public void InitializeCAN()
{
XL_Status status;
// Open XL Driver
status = CANDriver.XL_OpenDriver();
status = CANDriver.XL_GetDriverConfig(ref driverConfig);
while (!GetAppChannelAndTestIsOk(1, ref txMask, ref txCi) || !GetAppChannelAndTestIsOk(0, ref rxMask, ref rxCi))
{
PrintAssignErrorAndPopupHwConf();
}
accessMask = txMask | rxMask;
permissionMask = accessMask;
// Open port
status = CANDriver.XL_OpenPort(ref portHandle, appName, accessMask, ref permissionMask, 1024, XLDefine.XL_InterfaceVersion.XL_INTERFACE_VERSION, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
Console.WriteLine("\n\nOpen Port : " + status);
if (status != XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
// Check port
status = CANDriver.XL_CanRequestChipState(portHandle, accessMask);
Console.WriteLine("Can Request Chip State: " + status);
if (status != XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
// Activate channel
status = CANDriver.XL_ActivateChannel(portHandle, accessMask, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN, XLDefine.XL_AC_Flags.XL_ACTIVATE_NONE);
Console.WriteLine("Activate Channel : " + status);
if (status != XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
Console.WriteLine("Set Notification : " + status);
if (status != XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
status = CANDriver.XL_ResetClock(portHandle);
Console.WriteLine("Reset Clock : " + status + "\n\n");
if (status != XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
}
public long CanTpCreateConnection(string appName, uint appChannel, XLDefine.XL_HardwareType hwType, uint hwIndex, uint hwChannel, XLDefine.XL_BusTypes busType)
{
XLDefine.XL_Status status;
status = CANTPDriver.XL_OpenDriver();
Console.WriteLine("Open Driver : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-1);
}
status = CANTPDriver.XL_SetApplConfig(appName, appChannel, hwType, hwIndex, hwChannel, busType);
Console.WriteLine("SetApplConfig : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-2);
}
accessMask = CANTPDriver.XL_GetChannelMask(hwType, (int)hwIndex, (int)hwChannel);
permissionMask = accessMask;
txMask = accessMask;
status = CANTPDriver.XL_OpenPort(ref portHandle, appName, accessMask, ref permissionMask, 1024, XLDefine.XL_InterfaceVersion.XL_INTERFACE_VERSION, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
Console.WriteLine("Open Port : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-3);
}
status = CANTPDriver.XL_CanRequestChipState(portHandle, accessMask);
Console.WriteLine("Can Request Chip State: " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-4);
}
status = CANTPDriver.XL_ActivateChannel(portHandle, accessMask, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN, XLDefine.XL_AC_Flags.XL_ACTIVATE_NONE);
Console.WriteLine("Activate Channel : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-5);
}
status = CANTPDriver.XL_SetNotification(portHandle, ref eventHandle, 1);
Console.WriteLine("Set Notification : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-6);
}
status = CANTPDriver.XL_ResetClock(portHandle);
Console.WriteLine("Reset Clock : " + status + "\n\n");
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
return(-7);
}
Console.WriteLine("Start Rx thread...");
rxThread = new Thread(new ThreadStart(CanTp_ReceptionInd));
rxThread.Start();
return(0);
}
public void INITLOG()
{
//starting app
Console.WriteLine("UDS- Vector Client Started \n");
Console.WriteLine("Vector XL Driver Version: " + typeof(XLDriver).Assembly.GetName().Version + "\n");
//opening driver
status = UDSDemo.XL_OpenDriver();
Console.WriteLine("Opening vector CAN Driver.... \n");
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
status = UDSDemo.XL_GetDriverConfig(ref driverConfig);
//getting config
Console.WriteLine("Getting CAN Driver Config: \n");
Console.WriteLine(status + Environment.NewLine);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
//getting DLL info
Console.WriteLine("Getting Vector DLL Version: ");
Console.WriteLine(UDSDemo.VersionToString(driverConfig.dllVersion) + Environment.NewLine);
//Getting channels...
Console.WriteLine("Channels found: " + driverConfig.channelCount + Environment.NewLine);
for (int i = 0; i < driverConfig.channelCount; i++)
{
Console.WriteLine(" Channel Name:" + driverConfig.channel[i].name);
Console.WriteLine(" Channel Mask:" + driverConfig.channel[i].channelMask);
Console.WriteLine(" Transceiver Name:" + driverConfig.channel[i].transceiverName);
Console.WriteLine(" Serial Number:" + driverConfig.channel[i].serialNumber);
Console.WriteLine("\n\n");
}
//Check config
if ((UDSDemo.XL_GetApplConfig(appName, 0, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN) != XLDefine.XL_Status.XL_SUCCESS) ||
(UDSDemo.XL_GetApplConfig(appName, 1, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN) != XLDefine.XL_Status.XL_SUCCESS))
{
//...create the item with two CAN channels
UDSDemo.XL_SetApplConfig(appName, 0, XLDefine.XL_HardwareType.XL_HWTYPE_NONE, 0, 0, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
UDSDemo.XL_SetApplConfig(appName, 1, XLDefine.XL_HardwareType.XL_HWTYPE_NONE, 0, 0, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
//PrintAssignErrorAndPopupHwConf();
ThreadMutex = 1;
}
// Request the user to assign channels until both CAN1 (Tx) and CAN2 (Rx) are assigned to usable channels
if (!GetAppChannelAndTestIsOk(0, ref txMask, ref txCi) || !GetAppChannelAndTestIsOk(1, ref rxMask, ref rxCi))
{
ThreadMutex = 0;
}
//Printing application configuration on log screen
//PrintConfig();
//making masks
accessMask = txMask | rxMask;
permissionMask = accessMask;
//opening port
status = UDSDemo.XL_OpenPort(ref portHandle, appName, accessMask, ref permissionMask, 1024, XLDefine.XL_InterfaceVersion.XL_INTERFACE_VERSION, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
Console.WriteLine("Open Port :" + status + Environment.NewLine);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
//chip state checking
status = UDSDemo.XL_CanRequestChipState(portHandle, accessMask);
Console.WriteLine("CAN Request Chip state :" + status + Environment.NewLine);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
//ON Bus
status = UDSDemo.XL_ActivateChannel(portHandle, accessMask, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN, XLDefine.XL_AC_Flags.XL_ACTIVATE_NONE);
Console.WriteLine("Activate Channel :" + status + Environment.NewLine);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
//can ids display
Console.WriteLine("TESTER REQUEST CAN ID: 0x735" + Environment.NewLine);
Console.WriteLine("ECU RESPONSE CAN ID: 0x73D" + Environment.NewLine);
//giving info
//putting notifications on can
int tempInt = -1;
status = UDSDemo.XL_SetNotification(portHandle, ref tempInt, 1);
xlEvWaitHandle.SafeWaitHandle = new SafeWaitHandle(new IntPtr(tempInt), true);
Console.WriteLine("Set Notification :" + status + Environment.NewLine);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
if (TimerRate == 1)
{
TimerRate = 0;
}
else
{
TimerRate = 20000;
}
status = UDSDemo.XL_SetTimerRate(portHandle, TimerRate);
Console.WriteLine("setTimer :" + status + Environment.NewLine);
//resetting clock
status = UDSDemo.XL_ResetClock(portHandle);
Console.WriteLine("Reset Clock :" + status + Environment.NewLine);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
//TPLOCK = 1;
Console.ForegroundColor = ConsoleColor.Green;
Console.WriteLine("\nDevice Connected " + driverConfig.channel[0].name + " and " + driverConfig.channel[1].name + " active\n");
Console.ForegroundColor = ConsoleColor.White;
//starting rx thread
Console.WriteLine("Starting Receive Thread........" + Environment.NewLine);
rxThread = new Thread(new ThreadStart(RXHANDLER));
rxThread.Start();
Console.WriteLine("Is main thread is alive" +
" ? : {0}", rxThread.IsAlive);
}
/// <summary>
/// The initialization of the Vector CAN driver
/// </summary>
/// <param name="_iEventHandle"></param>
/// <param name="_iPortHandle"></param>
/// <param name="_ui64TransmitMask"></param>
public void xlStartCan(ref int _iEventHandle, ref int _iPortHandle, ref UInt64 _ui64TransmitMask)
{
UInt64 ui64AccessMask = 0;
UInt64 ui64PermissionMask = 0;
uint uiHWType = 0;
uint uiHWIndex = 0;
uint uiHWChannel = 0;
uint uiBusType = (uint)XLClass.XLbusTypes.XL_BUS_TYPE_CAN;
uint uiFlags = 0;
XLClass.XLstatus xlRet;
if ((_xlDriverTx.XL_GetApplConfig("xlCANSimulator", 0, ref uiHWType, ref uiHWIndex, ref uiHWChannel, uiBusType) != XLClass.XLstatus.XL_SUCCESS) ||
(_xlDriverTx.XL_GetApplConfig("xlCANSimulator", 1, ref uiHWType, ref uiHWIndex, ref uiHWChannel, uiBusType) != XLClass.XLstatus.XL_SUCCESS))
{
_xlDriverTx.XL_SetApplConfig("xlCANSimulator", 0, 0, 0, 0, 0);
_xlDriverTx.XL_SetApplConfig("xlCANSimulator", 1, 0, 0, 0, 0);
}
log("DRIVER-Open xlCANSimulator configuration");
_xlDriverTx.XL_GetApplConfig("xlCANSimulator", 0, ref uiHWType, ref uiHWIndex, ref uiHWChannel, uiBusType);
ui64AccessMask |= _xlDriverTx.XL_GetChannelMask((int)uiHWType, (int)uiHWIndex, (int)uiHWChannel);
ui64PermissionMask = ui64AccessMask;
_ui64TransmitMaskTx = ui64AccessMask;
xlRet = _xlDriverTx.XL_OpenPort(ref _iPortHandle, "xlCANSimulator", ui64AccessMask, ref ui64PermissionMask, (uint)1024, uiBusType);
if (XLClass.XLstatus.XL_SUCCESS != xlRet)
{
log("DRIVER-Open port failed");
}
else
{
log("DRIVER-Open port success");
}
xlRet = _xlDriverTx.XL_CanRequestChipState(_iPortHandle, ui64AccessMask);
if (XLClass.XLstatus.XL_SUCCESS != xlRet)
{
log("DRIVER-Request chip state failed");
}
else
{
log("DRIVER-Request chip state success");
}
xlRet = _xlDriverTx.XL_ActivateChannel(_iPortHandle, ui64AccessMask, uiBusType, uiFlags);
if (XLClass.XLstatus.XL_SUCCESS != xlRet)
{
log("DRIVER-Activate channel failed");
}
else
{
log("DRIVER-Activate channel success");
}
xlRet = _xlDriverTx.XL_SetNotification(_iPortHandle, ref _iEventHandle, 1);
if (XLClass.XLstatus.XL_SUCCESS != xlRet)
{
log("DRIVER-Set notificaiton failed");
}
else
{
log("DRIVER-Set notificaiton success");
}
xlRet = _xlDriverTx.XL_ResetClock(_iPortHandle);
if (XLClass.XLstatus.XL_SUCCESS != xlRet)
{
log("DRIVER-Reset clock failed");
}
else
{
log("DRIVER-Reset clock success");
}
}
public XLInterface()
{
MessageTypes = new Dictionary <int, string>();
MessageTypes.Add(FULL_THROTTLE_ON, "Throttle On");
MessageTypes.Add(FULL_THROTTLE_OFF, "Throttle Off");
MessageTypes.Add(FULL_BRAKE_ON, "Brake On");
MessageTypes.Add(FULL_BRAKE_OFF, "Brake Off");
XLDefine.XL_Status status;
driver = new XLDriver();
driverConfig = new XLClass.xl_driver_config();
driver.XL_GetDriverConfig(ref driverConfig);
// If the application name cannot be found in VCANCONF...
if ((driver.XL_GetApplConfig(appName, 0, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN) != XLDefine.XL_Status.XL_SUCCESS))
{
//...create the item with two CAN channels
status = driver.XL_SetApplConfig(appName, 0, XLDefine.XL_HardwareType.XL_HWTYPE_CANCASEXL, 0, 0, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
Console.WriteLine(status);
}
// Read setting of CAN1
driver.XL_GetApplConfig(appName, 0, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
// Notify user if no channel is assigned to this application
if (hwType == XLDefine.XL_HardwareType.XL_HWTYPE_NONE)
{
PrintAssignError();
}
accessMask = driver.XL_GetChannelMask(hwType, (int)hwIndex, (int)hwChannel);
txMask = accessMask; // this channel is used for Tx
PrintConfig();
permissionMask = accessMask;
// Open port
status = driver.XL_OpenPort(ref portHandle, appName, accessMask, ref permissionMask, 1024, XLDefine.XL_InterfaceVersion.XL_INTERFACE_VERSION, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
Console.WriteLine("\n\nOpen Port : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
// Check port
status = driver.XL_CanRequestChipState(portHandle, accessMask);
Console.WriteLine("Can Request Chip State: " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
// Activate channel
status = driver.XL_ActivateChannel(portHandle, accessMask, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN, XLDefine.XL_AC_Flags.XL_ACTIVATE_NONE);
Console.WriteLine("Activate Channel : " + status);
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
// Reset time stamp clock
status = driver.XL_ResetClock(portHandle);
Console.WriteLine("Reset Clock : " + status + "\n\n");
if (status != XLDefine.XL_Status.XL_SUCCESS)
{
PrintFunctionError();
}
}
// -----------------------------------------------------------------------------------------------
/// <summary>
/// MAIN
///
/// Sends and receives CAN messages using main methods of the "XLDriver" class.
/// This demo requires two connected CAN channels (Vector network interface).
/// The configuration is read from Vector Hardware Config (vcanconf.exe).
/// </summary>
// -----------------------------------------------------------------------------------------------
//[STAThread]
public String InitCANtransmitter()
{
// Open XL Driver
status = CANDemo.XL_OpenDriver();
//Console.WriteLine("Open Driver : " + status);
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
// Get XL Driver configuration
status = CANDemo.XL_GetDriverConfig(ref driverConfig);
//Console.WriteLine("Get Driver Config : " + status);
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
// If the application name cannot be found in VCANCONF...
if ((CANDemo.XL_GetApplConfig(appName, 0, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN) != XLDefine.XL_Status.XL_SUCCESS) ||
(CANDemo.XL_GetApplConfig(appName, 1, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN) != XLDefine.XL_Status.XL_SUCCESS))
{
//...create the item with two CAN channels
CANDemo.XL_SetApplConfig(appName, 0, XLDefine.XL_HardwareType.XL_HWTYPE_NONE, 0, 0, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
CANDemo.XL_SetApplConfig(appName, 1, XLDefine.XL_HardwareType.XL_HWTYPE_NONE, 0, 0, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
PrintAssignError();
}
else // else try to read channel assignments
{
string str;
// Read setting of CAN1
CANDemo.XL_GetApplConfig(appName, 0, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
// Notify user if no channel is assigned to this application
if (hwType == XLDefine.XL_HardwareType.XL_HWTYPE_NONE)
{
PrintAssignError();
}
accessMask = CANDemo.XL_GetChannelMask(hwType, (int)hwIndex, (int)hwChannel);
txMask = accessMask; // this channel is used for Tx
/*
* // Read setting of CAN2
* CANDemo.XL_GetApplConfig(appName, 1, ref hwType, ref hwIndex, ref hwChannel, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
*
* // Notify user if no channel is assigned to this application
* if (hwType == XLDefine.XL_HardwareType.XL_HWTYPE_NONE) PrintAssignError();
*
* accessMask |= CANDemo.XL_GetChannelMask(hwType, (int)hwIndex, (int)hwChannel); // OR: access both channels for RX later
*/
permissionMask = accessMask;
// Open port
status = CANDemo.XL_OpenPort(ref portHandle, appName, accessMask, ref permissionMask, 1024, XLDefine.XL_InterfaceVersion.XL_INTERFACE_VERSION, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
//Console.WriteLine("\n\nOpen Port : " + status);
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
// Check port
status = CANDemo.XL_CanRequestChipState(portHandle, accessMask);
//Console.WriteLine("Can Request Chip State: " + status);
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
// Activate channel
status = CANDemo.XL_ActivateChannel(portHandle, accessMask, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN, XLDefine.XL_AC_Flags.XL_ACTIVATE_NONE);
//Console.WriteLine("Activate Channel : " + status);
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
// Get RX event handle
status = CANDemo.XL_SetNotification(portHandle, ref eventHandle, 1);
//Console.WriteLine("Set Notification : " + status);
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
// Reset time stamp clock
CANDemo.XL_ResetClock(portHandle);
//Console.WriteLine("Reset Clock : " + status + "\n\n");
//if (status != XLDefine.XL_Status.XL_SUCCESS) PrintFunctionError();
}
return(status.ToString());
}
public void OpenPort(bool iscanfd, uint arbitSpeed, uint dataSpeed)
{
if (iscanfd)
{
// --------------------
// Set CAN FD config
// --------------------
status = CANDriver.XL_OpenPort(ref portHandle, appName, accessMask, ref permissionMask, 16000, XLDefine.XL_InterfaceVersion.XL_INTERFACE_VERSION_V4, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
info += "\n\nOpen Port : " + status;
XLClass.XLcanFdConf canFdConf = new XLClass.XLcanFdConf();
// arbitration bitrate
canFdConf.arbitrationBitRate = arbitSpeed;
canFdConf.tseg1Abr = 8;
canFdConf.tseg2Abr = 7;
canFdConf.sjwAbr = 1;
// data bitrate
canFdConf.dataBitRate = dataSpeed;
canFdConf.tseg1Dbr = 4;
canFdConf.tseg2Dbr = 3;
canFdConf.sjwDbr = 1;
if (canFdModeNoIso > 0)
{
canFdConf.options = (byte)XLDefine.XL_CANFD_ConfigOptions.XL_CANFD_CONFOPT_NO_ISO;
}
else
{
canFdConf.options = 0;
}
status = CANDriver.XL_CanFdSetConfiguration(portHandle, accessMask, canFdConf);
info += "\n\nSet CAN FD Config : " + status;
// Get RX event handle
status = CANDriver.XL_SetNotification(portHandle, ref eventHandle, 1);
info += "Set Notification : " + status;
// Activate channel - with reset clock
status = CANDriver.XL_ActivateChannel(portHandle, accessMask, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN, XLDefine.XL_AC_Flags.XL_ACTIVATE_RESET_CLOCK);
info += "Activate Channel : " + status;
// Get XL Driver configuration to get the actual setup parameter
status = CANDriver.XL_GetDriverConfig(ref driverConfig);
if (canFdModeNoIso > 0)
{
info += "CAN FD mode : NO ISO";
}
else
{
info += "CAN FD mode : ISO";
}
info += "TX Arb. BitRate : " + driverConfig.channel[txCi].busParams.dataCanFd.arbitrationBitRate
+ "Bd, Data Bitrate: " + driverConfig.channel[txCi].busParams.dataCanFd.dataBitRate + "Bd";
}
else
{
// --------------------
// Set CAN config
// --------------------
status = CANDriver.XL_OpenPort(ref portHandle, appName, accessMask, ref permissionMask, 1024, XLDefine.XL_InterfaceVersion.XL_INTERFACE_VERSION, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN);
info += "\n\nOpen Port : " + status;
//check port
status = CANDriver.XL_CanRequestChipState(portHandle, accessMask);
info += "\nCan Request Chip State: " + status;
// Activate channel
status = CANDriver.XL_ActivateChannel(portHandle, accessMask, XLDefine.XL_BusTypes.XL_BUS_TYPE_CAN, XLDefine.XL_AC_Flags.XL_ACTIVATE_NONE);
info += "\nActivate Channel : " + status;
// Initialize EventWaitHandle object with RX event handle provided by DLL
int tempInt = -1;
status = CANDriver.XL_SetNotification(portHandle, ref tempInt, 1);
xlEvWaitHandle.SafeWaitHandle = new SafeWaitHandle(new IntPtr(tempInt), true);
info += "\nSet Notification : " + status;
// Reset time stamp clock
status = CANDriver.XL_ResetClock(portHandle);
info += "\nReset Clock : " + status;
}
}