public bool GetParameter(ushort controllerId, ushort parameterId, byte subindex)
{
int repeatCount = 0;
var dataList = new List <CanDriver.canmsg_t>();
var msg = new CanDriver.canmsg_t();
msg.flags = CanDriver.MSG_BOVR;
msg.cob = 0;
msg.id = (uint)(0x600 + controllerId); //rSdo + id=1
msg.length = (short)CanDriver.DATALENGTH;
msg.data = new byte[CanDriver.DATALENGTH];
msg.data[0] = 0x40; //read data
msg.data[1] = (byte)(parameterId); //id low
msg.data[2] = (byte)(parameterId >> 8); //id high
msg.data[3] = subindex; //subindex
dataList.Add(msg);
while (true)
{
_device.SendData(dataList);
if (!_isUnloaded.WaitOne(TimeSpan.FromMilliseconds(250)))
{
repeatCount++;
if (repeatCount == 10)
{
MessageBox.Show(@"Превышен лимит ожидания вычитки параметра 0x" + Convert.ToString(parameterId, 16) + @"!!!", @"Ошибка");
return(false);
}
continue;
}
break;
}
return(true);
}
public List <CanDriver.canmsg_t> ReceiveMsgBlock(int msgCount)
{
int Ret = 0;
byte CAN_No, Mode, RTR, DLC;
byte[] Data = new byte[8];
UInt32 CANID, TH, TL, DL, DH;
var msgBlock = new List <CanDriver.canmsg_t>();
UInt32 realCount = 0;
CAN_No = 1;
Mode = RTR = DLC = 0;
CANID = TH = TL = 0;
int ret;
while (Ret++ < msgCount)
{
Mode = RTR = DLC = 0;
CANID = TH = TL = 0;
ret = VCI_CAN_DotNET.VCI_SDK.VCI_RecvCANMsg_NoStruct(CAN_No, ref Mode, ref RTR, ref DLC, ref CANID, ref TL, ref TH, Data);
if ((ret == 14 && Ret == 1) || ret == 5)
{
return(msgBlock);
}
var msg = new CanDriver.canmsg_t
{
id = CANID,
length = (short)Data.Count(),
data = new byte[Data.Count()]
};
for (int i = 0; i < msg.length; i++)
{
msg.data[i] = Data[i];
}
msgBlock.Add(msg);
}
return(msgBlock);
}
public List <CanDriver.canmsg_t> ReceiveMsgBlock(int msgCount)
{
string ReceiveStatus;
int nRet;
uint nReadCount = (uint)msgCount;
uint pulNumberofRead = 0;
var msgRead = new CanDriver.canmsg_t[msgCount];
for (int i = 0; i < msgCount; i++)
{
msgRead[i].data = new byte[8];
}
nRet = acCanRead(msgRead, nReadCount, ref pulNumberofRead); //Receiving frames
if (nRet == AdvCANIO.TIME_OUT)
{
ReceiveStatus = "Package ";
ReceiveStatus += "receiving timeout!";
return(new List <CanDriver.canmsg_t>());
}
else if (nRet == AdvCANIO.OPERATION_ERROR)
{
ReceiveStatus = "Package ";
ReceiveStatus += " error!";
return(null);
}
else
{
var ret = msgRead.ToList();
//var ret = msgRead.ToList().Where(m=>m.id!=0xF).ToList();
//if(ret.Count!=0)
ret.RemoveRange((int)pulNumberofRead, (int)(msgRead.Count() - pulNumberofRead));
return(ret);
}
}
public bool SetParameter(CanParameter canParameter)
{
int repeatCount = 0;
var msg = new CanDriver.canmsg_t();
msg.flags = CanDriver.MSG_BOVR;
msg.cob = 0;
msg.id = (uint)(0x600 + canParameter.ControllerId); //rSdo + id=1
msg.length = (short)CanDriver.DATALENGTH;
msg.data = new byte[CanDriver.DATALENGTH];
msg.data[1] = (byte)(canParameter.ParameterId); //id low
msg.data[2] = (byte)(canParameter.ParameterId >> 8); //id high
msg.data[3] = canParameter.ParameterSubIndex; //subindex
if (canParameter.Data.Count() == 4)
{
msg.data[0] = 0x22; //write 4 byte e=1 s=0;
msg.data[4] = canParameter.Data[0];
msg.data[5] = canParameter.Data[1];
msg.data[6] = canParameter.Data[2];
msg.data[7] = canParameter.Data[3];
}
else if (canParameter.Data.Count() == 3)
{
msg.data[0] = 0x26; //write 3 byte e=1 s=0;
msg.data[4] = canParameter.Data[0];
msg.data[5] = canParameter.Data[1];
msg.data[6] = canParameter.Data[2];
}
else if (canParameter.Data.Count() == 2)
{
msg.data[0] = 0x2A; //write 2 byte e=1 s=0;
msg.data[4] = canParameter.Data[0];
msg.data[5] = canParameter.Data[1];
}
else if (canParameter.Data.Count() > 4) //codtDomain
{
_codtDomainThread = new Thread(SetSegment)
{
IsBackground = true
};
_codtDomainThread.Start(canParameter);
return(true);
}
while ((true))
{
if (repeatCount == 10)
{
MessageBox.Show("Превышен лимит ожидания записи параметра 0x" + Convert.ToString(canParameter.ParameterId, 16) + "!!!", "Ошибка");
return(false);
}
_device.SendData(new List <CanDriver.canmsg_t> {
msg
});
if (!_isLoaded.WaitOne(TimeSpan.FromMilliseconds(500)))
{
repeatCount++;
continue;
}
break;
}
return(true);
}
private void SetSegment(object parameter)
{
int repeatCount = 0;
//start block
var canParameter = parameter as CanParameter;
var msg = new CanDriver.canmsg_t();
msg.flags = CanDriver.MSG_BOVR;
msg.cob = 0;
msg.id = (ushort)(0x600 + canParameter.ControllerId); //rSdo + id=1
msg.length = (short)CanDriver.DATALENGTH;
msg.data = new byte[CanDriver.DATALENGTH];
msg.data[0] = 0x20; //write segment e=0 s=0;
msg.data[1] = (byte)(canParameter.ParameterId); //id low
msg.data[2] = (byte)(canParameter.ParameterId >> 8); //id high
msg.data[3] = canParameter.ParameterSubIndex; //subindex
msg.data[4] = (byte)canParameter.Data.Count();
//Device.SendData(new List<CanDriver.canmsg_t> { msg });// start block
while (true)
{
if (repeatCount == 10)
{
MessageBox.Show("Превышен лимит ожидания записи параметра 0x" + Convert.ToString(canParameter.ParameterId, 16) + "!!!", "Ошибка");
return;
}
Thread.Sleep(20);
_device.SendData(new List <CanDriver.canmsg_t> {
msg
}); // start block
if (!_isLoaded.WaitOne(TimeSpan.FromMilliseconds(2000)))
{
repeatCount++;
continue;
}
repeatCount = 0;
Thread.Sleep(200);
break;
}
//if (!_isLoaded.WaitOne(TimeSpan.FromMilliseconds(1000)))
//{
// return;
//}
double byteCount = canParameter.Data.Count();
var _sendNumber = (int)Math.Ceiling((double)(byteCount / 7));
//send data
int i = 0;
while (i < _sendNumber)
{
var block = new byte[8];
for (int j = 0; j < 7; j++)
{
if (i * 7 + j >= canParameter.Data.Count()) //set last bute to 0
{
block[j + 1] = 0;
}
else
{
block[j + 1] = canParameter.Data[i * 7 + j];
}
}
if (i == _sendNumber - 1)//last block + 6 bit unused
{
block[0] = 0x1D;
}
else if (i % 2 == 0) //change count bit
{
block[0] = 0;
}
else
{
block[0] = 0x10;
}
_device.SendData(new List <CanDriver.canmsg_t>
{
new CanDriver.canmsg_t
{
id = (ushort)(0x600 + canParameter.ControllerId),
length = 8,
flags = CanDriver.MSG_BOVR,
data = block
}
});
if (i == _sendNumber - 1) // if it was last block
{
ParameterReceive(new List <CanParameter> //parameter was seted
{
new CanParameter
{
ControllerId = canParameter.ControllerId,
ParameterId = canParameter.ParameterId,
ParameterSubIndex = canParameter.ParameterSubIndex
}
});
}
if (!_isLoaded.WaitOne(TimeSpan.FromMilliseconds(500)))
{
repeatCount++;
if (repeatCount == 10)
{
MessageBox.Show("Превышен лимит ожидания записи сегмента №" + i + "!!!", "Ошибка");
return;
}
continue;
}
repeatCount = 0;
i++;
}
}
