public override bool sendMessage(CANMessage a_message)
{
string sendString = " ";
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 += "\r";
if (m_serialPort.IsOpen)
{
m_serialPort.Write(sendString);
//Console.WriteLine("TX: " + sendString);
}
// bitrate = 38400bps -> 3840 bytes per second
// sending each byte will take 0.2 ms approx
Thread.Sleep(a_message.getLength()); // sleep length ms
// 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
}
public int query_data(byte unit, byte data_id, out byte[] answer)
{
byte[] data = new byte[8];
byte length= 0;
byte i = 0;
answer = new byte[8]; // test <GS-11012011>
int rcv_length;
byte[] query = new byte[8] { 0x40, 0x00, 0x02, 0x21, 0x00, 0x00, 0x00, 0x00 };
byte[] ack = new byte[8] { 0x40, 0x00, 0x3F, 0x00, 0x00, 0x00, 0x00, 0x00 };
//ulong query_long = 0x0000000021020040;
//ulong ack_long = 0x00000000003F0040;
query[1] = unit;
ack[1] = unit;
// If data_id is zero, decrease length field
if (data_id != 0x00) query[4] = data_id;
else query[2] = 0x01;
data[0] = 0x00;
rcv_length = 0;
//for (int i = 0; i < 5; i++)
{
CANMessage msg = new CANMessage(0x240, 0, 8);
//msg.setData(query_long);
msg.setCanData(query[0], 0);
msg.setCanData(query[1], 1);
msg.setCanData(query[2], 2);
msg.setCanData(query[3], 3);
msg.setCanData(query[4], 4);
msg.setCanData(query[5], 5);
msg.setCanData(query[6], 6);
msg.setCanData(query[7], 7);
msg.setID(0x240);
AddToCanTrace("Sending: 0x" + msg.getData().ToString("X16") + " id: 0x" + msg.getID().ToString("X4"));
if (!sendMessage(msg))
{
return -1;
}
uint reply_unit = GetReplyforUnit(unit);
reply_unit = 0x258; // for testing purposes
while (data[0] != 0x80 && data[0] != 0xC0)
{
CANMessage replyMessage = new CANMessage();
AddToCanTrace("Waiting for ID: 0x" + reply_unit.ToString("X4"));
if (waitForMessage(reply_unit, 1000, out replyMessage) == reply_unit)
{
AddToCanTrace("Rx data: " + replyMessage.getData().ToString("X16"));
data[0] = replyMessage.getCanData(0);
data[1] = replyMessage.getCanData(1);
data[2] = replyMessage.getCanData(2);
data[3] = replyMessage.getCanData(3);
data[4] = replyMessage.getCanData(4);
data[5] = replyMessage.getCanData(5);
data[6] = replyMessage.getCanData(6);
data[7] = replyMessage.getCanData(7);
int idx = 0;
if ((data[0] & 0x40) > 0)
{
if (data[2] > 0x02)
{
length = data[2]; // subtract two non-payload bytes
length -= 2;
answer = new byte[length];
}
else length = 0;
if (--length > 0)
{
answer[idx++] = data[5];
rcv_length++;
}
if (--length > 0)
{
answer[idx++] = data[6];
rcv_length++;
}
if (--length > 0)
{
answer[idx++] = data[7];
rcv_length++;
}
}
else
{
for (i = 0; i < 6; i++)
{
answer[idx++] = data[2 + i];
length--;
rcv_length++;
if (length == 0) i = 6;
}
}
// Send acknowledgement
ack[3] = Convert.ToByte(data[0] & 0xBF);
CANMessage ackMessage = new CANMessage();
//ackMessage.setData(ack_long);
ackMessage.setCanData(ack[0], 0);
ackMessage.setCanData(ack[1], 1);
ackMessage.setCanData(ack[2], 2);
ackMessage.setCanData(ack[3], 3);
ackMessage.setCanData(ack[4], 4);
ackMessage.setCanData(ack[5], 5);
ackMessage.setCanData(ack[6], 6);
ackMessage.setCanData(ack[7], 7);
ackMessage.setID(0x266);
sendMessage(ackMessage);
}
else
{
// Timeout
AddToCanTrace("Timeout waiting for 0x" + reply_unit.ToString("X3"));
return -1;
}
}
}
return rcv_length;
}
public override bool sendMessage(CANMessage a_message)
{
string sendString = " ";
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 += "\r";
if (m_serialPort.IsOpen)
{
m_serialPort.Write(sendString);
//Console.WriteLine("TX: " + sendString);
}
// bitrate = 38400bps -> 3840 bytes per second
// sending each byte will take 0.2 ms approx
Thread.Sleep(a_message.getLength()); // sleep length ms
// 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
}
public int query_data(byte unit, byte data_id, out byte[] answer)
{
byte[] data = new byte[8];
byte length = 0;
byte i = 0;
answer = new byte[8]; // test <GS-11012011>
int rcv_length;
byte[] query = new byte[8] {
0x40, 0x00, 0x02, 0x21, 0x00, 0x00, 0x00, 0x00
};
byte[] ack = new byte[8] {
0x40, 0x00, 0x3F, 0x00, 0x00, 0x00, 0x00, 0x00
};
//ulong query_long = 0x0000000021020040;
//ulong ack_long = 0x00000000003F0040;
query[1] = unit;
ack[1] = unit;
// If data_id is zero, decrease length field
if (data_id != 0x00)
{
query[4] = data_id;
}
else
{
query[2] = 0x01;
}
data[0] = 0x00;
rcv_length = 0;
//for (int i = 0; i < 5; i++)
{
CANMessage msg = new CANMessage(0x240, 0, 8);
//msg.setData(query_long);
msg.setCanData(query[0], 0);
msg.setCanData(query[1], 1);
msg.setCanData(query[2], 2);
msg.setCanData(query[3], 3);
msg.setCanData(query[4], 4);
msg.setCanData(query[5], 5);
msg.setCanData(query[6], 6);
msg.setCanData(query[7], 7);
msg.setID(0x240);
AddToCanTrace("Sending: 0x" + msg.getData().ToString("X16") + " id: 0x" + msg.getID().ToString("X4"));
if (!sendMessage(msg))
{
return(-1);
}
uint reply_unit = GetReplyforUnit(unit);
reply_unit = 0x258; // for testing purposes
while (data[0] != 0x80 && data[0] != 0xC0)
{
CANMessage replyMessage = new CANMessage();
AddToCanTrace("Waiting for ID: 0x" + reply_unit.ToString("X4"));
if (waitForMessage(reply_unit, 1000, out replyMessage) == reply_unit)
{
AddToCanTrace("Rx data: " + replyMessage.getData().ToString("X16"));
data[0] = replyMessage.getCanData(0);
data[1] = replyMessage.getCanData(1);
data[2] = replyMessage.getCanData(2);
data[3] = replyMessage.getCanData(3);
data[4] = replyMessage.getCanData(4);
data[5] = replyMessage.getCanData(5);
data[6] = replyMessage.getCanData(6);
data[7] = replyMessage.getCanData(7);
int idx = 0;
if ((data[0] & 0x40) > 0)
{
if (data[2] > 0x02)
{
length = data[2]; // subtract two non-payload bytes
length -= 2;
answer = new byte[length];
}
else
{
length = 0;
}
if (--length > 0)
{
answer[idx++] = data[5];
rcv_length++;
}
if (--length > 0)
{
answer[idx++] = data[6];
rcv_length++;
}
if (--length > 0)
{
answer[idx++] = data[7];
rcv_length++;
}
}
else
{
for (i = 0; i < 6; i++)
{
answer[idx++] = data[2 + i];
length--;
rcv_length++;
if (length == 0)
{
i = 6;
}
}
}
// Send acknowledgement
ack[3] = Convert.ToByte(data[0] & 0xBF);
CANMessage ackMessage = new CANMessage();
//ackMessage.setData(ack_long);
ackMessage.setCanData(ack[0], 0);
ackMessage.setCanData(ack[1], 1);
ackMessage.setCanData(ack[2], 2);
ackMessage.setCanData(ack[3], 3);
ackMessage.setCanData(ack[4], 4);
ackMessage.setCanData(ack[5], 5);
ackMessage.setCanData(ack[6], 6);
ackMessage.setCanData(ack[7], 7);
ackMessage.setID(0x266);
sendMessage(ackMessage);
}
else
{
// Timeout
AddToCanTrace("Timeout waiting for 0x" + reply_unit.ToString("X3"));
return(-1);
}
}
}
return(rcv_length);
}
