public void tSend(CANMSG message)
{
byte[] txDATA = new byte[10];
txDATA[0] = WRITE;
txDATA[1] = TXB0D0;
for (int i = DataIndexOffset; i < message.DataLength + DataIndexOffset; i++)
{
txDATA[i] = message.data[i - DataIndexOffset];
}
spiBus.Write(txDATA);
}
public void tId2(CANMSG message)
{
byte val = 0x00;
uint bit11Address = 0x00;
bit11Address = (uint)(message.CANID);
//val = (byte)(bit11Address >> 3);
//WriteRegister(TXB0SIDH, val);
val = (byte)(bit11Address << 5);
WriteRegister(TXB0SIDL, val);
}
/// <summary>Transmit a CAN message to the bus.</summary>
/// <param name="message">The CAN Message to be transmitted.</param>
/// <param name="timeout"></param>
/// <returns></returns>
public bool Transmit(CANMSG message, int timeout)
{
// Holds if message was sent or not.
bool sentMessage = false;
// Calculate the end time based on current device time.
TimeSpan startTime = Utility.GetMachineTime();
TimeSpan endTime = startTime.Add(new TimeSpan(0, 0, 0, 0, timeout));
//--------------------------------------
// Set the CAN ID.
byte val = 0x00;
uint bit11Address = 0x00;
uint bit18Address = 0x00;
// Build Extended CAN ID
if (message.IsExtended)
{
// Split the 11 bit and 18 bit sections of the ID.
bit11Address = (uint)((message.CANID >> 16) & 0xFFFF);
bit18Address = (uint)(message.CANID & 0xFFFFF);
// Set the first part of the ID
val = (byte)(bit11Address >> 5);
WriteRegister(TXB0SIDH, val);
// Set the second part of the ID.
val = (byte)(bit11Address << 3);
val |= (byte)(bit11Address & 0x07);
// Mark the message as extended.
val |= 1 << EXIDE;
WriteRegister(TXB0SIDL, val);
// Write the 18 bit part of the ID
val = (byte)(bit18Address >> 8);
WriteRegister(TXB0EID8, val);
val = (byte)(bit18Address);
WriteRegister(TXB0EID0, val);
}
else
{
// Transmit a 11 bit ID.
bit11Address = (uint)(message.CANID);
val = (byte)(bit11Address >> 3);
WriteRegister(TXB0SIDH, val);
val = (byte)(bit11Address << 5);
WriteRegister(TXB0SIDL, val);
}
//--------------------------------------
val = (byte)(message.DataLength & 0x0f);
// Check if is a remote frame
if (message.IsRemote)
{
// Mark the frame as remote
val |= (byte)(1UL << (TXRTR));
WriteRegisterBit(val, TXRTR, 1);
}
WriteRegister(TXB0DLC, val);
//--------------------------------------
//Write Message Data
byte[] txDATA = new byte[10];
txDATA[0] = WRITE;
txDATA[1] = TXB0D0;
for (int i = DataIndexOffset; i < message.DataLength + DataIndexOffset; i++)
{
txDATA[i] = message.data[i - DataIndexOffset];
}
spi.Write(txDATA);
//----------------------
// Command to transmit the CAN message
WriteRegisterBit(TXB0CTRL, TXREQ, 1);
//----------------------
// Wait untile time out to get confirmation of message was sent.
while (Utility.GetMachineTime() < endTime)
{
val = ReadRegister(CANINTF);
if ((val & TX0IF_MASK) == TX0IF_MASK)
{
sentMessage = true;
break;
}
}
////Abort the send if failed
WriteRegisterBit(TXB0CTRL, TXREQ, 0);
////And clear write interrupt
WriteRegisterBit(CANINTF, TX0IF, 0);
return sentMessage;
}
/// <summary>
/// Check if a new message was received by the transceiver.
/// </summary>
/// <param name="msg">The CAN message that will contain the retrived message.</param>
/// <param name="timeout">The time to wait if a message become available.</param>
/// <returns>True if a message was received.</returns>
public bool Receive(out CANMSG msg, int timeout)
{
bool gotMessage = false;
byte val;
msg = new CANMSG();
TimeSpan startTime = Utility.GetMachineTime();
TimeSpan endTime = startTime.Add(new TimeSpan(0, 0, 0, 0, timeout));
gotMessage = false;
while (Utility.GetMachineTime() < endTime)
{
val = ReadRegister(CANINTF);
//If we have a message available, read it
if ((val & RX0IF_MASK) == RX0IF_MASK)
{
gotMessage = true;
break;
}
}
if (gotMessage)
{
val = ReadRegister(RXB0CTRL);
msg.IsRemote = ((val & 0x04) == 0x04) ? true : false;
//Address received from, identify the identifier
int adddresVal = 0;
val = ReadRegister(RXB0SIDH);
adddresVal |= (val << 3);
val = ReadRegister(RXB0SIDL);
adddresVal |= (val >> 5);
bool isExtended = ((val & EXIDE_MASK) == EXIDE_MASK) ? true : false;
uint adddresExtVal = 0;
if (isExtended)
{
adddresExtVal = (uint)((val & 0x03) << 16);
val = ReadRegister(RXB0EID8);
adddresExtVal |= (uint)(val << 8);
val = ReadRegister(RXB0EID0);
adddresExtVal |= val;
adddresVal = (int)((adddresVal << 18) | adddresExtVal);
}
msg.CANID = (uint)adddresVal;
//Read data bytes
val = ReadRegister(RXB0DLC);
int dataLen = (val & 0xf);
byte[] CmdBuffer = new byte[] { READ, RXB0D0 };
msg.data = new byte[dataLen];
spi.WriteRead(CmdBuffer, msg.data, 2);
//And clear read interrupt
WriteRegisterBit(CANINTF, RX0IF, 0);
}
else
{
}
return gotMessage;
}
public bool Transmit(CANMSG message, int timeout)
{
// Holds if message was sent or not.
bool sentMessage = false;
// Calculate the end time based on current device time.
TimeSpan startTime = Utility.GetMachineTime();
TimeSpan endTime = startTime.Add(new TimeSpan(0, 0, 0, 0, timeout));
//--------------------------------------
// Set the CAN ID.
byte val = 0x00;
uint bit11Address = 0x00;
uint bit18Address = 0x00;
// Build Extended CAN ID
if (message.IsExtended)
{
// Split the 11 bit and 18 bit sections of the ID.
bit11Address = (uint)((message.CANID >> 16) & 0xFFFF);
bit18Address = (uint)(message.CANID & 0xFFFFF);
// Set the first part of the ID
val = (byte)(bit11Address >> 5);
WriteRegister(TXB0SIDH, val);
// Set the second part of the ID.
val = (byte)(bit11Address << 3);
val |= (byte)(bit11Address & 0x07);
// Mark the message as extended.
val |= 1 << EXIDE;
WriteRegister(TXB0SIDL, val);
// Write the 18 bit part of the ID
val = (byte)(bit18Address >> 8);
WriteRegister(TXB0EID8, val);
val = (byte)(bit18Address);
WriteRegister(TXB0EID0, val);
}
else
{
// Transmit a 11 bit ID.
bit11Address = (uint)(message.CANID);
val = (byte)(bit11Address >> 3);
WriteRegister(TXB0SIDH, val);
val = (byte)(bit11Address << 5);
WriteRegister(TXB0SIDL, val);
}
//--------------------------------------
val = (byte)(message.DataLength & 0x0f);
// Check if is a remote frame
if (message.IsRemote)
{
// Mark the frame as remote
val |= (byte)(1UL << (TXRTR));
WriteRegisterBit(val, TXRTR, 1);
}
WriteRegister(TXB0DLC, val);
//--------------------------------------
//Write Message Data
byte[] txDATA = new byte[10];
txDATA[0] = WRITE;
txDATA[1] = TXB0D0;
for (int i = DataIndexOffset; i < message.DataLength + DataIndexOffset; i++)
{
txDATA[i] = message.data[i - DataIndexOffset];
}
spiBus.Write(txDATA);
//----------------------
// Command to transmit the CAN message
WriteRegisterBit(TXB0CTRL, TXREQ, 1);
//----------------------
// Wait untile time out to get confirmation of message was sent.
while (Utility.GetMachineTime() < endTime)
{
val = ReadRegister(CANINTF);
if ((val & TX0IF_MASK) == TX0IF_MASK)
{
sentMessage = true;
break;
}
}
////Abort the send if failed
WriteRegisterBit(TXB0CTRL, TXREQ, 0);
////And clear write interrupt
WriteRegisterBit(CANINTF, TX0IF, 0);
return(sentMessage);
}
/// <summary>
/// Check if a new message was received by the transceiver.
/// </summary>
/// <param name="msg">The CAN message that will contain the retrived message.</param>
/// <param name="timeout">The time to wait if a message become available.</param>
/// <returns>True if a message was received.</returns>
public bool Receive(out CANMSG msg, int timeout)
{
bool gotMessage = false;
byte val;
msg = new CANMSG();
TimeSpan startTime = Utility.GetMachineTime();
TimeSpan endTime = startTime.Add(new TimeSpan(0, 0, 0, 0, timeout));
gotMessage = false;
while (Utility.GetMachineTime() < endTime)
{
val = ReadRegister(CANINTF);
//If we have a message available, read it
if ((val & RX0IF_MASK) == RX0IF_MASK)
{
gotMessage = true;
break;
}
}
if (gotMessage)
{
val = ReadRegister(RXB0CTRL);
msg.IsRemote = ((val & 0x04) == 0x04) ? true : false;
//Address received from, identify the identifier
int adddresVal = 0;
val = ReadRegister(RXB0SIDH);
adddresVal |= (val << 3);
val = ReadRegister(RXB0SIDL);
adddresVal |= (val >> 5);
bool isExtended = ((val & EXIDE_MASK) == EXIDE_MASK) ? true : false;
uint adddresExtVal = 0;
if (isExtended)
{
adddresExtVal = (uint)((val & 0x03) << 16);
val = ReadRegister(RXB0EID8);
adddresExtVal |= (uint)(val << 8);
val = ReadRegister(RXB0EID0);
adddresExtVal |= val;
adddresVal = (int)((adddresVal << 18) | adddresExtVal);
}
msg.CANID = (uint)adddresVal;
//Read data bytes
val = ReadRegister(RXB0DLC);
int dataLen = (val & 0xf);
byte[] CmdBuffer = new byte[] { READ, RXB0D0 };
msg.data = new byte[dataLen];
spi.WriteRead(CmdBuffer, msg.data, 2);
//And clear read interrupt
WriteRegisterBit(CANINTF, RX0IF, 0);
}
else
{
}
return(gotMessage);
}
/// <summary>Transmit a CAN message to the bus.</summary>
/// <param name="message">The CAN Message to be transmitted.</param>
/// <param name="timeout"></param>
/// <returns></returns>
public bool Transmit(CANMSG message, int timeout)
{
// Holds if message was sent or not.
bool sentMessage = false;
// Calculate the end time based on current device time.
TimeSpan startTime = Utility.GetMachineTime();
TimeSpan endTime = startTime.Add(new TimeSpan(0, 0, 0, 0, timeout));
//--------------------------------------
// Set the CAN ID.
byte val = 0x00;
uint bit11Address = 0x00;
uint bit18Address = 0x00;
// Transmit a 11 bit ID.
bit11Address = (uint)(message.CANID);
val = (byte)(bit11Address >> 3);
WriteRegister(TXB0SIDH, val);
val = (byte)(bit11Address << 5);
WriteRegister(TXB0SIDL, val);
//--------------------------------------
val = (byte)(message.DataLength & 0x0f);
// Check if is a remote frame
if (message.IsRemote)
{
// Mark the frame as remote
val |= (byte)(1UL << (TXRTR));
WriteRegisterBit(val, TXRTR, 1);
}
WriteRegister(TXB0DLC, val);
//--------------------------------------
//Write Message Data
byte[] txDATA = new byte[10];
txDATA[0] = WRITE;
txDATA[1] = TXB0D0;
for (int i = DataIndexOffset; i < message.DataLength + DataIndexOffset; i++)
{
txDATA[i] = message.data[i - DataIndexOffset];
}
spi.Write(txDATA);
//----------------------
// Command to transmit the CAN message
WriteRegisterBit(TXB0CTRL, TXREQ, 1);
//----------------------
// Wait untile time out to get confirmation of message was sent.
//while (Utility.GetMachineTime() < endTime)
//{
// val = ReadRegister(CANINTF);
// if ((val & TX0IF_MASK) == TX0IF_MASK)
// {
// sentMessage = true;
// break;
// }
//}
////Abort the send if failed
//WriteRegisterBit(TXB0CTRL, TXREQ, 0);
////And clear write interrupt
WriteRegisterBit(CANINTF, TX0IF, 0);
return(sentMessage);
}
public void tSend(CANMSG message)
{
byte[] txDATA = new byte[10];
txDATA[0] = WRITE;
txDATA[1] = TXB0D0;
for (int i = DataIndexOffset; i < message.DataLength + DataIndexOffset; i++)
{
txDATA[i] = message.data[i - DataIndexOffset];
}
spi.Write(txDATA);
}
// Have to hack the transmit function to work with chip select too.
public void tId(CANMSG message)
{
byte val = 0x00;
uint bit11Address = 0x00;
bit11Address = (uint)(message.CANID);
val = (byte)(bit11Address >> 3);
WriteRegister(TXB0SIDH, val);
val = (byte)(bit11Address << 5);
WriteRegister(TXB0SIDL, val);
}
