private void CanController_MessageReceived(CanController sender, MessageReceivedEventArgs e)
{
var msgs = new GHIElectronics.TinyCLR.Devices.Can.CanMessage[e.Count];
for (var i = 0; i < msgs.Length; i++)
{
msgs[i] = new GHIElectronics.TinyCLR.Devices.Can.CanMessage();
}
this.messageReceiveCount += sender.ReadMessages(msgs, 0, msgs.Length);
for (var i = 0; i < msgs.Length; i++)
{
this.UpdateStatusText(ArbitrationId + msgs[i].ArbitrationId, true);
this.UpdateStatusText(FdCanMode + msgs[i].FdCan, false);
this.UpdateStatusText(ExtendedId + msgs[i].ExtendedId, false);
this.UpdateStatusText(RTR + msgs[i].RemoteTransmissionRequest, false);
this.UpdateStatusText(BitRateSwitch + msgs[i].BitRateSwitch, false);
var dataText = string.Empty;
for (var ii = 0; ii < 8; ii++)
{
dataText += msgs[i].Data[ii] + " ";
}
this.UpdateStatusText(Data + dataText, false);
this.UpdateStatusText(TotalReceived + this.messageReceiveCount, false);
try {
msgs[i].ArbitrationId += 1;
sender.WriteMessage(msgs[i]);
}
catch {
}
}
}
private bool DoTestCan()
{
this.AddNextButton();
this.UpdateStatusText("Testing CAN1.", true);
this.UpdateStatusText("- Open PCAN-View application.", false);
this.UpdateStatusText("- Nominal speed: 250Kbit/s.", false);
this.UpdateStatusText("- Data speed: 500Kbit/.", false);
this.UpdateStatusText("- The test is waiting for any msg with arbitrationId 0x1234.", false);
var canController = CanController.FromName(SC20260.CanBus.Can1);
canController.SetNominalBitTiming(new GHIElectronics.TinyCLR.Devices.Can.CanBitTiming(15 + 8, 8, 6, 8, false)); // 250Kbit/s
canController.SetDataBitTiming(new GHIElectronics.TinyCLR.Devices.Can.CanBitTiming(15 + 8, 8, 3, 8, false)); //500kbit/s
canController.Enable();
var message = new CanMessage()
{
ArbitrationId = 0x1234,
ExtendedId = true,
FdCan = true,
BitRateSwitch = true,
Data = new byte[] { 0, 1, 2, 3, 4, 5, 6, 7 },
Length = 8
};
var result = false;
while (this.doNext == false && this.isRunning)
{
if (canController.MessagesToRead == 0)
{
try {
canController.WriteMessage(message);
}
catch {
canController.Disable();
Thread.Sleep(100);
canController.Enable();
}
Thread.Sleep(1000);
continue;
}
var msgs = new GHIElectronics.TinyCLR.Devices.Can.CanMessage[canController.MessagesToRead];
for (var i = 0; i < msgs.Length; i++)
{
msgs[i] = new GHIElectronics.TinyCLR.Devices.Can.CanMessage();
}
for (var i = 0; i < msgs.Length; i++)
{
canController.ReadMessages(msgs, 0, msgs.Length);
if (msgs[i].ArbitrationId == message.ArbitrationId)
{
this.doNext = true;
result = true;
break;
}
}
if (result)
{
break;
}
}
canController.Disable();
this.RemoveNextButton();
return(result);
}