private void CanController_ErrorReceived(CanController sender, ErrorReceivedEventArgs e)
{
try {
// Reset CAN
sender.Disable();
Thread.Sleep(10);
sender.Enable();
}
catch { }
}
public static void TestCanSpi()
{
// Initialize CanSpi Click module on SC20260D socket #2
_canSpi = new CanSpiClick(Hardware.SC20260_2);
if (_canSpi.Init("CAN#1", CanSpiClick.Baudrate500k, CanSpiClick.normalMode))
{
Debug.WriteLine("CAN#1 @ 500kbps");
}
else
{
throw new NotImplementedException("CanSpiClick initialization failed!");
}
_canSpi.MessageReceived += CAN1_MessageReceived;
// Initialize SC20260D onboard Can
_onboardCan = CanController.FromName(STM32H7.CanBus.Can1);
_onboardCan.SetNominalBitTiming(new CanBitTiming(propagationPhase1: 13, phase2: 2, baudratePrescaler: 6, synchronizationJumpWidth: 1, useMultiBitSampling: false));
_onboardCan.Enable();
_onboardCan.MessageReceived += Can_MessageReceived;
_onboardCan.ErrorReceived += Can_ErrorReceived;
CanSpiToOnboardCan();
OnboardCanToCanSpi();
}
static void Main()
{
//Instantiate the network class
Network = new Network("192.168.181.210", "255.255.255.0", "192.168.181.1", "192.168.181.1", new byte[] { 0xA1, 0xA6, 0xB9, 0x3E, 0xD0, 0x1F });
//Initialize the network
Network.InitializeNetwork();
//Create a UDP socket
sock = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp);
//Start the CAN at 250kbps
can = CanController.FromName(SC20100.CanBus.Can1);
can.SetNominalBitTiming(new CanBitTiming(13, 2, 12, 1, false));
can.ErrorReceived += Can_ErrorReceived; //Attach to the error event
can.Enable(); //Enable the CAN peripheral
new Thread(Print).Start(); //Start a thread that will print how many messages we processed last second
//A byte array used in the loop
byte[] data = new byte[8];
while (true)
{
//If we have messages to read
if (can.MessagesToRead > 0)
{
//Read the message
can.ReadMessage(out msg);
msgCount++; //Increment the count
Array.Copy(msg.Data, data, 8); //Copy the data so we only take the first 8 received bytes instead of all 64
//sock.SendTo(data, endPoint); //Send the data to the endpoint over the socket. REMOVE THIS LINE TO BE ABLE TO PROCESS AS MUCH MESSAGES AS CAN ALLOWS
}
}
}
