/* public CANMessage waitForMessage(uint a_canID, int a_timeout) { CANMessage retMsg; m_canMessage.setID(0); // init so we cannot receive the same frame twice <GS-10022010> lock (m_canMessage) { m_waitMsgID = a_canID; } m_resetEvent.WaitOne(a_timeout, true); lock (m_canMessage) { retMsg = m_canMessage; } return retMsg; } */ public override void handleMessage(CANMessage a_message) { lock (m_canMessage) { if (a_message.getID() == m_waitMsgID) { m_canMessage.setData(a_message.getData()); m_canMessage.setFlags(a_message.getFlags()); m_canMessage.setID(a_message.getID()); m_canMessage.setLength(a_message.getLength()); m_canMessage.setTimeStamp(a_message.getTimeStamp()); messageReceived = true; m_resetEvent.Set(); } } }
public override void handleMessage(CANMessage a_message) { if (_queue == null) { _queue = new CANMessage[16]; _receiveMessageIndex = 0; _readMessageIndex = 0; } // add the message to a queue for later processing ... // the queue is a ringbuffer for CANMessage objects. // X objects are supported // we need a receive and a read pointer for this to work properly messageReceived = false; //_queue[_receiveMessageIndex] = a_message; _queue[_receiveMessageIndex] = new CANMessage(); _queue[_receiveMessageIndex].setData(a_message.getData()); _queue[_receiveMessageIndex].setID(a_message.getID()); _queue[_receiveMessageIndex].setLength(a_message.getLength()); _receiveMessageIndex++; if(_receiveMessageIndex > _queue.Length - 1) _receiveMessageIndex = 0; // make it circular //DetermineSize(); /* lock (m_canMessage) { if (a_message.getID() == m_waitMsgID) { m_canMessage = a_message; messageReceived = true; } } if (messageReceived) { m_resetEvent.Set(); }*/ }
public override bool sendMessage(CANMessage a_message) { string sendString = " "; /*if (a_message.getID() == 0x11) { // try to insert length ourselves sendString = " "; sendString += a_message.getLength().ToString("X2"); }*/ Console.WriteLine("send: " + a_message.getID().ToString("X3") + " " + a_message.getData().ToString("X16")); if (a_message.getID() != _ECUAddress) { _ECUAddress = a_message.getID(); string command = "ATSH" + a_message.getID().ToString("X3"); /*if (_ECUAddress == 0x11) { command = "ATSH 0000" + a_message.getID().ToString("X3"); }*/ m_serialPort.Write(command + "\r"); //Set header to 7E0 = ECU AddToSerialTrace("SERTX: " + command); CastInformationEvent("Switching to ID: " + a_message.getID().ToString("X3")); string answer = m_serialPort.ReadTo(">"); CastInformationEvent(command + " response: " + answer); } for (uint i = 0; i < a_message.getLength(); i++) // leave out the length field, the ELM chip assigns that for us { //if (i <= 7) { sendString += a_message.getCanData(i).ToString("X2"); } /*else { sendString += "00"; // fill with zeros }*/ } //sendString = sendString.Trim(); sendString += "\r"; if (m_serialPort.IsOpen) { m_serialPort.Write(sendString); AddToSerialTrace("SERTX: " + sendString); //Console.WriteLine("TX: " + sendString); AddToCanTrace("TX: " + a_message.getID().ToString("X3") + " " + sendString); } // bitrate = 38400bps -> 4800 bytes per second // sending each byte will take 0.2 ms approx // bitrate = 115200bps -> 14400 bytes per second // sending each byte will take 0,07 ms approx Thread.Sleep(2); // sleep length ms //07E0 0000000000003E01 if (a_message.getID() == 0x7E0 && a_message.getCanData(0) == 0x01 && a_message.getCanData(1) == 0x3E) { //m_serialPort.Write("ATMA\r"); //AddToSerialTrace("SERTX: ATMA"); } // Thread.Sleep(10); //receiveString = "49 01 01 00 00 00 31 \n\r49 02 02 44 34 47 50 \n\r49 02 03 30 30 52 35 \n\r49 02 04 25 42";// m_serialPort.ReadTo(">"); /*receiveString = m_serialPort.ReadTo(">"); char[] chrArray = receiveString.ToCharArray(); byte[] reply = new byte[0xFF]; int insertPos = 1; int index = 0; string subString = ""; while (receiveString.Length > 4) { //Remove first three bytes //TODO. Remove Mode and PIDs for (int i = 0; i < 3; i++) { index = receiveString.IndexOf(" "); receiveString = receiveString.Remove(0, index + 1); } //Read data for the rest of the row. for (int i = 0; i < 4; i++) { index = receiveString.IndexOf(" "); if (index == 0) //Last row not 4 bytes of data. { continue; } subString = receiveString.Substring(0, index); reply[insertPos] = (byte)Convert.ToInt16("0x" + subString, 16); insertPos++; receiveString = receiveString.Remove(0, index + 1); } } reply[0] = (byte)insertPos; //Length r_reply = new KWPReply(reply, a_request.getNrOfPID()); return RequestResult.NoError;*/ return true; // remove after implementation }
/// <summary> /// Send a KWP request. /// </summary> /// <param name="a_request">A KWP request.</param> /// <param name="r_reply">A KWP reply.</param> /// <returns>The status of the request.</returns> public RequestResult sendRequest(KWPRequest a_request, out KWPReply r_reply) { CANMessage msg = new CANMessage(0x7E0, 0, 8); uint row = nrOfRowsToSend(a_request.getData()); m_kwpCanListener.setupWaitMessage(0x7E8); // Send one or several request messages. for (; row > 0; row--) { msg.setData(createCanMessage(a_request.getData(), row - 1)); if (!m_canDevice.sendMessage(msg)) { r_reply = new KWPReply(); return RequestResult.ErrorSending; } } msg = m_kwpCanListener.waitMessage(timeoutPeriod); // msg = m_kwpCanListener.waitForMessage(0x7E8, timeoutPeriod); // Receive one or several replys and send an ack for each reply. if (msg.getID() == 0x7E8) { uint nrOfRows = (uint)(msg.getCanData(0) & 0x3F)+ 1; row = 0; if (nrOfRows == 0) throw new Exception("Wrong nr of rows"); //Assume that no KWP reply contains more than 0x200 bytes byte[] reply = new byte[0x200]; reply = collectReply(reply, msg.getData(), row); sendAck(nrOfRows - 1); nrOfRows--; m_kwpCanListener.setupWaitMessage(0x7E8); while (nrOfRows > 0) { // msg = m_kwpCanListener.waitForMessage(0x7E8, timeoutPeriod); msg = m_kwpCanListener.waitMessage(timeoutPeriod); if (msg.getID() == 0x7E8) { row++; reply = collectReply(reply, msg.getData(), row); sendAck(nrOfRows - 1); nrOfRows--; } else { r_reply = new KWPReply(); return RequestResult.Timeout; } } r_reply = new KWPReply(reply, a_request.getNrOfPID()); return RequestResult.NoError; } else { r_reply = new KWPReply(); return RequestResult.Timeout; } }
/*private void AddToCanTrace(string line) { if (m_EnableCanLog) { DateTime dtnow = DateTime.Now; using (StreamWriter sw = new StreamWriter(System.Windows.Forms.Application.StartupPath + "\\CanTraceCANUSBDevice.txt", true)) { sw.WriteLine(dtnow.ToString("dd/MM/yyyy HH:mm:ss") + " - " + line); } } }*/ /// <summary> /// sendMessage send a CANMessage. /// </summary> /// <param name="a_message">A CANMessage.</param> /// <returns>true on success, othewise false.</returns> public override bool sendMessage(CANMessage a_message) { LAWICEL.CANMsg msg = new LAWICEL.CANMsg(); msg.id = a_message.getID(); msg.len = a_message.getLength(); msg.flags = a_message.getFlags(); msg.data = a_message.getData(); int writeResult; //AddToCanTrace("Sending message"); AddToCanTrace("TX: " + msg.id.ToString("X4") + " " + msg.data.ToString("X16")); writeResult = LAWICEL.canusb_Write(m_deviceHandle, ref msg); if (writeResult == LAWICEL.ERROR_CANUSB_OK) { //AddToCanTrace("Message sent successfully"); return true; } else { switch (writeResult) { case LAWICEL.ERROR_CANUSB_COMMAND_SUBSYSTEM: AddToCanTrace("Message failed to send: ERROR_CANUSB_COMMAND_SUBSYSTEM"); break; case LAWICEL.ERROR_CANUSB_INVALID_PARAM: AddToCanTrace("Message failed to send: ERROR_CANUSB_INVALID_PARAM"); break; case LAWICEL.ERROR_CANUSB_NO_MESSAGE: AddToCanTrace("Message failed to send: ERROR_CANUSB_NO_MESSAGE"); break; case LAWICEL.ERROR_CANUSB_NOT_OPEN: AddToCanTrace("Message failed to send: ERROR_CANUSB_NOT_OPEN"); break; case LAWICEL.ERROR_CANUSB_OPEN_SUBSYSTEM: AddToCanTrace("Message failed to send: ERROR_CANUSB_OPEN_SUBSYSTEM"); break; case LAWICEL.ERROR_CANUSB_TX_FIFO_FULL: AddToCanTrace("Message failed to send: ERROR_CANUSB_TX_FIFO_FULL"); break; default: AddToCanTrace("Message failed to send: " + writeResult.ToString()); break; } return false; } }
//--------------------------------------------------------------------------------------------- /** Sends a 11 bit CAN data frame. @param msg CAN message @return success (true/false) */ public override bool sendMessage(CANMessage msg) { //Console.WriteLine("TX: " + msg.getID().ToString("X4") + " " + msg.getData().ToString("X16")); this.AddToCanTrace("Sending message: " + msg.getID().ToString("X4") + " " + msg.getData().ToString("X16") + " " + msg.getLength().ToString("X2")); try { Combi.caCombiAdapter.caCANFrame frame; frame.id = msg.getID(); frame.length = msg.getLength(); frame.data = msg.getData(); frame.is_extended = 0; frame.is_remote = 0; this.combi.CAN_SendMessage(ref frame); this.AddToCanTrace("Message sent successfully"); return true; } catch (Exception e) { this.AddToCanTrace("Message failed to send: " + e.Message); return false; } }
/// <summary> /// Send a message that starts a session. This is used to test if there is /// a connection. /// </summary> /// <returns></returns> public bool sendSessionRequest(byte unit) { AddToCanTrace("Sending session request to unit 0x" + unit.ToString("X2")); for (int i = 0; i < 5; i++) { CANMessage msg1 = new CANMessage(0x7E0, 0, 8); msg1.setData(0x000040021100813f); //msg1.setData(0x000040021100813f); msg1.setCanData(unit, 5); // overwrite the 0x11 with UNIT AddToCanTrace("Sending: " + msg1.getData().ToString("X16") + " id: 0x" + msg1.getID().ToString("X4") + " " + i.ToString()); if (!sendMessage(msg1)) { AddToCanTrace("Unable to send session request"); return false; } uint reponseID = GetIDforUnit(unit); AddToCanTrace("Waiting for ID: 0x" + reponseID.ToString("X4")); if (waitForMessage(reponseID, 500, out msg1) == reponseID) { AddToCanTrace("ResponseID seen"); Console.WriteLine("ResponseID seen"); return true; } AddToCanTrace("no reponse seen from unit 0x" + unit.ToString("X2")); Console.WriteLine("no reponse seen from unit 0x" + unit.ToString("X2")); } return false; }
public int query_data(byte unit, byte data_id, out byte[] answer) { byte[] data = new byte[8]; byte length= 0; byte i = 0; answer = new byte[8]; // test <GS-11012011> int rcv_length; byte[] query = new byte[8] { 0x40, 0x00, 0x02, 0x21, 0x00, 0x00, 0x00, 0x00 }; byte[] ack = new byte[8] { 0x40, 0x00, 0x3F, 0x00, 0x00, 0x00, 0x00, 0x00 }; //ulong query_long = 0x0000000021020040; //ulong ack_long = 0x00000000003F0040; query[1] = unit; ack[1] = unit; // If data_id is zero, decrease length field if (data_id != 0x00) query[4] = data_id; else query[2] = 0x01; data[0] = 0x00; rcv_length = 0; //for (int i = 0; i < 5; i++) { CANMessage msg = new CANMessage(0x240, 0, 8); //msg.setData(query_long); msg.setCanData(query[0], 0); msg.setCanData(query[1], 1); msg.setCanData(query[2], 2); msg.setCanData(query[3], 3); msg.setCanData(query[4], 4); msg.setCanData(query[5], 5); msg.setCanData(query[6], 6); msg.setCanData(query[7], 7); msg.setID(0x240); AddToCanTrace("Sending: 0x" + msg.getData().ToString("X16") + " id: 0x" + msg.getID().ToString("X4")); if (!sendMessage(msg)) { return -1; } uint reply_unit = GetReplyforUnit(unit); reply_unit = 0x258; // for testing purposes while (data[0] != 0x80 && data[0] != 0xC0) { CANMessage replyMessage = new CANMessage(); AddToCanTrace("Waiting for ID: 0x" + reply_unit.ToString("X4")); if (waitForMessage(reply_unit, 1000, out replyMessage) == reply_unit) { AddToCanTrace("Rx data: " + replyMessage.getData().ToString("X16")); data[0] = replyMessage.getCanData(0); data[1] = replyMessage.getCanData(1); data[2] = replyMessage.getCanData(2); data[3] = replyMessage.getCanData(3); data[4] = replyMessage.getCanData(4); data[5] = replyMessage.getCanData(5); data[6] = replyMessage.getCanData(6); data[7] = replyMessage.getCanData(7); int idx = 0; if ((data[0] & 0x40) > 0) { if (data[2] > 0x02) { length = data[2]; // subtract two non-payload bytes length -= 2; answer = new byte[length]; } else length = 0; if (--length > 0) { answer[idx++] = data[5]; rcv_length++; } if (--length > 0) { answer[idx++] = data[6]; rcv_length++; } if (--length > 0) { answer[idx++] = data[7]; rcv_length++; } } else { for (i = 0; i < 6; i++) { answer[idx++] = data[2 + i]; length--; rcv_length++; if (length == 0) i = 6; } } // Send acknowledgement ack[3] = Convert.ToByte(data[0] & 0xBF); CANMessage ackMessage = new CANMessage(); //ackMessage.setData(ack_long); ackMessage.setCanData(ack[0], 0); ackMessage.setCanData(ack[1], 1); ackMessage.setCanData(ack[2], 2); ackMessage.setCanData(ack[3], 3); ackMessage.setCanData(ack[4], 4); ackMessage.setCanData(ack[5], 5); ackMessage.setCanData(ack[6], 6); ackMessage.setCanData(ack[7], 7); ackMessage.setID(0x266); sendMessage(ackMessage); } else { // Timeout AddToCanTrace("Timeout waiting for 0x" + reply_unit.ToString("X3")); return -1; } } } return rcv_length; }
public override bool sendMessage(CANMessage a_message) { string sendString = "t"; sendString += a_message.getID().ToString("X3"); sendString += a_message.getLength().ToString("X1"); for (uint i = 0; i < a_message.getLength(); i++) // leave out the length field, the ELM chip assigns that for us { sendString += a_message.getCanData(i).ToString("X2"); } sendString += "\r"; if (m_serialPort.IsOpen) { AddToCanTrace("TX: " + a_message.getID().ToString("X3") + " " + a_message.getLength().ToString("X1") + " " + a_message.getData().ToString("X16")); m_serialPort.Write(sendString); //Console.WriteLine("TX: " + sendString); } // bitrate = 38400bps -> 3840 bytes per second // sending each byte will take 0.2 ms approx //Thread.Sleep(a_message.getLength()); // sleep length ms // Thread.Sleep(10); Thread.Sleep(1); return true; // remove after implementation }
public void readMessages() { CANMessage canMessage = new CANMessage(); string rxMessage = string.Empty; Console.WriteLine("readMessages started"); while (true) { lock (m_synchObject) { if (m_endThread) { Console.WriteLine("readMessages ended"); return; } } try { if (m_serialPort.IsOpen) { do { rxMessage = m_serialPort.ReadLine(); rxMessage = rxMessage.Replace("\r", ""); // remove prompt characters... we don't need that stuff rxMessage = rxMessage.Replace("\n", ""); // remove prompt characters... we don't need that stuff } while (rxMessage.StartsWith("w") == false); uint id = Convert.ToUInt32(rxMessage.Substring(1, 3), 16); if (MessageContainsInformationForRealtime(id)) { canMessage.setID(id); canMessage.setLength(8); canMessage.setData(0x0000000000000000); for (uint i = 0; i < 8; i++) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(5 + (2 * (int)i), 2), 16), i); lock (m_listeners) { AddToCanTrace("RX: " + canMessage.getID().ToString("X3") + " " + canMessage.getLength().ToString("X1") + " " + canMessage.getData().ToString("X16")); //Console.WriteLine("MSG: " + rxMessage); foreach (ICANListener listener in m_listeners) { listener.handleMessage(canMessage); } //CastInformationEvent(canMessage); // <GS-05042011> re-activated this function } //Thread.Sleep(1); } //else { // Thread.Sleep(1); // give others some air } } } catch (Exception) { Console.WriteLine("MSG: " + rxMessage); } } }