/// <summary>
/// Отправка CAN сообщения
/// </summary>
public void TransmitData(CanMsg msg)
{
CanMessage canMsg = new CanMessage();
// ExtendedFrameFormat - тип идентификатора - 11 или 22 бит
canMsg.TimeStamp = 0;
//canMsg.Identifier = 0x100;
canMsg.Identifier = msg.Id;
canMsg.FrameType = CanMsgFrameType.Data;
canMsg.DataLength = msg.Size;
if (msg.Size == 0)
{
canMsg.RemoteTransmissionRequest = true;
}
canMsg.SelfReceptionRequest = true; // Отображение сообщения в консоле
for (Byte i = 0; i < canMsg.DataLength; i++)
{
canMsg[i] = msg.Size;
}
// Запись сообщения в FIFO(буфер can-адаптера?)
mWriter.SendMessage(canMsg);
}
public static CanMsg CreateRemote(UInt32 id0, bool Extended0)
{
CanMsg CreateRemote = new CanMsg(id0, Extended0, 0);
CreateRemote.Extended = Extended0;
CreateRemote.Size = 0;
if (CreateRemote.Extended == false)
{
if (id0 <= 0x7FF)
{
CreateRemote.Id = id0;
}
else
{
throw new System.ArgumentException("Неправильный входной параметр аргумента", "original");
}
}
if (CreateRemote.Extended == true)
{
if (id0 <= 0x1FFFFFFF)
{
CreateRemote.Id = id0;
}
else
{
throw new System.ArgumentException("Неправильный входной параметр аргумента", "original");
}
}
return(CreateRemote);
}
/// <summary>
/// Поток проверки CAN-буфера
/// </summary>
public CanMsg ReceiveThreadFunc()
{
(new System.Threading.Thread(delegate() {
string ReceiveThreadFunc = "";
CanMessage canMessage;
CanMsg cmsg = null;
do
{
// Принять кан сообщение из буфера адаптера
while (mReader.ReadMessage(out canMessage))
{
cmsg = new CanMsg(canMessage.Identifier, canMessage.ExtendedFrameFormat, canMessage.DataLength);
switch (canMessage.FrameType)
{
//
// действия для каждого типа данных
//
case CanMsgFrameType.Data:
{
if (!canMessage.RemoteTransmissionRequest)
{
ReceiveThreadFunc = "\nTime: " + canMessage.TimeStamp + " ID: " + canMessage.Identifier + " DLC: " + canMessage.DataLength + " Data: ";
cmsg.comment = "\nTime: " + canMessage.TimeStamp + " ID: " + canMessage.Identifier + " DLC: " + canMessage.DataLength + " Data: ";
for (int index = 0; index < canMessage.DataLength; index++)
{
ReceiveThreadFunc += canMessage[index] + " ";
cmsg.comment += canMessage[index] + " ";
cmsg[(byte)index] = Convert.ToByte(canMessage[index]);
}
}
else
{
ReceiveThreadFunc = "\nTime: " + canMessage.TimeStamp + " ID: " + canMessage.Identifier + " DLC: " + canMessage.DataLength + " Remote Frame ";
cmsg.comment += "\nTime: " + canMessage.TimeStamp + " ID: " + canMessage.Identifier + " DLC: " + canMessage.DataLength + " Remote Frame ";
}
break;
}
//
// Информационные сообщения
//
case CanMsgFrameType.Info:
{
switch ((CanMsgInfoValue)canMessage[0])
{
case CanMsgInfoValue.Start:
// ReceiveThreadFunc = "\nCAN started...";
cmsg.comment = "\nCAN started...";
break;
case CanMsgInfoValue.Stop:
// cmsg.comment = "\nCAN stopped...";
cmsg.comment = "\nCAN stopped...";
break;
case CanMsgInfoValue.Reset:
// cmsg.comment = "\nCAN reseted...";
cmsg.comment = "\nCAN reseted...";
break;
}
break;
}
//
// show error frames
//
case CanMsgFrameType.Error:
{
switch ((CanMsgError)canMessage[0])
{
case CanMsgError.Stuff:
cmsg.comment = "\nstuff error...";
break;
case CanMsgError.Form:
cmsg.comment = "\nform error...";
break;
case CanMsgError.Acknowledge:
cmsg.comment = "\nacknowledgment error...";
break;
case CanMsgError.Bit:
cmsg.comment = "\nbit error...";
break;
case CanMsgError.Crc:
cmsg.comment = "\nCRC error...";
break;
case CanMsgError.Other:
cmsg.comment = "\nother error...";
break;
}
break;
}
}
}
CanMessageRecieved(cmsg);
} while (0 == 0);
// return cmsg;
})).Start();
return(null);
}
