The U2004 is an ARINC 429 Data Server made by Canaan Avionics. This .Dll controls the U2004 through USB connection, but there are options for direct connection through TCP/IP ports for versions of the U2004 that have an RJ-45. TCP/IP sort can also be added using the S2309 DataPanel and using it as an Ip Bridge (see CanvasConnect, and UsbConnect for U2004 connection options). More...

Collaboration diagram for U2004:

[legend]

Data Structures
class	A429Record
	A429 Records are how words are communicated through this DLL. More...

class	PortStatus
	A type that is returned for indicating the port speed, state, and status. See More...

Public Types
enum	FrameLayout : int { PAYLOAD_SIZE = 66 , INDEX = 2 , OP_CODE = 3 , SEQ_NUM = 4 , CHECKSUM = 5 , IS_ASYNC = 6 , PAYLOAD_START = 7 , FRAME_SIZE = PAYLOAD_START + PAYLOAD_SIZE + 2 }
	FrameLayout is how a communication frame with the U2004 is established. More...

enum	FrameByte : byte { FRAME = 0xA5 , FAULT_NO_PORT = 0x20 , FAULT_ARGUEMENT = 0x21 , FAULT_MISFRAME = 0x22 , FAULT_CHECKSUM = 0x23 , FAULT_OPCODE = 0x24 , FAULT_TIMEOUT = 0x25 , FAIL_OPCODE = 0xFF , IS_NUMBER = 0x02 , NO_FAULT = 0xAA }
	FrameByte are fault codes and other values specific for communicating a Frame. More...

enum	CommMode { NONE = 1 , USB_TO_U2004 = 2 , TCP_TO_U2004 = 4 , TCP_TO_PANEL = 3 }
	CommMode is a enumeration for determiniging how the Dll is communicating with the U2004. More...

enum	Opcode : byte { Initialize = 0x01 , Reset = 0x04 , SetDiscrete = 0x05 , ClearDiscrete = 0x06 , ReadDiscrete = 0x07 , PortHs = 0x20 , PortLs = 0x21 , PutIsUniqueSdi = 0x10 , PutParity = 0x11 , GetRecords = 0x12 , ScheduleTxWord = 0x13 , ScheduleTxWords = 0x14 , UnScheduleTxWord = 0x15 , TxWord = 0x16 , UpdateTxWord = 0x17 , PortStart = 0x18 , PortStop = 0x19 , GetRxWord = 0x30 , SetRxRate = 0x31 , ReportStatus = 0x51 , AsyncMode = 0x52 , AsyncDone = 0x53 , AsyncRecords = 0x54 , MapRxWordToTxPort = 0x57 , MapRxPortToTxPort = 0x58 , CanvasCommand = 0x60 }
	Opcodes for communicating commands to the U2004 within a communication frame. More...

enum	A429Port : byte { RX0 = 0x10 , RX1 = 0x11 , RX2 = 0x12 , RX3 = 0x13 , RX4 = 0x14 , RX5 = 0x15 , RX6 = 0x16 , RX7 = 0x17 , TX0 = 0x18 , TX1 = 0x19 , TX2 = 0x1A , TX3 = 0x1B , STATUS = 0x33 , NONE = 0x00 }
	Idenifies which U2004 is being communicated with by a command that needs a A429Port argument. More...

enum	A429Parity : byte { Odd = 1 , Even = 0 , None = 2 }
	ARINC 429 parity means that the 32nd bit of the A429 Word is overwritten as a word-check, to detect a badly received bit. Parity is used by a number of functions to either set the parity, meaning that a transmitter from the U2004 will automatically write parity to the 32nd bit before it is put onto the wire, or that the parity can be set for a receiver port, meaning that the receiver will ignore parity that is received from the wire if it is not received correctly. More...

Public Member Functions
	U2004 ()

bool	UsbConnect (string port)
	Opens a USB Connection to a U2004.

bool	CanvasConnect (string ip, int tcpPort)
	Instead of calling UsbConnect which would connect to a U2004 throught USB, CanvasConnect can be called to connect to a U2004 that is alread connected to a S2309 CANVAS. Calling Communicate will coordinate a frame through either Usb or Tcp, regardless of the connection method. Know that a U2004 should be put into Async mode any time it is being used with Canvas rather than in an embedded system. CanvasConnect will do this automatically by calling AsyncMode

byte[]	CommFrame (byte index=0, byte opcode=0)
	Creates a raw communication frame to communicate with the U2004.

byte	Checksum (byte[] frame)
	Computes the expected checksum of the given Frame.

List< A429Record >	AsyncCommunicate ()
	Called by a worker thread periodically to get all of the updated records and other status when the U2004 is in "Asynchronous Mode". When in this mode, the U2004 will constantly service a port and return a buffer of new records when this called.

byte[]	Communicate (byte[] frame, bool getEcho=true)
	Communicates a single command to the U2004, either directly via USB (when Mode = USB_TO_U2004) or through TCP (when Mode = TCP_TO_PANEL). This function does most of the heavy-lifting communication-wise, and is called by other commands such as UpdateTxWord. Typically Communicate() doesn't need to be called by an interfacing application.

byte[]	TcpCommunicate (byte[] frame, bool checksum=true)
	Sends and receives a frame without any additional discrimination through the TCP Connection. This function is typically only used by the Communicate function.

void	Initialize ()
	Initializes a connected U2004 (which may still be performing tasks from a previous session). This function also updates the FirmwareVersion and DeviceID.

void	Reset ()
	Full software reset of the U2004.

void	AsyncMode (bool async_on)
	Puts the U2004 into "Asynchronous Mode", meaning that it will constantly output A429Records through AsyncCommunicate. A code example is in AsyncCommunicate.

void	SetDiscrete (uint mask)
	Writes to the U2004 discrete outputs (such as GND_DISC_OUT_0). See DiscreteOutputs for a listing and mapping of these discretes, which can be passed into the mask argument. This function specifically clears a ground/open discrete state.

void	ClearDiscrete (uint mask)
	Writes to the U2004 discrete outputs (such as GND_DISC_OUT_0). See DiscreteOutputs for a listing and mapping of these discretes, which can be passed into the mask argument. This function specifically opens a ground/open discrete state.

uint	ReadDiscrete ()
	Returns the state of discrete inputs to the U2004 (such as GND_DISC_IN_0, GND_DISC_IN_1, GND_DISC_IN_2) This function usually is used when UpdateStatus isn't called, because DiscreteInputs also provides the states inputs. Use ReadDiscrete(byte) if a blocking operation is needed to check the discrete input states.

void	PortHs (A429Port port)
	Sets an A429 port to High Speed (100kbs)

void	PortLs (A429Port port)
	Sets an A429 port to Low Speed (12.5kbs)

void	PutIsUniqueSdi (A429Port port, uint word, bool is_unique_sdi)
	IsUniqueSdi is a property that can be attached to an ARINC 429 word where it tells the U2004 how to handle Source Designation Index (SDI) fields. The SDI is the 9th and 10th bits of an ARINC 429 word (the first 8 bits being the A429 label). For most application, the SDI is somewhat irrelevant because there usually is only one SDI field transmitted on a bus (out of four possible SDI with two-bits). The SDI being received is known by the receiving system by knowing which system the port is wired to. However, some systems, such as Distance Measurement Systems (DME) use the SDI field to differentiate between different channels. This means that the SDI needs to be differentiated by the processing equipment. If IsUniqueSdi configured for a label, then the SDI and Label fields (the first 10 bits) are processed together and all four versions of each label are chached and processed independently.

void	PutParity (A429Port port, uint word, A429Parity parity)
	Provided a A429 word, tells the U2004 what parity to accept on receiving ports, and what parity to put out on transmitting ports (Odd, Even, None).

List< A429Record >	GetRecords (A429Port port, byte count)
	Gets a list of A429Records from the U2004 buffer.

bool	ScheduleTxWord (A429Port port, uint word, ushort time, bool is_froze)
	Puts a word into the transmit schedule at the specified time. Words in the schedule are transmittted autonomously and periodically by the U2004 without the need for any Host interaction. A transmit schedule is 2,777 words (for a High Speed bus) and 347 words (for a Low Speed bus), which represents all of the words that that can possibly be transmit in one second.

void	ScheduleTxWords (A429Port port, uint word, ushort time, ushort rate, bool is_froze)
	Puts a word into the transmit schedule at the specified time. Words in the schedule are transmittted autonomously and periodically by the U2004 without the need for any Host interaction. A transmit schedule is 2,777 words (for a High Speed bus) and 347 words (for a Low Speed bus), which represents all of the words that that can possibly be transmit in one second.

void	UnScheduleTxWord (A429Port port, uint word)
	Removes all instances of a word, specifcally the first 8-bit label of a word, from the transmit schedule.

void	TxWord (A429Port port, uint word)
	Puts a word to be transmitted when space in schedule is available.

void	TxWord (A429Port port, List< uint > words)
	Puts a list of words to be transmitted when space in schedule is available, but note that words that don't fit into the frame are dropped if there is not room.

void	TxWordUnBlocked (A429Port port, List< uint > words)
	Puts a list of words to be transmitted when space in schedule is available, but not that words that donet fit into the frame are dropped if there is not room. Unlike TxWord, there are no frame check or waiting for this call to be complete, meaning that the words are transmit with less time restrictions.

void	UpdateTxWord (A429Port port, uint word)
	Assuming that a A429 Word has been scheduled, and is actively being transmitted by the U2004, calling UpdateTxWord will update the word value that is in the schedule. It updates what is being transmitted. This also un-freezes words in the schedule if they were scheduled and expect fresh updates from the Host before transmit onto the wire.

void	UpdateTxWord (A429Port port, List< uint > words)
	Assuming that a A429 Word has been scheduled, and is actively being transmitted by the U2004, calling UpdateTxWord will update the word value that is in the schedule. It updates what is being transmitted. This also un-freezes words in the schedule if they were scheduled and expect fresh updates from the Host before transmit onto the wire. This call is more performant than the single uint call when scheduling many words.

void	PortStart (A429Port port)
	Starts the Tx or Rx Port.

void	PortStop (A429Port port)
	tops the Tx or Rx Port

uint	GetRxWord (A429Port port, uint word, bool get_fresh=true)
	Receives the A429 Rx word from the U2004 Cache. If the word has a set [expected] receive rate (put by SetRxRate), and if 'get_fresh' is True, then the last word received on the port will be returned. If 'get_fresh' is False, then the last word received matching the word (the 8-bit label) will be returned, even if it is stale. NOTE: this function requires a uint-32 to be passed in as the parameter, but only the 8 "label" bits will be used. That is the least significant 8 bits will be used and the most significant 24 are entirely ignored by this function.

List< uint >	GetRxWords (A429Port port, List< uint > words, bool get_fresh=true)
	Receives the A429 Rx word from the U2004 Cache. If the word has a set [expected] receive rate (put by SetRxRate), and if 'get_fresh' is True, then the last word received on the port will be returned. If 'get_fresh' is False, then the last word received matching the word (the 8-bit label) will be returned, even if it is stale.

void	SetRxRate (A429Port port, uint word, ushort rate)
	Sets the expected rate of an ARINC 429 word. This is used to determine if a received word is fresh or stale, meaning that it was received within twice the expected rate on average.

void	MapRxWordToTxPort (A429Port rx_port, uint word, A429Port tx_port, bool tx_override)
	Maps a word from the rx_port over to the tx_port. If the tx_override is true, then the word is mapped but the actual value of the word is taked from the TxCache (meaning that the word is populated with the last value from UpdateTxWord())

void	MapRxPortToTxPort (A429Port rx_port, A429Port tx_port)
	Unlike MapRxWordToTxPort(), this maps all words from the rx_port over to the tx_port.

void	ReportStatus ()
	Requests the U2004 status; all ports, all discretes, and the operating mode.

object	SetWkn (string wkn, double value)
	Sets the value of a Well Known Name to the value provided for example SetWkn('TIME_TO_GO_BCD', 12.2) will set the value of 'TIME_TO_GO_BCD' to 12.2, to set a co-located non-WKN, use a collon to address that vlue. for example SetWkn('TIME_TO_GO_BCD:Sdi', 3) will set the Source Designation Index in the word that contains 'TIME_TO_GO_BCD' to 3. Note: Under the current implementation, this will always query the port that has had it's ICD set for the longest.

object	SetWknString (string wkn, string value)
	Sets the value of a Well Known Name to the value provided for example SetWkn('TIME_TO_GO_BCD', 12.2) will set the value of 'TIME_TO_GO_BCD' to 12.2, to set a co-located non-WKN, use a collon to address that vlue. for example SetWkn('TIME_TO_GO_BCD:Sdi', 3) will set the Source Designation Index in the word that contains 'TIME_TO_GO_BCD' to 3.

object	GetWkn (string wkn)
	Used to read the value of a Well Known Name. Under the current implementation, this will always query the port that has had it's ICD set for the longest.

object	GetWknString (string wkn)
	This function is called by GetWkn, which should be used in place of this. 'GetWknString' can be used however for greater control over the command issued to the U1713_11.

bool	LoadIcdFromPath (string absolute_path, string port, string a429Bus_name)
	This function provides a way to programatically load ICDs into canvas onto a particular port. Note, a ~5 second sleep call should be made following this call to allow Canvas to finish loading the icd.

bool	LoadRecordingFromPath (string absolute_path, string port, bool loop)
	This function provides a way to programatically load a data recording to a particular port. Note, a ~5 second sleep call should be made following this call to allow Canvas to finish loading the part.

object	Script (string script)
	This function provides a way to issue a command directly to Canvas. The command is converted to byte array and sent to the TCP processor.

Data Fields
SerialPort	CommPort
	Serial Port for Communicating directly with the U2004 through the USB/COM port adapter. The U2004 is an FTDI port and can be communicated with through FTD2XX_NET.dll, but also through a generic COM port. Rates up to 921600bps have been tested. Use UsbConnect to open communication using the optimum settings.

int	TimeOut = 500
	The amount of time (ms) for Communicate to wait for a frame from the U2004. If there is no response in that time, then the frame is received as null.

byte	Index = 0
	The Index of this U2004 device. This Dll supports a single host and multiple U2004 interfaces. The Index can be used to direct which U2004 is communicated with.

CommMode	Mode = CommMode.NONE
	The active mode that this U2004 instance is communicating via.

bool	ComFailed = false
	True if there was a communication fault detected. Usually the device would need to be reconnector or re-instantiated, or there is fundamental fault. ComFailed is set when the communication frame received, wasn;t received in the correct format or length.

UInt32	FirmwareVersion = 0
	Firmware Version of the U2004, Updated on Initialize. This is hard-coded into the U2004. Canaan Avionics support software updates on this where required.

UInt32	DeviceID = 0
	A unique serial number Id of the U2004, Updated on Initialize. This is hard-coded into the U2004. Canaan Avionics support software updates on this where required.

bool	AsyncModeActive = false
	This is set True if the U2004 is in "Asyncronous Mode". See AsyncMode.

UInt32	DiscreteInputs = 0
	These are the Discrete Input States (Gnd/Open) of the U2004, read after a UpdateStatus call. This register can be read through a bool operation to get any one discrete, or read all together for all discretes.

UInt32	DiscreteOutputs = 0
	These are the Discrete Output States (Gnd/Open) of the U2004, read after a UpdateStatus call. This register can be read through a bool operation to get any one discrete, or read all together for all discretes. These are mosfet-driven discretes that are set through ClearDiscrete and SetDiscrete calls.

uint	FramesAsyncCount = 0
	Increments when frames are communicated.

uint	FramesReceivedCount = 0
	Increments when frames are communicated.

uint	FramesTransmittedCount = 0
	Increments when frames are communicated.

uint	FramesChecksumError = 0
	Increments when frames are communicated but the checksum is not correct.

uint	FramesMisalignedError = 0
	Increments when frames are communicated but not correctly oriented.

uint	FramesTimedOut = 0
	Increments when frames are communicated but the echo is not correct or timed out.

PortStatus[]	Status = new PortStatus[12]
	A array of all of the PortStatus. This whole list is updated each time UpdateStatus is called. This list may be iterated or searched with lynq to find the port status for an particular port.

byte[]	ReceivedFrame = new byte[0]
	The last USB communication frame received after a DataReceivedHandler call-back event.

Detailed Description

The U2004 is an ARINC 429 Data Server made by Canaan Avionics. This .Dll controls the U2004 through USB connection, but there are options for direct connection through TCP/IP ports for versions of the U2004 that have an RJ-45. TCP/IP sort can also be added using the S2309 DataPanel and using it as an Ip Bridge (see CanvasConnect, and UsbConnect for U2004 connection options).

Creating and instance of a U2004 is accomplished as followed:

// create a new U2004 
U2004 U2004_Hardware = new U2004_11_Dll_Library.U2004();
 
// open a connection to this device through USB
// note that the com port is an FTDI port, and can be found specifically using FTD2XX_NET.dll if it is not known.  <br>
U2004_Hardware.UsbConnect("COM6");

Here is an example using python, for which pythonnet enables C# dll interfaces easily, using the similar conventions. In the example below, a connection is being made to the U2004 via the S2309 CANVAS application via TCP/IP connection. the 'pythonnet' package must be installed

"""socket and os support"""
import sys
import clr
 
""" reference the U2004 dll """
sys.path.append(r"C:\Absolute\Path\to\Folder\Containing\U2004\Dll")
clr.AddReference("U2004_11_Dll_Library")
from U2004_11_Dll_Library import U2004
 
""" create a new U2004 """
u2004 = U2004()
 
""" attempt to connect to the U2003, through S2309 at port 11076 (the default port) """
 
if not u2004.CanvasConnect(127.0.0.1, 11076):
    print("ERROR")
    exit(1)

Member Enumeration Documentation

◆ A429Parity

enum A429Parity : byte

ARINC 429 parity means that the 32nd bit of the A429 Word is overwritten as a word-check, to detect a badly received bit. Parity is used by a number of functions to either set the parity, meaning that a transmitter from the U2004 will automatically write parity to the 32nd bit before it is put onto the wire, or that the parity can be set for a receiver port, meaning that the receiver will ignore parity that is received from the wire if it is not received correctly.

Enumerator
Odd	Odd number of 1's bits in the 32-bit word.
Even	Even number of 1's bits in the 32-bit word.
None	Parity is not enforced, and number of bits can be set and the 32nd bit can be used for other things.

◆ A429Port

enum A429Port : byte

Idenifies which U2004 is being communicated with by a command that needs a A429Port argument.

For example, the following line starts data transmit operations on a TX port:

U2004_Hardware.PortStart(U2004.A429Port.TX0);

U2004_11_Dll_Library.U2004.A429Port

A429Port

Idenifies which U2004 is being communicated with by a command that needs a A429Port argument.

Definition U2004.cs:327

Enumerator
RX0	0x10
RX1	0x11
RX2	0x12
RX3	0x13
RX4	0x14
RX5	0x15
RX6	0x16
RX7	0x17
TX0	0x18
TX1	0x19
TX2	0x1A
TX3	0x1B
STATUS	0x33
NONE	0x00

◆ CommMode

enum CommMode

CommMode is a enumeration for determiniging how the Dll is communicating with the U2004.

Enumerator
NONE	Note Connected to anything ///.
USB_TO_U2004	USB/Serial communication directly to the U2004 from this host computer.
TCP_TO_U2004	TCP communication directly to the U2004, for U2004 devices that have an RJ-45 connector and a connection to a network.
TCP_TO_PANEL	Communicates to the U2004 through a S2309 CANVAS Application, which posts a TCP socket via port (default is 11076)

◆ FrameByte

enum FrameByte : byte

FrameByte are fault codes and other values specific for communicating a Frame.

Enumerator
FRAME	0xA5
FAULT_NO_PORT	0x20
FAULT_ARGUEMENT	0x21
FAULT_MISFRAME	0x22
FAULT_CHECKSUM	0x23
FAULT_OPCODE	0x24
FAULT_TIMEOUT	0x25
FAIL_OPCODE	0xFF
IS_NUMBER	0x02
NO_FAULT	0xAA

◆ FrameLayout

enum FrameLayout : int

FrameLayout is how a communication frame with the U2004 is established.

Enumerator
PAYLOAD_SIZE	66
INDEX	2
OP_CODE	3
SEQ_NUM	4
CHECKSUM	5
IS_ASYNC	6
PAYLOAD_START	7
FRAME_SIZE	PAYLOAD_START + PAYLOAD_SIZE + 2.

◆ Opcode

enum Opcode : byte

Opcodes for communicating commands to the U2004 within a communication frame.

Enumerator
Initialize	0x01
Reset	0x04
SetDiscrete	0x05
ClearDiscrete	0x06
ReadDiscrete	0x07
PortHs	0x20
PortLs	0x21
PutIsUniqueSdi	0x10
PutParity	0x11
GetRecords	0x12
ScheduleTxWord	0x13
ScheduleTxWords	0x14
UnScheduleTxWord	0x15
TxWord	0x16
UpdateTxWord	0x17
PortStart	0x18
PortStop	0x19
GetRxWord	0x30
SetRxRate	0x31
ReportStatus	0x51
AsyncMode	0x52
AsyncDone	0x53
AsyncRecords	0x54
MapRxWordToTxPort	0x57
MapRxPortToTxPort	0x58
CanvasCommand	0x60

Constructor & Destructor Documentation

◆ U2004()

U2004 ( )

inline

Member Function Documentation

◆ AsyncCommunicate()

List< A429Record > AsyncCommunicate ( )

inline

Called by a worker thread periodically to get all of the updated records and other status when the U2004 is in "Asynchronous Mode". When in this mode, the U2004 will constantly service a port and return a buffer of new records when this called.

Note that when CanvasConnect is used for the connection (instead of UsbConnect), then AsyncCommunicate and a DataWorker is not needed.

Here is an example worker and async operation

main()
{
    // start a data worker 
    Thread dataWkr = new Thread(new ThreadStart(DataWorker));
    dataWkr.IsBackground = true;
    dataWkr.Start();
 
    // put into async mode, as to constantly report 
    U2004_Hardware.AsyncMode(true);
}
 
// Constant background worker
public void DataWorker()
{
    DateTime UiTime = DateTime.Now;
 
    while (true)  // Constant loop
    {
        Thread.Sleep(25);
        // get data from the USB
        if (U2004_Hardware.CommPort != null)
        {
            if (U2004_Hardware.CommPort.IsOpen)
            {
                // get new A429Records
                foreach (U2004.A429Record nRec in U2004_Hardware.AsyncCommunicate())
                {
                    // [process each A429Record here in your application]
                }
            }
        }
    }
}

◆ AsyncMode()

void AsyncMode ( bool async_on )

inline

Puts the U2004 into "Asynchronous Mode", meaning that it will constantly output A429Records through AsyncCommunicate. A code example is in AsyncCommunicate.

Note that when CanvasConnect is used for the connection (instead of UsbConnect), then communciation with the U2004 is handled by Canvas. The U2004 is put into AsyncMode automatically.

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◆ CanvasConnect()

bool CanvasConnect	(	string	ip,
		int	tcpPort
	)

inline

Instead of calling UsbConnect which would connect to a U2004 throught USB, CanvasConnect can be called to connect to a U2004 that is alread connected to a S2309 CANVAS. Calling Communicate will coordinate a frame through either Usb or Tcp, regardless of the connection method. Know that a U2004 should be put into Async mode any time it is being used with Canvas rather than in an embedded system. CanvasConnect will do this automatically by calling AsyncMode

Here is an example in python, using CanvasConnect to esablish communication with a S2309 CANVAS

"""socket and os support"""
import sys
import clr
 
""" reference the U2004 dll """
sys.path.append(r"C:\Absolute\Path\to\Folder\Containing\U2004\Dll")
clr.AddReference("U2004_11_Dll_Library")
from U2004_11_Dll_Library import U2004
 
""" create a new U2004 """
u2004 = U2004()
 
""" attempt to connect to the U2003, through S2309 at port 11076 (the default port) """
 
if not u2004.CanvasConnect(127.0.0.1, 11076):
    print("ERROR")
    exit(1)

◆ Checksum()

byte Checksum ( byte[] frame )

inline

Computes the expected checksum of the given Frame.

◆ ClearDiscrete()

void ClearDiscrete ( uint mask )

inline

Writes to the U2004 discrete outputs (such as GND_DISC_OUT_0). See DiscreteOutputs for a listing and mapping of these discretes, which can be passed into the mask argument. This function specifically opens a ground/open discrete state.

Here is an example using python:

""" map a discrete to a variable """
GND_DISC_OUT_0 = 0x01
GND_DISC_OUT_7 = 0x80
 
""" set both discretes,  GND_DISC_OUT_0 and GND_DISC_OUT_7 """
U2004_Hardware.ClearDiscrete(GND_DISC_OUT_0 | GND_DISC_OUT_7)

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◆ CommFrame()

byte[] CommFrame	(	byte	index = `0`,
		byte	opcode = `0`
	)

inline

Creates a raw communication frame to communicate with the U2004.

◆ Communicate()

byte[] Communicate	(	byte[]	frame,
		bool	getEcho = `true`
	)

inline

Communicates a single command to the U2004, either directly via USB (when Mode = USB_TO_U2004) or through TCP (when Mode = TCP_TO_PANEL). This function does most of the heavy-lifting communication-wise, and is called by other commands such as UpdateTxWord. Typically Communicate() doesn't need to be called by an interfacing application.

Note that when CanvasConnect is used for the connection (instead of UsbConnect), then communciation with the U2004 is handled by Canvas and functions like Communicate() typically aren't used.

Returns: The return is expected to be in the context of the communicated frame. For example, GetRecords calls Communicate() and it returns a buffer of A429Records.

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◆ GetRecords()

List< A429Record > GetRecords	(	A429Port	port,
		byte	count
	)

inline

Gets a list of A429Records from the U2004 buffer.

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◆ GetRxWord()

uint GetRxWord	(	A429Port	port,
		uint	word,
		bool	get_fresh = `true`
	)

inline

Receives the A429 Rx word from the U2004 Cache. If the word has a set [expected] receive rate (put by SetRxRate), and if 'get_fresh' is True, then the last word received on the port will be returned. If 'get_fresh' is False, then the last word received matching the word (the 8-bit label) will be returned, even if it is stale. NOTE: this function requires a uint-32 to be passed in as the parameter, but only the 8 "label" bits will be used. That is the least significant 8 bits will be used and the most significant 24 are entirely ignored by this function.

Here is an example using python where multiple words are read on the same port:

u2004.PortLs(U2004.A429Port.RX1)
u2004.PortStart(U2004.A429Port.RX1)
 
ReceivedWordA = u2004.GetRxWord(U2004.A429Port.RX2, 0x00000088)
ReceivedWordB = u2004.GetRxWord(U2004.A429Port.RX2, 0x000000FF)

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◆ GetRxWords()

List< uint > GetRxWords	(	A429Port	port,
		List< uint >	words,
		bool	get_fresh = `true`
	)

inline

Receives the A429 Rx word from the U2004 Cache. If the word has a set [expected] receive rate (put by SetRxRate), and if 'get_fresh' is True, then the last word received on the port will be returned. If 'get_fresh' is False, then the last word received matching the word (the 8-bit label) will be returned, even if it is stale.

This function is like GetRxWord except a list of words may be sent. Note that if the list is too big, then only words that fit into a communiction frame will be processed.

///

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◆ GetWkn()

object GetWkn ( string wkn )

inline

Used to read the value of a Well Known Name. Under the current implementation, this will always query the port that has had it's ICD set for the longest.

◆ GetWknString()

object GetWknString ( string wkn )

inline

This function is called by GetWkn, which should be used in place of this. 'GetWknString' can be used however for greater control over the command issued to the U1713_11.

◆ Initialize()

void Initialize ( )

inline

Initializes a connected U2004 (which may still be performing tasks from a previous session). This function also updates the FirmwareVersion and DeviceID.

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◆ LoadIcdFromPath()

bool LoadIcdFromPath	(	string	absolute_path,
		string	port,
		string	a429Bus_name
	)

inline

This function provides a way to programatically load ICDs into canvas onto a particular port. Note, a ~5 second sleep call should be made following this call to allow Canvas to finish loading the icd.

Here is an example using python:

if not u2004.LoadIcdFromPath(r"C:\Absolute\Path\to\ICD\File\Canaan_GAMA.icd", "TX0", "Canaan Attitude Heading Computer"):
    print("Failed to load icd into Canvas")
    exit(1)
U2004.PortStart(U2004.A429Port.TX0)
print("Verify icd has loaded into Canvas")

◆ LoadRecordingFromPath()

bool LoadRecordingFromPath	(	string	absolute_path,
		string	port,
		bool	loop
	)

inline

This function provides a way to programatically load a data recording to a particular port. Note, a ~5 second sleep call should be made following this call to allow Canvas to finish loading the part.

Here is an example using python:

if not u2004.LoadRecordingFromPath(r"C:\Absolute\Path\to\ICD\File\recording.txt", "TX0", True):
    print("Failed to load recording")
    exit(1)
U2004.PortStart(U2004.A429Port.TX0)
print("Verify that the recording is playing out of the port")

◆ MapRxPortToTxPort()

void MapRxPortToTxPort	(	A429Port	rx_port,
		A429Port	tx_port
	)

inline

Unlike MapRxWordToTxPort(), this maps all words from the rx_port over to the tx_port.

Here is an example which maps all words from RX0 over TX2

u2004.MapRxPortToTxPort(U2004.A429Port.RX0, U2004.A429Port.TX2)

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◆ MapRxWordToTxPort()

void MapRxWordToTxPort	(	A429Port	rx_port,
		uint	word,
		A429Port	tx_port,
		bool	tx_override
	)

inline

Maps a word from the rx_port over to the tx_port. If the tx_override is true, then the word is mapped but the actual value of the word is taked from the TxCache (meaning that the word is populated with the last value from UpdateTxWord())

Here is an example which maps word label 173 from RX0 over TX2

u2004.MapRxWordToTxPort(U2004.A429Port.RX0, 0o173, U2004.A429Port.TX2, False)

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◆ PortHs()

void PortHs ( A429Port port )

inline

Sets an A429 port to High Speed (100kbs)

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◆ PortLs()

void PortLs ( A429Port port )

inline

Sets an A429 port to Low Speed (12.5kbs)

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◆ PortStart()

void PortStart ( A429Port port )

inline

Starts the Tx or Rx Port.

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◆ PortStop()

void PortStop ( A429Port port )

inline

tops the Tx or Rx Port

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◆ PutIsUniqueSdi()

void PutIsUniqueSdi	(	A429Port	port,
		uint	word,
		bool	is_unique_sdi
	)

inline

IsUniqueSdi is a property that can be attached to an ARINC 429 word where it tells the U2004 how to handle Source Designation Index (SDI) fields. The SDI is the 9th and 10th bits of an ARINC 429 word (the first 8 bits being the A429 label). For most application, the SDI is somewhat irrelevant because there usually is only one SDI field transmitted on a bus (out of four possible SDI with two-bits). The SDI being received is known by the receiving system by knowing which system the port is wired to. However, some systems, such as Distance Measurement Systems (DME) use the SDI field to differentiate between different channels. This means that the SDI needs to be differentiated by the processing equipment. If IsUniqueSdi configured for a label, then the SDI and Label fields (the first 10 bits) are processed together and all four versions of each label are chached and processed independently.

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◆ PutParity()

void PutParity	(	A429Port	port,
		uint	word,
		A429Parity	parity
	)

inline

Provided a A429 word, tells the U2004 what parity to accept on receiving ports, and what parity to put out on transmitting ports (Odd, Even, None).

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◆ ReadDiscrete()

uint ReadDiscrete ( )

inline

Returns the state of discrete inputs to the U2004 (such as GND_DISC_IN_0, GND_DISC_IN_1, GND_DISC_IN_2) This function usually is used when UpdateStatus isn't called, because DiscreteInputs also provides the states inputs. Use ReadDiscrete(byte) if a blocking operation is needed to check the discrete input states.

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◆ ReportStatus()

void ReportStatus ( )

inline

Requests the U2004 status; all ports, all discretes, and the operating mode.

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◆ Reset()

void Reset ( )

inline

Full software reset of the U2004.

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◆ ScheduleTxWord()

bool ScheduleTxWord	(	A429Port	port,
		uint	word,
		ushort	time,
		bool	is_froze
	)

inline

Puts a word into the transmit schedule at the specified time. Words in the schedule are transmittted autonomously and periodically by the U2004 without the need for any Host interaction. A transmit schedule is 2,777 words (for a High Speed bus) and 347 words (for a Low Speed bus), which represents all of the words that that can possibly be transmit in one second.

ScheduleTxWord is just like ScheduleTxWords (see the 's'). The later adds many words to the schedule, whereas ScheduleTxWord only puts one word in the schedule.

An important note is that a scheudled word is only transmitted once until UpdateTxWord is called. The host has an opportunity to update the word before that word gets put onto the wire more than one time. This ensure that the data is never stale. However, if is_froze is set to False, then the scheduled word will be tranmit constantly regardless if the host managed to update it in time before the next transmission.

Returns: Returns false if the word was not able to be scheduled, typically for reasons that there isn't room in the bus for the word count

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◆ ScheduleTxWords()

void ScheduleTxWords	(	A429Port	port,
		uint	word,
		ushort	time,
		ushort	rate,
		bool	is_froze
	)

inline

Puts a word into the transmit schedule at the specified time. Words in the schedule are transmittted autonomously and periodically by the U2004 without the need for any Host interaction. A transmit schedule is 2,777 words (for a High Speed bus) and 347 words (for a Low Speed bus), which represents all of the words that that can possibly be transmit in one second.

ScheduleTxWord is just like ScheduleTxWords (see the 's'). The later adds many words to the schedule, whereas ScheduleTxWord only puts one word in the schedule.

An important note is that a scheduled word is only transmitted once until UpdateTxWord is called. The host has an opportunity to update the word before that word gets put onto the wire more than one time. This ensure that the data is never stale. However, if is_froze is set to False, then the scheduled word will be tranmit constantly regardless if the host managed to update it in time before the next transmission.

Returns: Returns false if the word was not able to be scheduled, typically for reasons that there isn't room in the bus for the word count

Here is an example using python where multiple words are scheduled on the same port:

u2004.PortLs(U2004.A429Port.TX1)
u2004.PortStart(U2004.A429Port.TX1)
 
u2004.ScheduleTxWords(U2004.A429Port.TX1, 0x800000FF, 0 ,2, False)
u2004.ScheduleTxWords(U2004.A429Port.TX1, 0x800000AA, 0 ,2, False)

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◆ Script()

object Script ( string script )

inline

This function provides a way to issue a command directly to Canvas. The command is converted to byte array and sent to the TCP processor.

◆ SetDiscrete()

void SetDiscrete ( uint mask )

inline

Writes to the U2004 discrete outputs (such as GND_DISC_OUT_0). See DiscreteOutputs for a listing and mapping of these discretes, which can be passed into the mask argument. This function specifically clears a ground/open discrete state.

Here is an example using python:

""" map a discrete to a variable """
GND_DISC_OUT_0 = 0x01
GND_DISC_OUT_7 = 0x80
 
""" set both discretes,  GND_DISC_OUT_0 and GND_DISC_OUT_7 """
U2004_Hardware.SetDiscrete(GND_DISC_OUT_0 | GND_DISC_OUT_7)

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◆ SetRxRate()

void SetRxRate	(	A429Port	port,
		uint	word,
		ushort	rate
	)

inline

Sets the expected rate of an ARINC 429 word. This is used to determine if a received word is fresh or stale, meaning that it was received within twice the expected rate on average.

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◆ SetWkn()

object SetWkn	(	string	wkn,
		double	value
	)

inline

Sets the value of a Well Known Name to the value provided for example SetWkn('TIME_TO_GO_BCD', 12.2) will set the value of 'TIME_TO_GO_BCD' to 12.2, to set a co-located non-WKN, use a collon to address that vlue. for example SetWkn('TIME_TO_GO_BCD:Sdi', 3) will set the Source Designation Index in the word that contains 'TIME_TO_GO_BCD' to 3. Note: Under the current implementation, this will always query the port that has had it's ICD set for the longest.

◆ SetWknString()

object SetWknString	(	string	wkn,
		string	value
	)

inline

Sets the value of a Well Known Name to the value provided for example SetWkn('TIME_TO_GO_BCD', 12.2) will set the value of 'TIME_TO_GO_BCD' to 12.2, to set a co-located non-WKN, use a collon to address that vlue. for example SetWkn('TIME_TO_GO_BCD:Sdi', 3) will set the Source Designation Index in the word that contains 'TIME_TO_GO_BCD' to 3.

◆ TcpCommunicate()

byte[] TcpCommunicate	(	byte[]	frame,
		bool	checksum = `true`
	)

inline

Sends and receives a frame without any additional discrimination through the TCP Connection. This function is typically only used by the Communicate function.

◆ TxWord() [1/2]

void TxWord	(	A429Port	port,
		List< uint >	words
	)

inline

Puts a list of words to be transmitted when space in schedule is available, but note that words that don't fit into the frame are dropped if there is not room.

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◆ TxWord() [2/2]

void TxWord	(	A429Port	port,
		uint	word
	)

inline

Puts a word to be transmitted when space in schedule is available.

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◆ TxWordUnBlocked()

void TxWordUnBlocked	(	A429Port	port,
		List< uint >	words
	)

inline

Puts a list of words to be transmitted when space in schedule is available, but not that words that donet fit into the frame are dropped if there is not room. Unlike TxWord, there are no frame check or waiting for this call to be complete, meaning that the words are transmit with less time restrictions.

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◆ UnScheduleTxWord()

void UnScheduleTxWord	(	A429Port	port,
		uint	word
	)

inline

Removes all instances of a word, specifcally the first 8-bit label of a word, from the transmit schedule.

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◆ UpdateTxWord() [1/2]

void UpdateTxWord	(	A429Port	port,
		List< uint >	words
	)

inline

Assuming that a A429 Word has been scheduled, and is actively being transmitted by the U2004, calling UpdateTxWord will update the word value that is in the schedule. It updates what is being transmitted. This also un-freezes words in the schedule if they were scheduled and expect fresh updates from the Host before transmit onto the wire. This call is more performant than the single uint call when scheduling many words.

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◆ UpdateTxWord() [2/2]

void UpdateTxWord	(	A429Port	port,
		uint	word
	)

inline

Assuming that a A429 Word has been scheduled, and is actively being transmitted by the U2004, calling UpdateTxWord will update the word value that is in the schedule. It updates what is being transmitted. This also un-freezes words in the schedule if they were scheduled and expect fresh updates from the Host before transmit onto the wire.

◆ UsbConnect()

bool UsbConnect ( string port )

inline

Opens a USB Connection to a U2004.

Returns: true if connected sucessfully

// returns true if successfully connected
if (U2004_Hardware.UsbConnect(u2004_i.ComPortName))
{
    MessageBox.Show("connected!\n u2004 firmware version: " + U2004_Hardware.FirmwareVersion.ToString());
}

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Field Documentation

◆ AsyncModeActive

bool AsyncModeActive = false

This is set True if the U2004 is in "Asyncronous Mode". See AsyncMode.

◆ ComFailed

bool ComFailed = false

True if there was a communication fault detected. Usually the device would need to be reconnector or re-instantiated, or there is fundamental fault. ComFailed is set when the communication frame received, wasn;t received in the correct format or length.

◆ CommPort

SerialPort CommPort

Serial Port for Communicating directly with the U2004 through the USB/COM port adapter. The U2004 is an FTDI port and can be communicated with through FTD2XX_NET.dll, but also through a generic COM port. Rates up to 921600bps have been tested. Use UsbConnect to open communication using the optimum settings.

◆ DeviceID

UInt32 DeviceID = 0

A unique serial number Id of the U2004, Updated on Initialize. This is hard-coded into the U2004. Canaan Avionics support software updates on this where required.

◆ DiscreteInputs

UInt32 DiscreteInputs = 0

These are the Discrete Input States (Gnd/Open) of the U2004, read after a UpdateStatus call.
This register can be read through a bool operation to get any one discrete, or read all together for all discretes.

The U2004 has three discrete inputs which are mapped as followed:

Pin 17 - GND_DISC_IN_0 - Mask 0x01
Pin 18 - GND_DISC_IN_1 - Mask 0x02
Pin 19 - GND_DISC_IN_2 - Mask 0x04

            // get any A429Port, as all status requests will update DiscreteInputs
            A429Port port = A429Ports[0]; */
//          port.UpdateStatus(stat);

◆ DiscreteOutputs

UInt32 DiscreteOutputs = 0

These are the Discrete Output States (Gnd/Open) of the U2004, read after a UpdateStatus call.
This register can be read through a bool operation to get any one discrete, or read all together for all discretes. These are mosfet-driven discretes that are set through ClearDiscrete and SetDiscrete calls.

The U2004 has three discrete inputs which are mapped as followed:

Pin 28 - GND_DISC_OUT_0 - Mask 0x01
Pin 29 - GND_DISC_OUT_1 - Mask 0x02
Pin 30 - GND_DISC_OUT_2 - Mask 0x04
Pin 31 - GND_DISC_OUT_3 - Mask 0x08
Pin 32 - GND_DISC_OUT_4 - Mask 0x10
Pin 33 - GND_DISC_OUT_5 - Mask 0x20
Pin 34 - GND_DISC_OUT_6 - Mask 0x40
Pin 35 - GND_DISC_OUT_7 - Mask 0x80

            // get any A429Port, as all status requests will update DiscreteOutputs
            A429Port port = A429Ports[0]; */
//          port.UpdateStatus(stat);

◆ FirmwareVersion

UInt32 FirmwareVersion = 0

Firmware Version of the U2004, Updated on Initialize. This is hard-coded into the U2004. Canaan Avionics support software updates on this where required.

◆ FramesAsyncCount

uint FramesAsyncCount = 0

Increments when frames are communicated.

◆ FramesChecksumError

uint FramesChecksumError = 0

Increments when frames are communicated but the checksum is not correct.

◆ FramesMisalignedError

uint FramesMisalignedError = 0

Increments when frames are communicated but not correctly oriented.

◆ FramesReceivedCount

uint FramesReceivedCount = 0

Increments when frames are communicated.

◆ FramesTimedOut

uint FramesTimedOut = 0

Increments when frames are communicated but the echo is not correct or timed out.

◆ FramesTransmittedCount

uint FramesTransmittedCount = 0

Increments when frames are communicated.

◆ Index

byte Index = 0

The Index of this U2004 device. This Dll supports a single host and multiple U2004 interfaces. The Index can be used to direct which U2004 is communicated with.

◆ Mode

CommMode Mode = CommMode.NONE

The active mode that this U2004 instance is communicating via.

◆ ReceivedFrame

byte [] ReceivedFrame = new byte[0]

The last USB communication frame received after a DataReceivedHandler call-back event.

◆ Status

PortStatus [] Status = new PortStatus[12]

A array of all of the PortStatus. This whole list is updated each time UpdateStatus is called. This list may be iterated or searched with lynq to find the port status for an particular port.

◆ TimeOut

int TimeOut = 500

The amount of time (ms) for Communicate to wait for a frame from the U2004. If there is no response in that time, then the frame is received as null.

Data Structures

Public Types

Public Member Functions

Data Fields

Detailed Description

Member Enumeration Documentation

◆ A429Parity

◆ A429Port

◆ CommMode

◆ FrameByte

◆ FrameLayout

◆ Opcode

Constructor & Destructor Documentation

◆ U2004()

Member Function Documentation

◆ AsyncCommunicate()

◆ AsyncMode()

◆ CanvasConnect()

◆ Checksum()

◆ ClearDiscrete()

◆ CommFrame()

◆ Communicate()

◆ GetRecords()

◆ GetRxWord()

◆ GetRxWords()

◆ GetWkn()

◆ GetWknString()

◆ Initialize()

◆ LoadIcdFromPath()

◆ LoadRecordingFromPath()

◆ MapRxPortToTxPort()

◆ MapRxWordToTxPort()

◆ PortHs()

◆ PortLs()

◆ PortStart()

◆ PortStop()

◆ PutIsUniqueSdi()

◆ PutParity()

◆ ReadDiscrete()

◆ ReportStatus()

◆ Reset()

◆ ScheduleTxWord()

◆ ScheduleTxWords()

◆ Script()

◆ SetDiscrete()

◆ SetRxRate()

◆ SetWkn()

◆ SetWknString()

◆ TcpCommunicate()

◆ TxWord() [1/2]

◆ TxWord() [2/2]

◆ TxWordUnBlocked()

◆ UnScheduleTxWord()

◆ UpdateTxWord() [1/2]

◆ UpdateTxWord() [2/2]

◆ UsbConnect()

Field Documentation

◆ AsyncModeActive

◆ ComFailed

◆ CommPort

◆ DeviceID

◆ DiscreteInputs

◆ DiscreteOutputs

◆ FirmwareVersion

◆ FramesAsyncCount

◆ FramesChecksumError

◆ FramesMisalignedError

◆ FramesReceivedCount

◆ FramesTimedOut

◆ FramesTransmittedCount

◆ Index

◆ Mode

◆ ReceivedFrame

◆ Status

◆ TimeOut