public static bool ReadRegisters(ISerialPortIo serialPort)
{
byte[] AddressBytes1 = BitConverter.GetBytes(2); //Current Speed At Address 2
byte[] AddressBytes2 = BitConverter.GetBytes(36); //Input Contact Status At Address 36
byte[] AddressBytes3 = BitConverter.GetBytes(6); //Single -Turn Data L At Address 46
byte[] AddressBytes4 = BitConverter.GetBytes(8); //Single -Turn Data H At Address 48
byte[] AddressBytes5 = BitConverter.GetBytes(22); //Current Torque At Address 22
//byte[] AddressBytes6 = BitConverter.GetBytes(38); //Output Contact Status At Address 38
byte[] Command = new byte[15];
Command[0] = 0x00; //Node ID
Command[1] = 0x6A; //Function
Command[2] = 0x0A; //Byte Count
Command[3] = AddressBytes1[1]; //Starting Address Hi
Command[4] = AddressBytes1[0]; //Strating Address Low
Command[5] = AddressBytes2[1]; //Starting Address Hi
Command[6] = AddressBytes2[0]; //Strating Address Low
Command[7] = AddressBytes3[1]; //Starting Address Hi
Command[8] = AddressBytes3[0]; //Strating Address Low
Command[9] = AddressBytes4[1]; //Starting Address Hi
Command[10] = AddressBytes4[0]; //Strating Address Low
Command[11] = AddressBytes5[1]; //Starting Address Hi
Command[12] = AddressBytes5[0]; //Strating Address Low
Command[13] = 0x00; //CRC Hi
Command[14] = 0x00; //CRC Low
byte[] array = BitConverter.GetBytes(ModRTU_CRC(Command, 13));
Command[13] = array[0]; //CRC Hi
Command[14] = array[1]; //CRC Low
serialPort.DiscardInBuffer();
serialPort.DiscardOutBuffer();
bool result = serialPort.WriteWaitResponse(Command, 0, 15, 15);
System.Diagnostics.Debug.WriteLine("ReadRegisters Thread Id: " + System.Threading.Thread.CurrentThread.ManagedThreadId);
return result;
}
