// ####################################################################
// called from the timer service on the CANForm every 10ms
private void CANService()
{
CheckForIncomingCANMessages();
if (--CANStatus <= 0)
{
CANCheckStatus(false);
CANStatus = 100; // every second
}
if (CANSendQueue.Count > 0) // send any messages in the queue
{
int error = 0;
C4UFX.CANMessage mess = CANSendQueue.Dequeue();
C4UFX.SendCANMess(0, 0, mess, out error);
DisplayCANData(mess);
}
}
// ########################################################################################
private void CANCheckStatus(bool ForceErr)
{
int Result;
if ((CANInterfaceStatus != CANSTAT.OK) | (ForceErr == true))
{
C4UFX.CANMessage CANMess = new C4UFX.CANMessage();
int Error;
CANMess.ID = 0;
CANMess.DLC = 0;
for (int c = 0; c < 8; c++)
{
CANMess.Data[c] = 0;
}
CANMess.EID = true;
CANMess.RTR = false;
CANMess.MO = 0;
CANMess.SendOption = 7;
Result = C4UFX.SendCANMess(0, 0, CANMess, out Error);
if (Result != C4UFX.Resp_Ack)
{
switch (Result)
{
case C4UFX.Resp_NAck: // message was transmitted but there was an error, so reset
CANInit();
SetCANInterfaceError(CANSTAT.SENDERR);
break;
case C4UFX.Resp_ErrImproperResponse:
SetCANInterfaceError(CANSTAT.NOINT);
break;
default:
SetCANInterfaceError(CANSTAT.ERROR);
break;
}
}
else
{
SetCANInterfaceError(CANSTAT.OK);
}
}
else // we're connected and working so display status register
{
byte[] DataBuf = new byte[10];
Result = C4UFX.ReadReg(0, 0, 0x2D, 1, ref DataBuf); // EFLG
if (Result == C4UFX.Resp_Ack)
{
if (DataBuf[0] == 0)
{
SetInterfaceStatusLabelVisible(0, true);
}
else
{
SetInterfaceStatusLabelVisible(0, false);
}
if ((DataBuf[0] & 0x80) > 0)
{
SetInterfaceStatusLabelVisible(7, true);
SetCANErrorTimerState(true);
}
else
{
SetInterfaceStatusLabelVisible(7, false);
}
if ((DataBuf[0] & 0x40) > 0)
{
SetInterfaceStatusLabelVisible(6, true);
SetCANErrorTimerState(true);
}
else
{
SetInterfaceStatusLabelVisible(6, false);
}
if ((DataBuf[0] & 0x20) > 0)
{
SetInterfaceStatusLabelVisible(5, true);
}
else
{
SetInterfaceStatusLabelVisible(5, false);
}
if ((DataBuf[0] & 0x10) > 0)
{
SetInterfaceStatusLabelVisible(4, true);
}
else
{
SetInterfaceStatusLabelVisible(4, false);
}
if ((DataBuf[0] & 0x08) > 0)
{
SetInterfaceStatusLabelVisible(3, true);
}
else
{
SetInterfaceStatusLabelVisible(3, false);
}
if ((DataBuf[0] & 0x04) > 0)
{
SetInterfaceStatusLabelVisible(2, true);
}
else
{
SetInterfaceStatusLabelVisible(2, false);
}
if ((DataBuf[0] & 0x02) > 0)
{
SetInterfaceStatusLabelVisible(1, true);
}
else
{
SetInterfaceStatusLabelVisible(1, false);
}
}
else
{
}
}
}
