//Goes on bus
public void busOn()
{
Canlib.canStatus status = Canlib.canBusOn(handle);
if (status == Canlib.canStatus.canOK)
{
onBus = true;
}
}
/// <summary>
/// The open method tries to connect to both busses to see if one of them is connected and
/// active. The first strategy is to listen for any CAN message. If this fails there is a
/// check to see if the application is started after an interrupted flash session. This is
/// done by sending a message to set address and length (only for P-bus).
/// </summary>
/// <returns>OpenResult.OK is returned on success. Otherwise OpenResult.OpenError is
/// returned.</returns>
override public OpenResult open()
{
Canlib.canInitializeLibrary();
//Check if bus is connected
if (isOpen())
{
close();
}
Thread.Sleep(200);
m_readThread = new Thread(readMessages)
{
Name = "KvaserCANDevice.m_readThread"
};
m_endThread = false;
// Take first adapter...
string[] adapters = GetAdapterNames();
if (adapters.Length == 0)
{
return(OpenResult.OpenError);
}
SetSelectedAdapter(adapters[0]);
//Check if P bus is connected
logger.Debug("handle1 = canlibCLSNET.Canlib.canOpenChannel()");
handleWrite = Canlib.canOpenChannel(ChannelNumber, 0);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleWrite)");
Canlib.canStatus statusSetParamWrite = Canlib.canSetBusParamsC200(handleWrite, 0x40, 0x37);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleWrite)");
Canlib.canStatus statusOnWrite = Canlib.canBusOn(handleWrite);
Canlib.canIoCtl(handleWrite, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
//
logger.Debug("handle2 = canlibCLSNET.Canlib.canOpenChannel()");
handleRead = Canlib.canOpenChannel(ChannelNumber, 0);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleRead)");
Canlib.canStatus statusSetParamRead = Canlib.canSetBusParamsC200(handleRead, 0x40, 0x37);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleRead)");
Canlib.canStatus statusOnRead = Canlib.canBusOn(handleRead);
Canlib.canIoCtl(handleRead, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
if (handleWrite < 0 || handleRead < 0)
{
return(OpenResult.OpenError);
}
logger.Debug("P bus connected");
if (m_readThread.ThreadState == ThreadState.Unstarted)
{
m_readThread.Start();
}
return(OpenResult.OK);
}
//Goes on bus
public void busOn()
{
Canlib.canStatus status = Canlib.canBusOn(handle);
if (status == Canlib.canStatus.canOK)
{
onBus = true;
if (!dumper.IsBusy)
{
dumper.RunWorkerAsync();
}
}
}
//Goes on bus
void busOnButton_Click(object sender, RoutedEventArgs e)
{
//Set Bitrate
int[] bitrates = new int[] { Canlib.canBITRATE_125K, Canlib.canBITRATE_250K,
Canlib.canBITRATE_500K, Canlib.BAUD_1M };
Canlib.canStatus senderStatus = Canlib.canSetBusParams(sendHandle, bitrates[bitrateComboBox.SelectedIndex], 0, 0, 0, 0, 0);
Canlib.canStatus readerStatus = Canlib.canSetBusParams(readHandle, bitrates[bitrateComboBox.SelectedIndex], 0, 0, 0, 0, 0);
CheckStatus("Setting bitrate to " + ((ComboBoxItem)bitrateComboBox.SelectedValue).Content, senderStatus);
if (senderStatus != Canlib.canStatus.canOK || readerStatus != Canlib.canStatus.canOK)
{
return;
}
//Bus On
senderStatus = Canlib.canBusOn(sendHandle);
readerStatus = Canlib.canBusOn(readHandle);
CheckStatus("Bus on with bitrate " + ((ComboBoxItem)bitrateComboBox.SelectedValue).Content, senderStatus);
if (senderStatus == Canlib.canStatus.canOK && readerStatus == Canlib.canStatus.canOK)
{
isSenderBusOn = true;
isReaderBusOn = true;
//This starts the DumpMessageLoop method
if (!messageReceiver.IsBusy)
{
messageReceiver.RunWorkerAsync();
}
busOnButton.IsEnabled = false;
bitrateComboBox.IsEnabled = false;
busOffButton.IsEnabled = true;
sendMessageButton.IsEnabled = true;
clearMessageButton.IsEnabled = true;
buildMessageButton.IsEnabled = true;
}
else
{
MessageBox.Show("Bus On failed. Please try again.");
}
}
public KvaserCAN(MainWindow wnd) //public constructor
{
this.wnd = wnd;
Canlib.canInitializeLibrary();
hcan = Canlib.canOpenChannel(channel, Canlib.canOPEN_REQUIRE_INIT_ACCESS);
if (hcan < 0)
{
string error;
Canlib.canGetErrorText((Canlib.canStatus)hcan, out error);
send2Terminal(error);
}
else
{
Canlib.canSetBusParams(hcan, bitr, 0, 0, 0, 0, 0); //parameters set by dafault based on bitr
Canlib.canBusOn(hcan);
send2Terminal("Can liin avatud");
//DumpMessageLoop(hcan);
}
}
/// <summary>
/// The open method tries to connect to both busses to see if one of them is connected and
/// active. The first strategy is to listen for any CAN message. If this fails there is a
/// check to see if the application is started after an interrupted flash session. This is
/// done by sending a message to set address and length (only for P-bus).
/// </summary>
/// <returns>OpenResult.OK is returned on success. Otherwise OpenResult.OpenError is
/// returned.</returns>
override public OpenResult open()
{
Canlib.canInitializeLibrary();
//Check if bus is connected
if (isOpen())
{
close();
}
Thread.Sleep(200);
m_readThread = new Thread(readMessages)
{
Name = "KvaserCANDevice.m_readThread"
};
if (!UseOnlyPBus)
{
if (TrionicECU == ECU.TRIONIC7)
{
logger.Debug("handle1 = canlibCLSNET.Canlib.canOpenChannel()");
handleWrite = Canlib.canOpenChannel(ChannelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleWrite)");
Canlib.canStatus statusSetParam1 = Canlib.canSetBusParamsC200(handleWrite, CAN_BAUD_BTR_47K_btr0, CAN_BAUD_BTR_47K_btr1);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleWrite)");
Canlib.canStatus statusOn1 = Canlib.canBusOn(handleWrite);
Canlib.canIoCtl(handleWrite, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
//
logger.Debug("handle2 = canlibCLSNET.Canlib.canOpenChannel()");
handleRead = Canlib.canOpenChannel(ChannelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleRead)");
Canlib.canStatus statusSetParam2 = Canlib.canSetBusParamsC200(handleWrite, CAN_BAUD_BTR_47K_btr0, CAN_BAUD_BTR_47K_btr1);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleRead)");
Canlib.canStatus statusOn2 = Canlib.canBusOn(handleRead);
Canlib.canIoCtl(handleRead, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
}
else if (TrionicECU == ECU.TRIONIC8)
{
logger.Debug("handle1 = canlibCLSNET.Canlib.canOpenChannel()");
handleWrite = Canlib.canOpenChannel(ChannelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleWrite)");
Canlib.canStatus statusSetParam1 = Canlib.canSetBusParamsC200(handleWrite, CAN_BAUD_BTR_33K_btr0, CAN_BAUD_BTR_33K_btr1);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleWrite)");
Canlib.canStatus statusOn1 = Canlib.canBusOn(handleWrite);
Canlib.canIoCtl(handleWrite, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
//
logger.Debug("handle2 = canlibCLSNET.Canlib.canOpenChannel()");
handleRead = Canlib.canOpenChannel(ChannelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleRead)");
Canlib.canStatus statusSetParam2 = Canlib.canSetBusParamsC200(handleWrite, CAN_BAUD_BTR_33K_btr0, CAN_BAUD_BTR_33K_btr1);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleRead)");
Canlib.canStatus statusOn2 = Canlib.canBusOn(handleRead);
Canlib.canIoCtl(handleRead, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
}
if (handleWrite < 0 || handleRead < 0)
{
return(OpenResult.OpenError);
}
logger.Debug("I bus connected");
if (m_readThread.ThreadState == ThreadState.Unstarted)
{
m_readThread.Start();
}
return(OpenResult.OK);
}
m_endThread = false;
//Check if P bus is connected
logger.Debug("handle1 = canlibCLSNET.Canlib.canOpenChannel()");
handleWrite = Canlib.canOpenChannel(ChannelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleWrite)");
Canlib.canStatus statusSetParamWrite = Canlib.canSetBusParams(handleWrite, Canlib.canBITRATE_500K, 0, 0, 0, 0, 0);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleWrite)");
Canlib.canStatus statusOnWrite = Canlib.canBusOn(handleWrite);
Canlib.canIoCtl(handleWrite, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
//
logger.Debug("handle2 = canlibCLSNET.Canlib.canOpenChannel()");
handleRead = Canlib.canOpenChannel(ChannelNumber, Canlib.canOPEN_ACCEPT_VIRTUAL);
logger.Debug("canlibCLSNET.Canlib.canSetBusParams(handleRead)");
Canlib.canStatus statusSetParamRead = Canlib.canSetBusParams(handleRead, Canlib.canBITRATE_500K, 0, 0, 0, 0, 0);
logger.Debug("canlibCLSNET.Canlib.canBusOn(handleRead)");
Canlib.canStatus statusOnRead = Canlib.canBusOn(handleRead);
Canlib.canIoCtl(handleRead, Canlib.canIOCTL_SET_LOCAL_TXECHO, 0);
if (handleWrite < 0 || handleRead < 0)
{
return(OpenResult.OpenError);
}
logger.Debug("P bus connected");
if (m_readThread.ThreadState == ThreadState.Unstarted)
{
m_readThread.Start();
}
return(OpenResult.OK);
}
/// <summary>
/// 打开CAN通道
/// </summary>
/// <param name="channel"></param>
/// <param name="baud"></param>
/// <returns></returns>
public bool OpenChannel(int channel, string baud)
{
int canFreq;
canHandler = Canlib.canOpenChannel(channel, Canlib.canOPEN_ACCEPT_VIRTUAL);
if (canHandler != (int)Canlib.canStatus.canOK)
{
return(false);
}
switch (baud)
{
case "50000":
canFreq = Canlib.BAUD_50K;
break;
case "62000":
canFreq = Canlib.BAUD_62K;
break;
case "83000":
canFreq = Canlib.BAUD_83K;
break;
case "100000":
canFreq = Canlib.BAUD_100K;
break;
case "125000":
canFreq = Canlib.BAUD_125K;
break;
case "250000":
canFreq = Canlib.BAUD_250K;
break;
case "500000":
canFreq = Canlib.BAUD_500K;
break;
case "1000000":
canFreq = Canlib.BAUD_1M;
break;
default:
canFreq = Canlib.BAUD_500K;
break;
}
Canlib.canStatus canStatus = Canlib.canSetBusParams(canHandler, canFreq, 0x80, 0x3A, 1, 1, 0);
if (canStatus != Canlib.canStatus.canOK)
{
return(false);
}
canStatus = Canlib.canBusOn(canHandler);
if (canStatus != Canlib.canStatus.canOK)
{
return(false);
}
return(true);
}
private void canThreadFunct()
{
int canHandle;
Canlib.canStatus status;
int channel_number = 0;
int id;
byte[] msg = new byte[8];
int dlc;
int flag;
long time;
long timeout;
int val0 = 0;
int val1 = 0;
int val2 = 0;
int val3 = 0;
long count0 = 1;
long count1 = 2;
long count2 = 3;
long count3 = 4;
Canlib.canInitializeLibrary();
canHandle = Canlib.canOpenChannel(channel_number, Canlib.canOPEN_NO_INIT_ACCESS);
CheckStatus((Canlib.canStatus)canHandle, "canOpenChannel");
// Next, take the channel on bus using the canBusOn method. This
// needs to be done before we can send a message.
status = Canlib.canBusOn(canHandle);
CheckStatus(status, "canBusOn");
timeout = 1000;
while (!exit_request)
{
status = Canlib.canReadWait(canHandle, out id, msg, out dlc, out flag, out time, timeout);
CheckStatus(status, "canReadWait");
if (id == 0x700)
{
val0 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 0));
count0 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 4));
}
if (id == 0x701)
{
val1 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 0));
count1 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 4));
}
if (id == 0x702)
{
val2 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 0));
count2 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 4));
}
if (id == 0x703)
{
val3 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 0));
count3 = IPAddress.NetworkToHostOrder(BitConverter.ToInt32(msg, 4));
}
if (count0 == count1 && count0 == count2 && count0 == count3)
{
realtimeChart.DataSample genValue = new realtimeChart.DataSample();
genValue.value[0] = val0;
genValue.value[1] = val1;
genValue.value[2] = val2;
genValue.value[3] = val3;
mainChart.AddValue(genValue);
}
}
status = Canlib.canBusOff(canHandle);
CheckStatus(status, "canBusOff");
}
/*
* Looks for messages and sends them to the output box.
*/
private void DumpMessageLoop(object sender, DoWorkEventArgs e)
{
BackgroundWorker worker = sender as BackgroundWorker;
Canlib.canStatus status;
int id;
byte[] data = new byte[8];
int dlc;
int flags;
long time;
bool noError = true;
var msg = "";
//Open up a new handle for reading
readHandle = Canlib.canOpenChannel(channel, Canlib.canOPEN_ACCEPT_VIRTUAL);
status = Canlib.canBusOn(readHandle);
while (noError && onBus && readHandle >= 0)
{
#region 接收指定ID报文
var message = new byte[8];
var idRS16 = Convert.ToInt32(idBox.Text, 16);
var idRS = Convert.ToInt32(idBox.Text);
status = Canlib.canReadSpecific(readHandle, idRS16, message, out int dlcRS, out int flagRS, out long timeRS);
if (status == Canlib.canStatus.canOK)
{
DumpMessage dumpMessage = new DumpMessage();
if ((flagRS & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
{
//msgRS = "ERROR FRAME RECEIVED" + Environment.NewLine;
}
else
{
dumpMessage.id = idRS16;
dumpMessage.idStr = idBox.Text;
dumpMessage.dlc = dlcRS;
dumpMessage.data = message;
dumpMessage.flags = flagRS;
dumpMessage.time = timeRS;
}
//Sends the message to the ProcessMessage method
worker.ReportProgress(1, dumpMessage);
}
else if (status != Canlib.canStatus.canERR_NOMSG)
{
//Sends the error status to the ProcessMessage method and breaks the loop
worker.ReportProgress(100, status);
}
#endregion
#region 接收所有报文
//status = Canlib.canReadWait(readHandle, out id, data, out dlc, out flags, out time, 50);
//if (status == Canlib.canStatus.canOK)
//{
// DumpMessage dumpMessage = new DumpMessage();
// if ((flags & Canlib.canMSG_ERROR_FRAME) == Canlib.canMSG_ERROR_FRAME)
// {
// //msg = "***ERROR FRAME RECEIVED***" + Environment.NewLine;
// }
// else
// {
// dumpMessage.id = id;
// dumpMessage.dlc = dlc;
// dumpMessage.data = data;
// dumpMessage.flags = flags;
// dumpMessage.time = time;
// }
// //Sends the message to the ProcessMessage method
// worker.ReportProgress(0, dumpMessage);
//}
//else if (status != Canlib.canStatus.canERR_NOMSG)
//{
// //Sends the error status to the ProcessMessage method and breaks the loop
// worker.ReportProgress(100, status);
// noError = false;
//}
#endregion
}
Canlib.canBusOff(readHandle);
}
