private void rxThread()
{
uint temp = 0;
uint len;
while (running)
{
len = CAN.VCI_Receive(CAN.DEV_USBCAN2, 0, 0, receive, 500, 10);
if (len == 0xFFFFFFFF) //Return value of -1 indicates failure
{
len = 0;
}
if (len > 20)
{
temp++;
}
for (int pkt = 0; pkt < len; pkt++)
{
rxBuffer[rxBufferWPos] = receive[pkt];
rxBufferWPos = (rxBufferWPos + 1) % RX_BUF_SIZE;
}
System.Threading.Thread.Sleep(1);
}
}
public bool balBusTx(UInt32 CanID, byte[] data)
{
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 3;
send[0].Data = new byte[8];
send[0].Data[0] = (byte)CANCMD.CAN_CMD_BALBUS_TX;
send[0].Data[1] = 0;
for (int i = 0; i < data.Length; i++)
{
send[0].Data[2] = data[i];
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(false);
}
System.Threading.Thread.Sleep(10);
}
return(true);
}
//Get the calibration structure from the master unit
public bool setCalibration(UInt32 CanID, SlaveConfig sc)
{
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = ctl.allocateCanFrameBuffer(1 + Marshal.SizeOf(typeof(SlaveConfig)) / 8);
CAN.VCI_CAN_OBJ[] receive;
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data[0] = (byte)CANCMD.CAN_CMD_WRITE_CAL;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(false);
}
ctl.sendData(StructTools.struct2byteArray <SlaveConfig>(sc), CanID, false, true);
ctl.getCanFrames(out receive, 1);
if (receive[0].Data[0] == (byte)CANCMD.CAN_CMD_WRITE_CAL)
{
return(true);
}
else
{
return(false);
}
}
//Get the calibration structure from the master unit
public SlaveConfig getCalibration(UInt32 CanID)
{
SlaveConfig sc = new SlaveConfig();
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
CAN.VCI_CAN_OBJ[] receive;
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data = new byte[8];
send[0].Data[0] = (byte)CANCMD.CAN_CMD_READ_CAL;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(sc);
}
ctl.getCanFrames(out receive, 3);
byte[] buffer = new byte[Marshal.SizeOf(typeof(SlaveConfig))];
for (int i = 0; i < buffer.Length; i++)
{
buffer[i] = receive[i / 8].Data[i % 8];
}
return(StructTools.byteArray2Struct <SlaveConfig>(buffer));
}
private void cmdConnect_Click(object sender, EventArgs e)
{
uint retcode;
if (CANConnected)
{
retcode = CAN.VCI_CloseDevice(CAN.DEV_USBCAN2, 0);
if (retcode != CAN.STATUS_OK)
{
MessageBox.Show("Couldn't close CAN device, error " + retcode.ToString());
return;
}
CANConnected = false;
cmdConnect.Text = "Connect";
}
else
{
retcode = CAN.VCI_OpenDevice(CAN.DEV_USBCAN2, 0, 0);
if (retcode != CAN.STATUS_OK)
{
MessageBox.Show("Couldn't open CAN device, error " + retcode.ToString());
return;
}
CAN.VCI_INIT_CONFIG canCFG;
canCFG.AccMask = 0xFFFFFFFF;
canCFG.AccCode = 0x0F000000;
canCFG.InitFlag = 0;
canCFG.Filter = 1; //Receive all frames
canCFG.Timing0 = 0;
canCFG.Timing1 = 0x14;
canCFG.Mode = 0; //Normal mode
retcode = CAN.VCI_InitCAN(CAN.DEV_USBCAN2, 0, 0, ref canCFG);
if (retcode != CAN.STATUS_OK)
{
MessageBox.Show("Couldn't Init CAN, error " + retcode.ToString());
return;
}
retcode = CAN.VCI_StartCAN(CAN.DEV_USBCAN2, 0, 0);
if (retcode != CAN.STATUS_OK)
{
MessageBox.Show("Couldn't start CAN, error " + retcode.ToString());
return;
}
bc.ctl.open();
CANConnected = true;
cmdConnect.Text = "Disconnect";
}
}
public bool sendData(byte[] buffer, uint ID, bool remote, bool extended)
{
//Allocate enough frames for the data buffer length
int bufCount = (buffer.Length - 1) / 8 + 1;
CAN.VCI_CAN_OBJ[] buf = allocateCanFrameBuffer(bufCount);
int txSize = buffer.Length;
for (int i = 0; i < bufCount; i++)
{
buf[i].ID = ID;
buf[i].TimeFlag = 0;
buf[i].SendType = 0;
buf[i].RemoteFlag = remote ? (byte)1 : (byte)0;
buf[i].ExternFlag = extended ? (byte)1 : (byte)0;
buf[i].DataLen = (byte)(txSize > 8 ? 8 : txSize); //Transmit full packets unless the amount of data calls for a final packet that's smaller
//Copy the data
for (int j = 0; j < buf[i].DataLen; j++)
{
buf[i].Data[j] = buffer[i * 8 + j];
}
txSize -= 8;
}
CAN.VCI_CAN_OBJ[] tempBuf = allocateCanFrameBuffer(1);
for (int i = 0; i < bufCount; i++)
{
tempBuf[0] = buf[i];
System.Threading.Thread.Sleep(5);
UInt32 retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, tempBuf, (uint)1 /*bufCount*/);
if (retval != CAN.STATUS_OK)
{
return(false);
}
}
//else
return(true);
}
public ushort[] getLocalVoltages(UInt32 CanID)
{
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
CAN.VCI_CAN_OBJ[] receive;
VoltagesStr vStr;
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data = new byte[8];
send[0].Data[0] = (byte)CANCMD.CAN_CMD_GET_LOCAL_VOLTAGES;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(new ushort[0]);
}
ctl.getCanFrames(out receive, 2);
byte[] buffer = new byte[Marshal.SizeOf(typeof(VoltagesStr))];
for (int i = 0; i < buffer.Length; i++)
{
buffer[i] = receive[i / 8].Data[i % 8];
}
vStr = StructTools.byteArray2Struct <VoltagesStr>(buffer);
return(vStr.voltages);
}
private void cmdTx_Click(object sender, EventArgs e)
{
UInt32 retval;
if (CANConnected)
{
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
CAN.VCI_CAN_OBJ[] receive = new CAN.VCI_CAN_OBJ[3];
send[0].ID = 0xA;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data = new byte[8];
send[0].Data[0] = 0;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
receive[0].Data = new byte[8];
receive[1].Data = new byte[8];
receive[2].Data = new byte[8];
receive[0].Reserved = new byte[3];
receive[1].Reserved = new byte[3];
receive[2].Reserved = new byte[3];
retval = CAN.VCI_Receive(CAN.DEV_USBCAN2, 0, 0, receive, 50, 1000);
//retval = CAN.VCI_Receive(CAN.DEV_USBCAN2, 0, 0, receive, 1, 1000);
//retval = CAN.VCI_Receive(CAN.DEV_USBCAN2, 0, 0, receive, 1, 1000);
int a;
a = 0;
}
}
public bool saveCalibration(UInt32 CanID)
{
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
CAN.VCI_CAN_OBJ[] receive;
VoltagesStr vStr;
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data = new byte[8];
send[0].Data[0] = (byte)CANCMD.CAN_CMD_SAVE_CAL;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(false);
}
ctl.getCanFrames(out receive, 1);
if (receive[0].Data[0] == (byte)CANCMD.CAN_CMD_SAVE_CAL)
{
return(true);
}
else
{
return(false);
}
}
public bool setPassthrough(UInt32 CanID, bool passthrough)
{
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data = new byte[8];
send[0].Data[0] = (byte)(passthrough ? CANCMD.CAN_CMD_SET_BALBUS_PASSTHROUGH : CANCMD.CAN_CMD_CLEAR_BALBUS_PASSTHROUGH);
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(false);
}
return(true);
}
