// CAN return rate
public static string CanRateReturn(string canInterface)
{
try
{
string hardwareString0 = canInterface.Replace(" ", "");
string[] msgOutput = hardwareString0.Split(';');
ECOMLibrary.DeviceInfo di = new ECOMLibrary.DeviceInfo();
// ECom can return
// NOTE: ECom API does not have a bus parameter call
if (msgOutput[2] == "ECom")
{
// Finds the open ECom Adapters
UInt32 deviceSearch = ECOMLibrary.StartDeviceSearch(ECOMLibrary.FIND_OPEN);
while (deviceSearch != 0 && ECOMLibrary.FindNextDevice(deviceSearch, ref di) == ECOMLibrary.ECI_NO_ERROR)
{
if (di.CANOpen != 0)
{
return(Convert.ToString(di.SerialNumber));
}
}
ECOMLibrary.CloseDeviceSearch(deviceSearch);
}
return(null);
}
catch (Exception)
{
ErrorLog.NewLogEntry("Adapter", "ECom library not found");
return(null);
}
} // End GenericCanRateReturn
// **********************
// Turns canInterface off
// **********************
public static void CanBusOff(string canInterface)
{
string hardwareString0 = canInterface.Replace(" ", "");
string[] msgOutput = hardwareString0.Split(';');
// Need Error Checking to ensure that device closes
ECOMLibrary.CloseDevice((UInt32)BusInterface.ReturnHandle(canInterface));
ErrorLog.NewLogEntry("CAN", "Bus Off Success/Failed: " + msgOutput[1]);
}
} // End DetectCanInterfaces
// ***************************************
// GenericCanBusOn
// Turns canInterface on based on User Selection
// ***************************************
public static int CanBusOn(string canInterface, string bitRateSetting)
{
string hardwareString0 = canInterface.Replace(" ", "");
string[] msgOutput = hardwareString0.Split(';');
Byte ReturnError = 0; //This will be used for all error return status codes
UInt32 EcomHandle; //This will be the HANDLE to our ECOM device used for all function calls
byte EComCANBitrate = ECOMLibrary.CAN_BAUD_500K;
ECOMLibrary.DeviceInfo di = new ECOMLibrary.DeviceInfo();
// Assigns settings for the adapter
if (bitRateSetting == "1M")
{
EComCANBitrate = ECOMLibrary.CAN_BAUD_1MB;
}
else if (bitRateSetting == "500K")
{
EComCANBitrate = ECOMLibrary.CAN_BAUD_500K;
}
else if (bitRateSetting == "250K")
{
EComCANBitrate = ECOMLibrary.CAN_BAUD_250K;
}
else if (bitRateSetting == "125K")
{
EComCANBitrate = ECOMLibrary.CAN_BAUD_125K;
}
else if (bitRateSetting == "100K" || msgOutput[4] == "62K" || msgOutput[4] == "50K" || msgOutput[4] == "33K")
{
MainWindow.ErrorDisplayString("ECom Adapter does not support low speed CAN (100K, 62K, 50K, 33K)");
return(-1);
}
EcomHandle = ECOMLibrary.CANOpen(Convert.ToUInt32(msgOutput[3]), EComCANBitrate, ref ReturnError);
//MainWindow.ErrorDisplayString("ECom Handle: " + Convert.ToString(EcomHandle));
BusInterface.AddHandle(canInterface, (int)EcomHandle);
if (EcomHandle == 0 || ReturnError != 0)
{
StringBuilder ErrMsg = new StringBuilder(400);
ECOMLibrary.GetFriendlyErrorMessage(ReturnError, ErrMsg, 400);
MainWindow.ErrorDisplayString("CANOpen failed with error message: " + ErrMsg);
return(-1);
}
ECOMLibrary.GetDeviceInfo(EcomHandle, ref di);
ErrorLog.NewLogEntry("CAN", "Bus On: " + di.SerialNumber);
return(1);
}
} // End GenericCanRateReturn
// ***************************************
// DetectCanInterfaces
// Pulls all of the available adapters for the CAN bus
// ***************************************
public static void DetectCanInterfaces()
{
// Detect Process for ECom devices
try
{
ECOMLibrary.DeviceInfo di = new ECOMLibrary.DeviceInfo();
UInt32 deviceSearch = ECOMLibrary.StartDeviceSearch(ECOMLibrary.FIND_ALL);
while (deviceSearch != 0 && ECOMLibrary.FindNextDevice(deviceSearch, ref di) == ECOMLibrary.ECI_NO_ERROR)
{
BusInterface.AddInterface("CAN;" + "CANCapture" + ";" + "ECom" + ";" + di.SerialNumber, -1);
ErrorLog.NewLogEntry("CAN", "Detect CAN: " + di.SerialNumber);
}
ECOMLibrary.CloseDeviceSearch(deviceSearch);
}
catch (Exception)
{
ErrorLog.NewLogEntry("Adapter", "ECom library not found");
}
} // End DetectCanInterfaces
public void ECOMWriteMultiple(CanData can)
{
for (int x = 0; x < can.number; x++)
{
can.handle = BusInterface.ReturnHandle(can.hardware);
//MainWindow.ErrorDisplayString("ECom Handle: " + Convert.ToString(can.handle));
ECOMLibrary.SFFMessage txMessage = new ECOMLibrary.SFFMessage();
ECOMLibrary.EFFMessage etxMessage = new ECOMLibrary.EFFMessage();
// Pulls the top 3 bits for IDH and the bottom 8 bits for IDL
txMessage.IDH = (byte)(can.id & 0x700);
txMessage.IDL = (byte)(can.id & 0x0FF);
// Converts the entire id into an unit for extended sending
etxMessage.ID = (UInt32)can.id;
txMessage.DataLength = (byte)can.dlc;
etxMessage.DataLength = (byte)can.dlc;
txMessage.options = (byte)can.flags;
etxMessage.options = (byte)can.flags;
// Puts the individual bytes into the can.msg byte array
if (can.dlc > 0)
{
txMessage.data1 = can.msg[0];
etxMessage.data1 = can.msg[0];
}
if (can.dlc > 1)
{
txMessage.data2 = can.msg[1];
etxMessage.data2 = can.msg[1];
}
if (can.dlc > 2)
{
txMessage.data3 = can.msg[2];
etxMessage.data3 = can.msg[2];
}
if (can.dlc > 3)
{
txMessage.data4 = can.msg[3];
etxMessage.data4 = can.msg[3];
}
if (can.dlc > 4)
{
txMessage.data5 = can.msg[4];
etxMessage.data5 = can.msg[4];
}
if (can.dlc > 5)
{
txMessage.data6 = can.msg[5];
etxMessage.data6 = can.msg[5];
}
if (can.dlc > 6)
{
txMessage.data7 = can.msg[6];
etxMessage.data7 = can.msg[6];
}
if (can.dlc > 7)
{
txMessage.data8 = can.msg[7];
etxMessage.data8 = can.msg[7];
}
if (can.flags == 4)
{
ECOMLibrary.CANTransmitMessageEx((UInt32)can.handle, ref etxMessage);
}
else
{
ECOMLibrary.CANTransmitMessage((UInt32)can.handle, ref txMessage);
}
System.Threading.Thread.Sleep(can.timeBtw);
if (can.increment == true)
{
can.id++;
}
}
}
} // End GenericCanTransmitMultiple
// CAN Receive
public static bool CanReceive(CanData can)
{
Byte ReturnError = 0;
ECOMLibrary.SFFMessage RxMessage = new ECOMLibrary.SFFMessage();
ECOMLibrary.EFFMessage ExMessage = new ECOMLibrary.EFFMessage();
try
{
//ECOM library call to get a standard message
ReturnError = ECOMLibrary.CANReceiveMessage((UInt32)BusInterface.ReturnHandle(can.hardware), ref RxMessage);
}
catch {
ErrorLog.NewLogEntry("ECOM", Convert.ToString(ReturnError));
}
if (ReturnError == 0)
{
// Converts the ID low and ID high
can.id = Convert.ToInt32(RxMessage.IDL + RxMessage.IDH);
can.dlc = Convert.ToInt32(RxMessage.DataLength);
can.time = Convert.ToInt64(RxMessage.TimeStamp);
// Puts the individual bytes into the can.msg byte array
if (can.dlc > 0)
{
can.msg[0] = RxMessage.data1;
}
if (can.dlc > 1)
{
can.msg[1] = RxMessage.data2;
}
if (can.dlc > 2)
{
can.msg[2] = RxMessage.data3;
}
if (can.dlc > 3)
{
can.msg[3] = RxMessage.data4;
}
if (can.dlc > 4)
{
can.msg[4] = RxMessage.data5;
}
if (can.dlc > 5)
{
can.msg[5] = RxMessage.data6;
}
if (can.dlc > 6)
{
can.msg[6] = RxMessage.data7;
}
if (can.dlc > 7)
{
can.msg[7] = RxMessage.data8;
}
// Revisions Needed -- Need to pull flag information
can.flags = Convert.ToInt32(RxMessage.options);
//MainWindow.ErrorDisplayString(Convert.ToString(can.flags));
// For error testing
// MainWindow.ErrorDisplayByteArray(can.msg);
//MainWindow.ErrorDisplayString(Convert.ToString(can.dlc));
}
else
{
ReturnError = ECOMLibrary.CANReceiveMessageEx((UInt32)BusInterface.ReturnHandle(can.hardware), ref ExMessage);
can.id = Convert.ToInt32(ExMessage.ID);
can.dlc = Convert.ToInt32(ExMessage.DataLength);
can.time = Convert.ToInt64(ExMessage.TimeStamp);
// Puts the individual bytes into the can.msg byte array
if (can.dlc > 0)
{
can.msg[0] = ExMessage.data1;
}
if (can.dlc > 1)
{
can.msg[1] = ExMessage.data2;
}
if (can.dlc > 2)
{
can.msg[2] = ExMessage.data3;
}
if (can.dlc > 3)
{
can.msg[3] = ExMessage.data4;
}
if (can.dlc > 4)
{
can.msg[4] = ExMessage.data5;
}
if (can.dlc > 5)
{
can.msg[5] = ExMessage.data6;
}
if (can.dlc > 6)
{
can.msg[6] = ExMessage.data7;
}
if (can.dlc > 7)
{
can.msg[7] = ExMessage.data8;
}
// Revisions Needed -- Need to pull flag information
can.flags = Convert.ToInt32(ExMessage.options);
// For error testing
// MainWindow.ErrorDisplayByteArray(can.msg);
}
if (ReturnError != 0)
{
return(false);
}
else
{
return(true);
}
} // End Read
//************************************
// CAN Transmit for a single transmission
//************************************
public static void CanTransmitSingle(CanData can)
{
// Implementation for Standard Message & Extended Message
can.handle = BusInterface.ReturnHandle(can.hardware);
//MainWindow.ErrorDisplayString("ECom Handle: " + Convert.ToString(can.handle));
ECOMLibrary.SFFMessage txMessage = new ECOMLibrary.SFFMessage();
ECOMLibrary.EFFMessage etxMessage = new ECOMLibrary.EFFMessage();
// Pulls the top 3 bits for IDH and the bottom 8 bits for IDL
txMessage.IDH = (byte)(can.id & 0x700);
txMessage.IDL = (byte)(can.id & 0x0FF);
// Converts the entire id into an unit for extended sending
etxMessage.ID = (UInt32)can.id;
txMessage.DataLength = (byte)can.dlc;
etxMessage.DataLength = (byte)can.dlc;
txMessage.options = (byte)can.flags;
etxMessage.options = (byte)can.flags;
// Puts the individual bytes into the can.msg byte array
if (can.dlc > 0)
{
txMessage.data1 = can.msg[0];
etxMessage.data1 = can.msg[0];
}
if (can.dlc > 1)
{
txMessage.data2 = can.msg[1];
etxMessage.data2 = can.msg[1];
}
if (can.dlc > 2)
{
txMessage.data3 = can.msg[2];
etxMessage.data3 = can.msg[2];
}
if (can.dlc > 3)
{
txMessage.data4 = can.msg[3];
etxMessage.data4 = can.msg[3];
}
if (can.dlc > 4)
{
txMessage.data5 = can.msg[4];
etxMessage.data5 = can.msg[4];
}
if (can.dlc > 5)
{
txMessage.data6 = can.msg[5];
etxMessage.data6 = can.msg[5];
}
if (can.dlc > 6)
{
txMessage.data7 = can.msg[6];
etxMessage.data7 = can.msg[6];
}
if (can.dlc > 7)
{
txMessage.data8 = can.msg[7];
etxMessage.data8 = can.msg[7];
}
// Non-threading write option
if (can.flags == 4)
{
ECOMLibrary.CANTransmitMessageEx((UInt32)can.handle, ref etxMessage);
}
else
{
ECOMLibrary.CANTransmitMessage((UInt32)can.handle, ref txMessage);
}
CheckFlags(can);
} // End GenericCanTransmitSingle
