public bool getVoltages(UInt32 CanID)
{
CAN.VCI_CAN_OBJ [] rx1, rx2 = {}, rx;
byte[] txBuf = { (byte)CANCMD.CAN_CMD_SEND_VOLTAGES };
ctl.sendData(txBuf, 0xA, false, true);
//Get the first can frame and determine the length
ctl.getCanFrames(out rx1, 1);
UInt16 cmd = (ushort)(rx1[0].Data[0] | rx1[0].Data[1] << 8);
UInt16 voltageCount = (ushort)(rx1[0].Data[2] | rx1[0].Data[3] << 8);
if (cmd != (byte)CANCMD.CAN_CMD_SEND_VOLTAGES)
{
return(false);
}
//Receive any more frames required
int rxLen = (voltageCount - 2 + 3) / 4;
if (rxLen > 0)
{
ctl.getCanFrames(out rx2, rxLen);
}
//Copy both receive arrays into one
rx = new CAN.VCI_CAN_OBJ[rx1.Length + rx2.Length];
rx1.CopyTo(rx, 0);
rx2.CopyTo(rx, rx1.Length);
UInt16 [] voltages = new UInt16 [voltageCount];
//Get ushort data out of receive array
for (int i = 0; i < voltageCount; i++)
{
voltages[i] = (ushort)(rx[2 * (i + 2) / 8].Data[2 * (i + 2) % 8] | rx[2 * (i + 2) / 8].Data[2 * (i + 2) % 8 + 1] << 8);
}
packData.voltages = new float[voltageCount];
//Convert to float
for (int i = 0; i < voltageCount; i++)
{
packData.voltages[i] = (float)voltages[i] * VOLTS_PER_COUNT;
}
if (voltages.Length != config.cellCount)
{
return(false);
}
return(true);
}
public bool getCanFrame(out CAN.VCI_CAN_OBJ frame)
{
if (rxFrameCount() > 0)
{
frame = rxBuffer[rxBufferRPos];
rxBufferRPos = (rxBufferRPos + 1) % RX_BUF_SIZE;
return(true);
}
else
{
frame = new CAN.VCI_CAN_OBJ();
return(false);
}
}
public bool getLoadEn(UInt32 CanID)
{
CAN.VCI_CAN_OBJ[] rx1, rx2 = { }, rx;
byte[] txBuf = { (byte)CANCMD.CAN_CMD_SEND_LOAD_EN };
ctl.sendData(txBuf, 0xA, false, true);
//Get the first can frame and determine the length
ctl.getCanFrames(out rx1, 1);
UInt16 cmd = (ushort)(rx1[0].Data[0] | rx1[0].Data[1] << 8);
UInt16 cellCount = (ushort)(rx1[0].Data[2] | rx1[0].Data[3] << 8);
if (cmd != (byte)CANCMD.CAN_CMD_SEND_LOAD_EN)
{
return(false);
}
UInt16 bytes = (ushort)((cellCount + 7) / 8); //Number of bytes requred to hold cellCount bits
//Receive any more frames required
int rxLen = (bytes - 4 + 7) / 8;
if (rxLen > 0)
{
ctl.getCanFrames(out rx2, rxLen);
}
//Copy both receive arrays into one
rx = new CAN.VCI_CAN_OBJ[rx1.Length + rx2.Length];
rx1.CopyTo(rx, 0);
rx2.CopyTo(rx, rx1.Length);
packData.loadEn = new bool[cellCount];
//Extract the load enable bool array from the packed binary data received from the BMS, taking into account 4 byte header
for (int i = 0; i < cellCount; i++)
{
packData.loadEn[i] = (rx[(i / 8 + 4) / 8].Data[(i / 8 + 4) % 8] & (1 << (i % 8))) != 0;
}
if (packData.loadEn.Length != config.cellCount)
{
return(false);
}
return(true);
}
public ushort[] getLocalVoltages(UInt32 CanID)
{
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
CAN.VCI_CAN_OBJ[] receive;
VoltagesStr vStr;
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data = new byte[8];
send[0].Data[0] = (byte)CANCMD.CAN_CMD_GET_LOCAL_VOLTAGES;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(new ushort[0]);
}
ctl.getCanFrames(out receive, 2);
byte[] buffer = new byte[Marshal.SizeOf(typeof(VoltagesStr))];
for (int i = 0; i < buffer.Length; i++)
{
buffer[i] = receive[i / 8].Data[i % 8];
}
vStr = StructTools.byteArray2Struct <VoltagesStr>(buffer);
return(vStr.voltages);
}
private void cmdTx_Click(object sender, EventArgs e)
{
UInt32 retval;
if (CANConnected)
{
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
CAN.VCI_CAN_OBJ[] receive = new CAN.VCI_CAN_OBJ[3];
send[0].ID = 0xA;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data = new byte[8];
send[0].Data[0] = 0;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
receive[0].Data = new byte[8];
receive[1].Data = new byte[8];
receive[2].Data = new byte[8];
receive[0].Reserved = new byte[3];
receive[1].Reserved = new byte[3];
receive[2].Reserved = new byte[3];
retval = CAN.VCI_Receive(CAN.DEV_USBCAN2, 0, 0, receive, 50, 1000);
//retval = CAN.VCI_Receive(CAN.DEV_USBCAN2, 0, 0, receive, 1, 1000);
//retval = CAN.VCI_Receive(CAN.DEV_USBCAN2, 0, 0, receive, 1, 1000);
int a;
a = 0;
}
}
public bool saveCalibration(UInt32 CanID)
{
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
CAN.VCI_CAN_OBJ[] receive;
VoltagesStr vStr;
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data = new byte[8];
send[0].Data[0] = (byte)CANCMD.CAN_CMD_SAVE_CAL;
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(false);
}
ctl.getCanFrames(out receive, 1);
if (receive[0].Data[0] == (byte)CANCMD.CAN_CMD_SAVE_CAL)
{
return(true);
}
else
{
return(false);
}
}
public bool setPassthrough(UInt32 CanID, bool passthrough)
{
UInt32 retval;
CAN.VCI_CAN_OBJ[] send = new CAN.VCI_CAN_OBJ[1];
send[0].ID = CanID;
send[0].TimeFlag = 0;
send[0].SendType = 0;
send[0].RemoteFlag = 0;
send[0].ExternFlag = 1;
send[0].DataLen = 1;
send[0].Data = new byte[8];
send[0].Data[0] = (byte)(passthrough ? CANCMD.CAN_CMD_SET_BALBUS_PASSTHROUGH : CANCMD.CAN_CMD_CLEAR_BALBUS_PASSTHROUGH);
retval = CAN.VCI_Transmit(CAN.DEV_USBCAN2, 0, 0, send, 1);
if (retval != CAN.STATUS_OK)
{
return(false);
}
return(true);
}