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J1939/CAN Ethernet Gateway

CAN-Ethernet Gateway is a C# library that allows for easy communication with a CAN Bus over IP networks. The libary enables bi-directional communications to a PCAN-Ethernet Gateway DR hardware unit sold by Peak-Systems. (See: https://www.peak-system.com/PCAN-Ethernet-Gateway-DR.330.0.html?&L=1) Peak's hardware allows for CAN frames are wrapped in TCP or UDP message packets.

The library also makes it easy to receive and send standard J1939 messages.

Currently Supported Features

  • UDP Protocol
  • J1939 and NMEA 2000 Phrasing
  • .Net Core

Requirements / Issues

  • You must disable the PCAN-Gateway Handshake to allow the connection (Handshake currently not supported).

  • TCP protocol currently not supported

       CanGateway canGatewayConnector = new CanGateway();


   var messages = new List<CanMessageDefinition>();

   CanMessageDefinition joyStick = new CanMessageDefinition
      {
         IdHex = "18FDD7AA", MessageName = "GPS Position"
      }; 


   var position = new CanMessageDefinition {IdHex = "09F80100", MessageName = "GPS Position"};
       position.AddParameter(new MessageParameter(.0000001, 0, 0, 32, -2147483648, 2147483647, "Latitude", typeof(double), "Latitude"));
       position.AddParameter(new MessageParameter(.0000001, 0, 32, 32, -2147483648, 2147483647, "Longitude", typeof(double), "Longitude"));
       messages.Add(position);


   canGatewayConnector.CanBusDefLoad(messages); // Load messages into CAN Gateway connector;

    int localPort = 2001;               // Port o open on local machine
    string remoteIp = "192.168.0.10";   // IP of remote CAN Gateway device
    int RemotePort = 5050;              // Port on remote CAN Gateway configured to the specific CAN Device

   canGatewayConnector.Configuration(localPort, IPAddress.Parse(remoteIp), RemotePort); // Load configuration into CAN Gateway Connector
      canGatewayConnector.StartProcess(); // Start the thread //

      canGatewayConnector.Connect();
      
      lock (canGatewayConnector.SyncRoot)
      {
          var canPosition = canGatewayConnector.Messages.First(x => x.IdHex == "0x9F80100");
          var latitude = (double)canPosition.GetValues()["Latitude"];
          var longitude = (double)canPosition.GetValues()["Longitude"];

          Console.WriteLine("Longitude: {0}  Longitude: {1}", longitude.ToString(CultureInfo.CurrentCulture), latitude.ToString(CultureInfo.CurrentCulture));
      }


      Console.WriteLine("Hit any key to send message");
      Console.ReadKey();

      var x18Fdd7Aa = canGatewayConnector.Messages.First(x => x.IdHex == "0x18FDD7AA");       // Pull the message definition
      x18Fdd7Aa.Parameters.First(x => x.Name == "Joystick1GripXAxis").Value = 59;
      x18Fdd7Aa.Parameters.First(x => x.Name == "Joystick1GripYAxis").Value = 50;

      canGatewayConnector.DataSend(x18Fdd7Aa.GenerateIpCanMsg().EncodeCanPacket()); // Encode and send message