private void OpenChannel(out int hnd, int bitrate)
{
logger.Debug("hnd = canlibCLSNET.Canlib.canOpenChannel()");
hnd = Canlib.canOpenChannel(ChannelNumber, 0);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(hnd)");
Canlib.canStatus statusSetParam = Canlib.canSetBusParams(hnd, bitrate, 0, 0, 0, 0, 0);
logger.Debug("canlibCLSNET.Canlib.canBusOn(hnd)");
Canlib.canStatus statusOn = Canlib.canBusOn(hnd);
Canlib.canIoCtl(hnd, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
}
private void OpenChannelWithParamsC200(out int hnd, byte btr0, byte btr1)
{
logger.Debug("hnd = canlibCLSNET.Canlib.canOpenChannel()");
hnd = Canlib.canOpenChannel(ChannelNumber, 0);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(hnd)");
Canlib.canStatus statusSetParam = Canlib.canSetBusParamsC200(hnd, btr0, btr1);
logger.Debug("canlibCLSNET.Canlib.canBusOn(hnd)");
Canlib.canStatus statusOn = Canlib.canBusOn(hnd);
Canlib.canIoCtl(hnd, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
}
/// <summary>
/// The open method tries to connect to both busses to see if one of them is connected and
/// active. The first strategy is to listen for any CAN message. If this fails there is a
/// check to see if the application is started after an interrupted flash session. This is
/// done by sending a message to set address and length (only for P-bus).
/// </summary>
/// <returns>OpenResult.OK is returned on success. Otherwise OpenResult.OpenError is
/// returned.</returns>
override public OpenResult open()
{
Canlib.canInitializeLibrary();
//Check if bus is connected
if (isOpen())
{
close();
}
Thread.Sleep(200);
m_readThread = new Thread(readMessages)
{
Name = "KvaserCANDevice.m_readThread"
};
m_endThread = false;
// Take first adapter...
string[] adapters = GetAdapterNames();
if (adapters.Length == 0)
{
return(OpenResult.OpenError);
}
SetSelectedAdapter(adapters[0]);
//Check if P bus is connected
logger.Debug("handle1 = canlibCLSNET.Canlib.canOpenChannel()");
handleWrite = Canlib.canOpenChannel(ChannelNumber, 0);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleWrite)");
Canlib.canStatus statusSetParamWrite = Canlib.canSetBusParamsC200(handleWrite, 0x40, 0x37);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleWrite)");
Canlib.canStatus statusOnWrite = Canlib.canBusOn(handleWrite);
Canlib.canIoCtl(handleWrite, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
//
logger.Debug("handle2 = canlibCLSNET.Canlib.canOpenChannel()");
handleRead = Canlib.canOpenChannel(ChannelNumber, 0);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleRead)");
Canlib.canStatus statusSetParamRead = Canlib.canSetBusParamsC200(handleRead, 0x40, 0x37);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleRead)");
Canlib.canStatus statusOnRead = Canlib.canBusOn(handleRead);
Canlib.canIoCtl(handleRead, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
if (handleWrite < 0 || handleRead < 0)
{
return(OpenResult.OpenError);
}
logger.Debug("P bus connected");
if (m_readThread.ThreadState == ThreadState.Unstarted)
{
m_readThread.Start();
}
return(OpenResult.OK);
}
/// <summary>
/// The open method tries to connect to both busses to see if one of them is connected and
/// active. The first strategy is to listen for any CAN message. If this fails there is a
/// check to see if the application is started after an interrupted flash session. This is
/// done by sending a message to set address and length (only for P-bus).
/// </summary>
/// <returns>OpenResult.OK is returned on success. Otherwise OpenResult.OpenError is
/// returned.</returns>
override public OpenResult open()
{
Canlib.canInitializeLibrary();
//Check if bus is connected
if (isOpen())
{
close();
}
Thread.Sleep(200);
m_readThread = new Thread(readMessages)
{
Name = "KvaserCANDevice.m_readThread"
};
if (!UseOnlyPBus)
{
if (TrionicECU == ECU.TRIONIC7)
{
logger.Debug("handle1 = canlibCLSNET.Canlib.canOpenChannel()");
handleWrite = Canlib.canOpenChannel(ChannelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleWrite)");
Canlib.canStatus statusSetParam1 = Canlib.canSetBusParamsC200(handleWrite, CAN_BAUD_BTR_47K_btr0, CAN_BAUD_BTR_47K_btr1);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleWrite)");
Canlib.canStatus statusOn1 = Canlib.canBusOn(handleWrite);
Canlib.canIoCtl(handleWrite, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
//
logger.Debug("handle2 = canlibCLSNET.Canlib.canOpenChannel()");
handleRead = Canlib.canOpenChannel(ChannelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleRead)");
Canlib.canStatus statusSetParam2 = Canlib.canSetBusParamsC200(handleWrite, CAN_BAUD_BTR_47K_btr0, CAN_BAUD_BTR_47K_btr1);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleRead)");
Canlib.canStatus statusOn2 = Canlib.canBusOn(handleRead);
Canlib.canIoCtl(handleRead, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
}
else if (TrionicECU == ECU.TRIONIC8)
{
logger.Debug("handle1 = canlibCLSNET.Canlib.canOpenChannel()");
handleWrite = Canlib.canOpenChannel(ChannelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleWrite)");
Canlib.canStatus statusSetParam1 = Canlib.canSetBusParamsC200(handleWrite, CAN_BAUD_BTR_33K_btr0, CAN_BAUD_BTR_33K_btr1);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleWrite)");
Canlib.canStatus statusOn1 = Canlib.canBusOn(handleWrite);
Canlib.canIoCtl(handleWrite, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
//
logger.Debug("handle2 = canlibCLSNET.Canlib.canOpenChannel()");
handleRead = Canlib.canOpenChannel(ChannelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleRead)");
Canlib.canStatus statusSetParam2 = Canlib.canSetBusParamsC200(handleWrite, CAN_BAUD_BTR_33K_btr0, CAN_BAUD_BTR_33K_btr1);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleRead)");
Canlib.canStatus statusOn2 = Canlib.canBusOn(handleRead);
Canlib.canIoCtl(handleRead, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
}
if (handleWrite < 0 || handleRead < 0)
{
return(OpenResult.OpenError);
}
logger.Debug("I bus connected");
if (m_readThread.ThreadState == ThreadState.Unstarted)
{
m_readThread.Start();
}
return(OpenResult.OK);
}
m_endThread = false;
//Check if P bus is connected
logger.Debug("handle1 = canlibCLSNET.Canlib.canOpenChannel()");
handleWrite = Canlib.canOpenChannel(ChannelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleWrite)");
Canlib.canStatus statusSetParamWrite = Canlib.canSetBusParams(handleWrite, Canlib.canBITRATE_500K, 0, 0, 0, 0, 0);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleWrite)");
Canlib.canStatus statusOnWrite = Canlib.canBusOn(handleWrite);
Canlib.canIoCtl(handleWrite, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
//
logger.Debug("handle2 = canlibCLSNET.Canlib.canOpenChannel()");
handleRead = Canlib.canOpenChannel(ChannelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleRead)");
Canlib.canStatus statusSetParamRead = Canlib.canSetBusParams(handleRead, Canlib.canBITRATE_500K, 0, 0, 0, 0, 0);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleRead)");
Canlib.canStatus statusOnRead = Canlib.canBusOn(handleRead);
Canlib.canIoCtl(handleRead, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
if (handleWrite < 0 || handleRead < 0)
{
return(OpenResult.OpenError);
}
logger.Debug("P bus connected");
if (m_readThread.ThreadState == ThreadState.Unstarted)
{
m_readThread.Start();
}
return(OpenResult.OK);
}
/*
* Looks for messages and sends them to the output box.
*/
void Receiver_MessageHandlerLoop(object sender, DoWorkEventArgs e)
{
BackgroundWorker worker = sender as BackgroundWorker;
Canlib.canStatus status = Canlib.canStatus.canERR_NOMSG;
bool noError = true;
int errorFrameCount = 0;
//Create a Windows event handle
Object winHandle = new IntPtr(-1);
status = Canlib.canIoCtl(readHandle, Canlib.canIOCTL_GET_EVENTHANDLE, ref winHandle);
if (status != Canlib.canStatus.canOK)
{
worker.ReportProgress((int)ReceiverReport.ERROR_STOP, status);
noError = false;
}
status = Canlib.canAccept(readHandle, 0x610, Canlib.canFILTER_SET_CODE_STD);
if (status != Canlib.canStatus.canOK)
{
worker.ReportProgress((int)ReceiverReport.ERROR_STOP, status);
noError = false;
}
status = Canlib.canAccept(readHandle, 0xFFE, Canlib.canFILTER_SET_MASK_STD);
if (status != Canlib.canStatus.canOK)
{
worker.ReportProgress((int)ReceiverReport.ERROR_STOP, status);
noError = false;
}
WaitHandle waitHandle = (WaitHandle) new CanlibWaitEvent(winHandle);
while (noError && isReaderBusOn && readHandle >= 0)
{
//Wait for 25ms for an event to occur on the channel (BBMS CAN communication period: 25ms)
bool eventHappened = waitHandle.WaitOne(25);
if (!eventHappened)
{
continue;
}
int id;
byte[] data = new byte[Defined.MAX_DLC];
int dlc;
int flags;
long time;
string msgLog;
//To attain the initial msg
status = Canlib.canRead(readHandle, out id, data, out dlc, out flags, out time);
//This while loop is to repeat canRead() until the msg boxes for readHandle becomes exhausted.
while (status == Canlib.canStatus.canOK)
{
if ((flags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
msgLog = "***ERROR FRAME RECEIVED*** Count = " + (++errorFrameCount);
if (errorFrameCount > Defined.ERROR_FRAME_ENDURANCE_COUNT_LIMIT)
{
worker.ReportProgress((int)ReceiverReport.REPORT_RUNNING, "Too many error frames received. Bus off.");
break;
}
}
else
{
msgLog = String.Format("0x{0:x3} {1} {2:x2} {3:x2} {4:x2} {5:x2} {6:x2} {7:x2} {8:x2} {9:x2} @{10}",
id, dlc, data[0], data[1], data[2], data[3], data[4],
data[5], data[6], data[7], time);
}
//Sends the message to the ProcessMessage method
worker.ReportProgress((int)ReceiverReport.REPORT_RUNNING, "[Rx] " + msgLog);
//Result status of the following canRead() will finish the while loop if status!=Canlib.canStatus.canOK
status = Canlib.canRead(readHandle, out id, data, out dlc, out flags, out time);
}
//If the reason to exit the while loop of canRead() was not canERR_NOMSG, an error is expected.
if (status != Canlib.canStatus.canERR_NOMSG)
{
//Sends the error status to the ProcessMessage method and breaks the loop
worker.ReportProgress((int)ReceiverReport.ERROR_STOP, status);
noError = false;
}
}
if (isReaderBusOn)
{
worker.ReportProgress((int)ReceiverReport.FORCED_STOP, "Force Bus Off");
}
}
