/* public CANMessage waitForMessage(uint a_canID, int a_timeout)
{
CANMessage retMsg;
m_canMessage.setID(0); // init so we cannot receive the same frame twice <GS-10022010>
lock (m_canMessage)
{
m_waitMsgID = a_canID;
}
m_resetEvent.WaitOne(a_timeout, true);
lock (m_canMessage)
{
retMsg = m_canMessage;
}
return retMsg;
}
*/
public override void handleMessage(CANMessage a_message)
{
lock (m_canMessage)
{
if (a_message.getID() == m_waitMsgID)
{
m_canMessage.setData(a_message.getData());
m_canMessage.setFlags(a_message.getFlags());
m_canMessage.setID(a_message.getID());
m_canMessage.setLength(a_message.getLength());
m_canMessage.setTimeStamp(a_message.getTimeStamp());
messageReceived = true;
m_resetEvent.Set();
}
}
}
public override void handleMessage(CANMessage a_message)
{
if (_queue == null)
{
_queue = new CANMessage[16];
_receiveMessageIndex = 0;
_readMessageIndex = 0;
}
// add the message to a queue for later processing ...
// the queue is a ringbuffer for CANMessage objects.
// X objects are supported
// we need a receive and a read pointer for this to work properly
messageReceived = false;
//_queue[_receiveMessageIndex] = a_message;
_queue[_receiveMessageIndex] = new CANMessage();
_queue[_receiveMessageIndex].setData(a_message.getData());
_queue[_receiveMessageIndex].setID(a_message.getID());
_queue[_receiveMessageIndex].setLength(a_message.getLength());
_receiveMessageIndex++;
if(_receiveMessageIndex > _queue.Length - 1) _receiveMessageIndex = 0; // make it circular
//DetermineSize();
/*
lock (m_canMessage)
{
if (a_message.getID() == m_waitMsgID)
{
m_canMessage = a_message;
messageReceived = true;
}
}
if (messageReceived)
{
m_resetEvent.Set();
}*/
}
//---------------------------------------------------------------------------------------------
/**
Waits for arrival of a specific CAN message or any message if ID = 0.
@param a_canID message ID
@param timeout timeout, ms
@param canMsg message
@return message ID
*/
public override uint waitForMessage(uint a_canID, uint timeout,
out CANMessage canMsg)
{
canMsg = new CANMessage();
Debug.Assert(canMsg != null);
canMsg.setID(0);
caCombiAdapter.caCANFrame frame = new caCombiAdapter.caCANFrame();
if (this.combi.CAN_GetMessage(ref frame, timeout) &&
(frame.id == a_canID || a_canID == 0))
{
// message received
canMsg.setID(frame.id);
canMsg.setLength(frame.length);
canMsg.setData(frame.data);
return frame.id;
}
// timed out
return 0;
}
public override uint waitForMessage(uint a_canID, uint timeout, out CANMessage canMsg)
{
canMsg = new CANMessage();
return 0;
}
private void SendKeepAlive()
{
CANMessage msg = new CANMessage(0x7E0, 0, 2);//<GS-18052011> ELM327 support requires the length byte
ulong cmd = 0x0000000000003E01; // always 2 bytes
msg.setData(cmd);
//Console.WriteLine("KA sent");
m_canListener.setupWaitMessage(0x7E8);
if (!canUsbDevice.sendMessage(msg))
{
Console.WriteLine("Couldn't send message");
}
CANMessage response = new CANMessage();
response = new CANMessage();
response = m_canListener.waitMessage(1000);
//Console.WriteLine("received KA: " + response.getCanData(1).ToString("X2"));
}
/// <summary>
/// Start a KWP session.
/// </summary>
/// <remarks>
/// A KWP session must be started before any requests can be sent.
/// </remarks>
/// <returns>True if the session was started, otherwise false.</returns>
public bool startSession()
{
CANMessage msg = new CANMessage(0x7E0, 0, 8);
msg.setData(0x000040021100813F); // what is this stuff???
msg.setData(0x0000000000008102); // startCommunication
AddToCanTrace("Sending 0x0000000000008102 message");
m_kwpCanListener.setupWaitMessage(0x7E8);
if (!m_canDevice.sendMessage(msg))
{
AddToCanTrace("Unable to send 0x0000000000008102 message");
return false;
}
Console.WriteLine("Init msg sent");
if (m_kwpCanListener.waitMessage(timeoutPeriod).getID() == 0x7E8)
{
AddToCanTrace("Successfully sent 0x0000000000008102 message and received reply 0x7E8");
return true;
}
else
{
AddToCanTrace("Didn't receive 0x7E8 message as reply on 0x0000000000008102 message");
return false;
}
}
public void readMessages()
{
CANMessage canMessage = new CANMessage();
byte[] receiveBuffer = new byte[1024]; // circular buffer for reception of data
string receiveString = string.Empty;
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
if (m_serialPort != null)
{
if (m_serialPort.IsOpen)
{
if (m_serialPort.BytesToRead > 0)
{
string rxString = m_serialPort.ReadExisting();
if (rxString.Length > 0) AddToSerialTrace("SERRX: " + rxString);
receiveString += rxString;
//Console.WriteLine("BUF1: " + receiveString);
receiveString = receiveString.Replace(">", ""); // remove prompt characters... we don't need that stuff
receiveString = receiveString.Replace("NO DATA", ""); // remove prompt characters... we don't need that stuff
while (receiveString.StartsWith("\n") || receiveString.StartsWith("\r"))
{
receiveString = receiveString.Substring(1, receiveString.Length - 1);
}
while (receiveString.Contains('\r'))
{
// process the line
int idx = receiveString.IndexOf('\r');
string rxMessage = receiveString.Substring(0, idx);
receiveString = receiveString.Substring(idx + 1, receiveString.Length - idx - 1);
while (receiveString.StartsWith("\n") || receiveString.StartsWith("\r"))
{
receiveString = receiveString.Substring(1, receiveString.Length - 1);
}
//Console.WriteLine("BUF2: " + receiveString);
// is it a valid line
if (rxMessage.Length >= 6)
{
try
{
uint id = Convert.ToUInt32(rxMessage.Substring(0, 3), 16);
if (MessageContainsInformationForRealtime(id))
{
canMessage.setID(id);
canMessage.setLength(8); // TODO: alter to match data
canMessage.setData(0x0000000000000000); // reset message content
byte b1 = Convert.ToByte(rxMessage.Substring(4, 2), 16);
if (b1 < 7)
{
canMessage.setCanData(b1, 0);
//Console.WriteLine("Byte 1: " + Convert.ToByte(rxMessage.Substring(4, 2), 16).ToString("X2"));
if (b1 >= 1) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(7, 2), 16), 1);
if (b1 >= 2) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(10, 2), 16), 2);
if (b1 >= 3) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(13, 2), 16), 3);
if (b1 >= 4) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(16, 2), 16), 4);
if (b1 >= 5) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(19, 2), 16), 5);
if (b1 >= 6) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(22, 2), 16), 6);
if (b1 >= 7) canMessage.setCanData(Convert.ToByte(rxMessage.Substring(25, 2), 16), 7);
}
else
{
canMessage.setCanData(b1, 0);
//Console.WriteLine("Byte 1: " + Convert.ToByte(rxMessage.Substring(4, 2), 16).ToString("X2"));
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(7, 2), 16), 1);
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(10, 2), 16), 2);
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(13, 2), 16), 3);
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(16, 2), 16), 4);
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(19, 2), 16), 5);
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(22, 2), 16), 6);
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(25, 2), 16), 7);
}
lock (m_listeners)
{
AddToCanTrace("RX: " + canMessage.getData().ToString("X16"));
//Console.WriteLine("MSG: " + rxMessage);
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
}
catch (Exception)
{
Console.WriteLine("MSG: " + rxMessage);
}
}
}
}
else
{
Thread.Sleep(1); // give others some air
}
}
}
}
// parse the receive string
/*int readResult = 0;
LAWICEL.CANMsg r_canMsg = new LAWICEL.CANMsg();
CANMessage canMessage = new CANMessage();
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
readResult = LAWICEL.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == LAWICEL.ERROR_CANUSB_OK)
{
//Console.WriteLine(r_canMsg.id.ToString("X3") + " " + r_canMsg.data.ToString("X8"));
if (MessageContainsInformationForRealtime(r_canMsg.id))
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
AddToCanTrace("RX: " + r_canMsg.data.ToString("X16"));
foreach (ICANListener listener in m_listeners)
{
//while (listener.messagePending()) ; // dirty, make this better
listener.handleMessage(canMessage);
}
//CastInformationEvent(canMessage); // <GS-05042011> re-activated this function
}
//Thread.Sleep(1);
}
// cast event to application to process message
//if (MessageContainsInformationForRealtime(r_canMsg.id))
//{
//TODO: process all other known msg id's into the realtime view
// CastInformationEvent(canMessage); // <GS-05042011> re-activated this function
//}
}
else if (readResult == LAWICEL.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
*/
}
/*private void AddToCanTrace(string line)
{
if (m_EnableCanLog)
{
DateTime dtnow = DateTime.Now;
using (StreamWriter sw = new StreamWriter(System.Windows.Forms.Application.StartupPath + "\\CanTraceCANUSBDevice.txt", true))
{
sw.WriteLine(dtnow.ToString("dd/MM/yyyy HH:mm:ss") + " - " + line);
}
}
}*/
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
public override bool sendMessage(CANMessage a_message)
{
LAWICEL.CANMsg msg = new LAWICEL.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
int writeResult;
//AddToCanTrace("Sending message");
AddToCanTrace("TX: " + msg.id.ToString("X4") + " " + msg.data.ToString("X16"));
writeResult = LAWICEL.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == LAWICEL.ERROR_CANUSB_OK)
{
//AddToCanTrace("Message sent successfully");
return true;
}
else
{
switch (writeResult)
{
case LAWICEL.ERROR_CANUSB_COMMAND_SUBSYSTEM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_COMMAND_SUBSYSTEM");
break;
case LAWICEL.ERROR_CANUSB_INVALID_PARAM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_INVALID_PARAM");
break;
case LAWICEL.ERROR_CANUSB_NO_MESSAGE:
AddToCanTrace("Message failed to send: ERROR_CANUSB_NO_MESSAGE");
break;
case LAWICEL.ERROR_CANUSB_NOT_OPEN:
AddToCanTrace("Message failed to send: ERROR_CANUSB_NOT_OPEN");
break;
case LAWICEL.ERROR_CANUSB_OPEN_SUBSYSTEM:
AddToCanTrace("Message failed to send: ERROR_CANUSB_OPEN_SUBSYSTEM");
break;
case LAWICEL.ERROR_CANUSB_TX_FIFO_FULL:
AddToCanTrace("Message failed to send: ERROR_CANUSB_TX_FIFO_FULL");
break;
default:
AddToCanTrace("Message failed to send: " + writeResult.ToString());
break;
}
return false;
}
}
/// <summary>
/// Send a message that starts a session. This is used to test if there is
/// a connection.
/// </summary>
/// <returns></returns>
private bool sendSessionRequest()
{
Console.WriteLine("Sending session request");
// 0x220 is for T7
// 0x7E0 is for T8
CANMessage msg1 = new CANMessage(0x7E0, 0, 8);
LAWICEL.CANMsg msg = new LAWICEL.CANMsg();
msg1.setData(0x000040021100813f);
if (!sendMessage(msg1))
{
Console.WriteLine("Unable to send session request");
return false;
}
if (waitForMessage(0x7E8, 1000, out msg) == 0x7E8)
{
Console.WriteLine("Message 0x7E8 seen");
//Ok, there seems to be a ECU somewhere out there.
//Now, sleep for 10 seconds to get a session timeout. This is needed for
//applications on higher level. Otherwise there will be no reply when the
//higher level application tries to start a session.
Thread.Sleep(10000);
Console.WriteLine("sendSessionRequest: TRUE");
return true;
}
Console.WriteLine("sendSessionRequest: FALSE");
return false;
}
private bool SendTransferData011(int length, int address, uint waitforResponseID)
{
CANMessage msg = new CANMessage(0x11, 0, 8); // <GS-24052011> test for ELM327, set length to 16 (0x10)
ulong cmd = 0x0000000000360010; // 0x36 = transferData
ulong addressHigh = (uint)address & 0x0000000000FF0000;
addressHigh /= 0x10000;
ulong addressMiddle = (uint)address & 0x000000000000FF00;
addressMiddle /= 0x100;
ulong addressLow = (uint)address & 0x00000000000000FF;
ulong len = (ulong)length;
cmd |= (addressLow * 0x100000000000000);
cmd |= (addressMiddle * 0x1000000000000);
cmd |= (addressHigh * 0x10000000000);
cmd |= (len * 0x100);
//Console.WriteLine("send: " + cmd.ToString("X16"));
msg.setData(cmd);
m_canListener.setupWaitMessage(waitforResponseID);
if (!canUsbDevice.sendMessage(msg))
{
AddToCanTrace("Couldn't send message");
}
CANMessage response = new CANMessage();
response = new CANMessage();
response = m_canListener.waitMessage(1000);
ulong data = response.getData();
//Console.WriteLine("Received in SendTransferData: " + data.ToString("X16"));
if (getCanData(data, 0) != 0x30 || getCanData(data, 1) != 0x00)
{
return false;
}
return true;
}
private bool StartBootloader011()
{
CANMessage msg = new CANMessage(0x11, 0, 7); //<GS-18052011> ELM327 support requires the length byte
ulong cmd = 0x0060241000803606;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x311);
if (!canUsbDevice.sendMessage(msg))
{
Console.WriteLine("Couldn't send message");
}
CANMessage response = new CANMessage();
response = new CANMessage();
response = m_canListener.waitMessage(1000);
ulong data = response.getData();
if (getCanData(data, 0) != 0x01 || getCanData(data, 1) != 0x76)
{
return false;
}
return true;
}
private bool SendSecretCode2()
{
//44585349006EAE07
CANMessage msg = new CANMessage(0x7E0, 0, 8);
ulong cmd = 0x44585349006EAE07;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
if (!canUsbDevice.sendMessage(msg))
{
Console.WriteLine("Couldn't send message");
}
CANMessage ECMresponse = new CANMessage();
ECMresponse = m_canListener.waitMessage(1000);
ulong rxdata = ECMresponse.getData();
if (getCanData(rxdata, 1) == 0xEE && getCanData(rxdata, 2) == 0x6E)
{
return true;
}
return false;
}
private bool SendSecretCodetoCIM()
{
//0044585349603B06
CANMessage msg = new CANMessage(0x245, 0, 8);
ulong cmd = 0x0044585349603B06;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x645);
if (!canUsbDevice.sendMessage(msg))
{
Console.WriteLine("Couldn't send message");
}
CANMessage ECMresponse = new CANMessage();
ECMresponse = m_canListener.waitMessage(1000);
ulong rxdata = ECMresponse.getData();
if(getCanData(rxdata, 1) == 0x7B && getCanData(rxdata, 2) == 0x60)
{
return true;
}
return false;
}
private bool SendrequestDownload(bool recoveryMode)
{
CANMessage msg = new CANMessage(0x7E0, 0, 7);//<GS-18052011> ELM327 support requires the length byte
//06 34 01 00 00 00 00 00
ulong cmd = 0x0000000000013406;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
if (!canUsbDevice.sendMessage(msg))
{
Console.WriteLine("Couldn't send message");
}
bool eraseDone = false;
int eraseCount = 0;
int waitCount = 0;
while (!eraseDone)
{
m_canListener.setupWaitMessage(0x7E8); // TEST ELM327 31082011
CANMessage response = new CANMessage();
response = m_canListener.waitMessage(500); // 1 seconds!
ulong data = response.getData();
if (data == 0)
{
m_canListener.setupWaitMessage(0x311); // TEST ELM327 31082011
response = new CANMessage();
response = m_canListener.waitMessage(500); // 1 seconds!
data = response.getData();
}
// response will be 03 7F 34 78 00 00 00 00 a couple of times while erasing
if (getCanData(data, 0) == 0x03 && getCanData(data, 1) == 0x7F && getCanData(data, 2) == 0x34 && getCanData(data, 3) == 0x78 )
{
if (recoveryMode) BroadcastKeepAlive();
else SendKeepAlive();
eraseCount ++;
string info = "Erasing flash";
for(int i = 0; i < eraseCount; i ++) info += ".";
CastInfoEvent(info, ActivityType.ErasingFlash);
}
else if (getCanData(data, 0) == 0x01 && getCanData(data, 1) == 0x74)
{
if (recoveryMode) BroadcastKeepAlive();
else SendKeepAlive();
eraseDone = true;
return true;
}
else if (getCanData(data, 0) == 0x03 && getCanData(data, 1) == 0x7F && getCanData(data, 2) == 0x34 && getCanData(data, 3) == 0x11)
{
CastInfoEvent("Erase cannot be performed", ActivityType.ErasingFlash);
return false;
}
else
{
Console.WriteLine("Rx: " + data.ToString("X16"));
if (!recoveryMode && canUsbDevice is CANELM327Device) SendKeepAlive();
}
waitCount++;
if (waitCount > 30)
{
CastInfoEvent("Erase timed out after 30 seconds", ActivityType.ErasingFlash);
// ELM327 seem to be unable to wait long enough for this response
// Instead we assume its finnished ok after 30 seconds
if (canUsbDevice is CANELM327Device)
{
return true;
}
else
{
return false;
}
}
Thread.Sleep(2);
}
return true;
}
private byte[] sendReadDataByLocalIdentifier(int address, int length, out bool success)
{
// we send: 0040000000002106
// .. send: 06 21 80 00 00 00 00 00
success = false;
byte[] retData = new byte[length];
if (!canUsbDevice.isOpen()) return retData;
CANMessage msg = new CANMessage(0x7E0, 0, 7);//<GS-18052011> ELM327 support requires the length byte
//Console.WriteLine("Reading " + address.ToString("X8") + " len: " + length.ToString("X2"));
ulong cmd = 0x0000000000002106; // always 2 bytes
ulong addressHigh = (uint)address & 0x0000000000FF0000;
addressHigh /= 0x10000;
ulong addressMiddle = (uint)address & 0x000000000000FF00;
addressMiddle /= 0x100;
ulong addressLow = (uint)address & 0x00000000000000FF;
ulong len = (ulong)length;
cmd |= (addressLow * 0x1000000000000);
cmd |= (addressMiddle * 0x10000000000);
cmd |= (addressHigh * 0x100000000);
cmd |= (len * 0x10000); // << 2 * 8
//Console.WriteLine("send: " + cmd.ToString("X16"));
/*cmd |= (ulong)(byte)(address & 0x000000FF) << 4 * 8;
cmd |= (ulong)(byte)((address & 0x0000FF00) >> 8) << 3 * 8;
cmd |= (ulong)(byte)((address & 0x00FF0000) >> 2 * 8) << 2 * 8;
cmd |= (ulong)(byte)((address & 0xFF000000) >> 3 * 8) << 8;*/
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
if (!canUsbDevice.sendMessage(msg))
{
AddToCanTrace("Couldn't send message");
}
// wait for max two messages to get rid of the alive ack message
CANMessage response = new CANMessage();
ulong data = 0;
response = new CANMessage();
response = m_canListener.waitMessage(1000);
data = response.getData();
if (getCanData(data, 0) == 0x7E)
{
AddToCanTrace("Got 0x7E message as response to 0x21, ReadDataByLocalIdentifier command");
success = false;
return retData;
}
else if (response.getData() == 0x00000000)
{
AddToCanTrace("Get blank response message to 0x21, ReadDataByLocalIdentifier");
success = false;
return retData;
}
else if (getCanData(data, 0) == 0x03 && getCanData(data, 1) == 0x7F && getCanData(data, 2) == 0x23)
{
// reason was 0x31
AddToCanTrace("No security access granted");
RequestSecurityAccess(0);
success = false;
return retData;
}
else if (getCanData(data, 2) != 0x61 && getCanData(data, 1) != 0x61)
{
if (data == 0x0000000000007E01)
{
// was a response to a KA.
}
AddToCanTrace("Incorrect response to 0x23, sendReadDataByLocalIdentifier. Byte 2 was " + getCanData(data, 2).ToString("X2"));
success = false;
return retData;
}
//TODO: Check whether we need more than 2 bytes of data and wait for that many records after sending an ACK
int rx_cnt = 0;
byte frameIndex = 0x21;
if (length > 4)
{
retData[rx_cnt++] = getCanData(data, 4);
retData[rx_cnt++] = getCanData(data, 5);
retData[rx_cnt++] = getCanData(data, 6);
retData[rx_cnt++] = getCanData(data, 7);
// in that case, we need more records from the ECU
// Thread.Sleep(1);
SendMessage(0x7E0, 0x0000000000000030); // send ack to request more bytes
//Thread.Sleep(1);
// now we wait for the correct number of records to be received
int m_nrFrameToReceive = ((length - 4) / 7);
if ((len - 4) % 7 > 0) m_nrFrameToReceive++;
//AddToCanTrace("Number of frames: " + m_nrFrameToReceive.ToString());
while (m_nrFrameToReceive > 0)
{
// response = new CANMessage();
//response.setData(0);
//response.setID(0);
// m_canListener.setupWaitMessage(0x7E8);
response = m_canListener.waitMessage(1000);
data = response.getData();
//AddToCanTrace("frame " + frameIndex.ToString("X2") + ": " + data.ToString("X16"));
if (frameIndex != getCanData(data, 0))
{
// sequence broken
AddToCanTrace("Received invalid sequenced frame " + frameIndex.ToString("X2") + ": " + data.ToString("X16"));
m_canListener.dumpQueue();
success = false;
return retData;
}
else if (data == 0x0000000000000000)
{
AddToCanTrace("Received blank message while waiting for data");
success = false;
return retData;
}
frameIndex++;
if (frameIndex > 0x2F) frameIndex = 0x20;
// additional check for sequencing of frames
m_nrFrameToReceive--;
//AddToCanTrace("frames left: " + m_nrFrameToReceive.ToString());
// add the bytes to the receive buffer
//string checkLine = string.Empty;
for (uint fi = 1; fi < 8; fi++)
{
//checkLine += getCanData(data, fi).ToString("X2");
if (rx_cnt < retData.Length) // prevent overrun
{
retData[rx_cnt++] = getCanData(data, fi);
}
}
//AddToCanTrace("frame(2): " + checkLine);
//Thread.Sleep(1);
}
}
else
{
if (retData.Length > rx_cnt) retData[rx_cnt++] = getCanData(data, 4);
if (retData.Length > rx_cnt) retData[rx_cnt++] = getCanData(data, 5);
if (retData.Length > rx_cnt) retData[rx_cnt++] = getCanData(data, 6);
if (retData.Length > rx_cnt) retData[rx_cnt++] = getCanData(data, 7);
//AddToCanTrace("received data: " + retData[0].ToString("X2"));
}
/*string line = address.ToString("X8") + " ";
foreach (byte b in retData)
{
line += b.ToString("X2") + " ";
}
AddToCanTrace(line);*/
success = true;
return retData;
}
private void SendMessage(uint id, ulong data)
{
if(canUsbDevice is CANELM327Device) return;
CANMessage msg = new CANMessage();
msg.setID(id);
msg.setLength(8);
msg.setData(data);
if (!canUsbDevice.sendMessage(msg))
{
Console.WriteLine("Failed to send message");
}
}
//---------------------------------------------------------------------------------------------
/**
Tries to connect to CAN bus using the specified bitrate.
@param bitrate bitrate
@param check_traffic check for CAN traffic
@return succ / fail
*/
private bool try_bitrate(uint bitrate, bool check_traffic)
{
try
{
// try connecting
this.combi.CAN_SetBitrate(bitrate);
this.combi.CAN_Open(true);
if (check_traffic)
{
// look for bus activity
CANMessage msg = new CANMessage();
Debug.Assert(msg != null);
if (this.waitForMessage(0, 1000, out msg) < 1)
{
throw new Exception("No traffic at given bitrate");
}
}
return true;
}
catch
{
// failed
this.combi.CAN_Open(false);
return false;
}
}
private bool StartSession20()
{
CANMessage msg = new CANMessage(0x7E0, 0, 2);//<GS-18052011> ELM327 support requires the length byte
ulong cmd = 0x0000000000002001; // 0x02 0x10 0x02
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
if (!canUsbDevice.sendMessage(msg))
{
Console.WriteLine("Couldn't send message");
}
CANMessage response = new CANMessage();
response = new CANMessage();
response = m_canListener.waitMessage(1000);
ulong data = response.getData();
if (getCanData(data, 0) != 0x01 || getCanData(data, 1) != 0x60)
{
return false;
}
return true;
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
LAWICEL.CANMsg r_canMsg = new LAWICEL.CANMsg();
CANMessage canMessage = new CANMessage();
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
readResult = LAWICEL.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == LAWICEL.ERROR_CANUSB_OK)
{
// Console.WriteLine(r_canMsg.id.ToString("X3") + " " + r_canMsg.data.ToString("X8"));
if (MessageContainsInformationForRealtime(r_canMsg.id))
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
lock (m_listeners)
{
AddToCanTrace("RX: " + r_canMsg.id.ToString("X4") + " " + r_canMsg.data.ToString("X16"));
foreach (ICANListener listener in m_listeners)
{
//while (listener.messagePending()) ; // dirty, make this better
listener.handleMessage(canMessage);
}
//CastInformationEvent(canMessage); // <GS-05042011> re-activated this function
}
//Thread.Sleep(1);
}
// cast event to application to process message
//if (MessageContainsInformationForRealtime(r_canMsg.id))
//{
//TODO: process all other known msg id's into the realtime view
// CastInformationEvent(canMessage); // <GS-05042011> re-activated this function
//}
}
else if (readResult == LAWICEL.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}
}
private bool UploadBootloaderProg011()
{
int startAddress = 0x102400;
Bootloader btloaderdata = new Bootloader();
int txpnt = 0;
byte iFrameNumber = 0x21;
if (requestDownload011())
{
for (int i = 0; i < 0x46; i++)
{
iFrameNumber = 0x21;
//10 F0 36 00 00 10 24 00
//Console.WriteLine("Sending bootloader: " + startAddress.ToString("X8"));
// cast event
float percentage = ((float)i * 100) / 70F;
CastProgressWriteEvent(percentage);
if (SendTransferData011(0xF0, startAddress, 0x311))
{
// send 0x22 (34) frames with data from bootloader
CANMessage msg = new CANMessage(0x11, 0, 8);
for (int j = 0; j < 0x22; j++)
{
ulong cmd = 0x0000000000000000; // 0x34 = upload data to ECU
msg.setData(cmd);
msg.setCanData(iFrameNumber, 0);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 1);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 2);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 3);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 4);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 5);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 6);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 7);
iFrameNumber++;
if (iFrameNumber > 0x2F) iFrameNumber = 0x20;
if (!canUsbDevice.sendMessage(msg))
{
AddToCanTrace("Couldn't send message");
}
Thread.Sleep(2);
}
// send the remaining data
m_canListener.setupWaitMessage(0x311);
// now wait for 01 76 00 00 00 00 00 00
CANMessage response = new CANMessage();
response = new CANMessage();
response = m_canListener.waitMessage(1000);
ulong data = response.getData();
if (getCanData(data, 0) != 0x01 || getCanData(data, 1) != 0x76)
{
return false;
}
BroadcastKeepAlive();
startAddress += 0xEA;
}
else
{
Console.WriteLine("Did not receive correct response from SendTransferData");
}
}
iFrameNumber = 0x21;
if (SendTransferData011(0x0A, startAddress, 0x311))
{
// send 0x22 (34) frames with data from bootloader
CANMessage msg = new CANMessage(0x11, 0, 8);
ulong cmd = 0x0000000000000000; // 0x34 = upload data to ECU
msg.setData(cmd);
msg.setCanData(iFrameNumber, 0);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 1);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 2);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 3);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 4);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 5);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 6);
msg.setCanData(btloaderdata.BootloaderProgBytes[txpnt++], 7);
iFrameNumber++;
if (iFrameNumber > 0x2F) iFrameNumber = 0x20;
if (!canUsbDevice.sendMessage(msg))
{
AddToCanTrace("Couldn't send message");
}
Thread.Sleep(2);
// send the remaining data
m_canListener.setupWaitMessage(0x311);
// now wait for 01 76 00 00 00 00 00 00
CANMessage response = new CANMessage();
response = new CANMessage();
response = m_canListener.waitMessage(1000);
ulong data = response.getData();
if (getCanData(data, 0) != 0x01 || getCanData(data, 1) != 0x76)
{
return false;
}
BroadcastKeepAlive();
startAddress += 0x06;
}
else
{
Console.WriteLine("Did not receive correct response from SendTransferData");
}
CastProgressWriteEvent(100);
}
return true;
}
/// <summary>
/// waitForMessage waits for a specific CAN message give by a CAN id.
/// </summary>
/// <param name="a_canID">The CAN id to listen for</param>
/// <param name="timeout">Listen timeout</param>
/// <param name="r_canMsg">The CAN message with a_canID that we where listening for.</param>
/// <returns>The CAN id for the message we where listening for, otherwise 0.</returns>
public override uint waitForMessage(uint a_canID, uint timeout, out CANMessage canMsg)
{
/*
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
LAWICEL.CANMsg r_canMsg = new LAWICEL.CANMsg();
canMsg = new CANMessage();
readResult = LAWICEL.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == LAWICEL.ERROR_CANUSB_OK)
{
//Console.WriteLine("rx id: 0x" + r_canMsg.id.ToString("X4"));
if (r_canMsg.id != a_canID)
{
nrOfWait++;
continue;
}
else
{
canMsg.setID(r_canMsg.id);
canMsg.setData(r_canMsg.data);
canMsg.setFlags(r_canMsg.flags);
return (uint)r_canMsg.id;
}
}
else if (readResult == LAWICEL.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
nrOfWait++;
}
}
canMsg = new CANMessage();
return 0;*/
LAWICEL.CANMsg r_canMsg;
canMsg = new CANMessage();
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
r_canMsg = new LAWICEL.CANMsg();
readResult = LAWICEL.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult == LAWICEL.ERROR_CANUSB_OK)
{
Thread.Sleep(1);
AddToCanTrace("rx: 0x" + r_canMsg.id.ToString("X4") + r_canMsg.data.ToString("X16"));
if (r_canMsg.id == 0x00)
{
nrOfWait++;
}
else if (r_canMsg.id != a_canID)
continue;
canMsg.setData(r_canMsg.data);
canMsg.setID(r_canMsg.id);
canMsg.setLength(r_canMsg.len);
return (uint)r_canMsg.id;
}
else if (readResult == LAWICEL.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
nrOfWait++;
}
}
r_canMsg = new LAWICEL.CANMsg();
return 0;
}
public byte[] getSRAMSnapshotWithBootloader()
{
_stallKeepAlive = true;
bool success = false;
int retryCount = 0;
int startAddress = 0x100000;
int blockSize = 0x80; // defined in bootloader... keep it that way!
int bufpnt = 0;
byte[] buf = new byte[0x008000];
int blockCount = 0;
SendKeepAlive();
sw.Reset();
sw.Start();
CastInfoEvent("Starting session", ActivityType.UploadingBootloader);
StartSession10();
CastInfoEvent("Requesting mandatory data", ActivityType.UploadingBootloader);
RequestECUInfo(0x90);
RequestECUInfo(0x97);
RequestECUInfo(0x92);
RequestECUInfo(0xB4);
RequestECUInfo(0xC1);
RequestECUInfo(0xC2);
RequestECUInfo(0xC3);
RequestECUInfo(0xC4);
RequestECUInfo(0xC5);
RequestECUInfo(0xC6);
Send0120();
Thread.Sleep(1000);
StartSession1081();
StartSession10();
CastInfoEvent("Telling ECU to clear CANbus", ActivityType.UploadingBootloader);
SendShutup();
SendA2();
SendA5();
SendA503();
Thread.Sleep(500);
SendKeepAlive();
_securityLevel = AccessLevel.AccessLevel01;
CastInfoEvent("Requesting security access", ActivityType.UploadingBootloader);
RequestSecurityAccess(500);
Thread.Sleep(500);
CastInfoEvent("Uploading bootloader", ActivityType.UploadingBootloader);
UploadBootloader();
CastInfoEvent("Starting bootloader", ActivityType.UploadingBootloader);
// start bootloader in ECU
Thread.Sleep(500);
StartBootloader();
SendKeepAlive();
Thread.Sleep(500);
CastInfoEvent("Downloading snapshot", ActivityType.DownloadingFlash);
// now start sending commands:
//06 21 80 00 00 00 00 00
// response:
//10 82 61 80 00 10 0C 00 // 4 bytes data already
//for (int i = 0; i < buf.Length / blockSize; i++)
while (startAddress < 0x108000)
{
if (!canUsbDevice.isOpen())
{
_stallKeepAlive = false;
return buf;
}
byte[] readbuf = readDataByLocalIdentifier(startAddress, blockSize, out success);
if (success)
{
if (readbuf.Length == blockSize)
{
for (int j = 0; j < blockSize; j++)
{
buf[bufpnt++] = readbuf[j];
}
}
//string infoStr = "Address: " + startAddress.ToString("X8"); //+ " ";
CastProgressReadEvent((float)(bufpnt * 100) / (float)buf.Length);
startAddress += blockSize;
retryCount = 0;
}
else
{
CastInfoEvent("Frame dropped, retrying " + startAddress.ToString("X8") + " " + retryCount.ToString(), ActivityType.DownloadingFlash);
retryCount++;
// read all available message from the bus now
for (int i = 0; i < 10; i++)
{
CANMessage response = new CANMessage();
ulong data = 0;
response = new CANMessage();
response = m_canListener.waitMessage(10);
data = response.getData();
}
if (retryCount == maxRetries)
{
CastInfoEvent("Failed to download flash content", ActivityType.ConvertingFile);
_stallKeepAlive = false;
return buf;
}
}
blockCount++;
if (sw.ElapsedMilliseconds > 3000) // once every 3 seconds
//if ((blockCount % 10) == 0)
{
sw.Stop();
sw.Reset();
SendKeepAlive();
sw.Start();
}
}
sw.Stop();
_stallKeepAlive = false;
return buf;
}
/// <summary>
/// Send a KWP request.
/// </summary>
/// <param name="a_request">A KWP request.</param>
/// <param name="r_reply">A KWP reply.</param>
/// <returns>The status of the request.</returns>
public RequestResult sendRequest(KWPRequest a_request, out KWPReply r_reply)
{
CANMessage msg = new CANMessage(0x7E0, 0, 8);
uint row = nrOfRowsToSend(a_request.getData());
m_kwpCanListener.setupWaitMessage(0x7E8);
// Send one or several request messages.
for (; row > 0; row--)
{
msg.setData(createCanMessage(a_request.getData(), row - 1));
if (!m_canDevice.sendMessage(msg))
{
r_reply = new KWPReply();
return RequestResult.ErrorSending;
}
}
msg = m_kwpCanListener.waitMessage(timeoutPeriod);
// msg = m_kwpCanListener.waitForMessage(0x7E8, timeoutPeriod);
// Receive one or several replys and send an ack for each reply.
if (msg.getID() == 0x7E8)
{
uint nrOfRows = (uint)(msg.getCanData(0) & 0x3F)+ 1;
row = 0;
if (nrOfRows == 0)
throw new Exception("Wrong nr of rows");
//Assume that no KWP reply contains more than 0x200 bytes
byte[] reply = new byte[0x200];
reply = collectReply(reply, msg.getData(), row);
sendAck(nrOfRows - 1);
nrOfRows--;
m_kwpCanListener.setupWaitMessage(0x7E8);
while (nrOfRows > 0)
{
// msg = m_kwpCanListener.waitForMessage(0x7E8, timeoutPeriod);
msg = m_kwpCanListener.waitMessage(timeoutPeriod);
if (msg.getID() == 0x7E8)
{
row++;
reply = collectReply(reply, msg.getData(), row);
sendAck(nrOfRows - 1);
nrOfRows--;
}
else
{
r_reply = new KWPReply();
return RequestResult.Timeout;
}
}
r_reply = new KWPReply(reply, a_request.getNrOfPID());
return RequestResult.NoError;
}
else
{
r_reply = new KWPReply();
return RequestResult.Timeout;
}
}
public void InitializeSession()
{
CANMessage response = new CANMessage();
//101 8 FE 01 3E 00 00 00 00 00
CANMessage msg = new CANMessage(0x11, 0, 2);
ulong cmd = 0x0000000000003E01;
msg.setData(cmd);
if (!canUsbDevice.sendMessage(msg))
{
AddToCanTrace("Couldn't send message");
}
/*
// first send
ulong data = 0;
CANMessage msg = new CANMessage(0x7E0, 0, 8);
ulong cmd = 0x0000000000005001;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
if (!m_canDevice.sendMessage(msg))
{
AddToCanTrace("Couldn't send message");
}
response = new CANMessage();
response = m_canListener.waitMessage(1000);
data = response.getData();
Console.WriteLine("Received1: " + data.ToString("X8"));
cmd = 0x0000000000006801;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
if (!m_canDevice.sendMessage(msg))
{
AddToCanTrace("Couldn't send message");
}
response = new CANMessage();
response = m_canListener.waitMessage(1000);
data = response.getData();
Console.WriteLine("Received2: " + data.ToString("X8"));
response = new CANMessage();
response = m_canListener.waitMessage(1000);
data = response.getData();
Console.WriteLine("Received3: " + data.ToString("X8"));
cmd = 0x000000000000E501;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
if (!m_canDevice.sendMessage(msg))
{
AddToCanTrace("Couldn't send message");
}
response = new CANMessage();
response = m_canListener.waitMessage(1000);
data = response.getData();
Console.WriteLine("Received4: " + data.ToString("X8"));*/
}
/// <summary>
/// Send an acknowledgement message.
/// </summary>
/// <param name="a_rowNr">The row number that should be acknowledged.</param>
private void sendAck(uint a_rowNr)
{
CANMessage msg = new CANMessage(0x266,0,8);
uint i = 0;
ulong data = 0;
data = setCanData(data, (byte)0x40, i++); // ?
data = setCanData(data, (byte)0xA1, i++);
data = setCanData(data, (byte)0x3F, i++);
data = setCanData(data, (byte)(0x80 | (int)(a_rowNr)), i++);
msg.setData(data);
if (!m_canDevice.sendMessage(msg))
throw new Exception("Error sending ack");
}
private void SendDeviceControlMessage(byte command)
{
CANMessage msg = new CANMessage(0x7E0, 0, 3);//<GS-18052011> ELM327 support requires the length byte
ulong cmd = 0x000000000000AE02;
ulong lcommand = command;
cmd |= (lcommand * 0x10000);
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
if (!canUsbDevice.sendMessage(msg))
{
Console.WriteLine("Couldn't send message");
}
CANMessage ECMresponse = new CANMessage();
ECMresponse = m_canListener.waitMessage(1000);
}
public override bool sendMessage(CANMessage a_message)
{
string sendString = " ";
/*if (a_message.getID() == 0x11)
{
// try to insert length ourselves
sendString = " ";
sendString += a_message.getLength().ToString("X2");
}*/
Console.WriteLine("send: " + a_message.getID().ToString("X3") + " " + a_message.getData().ToString("X16"));
if (a_message.getID() != _ECUAddress)
{
_ECUAddress = a_message.getID();
string command = "ATSH" + a_message.getID().ToString("X3");
/*if (_ECUAddress == 0x11)
{
command = "ATSH 0000" + a_message.getID().ToString("X3");
}*/
m_serialPort.Write(command + "\r"); //Set header to 7E0 = ECU
AddToSerialTrace("SERTX: " + command);
CastInformationEvent("Switching to ID: " + a_message.getID().ToString("X3"));
string answer = m_serialPort.ReadTo(">");
CastInformationEvent(command + " response: " + answer);
}
for (uint i = 0; i < a_message.getLength(); i++) // leave out the length field, the ELM chip assigns that for us
{
//if (i <= 7)
{
sendString += a_message.getCanData(i).ToString("X2");
}
/*else
{
sendString += "00"; // fill with zeros
}*/
}
//sendString = sendString.Trim();
sendString += "\r";
if (m_serialPort.IsOpen)
{
m_serialPort.Write(sendString);
AddToSerialTrace("SERTX: " + sendString);
//Console.WriteLine("TX: " + sendString);
AddToCanTrace("TX: " + a_message.getID().ToString("X3") + " " + sendString);
}
// bitrate = 38400bps -> 4800 bytes per second
// sending each byte will take 0.2 ms approx
// bitrate = 115200bps -> 14400 bytes per second
// sending each byte will take 0,07 ms approx
Thread.Sleep(2); // sleep length ms
//07E0 0000000000003E01
if (a_message.getID() == 0x7E0 && a_message.getCanData(0) == 0x01 && a_message.getCanData(1) == 0x3E)
{
//m_serialPort.Write("ATMA\r");
//AddToSerialTrace("SERTX: ATMA");
}
// Thread.Sleep(10);
//receiveString = "49 01 01 00 00 00 31 \n\r49 02 02 44 34 47 50 \n\r49 02 03 30 30 52 35 \n\r49 02 04 25 42";// m_serialPort.ReadTo(">");
/*receiveString = m_serialPort.ReadTo(">");
char[] chrArray = receiveString.ToCharArray();
byte[] reply = new byte[0xFF];
int insertPos = 1;
int index = 0;
string subString = "";
while (receiveString.Length > 4)
{
//Remove first three bytes
//TODO. Remove Mode and PIDs
for (int i = 0; i < 3; i++)
{
index = receiveString.IndexOf(" ");
receiveString = receiveString.Remove(0, index + 1);
}
//Read data for the rest of the row.
for (int i = 0; i < 4; i++)
{
index = receiveString.IndexOf(" ");
if (index == 0) //Last row not 4 bytes of data.
{
continue;
}
subString = receiveString.Substring(0, index);
reply[insertPos] = (byte)Convert.ToInt16("0x" + subString, 16);
insertPos++;
receiveString = receiveString.Remove(0, index + 1);
}
}
reply[0] = (byte)insertPos; //Length
r_reply = new KWPReply(reply, a_request.getNrOfPID());
return RequestResult.NoError;*/
return true; // remove after implementation
}
//---------------------------------------------------------------------------------------------
/**
Sends a 11 bit CAN data frame.
@param msg CAN message
@return success (true/false)
*/
public override bool sendMessage(CANMessage msg)
{
//Console.WriteLine("TX: " + msg.getID().ToString("X4") + " " + msg.getData().ToString("X16"));
this.AddToCanTrace("Sending message: " + msg.getID().ToString("X4") + " " + msg.getData().ToString("X16") + " " + msg.getLength().ToString("X2"));
try
{
Combi.caCombiAdapter.caCANFrame frame;
frame.id = msg.getID();
frame.length = msg.getLength();
frame.data = msg.getData();
frame.is_extended = 0;
frame.is_remote = 0;
this.combi.CAN_SendMessage(ref frame);
this.AddToCanTrace("Message sent successfully");
return true;
}
catch (Exception e)
{
this.AddToCanTrace("Message failed to send: " + e.Message);
return false;
}
}
/// <summary> /// This method is called by ICANDevices where derived objects of this class /// are registered. The method is called for each received CANMessage. /// What this method does is application dependent. /// </summary> /// <param name="a_canMessage">The CANMessage to be handled by this method.</param> public abstract void handleMessage(CANMessage a_canMessage);
private void SendDeviceControlMessageWithCode(byte command, string secretcode /*ulong code*/)
{
CANMessage msg = new CANMessage(0x7E0, 0, 7);//<GS-18052011> ELM327 support requires the length byte
ulong cmd = 0x000000000000AE07;
ulong lcommand = command;
cmd |= (lcommand * 0x10000);
ulong code = 0;
//0x4D4E415100000000
code |= Convert.ToByte(secretcode[3]);
code = code << 8;
code |= Convert.ToByte(secretcode[2]);
code = code << 8;
code |= Convert.ToByte(secretcode[1]);
code = code << 8;
code |= Convert.ToByte(secretcode[0]);
code = code << 4 * 8;
cmd |= code;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x7E8);
if (!canUsbDevice.sendMessage(msg))
{
Console.WriteLine("Couldn't send message");
}
CANMessage ECMresponse = new CANMessage();
ECMresponse = m_canListener.waitMessage(1000);
}