//-------------------------------------------------------------------------
/**
* Writes a CAN message to log file.
*
* @param r_canMsg message
* @param IsTransmit ???
*/
private void DumpCanMsg(CANMessage r_canMsg, bool IsTransmit)
{
DateTime dt = DateTime.Now;
try
{
using (StreamWriter sw = new StreamWriter(Path.Combine(this.startup_path,
dt.Year.ToString("D4") + dt.Month.ToString("D2") +
dt.Day.ToString("D2") + "-CanTrace.log"), true))
{
if (IsTransmit)
{
// get the byte transmitted
int transmitvalue = (int)(r_canMsg.getData() & 0x000000000000FF00);
transmitvalue /= 256;
sw.WriteLine(dt.ToString("dd/MM/yyyy HH:mm:ss") +
" TX: id=" + r_canMsg.getID().ToString("D2") +
" len= " + r_canMsg.getLength().ToString("X8") +
" data=" + r_canMsg.getData().ToString("X16") +
" " + r_canMsg.getFlags().ToString("X2") +
" character = " + GetCharString(transmitvalue) +
"\t ts: " + r_canMsg.getTimeStamp().ToString("X16") +
" flags: " + r_canMsg.getFlags().ToString("X2"));
}
else
{
// get the byte received
int receivevalue = (int)(r_canMsg.getData() & 0x0000000000FF0000);
receivevalue /= (256 * 256);
sw.WriteLine(dt.ToString("dd/MM/yyyy HH:mm:ss") +
" RX: id=" + r_canMsg.getID().ToString("D2") +
" len= " + r_canMsg.getLength().ToString("X8") +
" data=" + r_canMsg.getData().ToString("X16") +
" " + r_canMsg.getFlags().ToString("X2") +
" character = " + GetCharString(receivevalue) +
"\t ts: " + r_canMsg.getTimeStamp().ToString("X16") +
" flags: " + r_canMsg.getFlags().ToString("X2"));
}
}
}
catch (Exception E)
{
Console.WriteLine("Failed to write to logfile: " + E.Message);
}
}
//-------------------------------------------------------------------------
/**
* Handles incoming messages.
*/
private void read_messages()
{
uint id;
byte length;
ulong data;
CANMessage msg = new CANMessage();
Debug.Assert(msg != null);
// main loop
while (true)
{
// check tor thread termination request
Debug.Assert(this.term_mutex != null);
lock (this.term_mutex)
{
if (this.term_requested)
{
return;
}
}
// receive messages
while (MctAdapter_ReceiveMessage(out id, out length, out data))
{
// convert message
msg.setID(id);
msg.setLength(length);
msg.setData(data);
// pass message to listeners
lock (this.m_listeners)
{
foreach (ICANListener listener in this.m_listeners)
{
listener.handleMessage(msg);
}
}
}
// give up CPU for a moment
Thread.Sleep(1);
}
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
override public bool sendMessage(CANMessage a_message)
{
LAWICEL.CANMsg msg = new LAWICEL.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
if (m_DoLogging)
{
DumpCanMsg(msg, true);
}
if (m_port.IsOpen)
{
m_port.Write("\r");
string txstring = "t";
txstring += msg.id.ToString("X3");
txstring += "8"; // always 8 bytes to transmit
for (int t = 0; t < 8; t++)
{
byte b = (byte)(((msg.data >> t * 8) & 0x0000000000000000FF));
txstring += b.ToString("X2");
}
txstring += "\r";
m_port.Write(txstring);
// Console.WriteLine("Send: " + txstring);
return(true);
}
return(false);
/*
* int writeResult;
* writeResult = LAWICEL.canusb_Write(m_deviceHandle, ref msg);
* if (writeResult == LAWICEL.ERROR_CANUSB_OK)
* return true;
* else
* return false;
*/
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
override public bool sendMessage(CANMessage a_message)
{
LAWICEL.CANMsg msg = new LAWICEL.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
if (m_DoLogging)
{
DumpCanMsg(msg, true);
}
int writeResult;
writeResult = LAWICEL.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == LAWICEL.ERROR_CANUSB_OK)
{
return(true);
}
else
{
return(false);
}
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
public override bool sendMessage(CANMessage a_message)
{
LAWICEL.CANMsg msg = new LAWICEL.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
if (m_DoLogging)
{
DumpCanMsg(msg, true);
}
if (m_port.IsOpen)
{
m_port.Write("\r");
string txstring = "t";
txstring += msg.id.ToString("X3");
txstring += "8"; // always 8 bytes to transmit
for (int t = 0; t < 8; t++)
{
byte b = (byte)(((msg.data >> t * 8) & 0x0000000000000000FF));
txstring += b.ToString("X2");
}
txstring += "\r";
m_port.Write(txstring);
// Console.WriteLine("Send: " + txstring);
return true;
}
return false;
/*
int writeResult;
writeResult = LAWICEL.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == LAWICEL.ERROR_CANUSB_OK)
return true;
else
return false;
*/
}
//-------------------------------------------------------------------------
/**
Sends a 11 bit CAN data frame.
@param message CAN message
@return success (true/false)
*/
public override bool sendMessage(CANMessage a_message)
{
string sendString = "t";
sendString += a_message.getID().ToString("X3");
sendString += a_message.getLength().ToString("X1");
for (uint i = 0; i < a_message.getLength(); i++) // leave out the length field, the ELM chip assigns that for us
{
sendString += a_message.getCanData(i).ToString("X2");
}
sendString += "\r";
if (m_serialPort.IsOpen)
{
//AddToCanTrace("TX: " + a_message.getID().ToString("X3") + " " + a_message.getLength().ToString("X1") + " " + a_message.getData().ToString("X16"));
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);
Thread.Sleep(1);
return true; // remove after implementation
}
//-------------------------------------------------------------------------
/**
Sends a 11 bit CAN data frame.
@param message CAN message
@return success (true/false)
*/
public override bool sendMessage(CANMessage message)
{
return MctAdapter_SendMessage(message.getID(), message.getLength(),
message.getData());
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
public override bool sendMessage(CANMessage a_message)
{
LAWICEL.CANMsg msg = new LAWICEL.CANMsg();
msg.id = a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
msg.data = a_message.getData();
if (m_DoLogging)
{
DumpCanMsg(msg, true);
}
int writeResult;
writeResult = LAWICEL.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == LAWICEL.ERROR_CANUSB_OK)
return true;
else
return false;
}
private string waitForResponse(int mstimeout)
{
string returnString = "";
bool timeout = false;
CANMessage response = new CANMessage();
m_canListener.setupWaitMessage(0x00c);
response = m_canListener.waitMessage(mstimeout);
if (timeout)
{
return TIMEOUT;
}
/* if ((byte)response.getData() == 0xC4)
{
response = m_canListener.waitForMessage(0x00C, 1000);
DumpCanMsg(response, false);
Console.WriteLine("received C4 command");
//throw new Exception("Error receiving data (1)");
}
else */
if ((byte)response.getData() != 0xC6)
{
//DumpCanMsg(response, false);
//Console.WriteLine("Error rx data (1)");
//throw new Exception("Error receiving data (1)");
return TIMEOUT;
}
if (response.getLength() < 8)
{
returnString = TIMEOUT;
return returnString;
}
returnString += (char)((response.getData() >> 16) & 0xFF);
sendAck();
return returnString;
}
/// <summary>
/// Gets the checksum (C8 command) from the bootloader (non native command)
/// </summary>
/// <returns></returns>
public byte[] getChecksum()
{
byte[] retData = new byte[8];
CANMessage msg = new CANMessage(0x005, 0, 8);
// ulong cmd = 0xC000000000000000;
ulong cmd = 0x00000000000000C8;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x00c);
if (!m_canDevice.sendMessage(msg))
throw new Exception("Couldn't send message");
CANMessage response = new CANMessage();
response = m_canListener.waitMessage(10000);
ulong data = response.getData();
for (int i = 0; i < 8; i++)
retData[7 - i] = (byte)(data >> i * 8);
return retData;
}
private void sendAck()
{
if (m_canDevice == null)
throw new Exception("CAN device not set");
CANMessage ack = new CANMessage(0x006, 0, 2);
ack.setData(0x00000000000000C6);
if (!m_canDevice.sendMessage(ack))
{
// throw new Exception("Couldn't send message");
Console.WriteLine("Couldn't send message");
}
}
//-------------------------------------------------------------------------
/**
Sends a 11 bit CAN data frame.
@param msg CAN message
@return success (true/false)
*/
public override bool sendMessage(CANMessage msg)
{
if (this.logging_enabled)
{
this.DumpCanMsg(msg, true);
}
try
{
Combi.caCombiAdapter.caCANFrame frame;
frame.id = msg.getID();
frame.length = msg.getLength();
frame.data = msg.getData();
frame.is_extended = 0;
frame.is_remote = 0;
this.combi.CAN_SendMessage(ref frame);
return true;
}
catch (Exception e)
{
return false;
}
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
override public bool sendMessage(CANMessage a_message)
{
EASYSYNC.CANMsg msg = new EASYSYNC.CANMsg();
msg.id = (ushort)a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
ulong msgdata = a_message.getData();
// store in data (ulong)
/*byte databyte = a_message.getCanData(7);
* msg.data_1 = GetDataMSBADCII(databyte);
* msg.data_2 = GetDataLSBADCII(databyte);
* databyte = a_message.getCanData(6);
* msg.data_3 = GetDataMSBADCII(databyte);
* msg.data_4 = GetDataLSBADCII(databyte);
* databyte = a_message.getCanData(5);
* msg.data_5 = GetDataMSBADCII(databyte);
* msg.data_6 = GetDataLSBADCII(databyte);
* databyte = a_message.getCanData(4);
* msg.data_7 = GetDataMSBADCII(databyte);
* msg.data_8 = GetDataLSBADCII(databyte);
* databyte = a_message.getCanData(3);
* msg.data_9 = GetDataMSBADCII(databyte);
* msg.data_10 = GetDataLSBADCII(databyte);
* databyte = a_message.getCanData(2);
* msg.data_11 = GetDataMSBADCII(databyte);
* msg.data_12 = GetDataLSBADCII(databyte);
* databyte = a_message.getCanData(1);
* msg.data_13 = GetDataMSBADCII(databyte);
* msg.data_14 = GetDataLSBADCII(databyte);
* databyte = a_message.getCanData(0);
* msg.data_15 = GetDataMSBADCII(databyte);
* msg.data_16 = GetDataLSBADCII(databyte);
*/
msg.data = a_message.getData(); // this data should be in ascii: unsigned char data[16]; // Databytes 0...7
// example:
/*
* msg.data[0]='A';
* msg.data[1]='1';
*
* msg.data[2]='B';
* msg.data[3]='2';
*
* msg.data[4]='C';
* msg.data[5]='3';
*
* msg.data[6]='D';
* msg.data[7]='4';
*
* msg.data[8]='E';
* msg.data[9]='5';
*
* msg.data[10]='F';
* msg.data[11]='6';
*
* msg.data[12]='1';
* msg.data[13]='2';
*
* msg.data[14]='3';
* msg.data[15]='4'; * */
if (m_DoLogging)
{
DumpCanMsg(msg, true);
}
int writeResult;
Console.WriteLine("Writing to handle: " + m_deviceHandle.ToString("X8"));
writeResult = EASYSYNC.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == EASYSYNC.ERROR_CANUSB_OK)
{
return(true);
}
else
{
//EASYSYNC.canusb_Flush(m_deviceHandle);
Console.WriteLine("Failed to send message: " + writeResult.ToString("X8"));
return(false);
}
}
//-------------------------------------------------------------------------
/**
Waits for any message to be received.
@param timeout timeout
@param msg message
@return message ID if received, 0 otherwise
*/
private uint wait_message(uint timeout, out CANMessage msg)
{
msg = new CANMessage();
//Debug.Assert(msg != null);
//int wait_cnt = 0;
//uint id;
//byte length;
//ulong data;
//while (wait_cnt < timeout)
//{
// if (MctAdapter_ReceiveMessage(out id, out length, out data))
// {
// // message received
// msg.setID(id);
// msg.setLength(length);
// msg.setData(data);
// return id;
// }
// // wait a bit
// Thread.Sleep(1);
// ++wait_cnt;
//}
//// nothing was received
return 0;
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
EASYSYNC.CANMsg r_canMsg = new EASYSYNC.CANMsg();
CANMessage canMessage = new CANMessage();
/* Stopwatch
* while (true)
* {
* lock (m_synchObject)
* {
* if (m_endThread)
* return;
* }
* readResult = EASYSYNC.canusb_Read(m_deviceHandle, out r_canMsg);
* if (readResult > 0)
* {
* canMessage.setID(r_canMsg.id);
* canMessage.setLength(r_canMsg.len);
* canMessage.setTimeStamp(r_canMsg.timestamp);
* canMessage.setFlags(r_canMsg.flags);
* canMessage.setData(r_canMsg.data);
* if (m_DoLogging)
* {
* DumpCanMsg(r_canMsg, false);
* }
* lock (m_listeners)
* {
* foreach (ICANListener listener in m_listeners)
* {
* listener.handleMessage(canMessage);
* }
* }
* }
* else if (readResult == EASYSYNC.ERROR_CANUSB_NO_MESSAGE)
* {
* Thread.Sleep(1);
* }
* }*/
while (true)
{
/*if ((thrdcnt++ % 1000) == 0)
* {
* Console.WriteLine("Reading messages");
* }*/
lock (m_synchObject)
{
if (m_endThread)
{
m_endThread = false;
return;
}
}
readResult = EASYSYNC.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult > 0)
{
canMessage.setID((uint)r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp((uint)r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
//TODO: data hier nog vullen canMessage.setData(r_canMsg.data);
if (m_DoLogging)
{
DumpCanMsg(r_canMsg, false);
}
lock (m_listeners)
{
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if (readResult == EASYSYNC.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1); // changed to 0 to see performance impact
}
}
}
/// <summary>
/// sendMessage send a CANMessage.
/// </summary>
/// <param name="a_message">A CANMessage.</param>
/// <returns>true on success, othewise false.</returns>
public override bool sendMessage(CANMessage a_message)
{
EASYSYNC.CANMsg msg = new EASYSYNC.CANMsg();
msg.id = (ushort)a_message.getID();
msg.len = a_message.getLength();
msg.flags = a_message.getFlags();
ulong msgdata = a_message.getData();
// store in data (ulong)
/*byte databyte = a_message.getCanData(7);
msg.data_1 = GetDataMSBADCII(databyte);
msg.data_2 = GetDataLSBADCII(databyte);
databyte = a_message.getCanData(6);
msg.data_3 = GetDataMSBADCII(databyte);
msg.data_4 = GetDataLSBADCII(databyte);
databyte = a_message.getCanData(5);
msg.data_5 = GetDataMSBADCII(databyte);
msg.data_6 = GetDataLSBADCII(databyte);
databyte = a_message.getCanData(4);
msg.data_7 = GetDataMSBADCII(databyte);
msg.data_8 = GetDataLSBADCII(databyte);
databyte = a_message.getCanData(3);
msg.data_9 = GetDataMSBADCII(databyte);
msg.data_10 = GetDataLSBADCII(databyte);
databyte = a_message.getCanData(2);
msg.data_11 = GetDataMSBADCII(databyte);
msg.data_12 = GetDataLSBADCII(databyte);
databyte = a_message.getCanData(1);
msg.data_13 = GetDataMSBADCII(databyte);
msg.data_14 = GetDataLSBADCII(databyte);
databyte = a_message.getCanData(0);
msg.data_15 = GetDataMSBADCII(databyte);
msg.data_16 = GetDataLSBADCII(databyte);
*/
msg.data = a_message.getData(); // this data should be in ascii: unsigned char data[16]; // Databytes 0...7
// example:
/*
msg.data[0]='A';
msg.data[1]='1';
msg.data[2]='B';
msg.data[3]='2';
msg.data[4]='C';
msg.data[5]='3';
msg.data[6]='D';
msg.data[7]='4';
msg.data[8]='E';
msg.data[9]='5';
msg.data[10]='F';
msg.data[11]='6';
msg.data[12]='1';
msg.data[13]='2';
msg.data[14]='3';
msg.data[15]='4'; * */
if (m_DoLogging)
{
DumpCanMsg(msg, true);
}
int writeResult;
Console.WriteLine("Writing to handle: " + m_deviceHandle.ToString("X8"));
writeResult = EASYSYNC.canusb_Write(m_deviceHandle, ref msg);
if (writeResult == EASYSYNC.ERROR_CANUSB_OK)
return true;
else
{
//EASYSYNC.canusb_Flush(m_deviceHandle);
Console.WriteLine("Failed to send message: " + writeResult.ToString("X8"));
return false;
}
}
/// <summary> /// This method is called by ICANDevices where derived objects of this class /// are registered. The method is called for each received CANMessage. /// What this method does is application dependent. /// </summary> /// <param name="a_canMessage">The CANMessage to be handled by this method.</param> public abstract void handleMessage(CANMessage a_canMessage);
//-------------------------------------------------------------------------
/**
Sends a 11 bit CAN data frame.
@param message CAN message
@return success (true/false)
*/
public override bool sendMessage(CANMessage message)
{
//CANdoTransmit(CANdoUSB, ID_11_BIT, message.getID(), DATA_FRAME, 0, message.getData(),
//return MctAdapter_SendMessage(message.getID(), message.getLength(),
//message.getData());
return true;
}
private void sendCommandByteForRead(char a_commandByte)
{
//Console.WriteLine(">" + a_commandByte );
CANMessage msg = new CANMessage(0x006, 0, 2);
//Console.WriteLine("Send command byte for read");
ulong cmd = 0x0000000000000000;
cmd |= (ulong)a_commandByte;
cmd <<= 8;
cmd |= (ulong)0xC4;
msg.setData(cmd);
if (!m_canDevice.sendMessage(msg))
throw new Exception("Couldn't send message");
}
// int thrdcnt = 0;
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
//int readResult = 0;
LAWICEL.CANMsg r_canMsg = new LAWICEL.CANMsg();
CANMessage canMessage = new CANMessage();
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
m_endThread = false;
return;
}
}
if (m_port.IsOpen)
{
// read the status?
string line = string.Empty;
m_port.Write("\r");
m_port.Write("A\r"); // poll for all pending CAN messages
//Console.WriteLine("Polled for frames");
Thread.Sleep(0);
bool endofFrames = false;
while (!endofFrames)
{
try
{
if (m_port.BytesToRead > 0)
{
line = m_port.ReadLine();
Console.Write("RX: ");
for (int tel = 0; tel < line.Length; tel++)
{
byte b = (byte)line[tel];
Console.Write(b.ToString("X2") + " ");
}
Console.WriteLine("");
Thread.Sleep(0);
if (line.Length > 0)
{
if (line[0] == '\x07' || line[0] == '\r' || line[0] == 'A')
{
//Console.WriteLine("End of messages");
endofFrames = true;
}
else
{
//t00C8C6003E0000000000
//Console.WriteLine("line: " + line + " len: " + line.Length.ToString());
if (line.Length == 21)
{
// three bytes identifier
r_canMsg.id = (uint)Convert.ToInt32(line.Substring(1, 3), 16);
r_canMsg.len = (byte)Convert.ToInt32(line.Substring(4, 1), 16);
ulong data = 0;
// add all the bytes
data |= (ulong)(byte)Convert.ToInt32(line.Substring(5, 2), 16);
data |= (ulong)(byte)Convert.ToInt32(line.Substring(7, 2), 16) << 1 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(9, 2), 16) << 2 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(11, 2), 16) << 3 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(13, 2), 16) << 4 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(15, 2), 16) << 5 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(17, 2), 16) << 6 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(19, 2), 16) << 7 * 8;
r_canMsg.data = data;
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
if (m_DoLogging)
{
DumpCanMsg(r_canMsg, false);
}
lock (m_listeners)
{
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
}
}
}
}
catch (Exception E)
{
//Console.WriteLine("Failed to read frames from CANbus: " + E.Message);
}
Thread.Sleep(0);
}
}
Thread.Sleep(1);
}
}
//-------------------------------------------------------------------------
/**
Handles incoming messages.
*/
private void read_messages()
{
uint id;
byte length;
ulong data;
CANMessage msg = new CANMessage();
Debug.Assert(msg != null);
// main loop
while (true)
{
// check tor thread termination request
Debug.Assert(this.term_mutex != null);
lock (this.term_mutex)
{
if (this.term_requested)
{
return;
}
}
// receive messages
while (MctAdapter_ReceiveMessage(out id, out length, out data))
{
// convert message
msg.setID(id);
msg.setLength(length);
msg.setData(data);
// pass message to listeners
lock (this.m_listeners)
{
foreach (ICANListener listener in this.m_listeners)
{
listener.handleMessage(msg);
}
}
}
// give up CPU for a moment
Thread.Sleep(1);
}
}
private void sendCommandByte(char a_commandByte)
{
//int max_sends = 10; // revert back to 5000!
int max_sends = 5000; // revert back to 5000!
CANMessage msg = new CANMessage(0x005, 0, 8);
//Console.WriteLine("Send command byte");
ulong cmd = 0x0000000000000000;
cmd |= (ulong)a_commandByte;
cmd <<= 8;
cmd |= (ulong)0xC4;
cmd |= 0xFFFFFFFFFFFF0000;
msg.setData(cmd);
uint nrOfResends = 0;
while (!m_canDevice.sendMessage(msg))
{
if(nrOfResends++ > max_sends)
throw new Exception("Couldn't send message"); ;
}
if (nrOfResends < max_sends)
{
//Console.WriteLine("Sending succeeded");
}
}
/// <summary>
/// waitAnyMessage waits for any message to be received.
/// </summary>
/// <param name="timeout">Listen timeout</param>
/// <param name="r_canMsg">The CAN message that was first received</param>
/// <returns>The CAN id for the message received, otherwise 0.</returns>
private uint waitAnyMessage(uint timeout, out LAWICEL.CANMsg r_canMsg)
{
CANMessage canMessage = new CANMessage();
string line = string.Empty;
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
m_port.Write("\r");
m_port.Write("P\r");
bool endofFrames = false;
while (!endofFrames)
{
Console.WriteLine("reading line");
line = m_port.ReadLine();
Console.WriteLine("line: " + line + " len: " + line.Length.ToString());
if (line[0] == '\x07' || line[0] == '\r' || line[0] == 'A')
{
endofFrames = true;
}
else
{
if (line.Length == 14)
{
// three bytes identifier
r_canMsg = new LAWICEL.CANMsg();
r_canMsg.id = (uint)Convert.ToInt32(line.Substring(1, 3), 16);
r_canMsg.len = (byte)Convert.ToInt32(line.Substring(4, 1), 16);
ulong data = 0;
// add all the bytes
data |= (ulong)(byte)Convert.ToInt32(line.Substring(5, 2), 16) << 7 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(7, 2), 16) << 6 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(9, 2), 16) << 5 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(11, 2), 16) << 4 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(13, 2), 16) << 3 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(15, 2), 16) << 2 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(17, 2), 16) << 1 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(19, 2), 16);
r_canMsg.data = data;
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
//canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(0);
canMessage.setData(r_canMsg.data);
if (m_DoLogging)
{
DumpCanMsg(r_canMsg, false);
}
return((uint)r_canMsg.id);
}
}
}
Thread.Sleep(1);
nrOfWait++;
}
r_canMsg = new LAWICEL.CANMsg();
return(0);
}
// Stopwatch sw = new Stopwatch();
// reading data from T5 ECU
// address should only be a 16 bit address to read SRAM before the bootloader has been loaded
// address can be a 32 bit address to read FLASH BIN only after the bootloader has been loaded
private byte[] sendReadCommand(UInt32 address)
{
byte[] retData = new byte[6];
CANMessage msg = new CANMessage(0x005, 0, 8);
ulong cmd = 0x00000000000000C7;
// Console.WriteLine("Send read command");
cmd |= (ulong)(byte)(address & 0x000000FF) << 4 * 8;
cmd |= (ulong)(byte)((address & 0x0000FF00) >> 8) << 3 * 8;
cmd |= (ulong)(byte)((address & 0x00FF0000) >> 2 * 8) << 2 * 8;
cmd |= (ulong)(byte)((address & 0xFF000000) >> 3 * 8) << 8;
//cmd |= (ulong)((byte)(address)) << 4 * 8;
//cmd |= (ulong)((byte)(address >> 8)) << 3*8;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x00c);
//sw.Reset();
//sw.Start();
if (!m_canDevice.sendMessage(msg))
{
Console.WriteLine("Couldn't send message");
}
//sw.Stop();
//Console.WriteLine("Send took " + sw.ElapsedMilliseconds.ToString() + " ms");
CANMessage response = new CANMessage();
//sw.Reset();
//sw.Start();
//response = m_canListener.waitForMessage(0x00C, 1000);
//CANMessage response = new CANMessage();
response = m_canListener.waitMessage(1000);
//sw.Stop();
//Console.WriteLine("Wait took " + sw.ElapsedMilliseconds.ToString() + " ms");
ulong data = response.getData();
for (int i = 2; i < 8; i++)
retData[7 - i] = (byte)(data >> i * 8);
return retData;
}
//-------------------------------------------------------------------------
/**
* Sends a 11 bit CAN data frame.
*
* @param message CAN message
*
* @return success (true/false)
*/
public override bool sendMessage(CANMessage message)
{
return(MctAdapter_SendMessage(message.getID(), message.getLength(),
message.getData()));
}
private string waitNoAck()
{
string returnString = "";
bool timeout = false;
CANMessage response = new CANMessage();
m_canListener.setupWaitMessage(0x00c);
response = m_canListener.waitMessage(2000);
if (timeout)
{
return TIMEOUT;
}
if ((byte)response.getData() != 0xC6)
{
byte b = (byte)response.getData();
Console.WriteLine("Error rx data (2): " + b.ToString("X2"));
//throw new Exception("Error receiving data (2)");
}
if (response.getLength() < 8)
{
returnString = "";
return returnString;
}
returnString += (char)((response.getData() >> 16) & 0xFF);
return returnString;
}
/// <summary> /// This message sends a CANMessage to the CAN device. /// The open method must have been called and returned possitive result /// before this method is called. /// </summary> /// <param name="a_message">The CANMessage</param> /// <returns>true on success, otherwise false.</returns> public abstract bool sendMessage(CANMessage a_message);
/// <summary>
/// Sends a C9 command to the bootloader to get offset address and
/// FLASH chip types
/// </summary>
/// <returns></returns>
public byte[] GetChipTypes()
{
byte[] retData = new byte[6];
CANMessage msg = new CANMessage(0x005, 0, 8);
// ulong cmd = 0xC000000000000000;
ulong cmd = 0x00000000000000C9;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x00c);
if (!m_canDevice.sendMessage(msg))
throw new Exception("Couldn't send message");
CANMessage response = new CANMessage();
response = m_canListener.waitMessage(1000);
/*
if (!m_canDevice.sendMessage(msg))
throw new Exception("Couldn't send message");
response = new CANMessage();
response = m_canListener.waitForMessage(0x00C, 1000);*/
ulong data = response.getData();
for (int i = 2; i < 8; i++)
retData[7 - i] = (byte)(data >> i * 8);
return retData;
// unit responded 20 01 00 00 04 00
// || || | | - 0x40000 = T5.5
// || || - 0x01 = AMD
// || - 0x20 = 29F010
}
/// <summary> /// This method is called by ICANDevices where derived objects of this class /// are registered. The method is called for each received CANMessage. /// What this method does is application dependent. /// </summary> /// <param name="a_canMessage">The CANMessage to be handled by this method.</param> public abstract void handleMessage(CANMessage a_canMessage);
// sending data from bootloader or flash file
public byte[] sendBootloaderDataCommand(byte[] data, byte len)
{
byte[] retData = new byte[8];
CANMessage msg = new CANMessage(0x005, 0, 8);
ulong cmd = 0x0000000000000000;
//cmd |= (ulong)((byte)(len)) << 7 * 8;
// cmd |= (ulong)((byte)(len)) ;
/*int cnt = 0;
foreach (byte b in data)
{
cmd |= (ulong)((byte)b) << (7-cnt) * 8;
cnt++;
}*/
int cnt = 0;
foreach (byte b in data)
{
//if (cnt > 0)
{
cmd |= (ulong)((byte)b) << (cnt) * 8;
}
cnt++;
}
//cmd &= 0xFFFFFFFFFFFFFF00;
//cmd |= (ulong)((byte)(len));
msg.setData(cmd);
m_canListener.setupWaitMessage(0x00c);
if (!m_canDevice.sendMessage(msg))
throw new Exception("Couldn't send message");
CANMessage response = new CANMessage();
response = m_canListener.waitMessage(1000);
ulong uldata = response.getData();
for (int i = 0; i < 8; i++)
retData[7 - i] = (byte)(uldata >> i * 8);
return retData;
}
public byte[] sendBootVectorAddressSRAM(Int32 address)
{
byte[] retData = new byte[8];
CANMessage msg = new CANMessage(0x005, 0, 8);
/* ulong cmd = 0xC100000000000000;
cmd |= (ulong)((byte)(address >> 8)) << 4 * 8;
cmd |= (ulong)((byte)(address)) << 3 * 8;*/
ulong cmd = 0x00000000000000C1;
cmd |= (ulong)(byte)(address & 0x0000FF) << 4 * 8;
cmd |= (ulong)(byte)((address & 0x00FF00) >> 8) << 3 * 8;
cmd |= (ulong)(byte)((address & 0xFF0000) >> 2 * 8) << 2 * 8;
/* cmd |= (ulong)((byte)(address >> 2 * 8)) << 2 * 8;
cmd |= (ulong)((byte)(address >> 8)) << 3 * 8;
cmd |= (ulong)((byte)(address)) << 4 * 8;
*/
msg.setData(cmd);
m_canListener.setupWaitMessage(0x00c);
if (!m_canDevice.sendMessage(msg))
throw new Exception("Couldn't send message");
CANMessage response = new CANMessage();
response = m_canListener.waitMessage(1000);
ulong data = response.getData();
for (int i = 0; i < 8; i++)
retData[7 - i] = (byte)(data >> i * 8);
return retData;
}
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
int readResult = 0;
LAWICEL.CANMsg r_canMsg = new LAWICEL.CANMsg();
CANMessage canMessage = new CANMessage();
/* Stopwatch
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
return;
}
readResult = LAWICEL.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult > 0)
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
if (m_DoLogging)
{
DumpCanMsg(r_canMsg, false);
}
lock (m_listeners)
{
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if (readResult == LAWICEL.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1);
}
}*/
while (true)
{
/*if ((thrdcnt++ % 1000) == 0)
{
Console.WriteLine("Reading messages");
}*/
lock (m_synchObject)
{
if (m_endThread)
{
m_endThread = false;
return;
}
}
readResult = LAWICEL.canusb_Read(m_deviceHandle, out r_canMsg);
if (readResult > 0)
{
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
if (m_DoLogging)
{
DumpCanMsg(r_canMsg, false);
}
lock (m_listeners)
{
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
else if (readResult == LAWICEL.ERROR_CANUSB_NO_MESSAGE)
{
Thread.Sleep(1); // changed to 0 to see performance impact <GS-13122010>
}
}
}
/// <summary>
/// Sends a C3 command to the ECU or bootloader
/// </summary>
/// <returns></returns>
public byte[] sendC3Command()
{
byte[] retData = new byte[6];
CANMessage msg = new CANMessage(0x005, 0, 8);
// ulong cmd = 0xC000000000000000;
ulong cmd = 0x00000000000000C3;
msg.setData(cmd);
m_canListener.setupWaitMessage(0x00c);
if (!m_canDevice.sendMessage(msg))
throw new Exception("Couldn't send message");
CANMessage response = new CANMessage();
response = m_canListener.waitMessage(1000);
ulong data = response.getData();
for (int i = 2; i < 8; i++)
retData[7 - i] = (byte)(data >> i * 8);
return retData;
// unit responded B8 89 FF FF 07 00
}
// int thrdcnt = 0;
/// <summary>
/// readMessages is the "run" method of this class. It reads all incomming messages
/// and publishes them to registered ICANListeners.
/// </summary>
public void readMessages()
{
//int readResult = 0;
LAWICEL.CANMsg r_canMsg = new LAWICEL.CANMsg();
CANMessage canMessage = new CANMessage();
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
m_endThread = false;
return;
}
}
if (m_port.IsOpen)
{
// read the status?
string line = string.Empty;
m_port.Write("\r");
m_port.Write("A\r"); // poll for all pending CAN messages
//Console.WriteLine("Polled for frames");
Thread.Sleep(0);
bool endofFrames = false;
while(!endofFrames)
{
try
{
if (m_port.BytesToRead > 0)
{
line = m_port.ReadLine();
Console.Write("RX: ");
for (int tel = 0; tel < line.Length; tel++)
{
byte b = (byte)line[tel];
Console.Write(b.ToString("X2") + " " );
}
Console.WriteLine("") ;
Thread.Sleep(0);
if (line.Length > 0)
{
if (line[0] == '\x07' || line[0] == '\r' || line[0] == 'A')
{
//Console.WriteLine("End of messages");
endofFrames = true;
}
else
{
//t00C8C6003E0000000000
//Console.WriteLine("line: " + line + " len: " + line.Length.ToString());
if (line.Length == 21)
{
// three bytes identifier
r_canMsg.id = (uint)Convert.ToInt32(line.Substring(1, 3), 16);
r_canMsg.len = (byte)Convert.ToInt32(line.Substring(4, 1), 16);
ulong data = 0;
// add all the bytes
data |= (ulong)(byte)Convert.ToInt32(line.Substring(5, 2), 16);
data |= (ulong)(byte)Convert.ToInt32(line.Substring(7, 2), 16) << 1 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(9, 2), 16) << 2 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(11, 2), 16) << 3 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(13, 2), 16) << 4 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(15, 2), 16) << 5 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(17, 2), 16) << 6 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(19, 2), 16) << 7 * 8;
r_canMsg.data = data;
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
canMessage.setTimeStamp(r_canMsg.timestamp);
canMessage.setFlags(r_canMsg.flags);
canMessage.setData(r_canMsg.data);
if (m_DoLogging)
{
DumpCanMsg(r_canMsg, false);
}
lock (m_listeners)
{
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
}
}
}
}
}
}
catch (Exception E)
{
//Console.WriteLine("Failed to read frames from CANbus: " + E.Message);
}
Thread.Sleep(0);
}
}
Thread.Sleep(1);
}
}
/// <summary>
/// Sends a free form command to the ECU or bootloader
/// </summary>
/// <param name="cmd"></param>
/// <returns></returns>
public byte[] sendFreeCommand(ulong cmd)
{
byte[] retData = new byte[8];
CANMessage msg = new CANMessage(0x005, 0, 8);
msg.setData(cmd);
m_canListener.setupWaitMessage(0x00c);
if (!m_canDevice.sendMessage(msg))
throw new Exception("Couldn't send message");
CANMessage response = new CANMessage();
response = m_canListener.waitMessage(10000); // checksum command (C8) may take longer than 1 second, so set it to 10
ulong data = response.getData();
for (int i = 0; i < 8; i++)
retData[7 - i] = (byte)(data >> i * 8);
return retData;
}
/// <summary>
/// waitForMessage waits for a specific CAN message give by a CAN id.
/// </summary>
/// <param name="a_canID">The CAN id to listen for</param>
/// <param name="timeout">Listen timeout</param>
/// <param name="r_canMsg">The CAN message with a_canID that we where listening for.</param>
/// <returns>The CAN id for the message we where listening for, otherwise 0.</returns>
private uint waitForMessage(uint a_canID, uint timeout, out LAWICEL.CANMsg r_canMsg)
{
CANMessage canMessage = new CANMessage();
string line = string.Empty;
int readResult = 0;
int nrOfWait = 0;
while (nrOfWait < timeout)
{
m_port.Write("\r");
m_port.Write("P\r");
bool endofFrames = false;
while (!endofFrames)
{
Console.WriteLine("reading line");
line = m_port.ReadLine();
Console.WriteLine("line: " + line + " len: " + line.Length.ToString());
if (line[0] == '\x07' || line[0] == '\r' || line[0] == 'A')
{
endofFrames = true;
}
else
{
if (line.Length == 14)
{
// three bytes identifier
r_canMsg = new LAWICEL.CANMsg();
r_canMsg.id = (uint)Convert.ToInt32(line.Substring(1, 3), 16);
r_canMsg.len = (byte)Convert.ToInt32(line.Substring(4, 1), 16);
ulong data = 0;
// add all the bytes
data |= (ulong)(byte)Convert.ToInt32(line.Substring(5, 2), 16) << 7 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(7, 2), 16) << 6 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(9, 2), 16) << 5 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(11, 2), 16) << 4 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(13, 2), 16) << 3 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(15, 2), 16) << 2 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(17, 2), 16) << 1 * 8;
data |= (ulong)(byte)Convert.ToInt32(line.Substring(19, 2), 16);
r_canMsg.data = data;
canMessage.setID(r_canMsg.id);
canMessage.setLength(r_canMsg.len);
//canMessage.setTimeStamp(0);
canMessage.setFlags(0);
canMessage.setData(r_canMsg.data);
if (m_DoLogging)
{
DumpCanMsg(r_canMsg, false);
}
if (r_canMsg.id != a_canID)
continue;
return (uint)r_canMsg.id;
}
}
}
Thread.Sleep(1);
nrOfWait++;
}
r_canMsg = new LAWICEL.CANMsg();
return 0;
}
private void DumpCanMsg(CANMessage canMsg, bool IsTransmit)
{
DateTime dt = DateTime.Now;
try
{
using (StreamWriter sw = new StreamWriter(@"c:\" + dt.Year.ToString("D4") + dt.Month.ToString("D2") + dt.Day.ToString("D2") + "-CanTrace.log", true))
{
if (IsTransmit)
{
// get the byte transmitted
int transmitvalue = (int)(canMsg.getData() & 0x000000000000FF00);
transmitvalue /= 256;
sw.WriteLine(dt.ToString("dd/MM/yyyy HH:mm:ss") + " TX: id=" + canMsg.getID().ToString("X2") + " len= " + canMsg.getLength().ToString("X8") + " data=" + canMsg.getData().ToString("X16") + " " + canMsg.getFlags().ToString("X2") + "\t ts: " + canMsg.getTimeStamp().ToString("X16") + " flags: " + canMsg.getFlags().ToString("X2"));
}
else
{
// get the byte received
int receivevalue = (int)(canMsg.getData() & 0x0000000000FF0000);
receivevalue /= (256 * 256);
sw.WriteLine(dt.ToString("dd/MM/yyyy HH:mm:ss") + " RX: id=" + canMsg.getID().ToString("X2") + " len= " + canMsg.getLength().ToString("X8") + " data=" + canMsg.getData().ToString("X16") + " " + canMsg.getFlags().ToString("X2") + "\t ts: " + canMsg.getTimeStamp().ToString("X16") + " flags: " + canMsg.getFlags().ToString("X2"));
}
}
}
catch (Exception E)
{
Console.WriteLine("Failed to write to logfile: " + E.Message);
}
}
//-------------------------------------------------------------------------
/**
Handles incoming messages.
*/
private void readMessages()
{
CANMessage canMessage = new CANMessage();
string rxMessage = string.Empty;
Console.WriteLine("readMessages started");
while (true)
{
lock (m_synchObject)
{
if (m_endThread)
{
Console.WriteLine("readMessages ended");
return;
}
}
try
{
if (m_serialPort.IsOpen)
{
do
{
rxMessage = m_serialPort.ReadLine();
rxMessage = rxMessage.Replace("\r", ""); // remove prompt characters... we don't need that stuff
rxMessage = rxMessage.Replace("\n", ""); // remove prompt characters... we don't need that stuff
} while (rxMessage.StartsWith("w") == false);
uint id = Convert.ToUInt32(rxMessage.Substring(1, 3), 16);
canMessage.setID(id);
canMessage.setLength(8);
canMessage.setData(0x0000000000000000);
for (uint i = 0; i < 8; i++)
canMessage.setCanData(Convert.ToByte(rxMessage.Substring(5 + (2 * (int)i), 2), 16), i);
lock (m_listeners)
{
//AddToCanTrace("RX: " + canMessage.getID().ToString("X3") + " " + canMessage.getLength().ToString("X1") + " " + canMessage.getData().ToString("X16"));
//Console.WriteLine("MSG: " + rxMessage);
foreach (ICANListener listener in m_listeners)
{
listener.handleMessage(canMessage);
}
//CastInformationEvent(canMessage); // <GS-05042011> re-activated this function
}
// give up CPU for a moment
Thread.Sleep(1);
}
}
catch (Exception)
{
Console.WriteLine("MSG: " + rxMessage);
}
}
}
private void findSynch()
{
//System.console.WriteLine("###### Looking for synch ######");
string str = "";
char ch;
bool timeout = false;
CANMessage ack = new CANMessage(0x006, 0, 2);
CANMessage response = new CANMessage();
ack.setData(0x00000000000000C6);
do
{
m_canListener.setupWaitMessage(0x00c);
if (!m_canDevice.sendMessage(ack))
throw new Exception("Couldn't send message");
response = m_canListener.waitMessage(1000);
if (timeout)
{
return;
}
if ((byte)response.getData() != 0xC6)
{
//Console.WriteLine("Error rx data (3)");
throw new Exception("Error receiving data (3)");
}
ch = (char)((response.getData() >> 16) & 0xFF);
str += ch;
if (str.EndsWith(CR + NL + NL + NL))
{
return;
}
if (str.EndsWith(NL + NL + NL + NL))
str = sendCommand(CR, 1);
}
while (!str.EndsWith("END" + CR + NL));
}
//-------------------------------------------------------------------------
/**
Waits for any message to be received.
@param timeout timeout
@param msg message
@return message ID if received, 0 otherwise
*/
private uint wait_message(uint timeout, out CANMessage msg)
{
msg = new CANMessage();
return 0;
/* msg = new CANMessage();
Debug.Assert(msg != null);
int wait_cnt = 0;
uint id;
byte length;
ulong data;
while (wait_cnt < timeout)
{
if (MctAdapter_ReceiveMessage(out id, out length, out data))
{
// message received
msg.setID(id);
msg.setLength(length);
msg.setData(data);
return id;
}
// wait a bit
Thread.Sleep(1);
++wait_cnt;
}
// nothing was received
return 0;
*/
}
/// <summary> /// This message sends a CANMessage to the CAN device. /// The open method must have been called and returned possitive result /// before this method is called. /// </summary> /// <param name="a_message">The CANMessage</param> /// <returns>true on success, otherwise false.</returns> abstract public bool sendMessage(CANMessage a_message);
