, __CanMsg Data, bool FDFlag = false, bool Extended = false)
{
#if PROGRAM_RUNNING
//TextBox txtbCurrentTextBox;
TPCANStatus stsResult;
// We create a TPCANMsg message structure
//
try
{
try
{
if (FDFlag == false)
{
TPCANMsg wCANMsg = new TPCANMsg();
wCANMsg.DATA = new byte[8];
// We configurate the Message. The ID (max 0x1FF),
// Length of the Data, Message Type (Standard in
// this example) and die data
//
wCANMsg.ID = (uint)Data.ID;
wCANMsg.LEN = (byte)Data.Length;
wCANMsg.MSGTYPE = (Extended == true) ? TPCANMessageType.PCAN_MESSAGE_EXTENDED : TPCANMessageType.PCAN_MESSAGE_STANDARD;
//wCANMsg.MSGTYPE = TPCANMessageType.PCAN_MESSAGE_STANDARD;
// If a remote frame will be sent, the data bytes are not important.
//
//if (chbRemote.Checked)
// CANMsg.MSGTYPE |= TPCANMessageType.PCAN_MESSAGE_RTR;
//else
//{
// We get so much data as the Len of the message
//
for (int i = 0; i < wCANMsg.LEN; i++)
{
wCANMsg.DATA[i] = Data.DATA[i];
}
//}
// The message is sent to the configured hardware
//
//stsResult = PCANBasic.GetStatus(m_PcanHandle);
//if (stsResult == TPCANStatus.PCAN_ERROR_OK)
//{
stsResult = PCANBasic.Write(m_PcanHandle[Ch], ref wCANMsg);
// The message was successfully sent
//
if (stsResult == TPCANStatus.PCAN_ERROR_OK)
{
//WriteErrorCount = 0;
return;
}
else
{
/*
* WriteErrorCount++;
*
* if (WriteErrorCount < 5)
* {
* PCANBasic.Uninitialize(m_PcanHandle);
* OpenCan(sid, sSpeed);
* }
* else
* {
* MessageBox.Show(GetFormatedError(stsResult));// An error occurred. We show the error.
* }
*/
}
//}
//else
//{
// return;
//}
}
else
{
TPCANMsgFD CANMsg;
//TextBox txtbCurrentTextBox;
int iLength;
// We create a TPCANMsgFD message structure
//
CANMsg = new TPCANMsgFD();
CANMsg.DATA = new byte[64];
// We configurate the Message. The ID,
// Length of the Data, Message Type
// and the data
//
CANMsg.ID = (uint)Data.ID;
CANMsg.DLC = Convert.ToByte(Data.Length);
CANMsg.MSGTYPE = (Extended == true) ? TPCANMessageType.PCAN_MESSAGE_EXTENDED : TPCANMessageType.PCAN_MESSAGE_STANDARD;
CANMsg.MSGTYPE |= TPCANMessageType.PCAN_MESSAGE_FD;
//CANMsg.MSGTYPE |= (chbBRS.Checked) ? TPCANMessageType.PCAN_MESSAGE_BRS : TPCANMessageType.PCAN_MESSAGE_STANDARD;
// If a remote frame will be sent, the data bytes are not important.
//
//if (chbRemote.Checked)
// CANMsg.MSGTYPE |= TPCANMessageType.PCAN_MESSAGE_RTR;
//else
//{
// We get so much data as the Len of the message
//
iLength = GetLengthFromDLC(CANMsg.DLC, (CANMsg.MSGTYPE & TPCANMessageType.PCAN_MESSAGE_FD) == 0);
//}
// The message is sent to the configured hardware
//
PCANBasic.WriteFD(m_PcanHandle[Ch], ref CANMsg);
}
}
catch (Exception Msg)
{
//MessageBox.Show(Msg.Message + "\n" + Msg.StackTrace);
uMessageBox.Show(title: "경고", promptText: Msg.Message + "\n" + Msg.StackTrace); //MessageBox.Show(GetFormatedError(stsResult));
}
}
finally
{
}
#endif
return;
}
