private void ThreadTest()
{
this.isRunning = true;
var canController = CanController.FromName(SC20260.CanBus.Can1);
canController.SetNominalBitTiming(new GHIElectronics.TinyCLR.Devices.Can.CanBitTiming(15 + 8, 8, 6, 8, false)); // 250Kbit/s
canController.SetDataBitTiming(new GHIElectronics.TinyCLR.Devices.Can.CanBitTiming(15 + 8, 8, 3, 8, false)); //500kbit/s
canController.Filter.AddRangeFilter(Filter.IdType.Standard, 0x100, 0x7FF);
canController.Filter.AddRangeFilter(Filter.IdType.Extended, 0x100, 0x999);
canController.MessageReceived += this.CanController_MessageReceived;
canController.ErrorReceived += this.CanController_ErrorReceived;
canController.Enable();
while (this.isRunning)
{
Thread.Sleep(100);
}
this.isRunning = false;
canController.Disable();
}
private static void Main()
{
var btn1 = GpioController.GetDefault().OpenPin(G80.GpioPin.PE0);
btn1.SetDriveMode(GpioPinDriveMode.InputPullUp);
var can = CanController.FromName(G80.CanBus.Can1);
// Settings for 500kbps
var propagation = 1;
var phase1 = 12;
var phase2 = 2;
var baudratePrescaler = 6;
var synchronizationJumpWidth = 1;
var useMultiBitSampling = false;
can.SetBitTiming(new CanBitTiming(propagation, phase1, phase2, baudratePrescaler, synchronizationJumpWidth, useMultiBitSampling));
can.Enable();
var message = new CanMessage()
{
Data = new byte[] { 0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88 },
ArbitrationId = 0x99,
Length = 6,
IsRemoteTransmissionRequest = false,
IsExtendedId = false
};
can.MessageReceived += Can_MessageReceived;
can.ErrorReceived += Can_ErrorReceived;
while (true)
{
if (btn1.Read() == GpioPinValue.Low)
{
can.WriteMessage(message);
}
Thread.Sleep(100);
}
}
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
}
}
}
private bool DoTestCan()
{
this.AddNextButton();
this.UpdateStatusText("Testing CAN1.", true);
this.UpdateStatusText("- Open PCAN-View application.", false);
this.UpdateStatusText("- Nominal speed: 250Kbit/s.", false);
this.UpdateStatusText("- Data speed: 500Kbit/.", false);
this.UpdateStatusText("- The test is waiting for any msg with arbitrationId 0x1234.", false);
var canController = CanController.FromName(SC20260.CanBus.Can1);
canController.SetNominalBitTiming(new GHIElectronics.TinyCLR.Devices.Can.CanBitTiming(15 + 8, 8, 6, 8, false)); // 250Kbit/s
canController.SetDataBitTiming(new GHIElectronics.TinyCLR.Devices.Can.CanBitTiming(15 + 8, 8, 3, 8, false)); //500kbit/s
canController.Enable();
var message = new CanMessage()
{
ArbitrationId = 0x1234,
ExtendedId = true,
FdCan = true,
BitRateSwitch = true,
Data = new byte[] { 0, 1, 2, 3, 4, 5, 6, 7 },
Length = 8
};
var result = false;
while (this.doNext == false && this.isRunning)
{
if (canController.MessagesToRead == 0)
{
try {
canController.WriteMessage(message);
}
catch {
canController.Disable();
Thread.Sleep(100);
canController.Enable();
}
Thread.Sleep(1000);
continue;
}
var msgs = new GHIElectronics.TinyCLR.Devices.Can.CanMessage[canController.MessagesToRead];
for (var i = 0; i < msgs.Length; i++)
{
msgs[i] = new GHIElectronics.TinyCLR.Devices.Can.CanMessage();
}
for (var i = 0; i < msgs.Length; i++)
{
canController.ReadMessages(msgs, 0, msgs.Length);
if (msgs[i].ArbitrationId == message.ArbitrationId)
{
this.doNext = true;
result = true;
break;
}
}
if (result)
{
break;
}
}
canController.Disable();
this.RemoveNextButton();
return(result);
}
