/// <summary>
/// Initializes the CAN.
/// </summary>
/// <returns>If successful, return [true].</returns>
private static bool CANInit()
{
int Result;
Result = C4UFX.EnableTS(0, 0);
Result = C4UFX.ResetInterface(0, 0); // clear out any misc messages
if (Result != C4UFX.Resp_Ack)
{
CANCheckStatus(true);
return(false);
}
Result = C4UFX.ClearCANMess(0, 0); // clear out any misc messages
if (Result != C4UFX.Resp_Ack)
{
CANCheckStatus(true);
return(false);
}
Result = C4UFX.SetCANBaud(0, 0, CANBAUD);
if (Result != C4UFX.Resp_Ack)
{
CANCheckStatus(true);
return(false);
}
Result = C4UFX.ClearCANMess(0, 0);
if (Result != C4UFX.Resp_Ack)
{
CANCheckStatus(true);
return(false);
}
Result = C4UFX.RecCANMess(0, 0, (long)Filters.MESS0, 0x0C + 1); //'//MO0 + enable rollover bit
if (Result != C4UFX.Resp_Ack)
{
CANCheckStatus(true);
return(false);
}
Result = C4UFX.RecCANMess(0, 0, (long)Filters.MESS1, 0x1C);
if (Result != C4UFX.Resp_Ack)
{
CANCheckStatus(true);
return(false);
}
for (int i = 0; i < 6; i++)
{
Result = C4UFX.SetFilters(0, 0, (byte)i, (long)Filters.FILTER0, true);
if (Result != C4UFX.Resp_Ack)
{
CANCheckStatus(true);
return(false);
}
}
return(true);
}
/// <summary>
/// Handles the Tick event of the ErrorResetTmr control.
/// </summary>
/// <param name="sender">The source of the event.</param>
/// <param name="e">The <see cref="EventArgs"/> instance containing the event data.</param>
private static void ErrorResetTmr_Tick(object sender, EventArgs e)
{
int Result;
byte[] Buf = new Byte[4];
Buf[0] = 0;
Result = C4UFX.WriteReg(0, 0, 0x2D, 1, Buf);
errorResetTmr.Stop();
}
/// <summary>
/// Sends the oldest message in the queue to the CAN.
/// </summary>
private static void SendNextInQueue()
{
if (messageQueue.Count > 0)
{
int error = 0;
C4UFX.CANMessage mess = messageQueue.Dequeue();
C4UFX.SendCANMess(0, 0, mess, out error);
MessageSent?.Invoke(mess);
}
}
/// <summary>
/// Checks the CAN for incoming messages.
/// </summary>
private static void GetIncomingMessages()
{
try
{
int Result = C4UFX.Resp_Ack;
C4UFX.CANMessage CANMess = new C4UFX.CANMessage();
while (Result == C4UFX.Resp_Ack)
{
Result = C4UFX.GetCANMess(0, 0, ref CANMess);
if (Result == C4UFX.Resp_Ack)
{
MessageReceived?.Invoke(CANMess);
}
}
}
catch
{
CANStatus?.Invoke(CANSTAT.NOINTERFACE); //Error found by not connecting interface, unsure if that's the only possible reason
}
}
/// <summary>
/// Checks the status of the CAN.
/// </summary>
/// <param name="ForceErr">If true, force an error even if there is none.</param>
private static void CANCheckStatus(bool ForceErr)
{
int Result;
if (CANInterfaceStatus == CANSTAT.OK && !ForceErr)
{
byte[] DataBuffer = new byte[10];
Result = C4UFX.ReadReg(0, 0, 0x2D, 1, ref DataBuffer); // EFLG
if (Result == C4UFX.Resp_Ack)
{
InterfaceWarning?.Invoke(Warning.OK, DataBuffer[0] == 0);
InterfaceWarning?.Invoke(Warning.RxWarning, (DataBuffer[0] & 0x02) > 0);
InterfaceWarning?.Invoke(Warning.TxWarning, (DataBuffer[0] & 0x04) > 0);
InterfaceWarning?.Invoke(Warning.Buffer0Warning, (DataBuffer[0] & 0x08) > 0);
InterfaceWarning?.Invoke(Warning.Buffer1Warning, (DataBuffer[0] & 0x10) > 0);
InterfaceWarning?.Invoke(Warning.RxPassive, (DataBuffer[0] & 0x20) > 0);
InterfaceWarning?.Invoke(Warning.TxPassive, (DataBuffer[0] & 0x40) > 0);
InterfaceWarning?.Invoke(Warning.BussOff, (DataBuffer[0] & 0x80) > 0);
if ((DataBuffer[0] & 0x40) > 0 || (DataBuffer[0] & 0x80) > 0)
{
errorResetTmr.Start();
}
}
}
else
{
C4UFX.CANMessage errorMessage = new C4UFX.CANMessage();
int errorCode;
errorMessage.ID = 0;
errorMessage.DLC = 0;
for (int i = 0; i < 8; i++)
{
errorMessage.Data[i] = 0;
}
errorMessage.EID = true;
errorMessage.RTR = false;
errorMessage.MO = 0;
errorMessage.SendOption = 7;
Result = C4UFX.SendCANMess(0, 0, errorMessage, out errorCode);
switch (Result)
{
case C4UFX.Resp_Ack:
CANStatus?.Invoke(CANSTAT.OK);
break;
case C4UFX.Resp_NAck:
// message was transmitted but there was an error, so reset
CANInit();
CANStatus?.Invoke(CANSTAT.SENDERROR);
break;
case C4UFX.Resp_ErrImproperResponse:
CANStatus?.Invoke(CANSTAT.NOINTERFACE);
break;
default:
CANStatus?.Invoke(CANSTAT.ERROR);
break;
}
}
}
