public static bool SendData(VSCAN canAdapter, UInt32 id, byte[] data)
{
var msgs = new VSCAN_MSG[1];
UInt32 written = 0;
try
{
msgs[0].Data = data;
msgs[0].Id = id;
msgs[0].Size = 8;
msgs[0].Flags = VSCAN.VSCAN_FLAGS_EXTENDED;
canAdapter.Write(msgs, 1, ref written);
canAdapter.Flush();
Console.WriteLine("");
Console.WriteLine($"Send CAN frames: {written}");
for (var i = 0; i < written; i++)
{
Console.WriteLine("");
Console.WriteLine($"CAN frame {i}");
Console.WriteLine($"ID: {msgs[i].Id.ToString("X")}");
Console.WriteLine($"Size: {msgs[i].Size}");
Console.Write("Data: ");
for (var j = 0; j < msgs[i].Size; j++)
{
Console.Write($"{msgs[i].Data[j].ToString("X")} ");
}
Console.WriteLine("");
}
return(true);
}
catch (Exception e)
{
Console.WriteLine($"Message not transmitted {e.Message} {canAdapter.ToString()}");
return(false);
}
}
public static void Main(string[] args)
{
VSCAN_MSG[] msgs = new VSCAN_MSG[2];
VSCAN CanDevice = new VSCAN();
UInt32 Written = 0;
UInt32 Read = 0;
VSCAN_HWPARAM hw = new VSCAN_HWPARAM();
VSCAN_API_VERSION api_ver = new VSCAN_API_VERSION();
byte Flags = 0x0;
try
{
// set debugging options
CanDevice.SetDebug(VSCAN.VSCAN_DEBUG_NONE);
CanDevice.SetDebugMode(VSCAN.VSCAN_DEBUG_MODE_FILE);
// open CAN channel: please specify the name of your device according to User Manual
CanDevice.Open(VSCAN.VSCAN_FIRST_FOUND, VSCAN.VSCAN_MODE_SELF_RECEPTION);
// set some options
CanDevice.SetSpeed(VSCAN.VSCAN_SPEED_1M);
CanDevice.SetTimestamp(VSCAN.VSCAN_TIMESTAMP_ON);
CanDevice.SetBlockingRead(VSCAN.VSCAN_IOCTL_ON);
// get HW Params
CanDevice.GetHwParams(ref hw);
Console.WriteLine("Get hardware paramter:");
Console.WriteLine("HwVersion:" + hw.HwVersion + " SwVersion:" + (hw.SwVersion >> 4) + "." + (hw.SwVersion & 0x0f));
Console.WriteLine("SerNr:" + hw.SerialNr + " HwType:" + hw.HwType);
// get API version
CanDevice.GetApiVersion(ref api_ver);
Console.WriteLine("");
Console.WriteLine("API version: " + api_ver.Major + "." + api_ver.Minor + "." + api_ver.SubMinor);
msgs[0].Id = 0x100;
msgs[0].Size = 2;
msgs[0].Data = new byte[8];
msgs[0].Data[0] = 0xde;
msgs[0].Data[1] = 0xad;
msgs[0].Flags = VSCAN.VSCAN_FLAGS_EXTENDED;
msgs[1].Id = 0x101;
msgs[1].Size = 2;
msgs[1].Data = new byte[8];
msgs[1].Data[0] = 0xbe;
msgs[1].Data[1] = 0xef;
msgs[1].Flags = VSCAN.VSCAN_FLAGS_EXTENDED;
// send CAN frames
CanDevice.Write(msgs, 2, ref Written);
// send immediately
CanDevice.Flush();
Console.WriteLine("");
Console.WriteLine("Send CAN frames: " + Written);
// read CAN frames
CanDevice.Read(ref msgs, 2, ref Read);
Console.WriteLine("");
Console.WriteLine("Read CAN frames: " + Read);
for (int i = 0; i < Read; i++)
{
Console.WriteLine("");
Console.WriteLine("CAN frame " + i);
Console.WriteLine("ID: " + msgs[i].Id);
Console.WriteLine("Size: " + msgs[i].Size);
Console.Write("Data: ");
for (int j = 0; j < msgs[i].Size; j++)
{
Console.Write(msgs[i].Data[j] + " ");
}
Console.WriteLine("");
if ((msgs[i].Flags & VSCAN.VSCAN_FLAGS_STANDARD) != 0)
{
Console.WriteLine("VSCAN_FLAGS_STANDARD");
}
if ((msgs[i].Flags & VSCAN.VSCAN_FLAGS_EXTENDED) != 0)
{
Console.WriteLine("VSCAN_FLAGS_EXTENDED");
}
if ((msgs[i].Flags & VSCAN.VSCAN_FLAGS_REMOTE) != 0)
{
Console.WriteLine("VSCAN_FLAGS_REMOTE");
}
if ((msgs[i].Flags & VSCAN.VSCAN_FLAGS_TIMESTAMP) != 0)
{
Console.WriteLine("VSCAN_FLAGS_TIMESTAMP");
}
Console.WriteLine("TS: " + msgs[i].TimeStamp);
}
// get extended status and error flags
CanDevice.GetFlags(ref Flags);
Console.WriteLine("");
Console.WriteLine("Extended status and error flags: " + Flags);
DecodeFlags(Flags);
// close CAN channel
CanDevice.Close();
}
catch (Exception e)
{
Console.WriteLine("CAN opened " + e.Message);
}
}
public static VSCAN_MSG[] GetData(VSCAN canAdapter)
{
var msgs = new VSCAN_MSG[1];
UInt32 read = 0;
try
{
canAdapter.Read(ref msgs, 1, ref read);
Console.WriteLine("");
Console.WriteLine($"Read CAN frames: {read}");
for (var i = 0; i < read; i++)
{
Console.WriteLine("");
Console.WriteLine($"CAN frame {i}");
Console.WriteLine($"ID: {msgs[i].Id.ToString("X")}");
Console.WriteLine($"Size: {msgs[i].Size}");
Console.Write("Data: ");
for (var j = 0; j < msgs[i].Size; j++)
{
Console.Write(msgs[i].Data[j].ToString("X") + " ");
}
Console.WriteLine("");
if ((msgs[i].Flags & VSCAN.VSCAN_FLAGS_STANDARD) != 0)
{
Console.WriteLine("VSCAN_FLAGS_STANDARD");
}
if ((msgs[i].Flags & VSCAN.VSCAN_FLAGS_EXTENDED) != 0)
{
Console.WriteLine("VSCAN_FLAGS_EXTENDED");
}
if ((msgs[i].Flags & VSCAN.VSCAN_FLAGS_REMOTE) != 0)
{
Console.WriteLine("VSCAN_FLAGS_REMOTE");
}
if ((msgs[i].Flags & VSCAN.VSCAN_FLAGS_TIMESTAMP) != 0)
{
Console.WriteLine("VSCAN_FLAGS_TIMESTAMP");
}
Console.WriteLine("TS: " + msgs[i].TimeStamp);
}
canAdapter.GetFlags(ref _flags);
Console.WriteLine("");
Console.WriteLine($"Extended status and error flags: {_flags}");
DecodeFlags(_flags);
return(msgs);
}
catch (Exception e)
{
Console.WriteLine($"Message not recieved {e.Message}");
return(msgs);
}
}
