/// <summary>
/// 扫描节点
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void scanNode(FormProgress sender, DoWorkEventArgs e)
{
for (int i = ScanStartAddr; i <= ScanEndAddr; i++)
{
int ret;
UInt32[] appVersion = new UInt32[1], appType = new UInt32[1];
ret = USB2CAN.CAN_BL_NodeCheck(DeviceIndex, CANIndex, (UInt16)i, appVersion, appType, 10);
if (ret == USB2CAN.CAN_SUCCESS)
{
this.listViewNodeList.BeginUpdate(); //数据更新，UI暂时挂起，直到EndUpdate绘制控件，可以有效避免闪烁并大大提高加载速度
ListViewItem lvi = new ListViewItem();
lvi.Text = i.ToString();
if (appType[0] == USB2CAN.CAN_BL_BOOT)
{
lvi.SubItems.Add("ROOT");
}
else
{
lvi.SubItems.Add("APP");
}
lvi.SubItems.Add(String.Format("v{0}.{1}", (((appVersion[0] >> 24) & 0xFF) * 10) + (appVersion[0] >> 16) & 0xFF, (((appVersion[0] >> 8) & 0xFF) * 10) + appVersion[0] & 0xFF));
this.listViewNodeList.Items.Add(lvi);
this.listViewNodeList.EndUpdate(); //结束数据处理，UI界面一次性绘制。
}
sender.SetProgress(i - ScanStartAddr + 1, "正在检测节点：" + i.ToString());
if (sender.CancellationPending)
{
e.Cancel = true;
return;
}
}
}
public static void SendMsgThread()
{
while (CANSendMsgFlag)
{
USB2CAN.CAN_MSG[] CanMsg = new USB2CAN.CAN_MSG[10];
for (int i = 0; i < 10; i++)
{
CanMsg[i] = new USB2CAN.CAN_MSG();
CanMsg[i].ExternFlag = 0;
CanMsg[i].RemoteFlag = 0;
CanMsg[i].ID = (UInt32)i;
CanMsg[i].DataLen = 8;
CanMsg[i].Data = new Byte[CanMsg[i].DataLen];
for (int j = 0; j < CanMsg[i].DataLen; j++)
{
CanMsg[i].Data[j] = (Byte)j;
}
}
int SendedNum = USB2CAN.CAN_SendMsg(DevHandle, CANSendIndex, CanMsg, (UInt32)CanMsg.Length);
if (SendedNum >= 0)
{
SendMsgNum += SendedNum;
Console.WriteLine("Success send frames:{0}", SendMsgNum);
}
else
{
Console.WriteLine("Send CAN data failed!");
break;
}
Thread.Sleep(10);
}
}
private void buttonSetNewBaudRate_Click(object sender, EventArgs e)
{
UInt16 NodeAddr;
if (configDevice())
{
//判断当前所选择的节点
if (this.listViewNodeList.Items.Count <= 0)
{
//当前节点列表中没有节点
MessageBox.Show(this, "节点列表中无节点，请先扫描节点！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
else
{
if (this.checkBoxAllNode.Checked)
{
NodeAddr = 0;
}
else
{
if (this.listViewNodeList.SelectedIndices[0] < 0)
{
//没有选择任何节点
MessageBox.Show(this, "请先选择节点！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
else
{
NodeAddr = UInt16.Parse(this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[0].Text);
}
}
}
USB2CAN.CAN_INIT_CONFIG CAN_InitConfig = new USB2CAN.CAN_INIT_CONFIG();
int BaudRate = int.Parse(this.comboBoxNewBaudRate.Text.Substring(0, this.comboBoxNewBaudRate.Text.Length - 4));
if (DevType == DevTypeUSB2CANB)
{
CAN_InitConfig.CAN_BRP = (UInt32)CANBaudRateTab42M[GetBaudRateIndex(BaudRate)].PreScale;
CAN_InitConfig.CAN_SJW = CANBaudRateTab42M[GetBaudRateIndex(BaudRate)].SJW;
CAN_InitConfig.CAN_BS1 = CANBaudRateTab42M[GetBaudRateIndex(BaudRate)].BS1;
CAN_InitConfig.CAN_BS2 = CANBaudRateTab42M[GetBaudRateIndex(BaudRate)].BS2;
}
else
{
CAN_InitConfig.CAN_BRP = (UInt32)CANBaudRateTab[GetBaudRateIndex(BaudRate)].PreScale;
CAN_InitConfig.CAN_SJW = CANBaudRateTab[GetBaudRateIndex(BaudRate)].SJW;
CAN_InitConfig.CAN_BS1 = CANBaudRateTab[GetBaudRateIndex(BaudRate)].BS1;
CAN_InitConfig.CAN_BS2 = CANBaudRateTab[GetBaudRateIndex(BaudRate)].BS2;
}
int ret = USB2CAN.CAN_BL_SetNewBaudRate(DevHandles[DeviceIndex], CANIndex, NodeAddr, ref CAN_InitConfig, (UInt32)BaudRate, 100);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "设置新波特率失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
else
{
this.comboBoxBaudRate.SelectedIndex = this.comboBoxNewBaudRate.SelectedIndex;
}
}
}
public static void ReadMsgThread()
{
while (CANReadMsgFlag)
{
USB2CAN.CAN_MSG[] CanMsgBuffer = new USB2CAN.CAN_MSG[1024];
//申请数据缓冲区
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)) * CanMsgBuffer.Length);
int CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, CANReadIndex, pt, CanMsgBuffer.Length);
if (CanNum > 0)
{
for (int i = 0; i < CanNum; i++)
{
CanMsgBuffer[i] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)pt + i * Marshal.SizeOf(typeof(USB2CAN.CAN_MSG))), typeof(USB2CAN.CAN_MSG));
Console.WriteLine("CanMsg[{0}].ID = {1}", i, CanMsgBuffer[i].ID);
Console.WriteLine("CanMsg[{0}].TimeStamp = {1}", i, CanMsgBuffer[i].TimeStamp);
Console.Write("CanMsg[{0}].Data = ", i);
for (int j = 0; j < CanMsgBuffer[i].DataLen; j++)
{
Console.Write("{0:X2} ", CanMsgBuffer[i].Data[j]);
}
Console.WriteLine("\n");
}
}
else if (CanNum < 0)
{
Console.WriteLine("Get CAN data error!");
break;
}
//释放数据缓冲区，必须释放，否则程序运行一段时间后会报内存不足
Marshal.FreeHGlobal(pt);
Thread.Sleep(10);
}
}
private bool InitCAN()
{
//初始化配置CAN
canConfig = new USB2CAN.CAN_INIT_CONFIG();
#if CAN_MODE_LOOPBACK
canConfig.CAN_Mode = 1; //环回模式
#else
canConfig.CAN_Mode = 0 | (1 << 7); //正常模式
#endif
canConfig.CAN_ABOM = 0; //禁止自动离线
canConfig.CAN_NART = 1; //禁止报文重传
canConfig.CAN_RFLM = 0; //FIFO满之后覆盖旧报文
canConfig.CAN_TXFP = 1; //发送请求决定发送顺序
//配置波特率,波特率 = 100M/(BRP*(SJW+BS1+BS2))
canConfig.CAN_BRP = 4;
canConfig.CAN_BS1 = 16;
canConfig.CAN_BS2 = 4;
canConfig.CAN_SJW = 1;
var ret = USB2CAN.CAN_Init(DeviceHandle, canIndex, ref canConfig);
if (ret != USB2CAN.CAN_SUCCESS)
{
LogLine("Config CAN failed!");
return(false);
}
else
{
LogLine("Config CAN Success!");
return(true);
}
}
public int GetMsg(ref USB2CAN.CAN_MSG[] msgs)
{
//申请存储数据缓冲区
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)) * msgs.Length);
int canNum = USB2CAN.CAN_GetMsgWithSize(DeviceHandle, canIndex, pt, msgs.Length);
if (canNum > 0)
{
var structSize = Marshal.SizeOf(typeof(USB2CAN.CAN_MSG));
for (int i = 0; i < canNum; i++)
{
//从缓冲区中获取数据
msgs[i] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)((uint)pt + i * structSize), typeof(USB2CAN.CAN_MSG));
LogLine("CanMsg[{0}].ID = {1}", i, msgs[i].ID);
LogLine("CanMsg[{0}].TimeStamp = {1}", i, msgs[i].TimeStamp);
Log("CanMsg[{0}].Data = ", i);
for (int j = 0; j < msgs[i].DataLen; j++)
{
Log("{0:X2} ", msgs[i].Data[j]);
}
LogLine("\n");
}
}
else if (canNum < 0)
{
LogLine("Get CAN data error!");
}
return(canNum);
}
/// <summary>
/// 初始化配置USB2XXX CAN适配器
/// </summary>
/// <returns></returns>
private bool configDevice()
{
int ret, DevNum;
bool state;
DeviceIndex = this.comboBoxDeviceIndex.SelectedIndex;
CANIndex = this.comboBoxCANIndex.SelectedIndex;
//扫描查找设备
DevNum = usb_device.USB_ScanDevice(null);
if (DevNum <= 0)
{
MessageBox.Show(this, "无设备连接！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return(false);
}
//打开设备
state = usb_device.USB_OpenDevice(DeviceIndex);
if (!state)
{
MessageBox.Show(this, "打开设备失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return(false);
}
USB2CAN.CBL_CMD_LIST CMD_List = new USB2CAN.CBL_CMD_LIST();
String[] cmdStr = { "Erase", "WriteInfo", "Write", "Check", "SetBaudRate", "Excute", "CmdSuccess", "CmdFaild" };
byte[] cmdData = new byte[cmdStr.Length];
for (int i = 0; i < this.listViewCmdList.Items.Count; i++)
{
ListViewItem item = listViewCmdList.Items[i];
if (item.SubItems[0].Text == cmdStr[i])
{
cmdData[i] = byte.Parse(item.SubItems[1].Text);
}
}
CMD_List.Erase = cmdData[0];
CMD_List.WriteInfo = cmdData[1];
CMD_List.Write = cmdData[2];
CMD_List.Check = cmdData[3];
CMD_List.SetBaudRate = cmdData[4];
CMD_List.Excute = cmdData[5];
CMD_List.CmdSuccess = cmdData[6];
CMD_List.CmdFaild = cmdData[7];
USB2CAN.CAN_INIT_CONFIG CAN_InitConfig = new USB2CAN.CAN_INIT_CONFIG();
int BaudRate = int.Parse(this.comboBoxBaudRate.Text.Substring(0, this.comboBoxBaudRate.Text.Length - 4));
CAN_InitConfig.CAN_BRP = (UInt32)CANBaudRateTab[GetBaudRateIndex(BaudRate)].PreScale;
CAN_InitConfig.CAN_SJW = CANBaudRateTab[GetBaudRateIndex(BaudRate)].SJW;
CAN_InitConfig.CAN_BS1 = CANBaudRateTab[GetBaudRateIndex(BaudRate)].BS1;
CAN_InitConfig.CAN_BS2 = CANBaudRateTab[GetBaudRateIndex(BaudRate)].BS2;
ret = USB2CAN.CAN_BL_Init(DeviceIndex, CANIndex, ref CAN_InitConfig, ref CMD_List);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "初始化设备失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return(false);
}
return(true);
}
public bool StopGetMsg()
{
var ret = USB2CAN.CAN_StopGetMsg(DeviceHandle, canIndex);
if (ret != USB2CAN.CAN_SUCCESS)
{
LogLine("Stop Get Msg failed!");
}
else
{
LogLine("Stop Get Msg Success!");
}
return(USB2CAN.CAN_SUCCESS == ret);
}
public int SendMsg(USB2CAN.CAN_MSG[] canMsg, uint num)
{
int sendedNum = USB2CAN.CAN_SendMsg(DeviceHandle, canIndex, canMsg, num);
if (sendedNum >= 0)
{
lastSentTime = DateTime.Now;
LogLine("Success send frames:{0}", sendedNum);
}
else
{
LogLine("Send CAN data failed!");
}
return(sendedNum);
}
public USB2CAN.CAN_STATUS GetStatus()
{
USB2CAN.CAN_STATUS CANStatus = new USB2CAN.CAN_STATUS();
var ret = USB2CAN.CAN_GetStatus(DeviceHandle, canIndex, ref CANStatus);
if (ret == USB2CAN.CAN_SUCCESS)
{
LogLine("TSR = {0:X8}", CANStatus.TSR);
LogLine("ESR = {0:X8}", CANStatus.ESR);
}
else
{
LogLine("Get CAN status error!\n");
CANStatus = default(USB2CAN.CAN_STATUS);
}
return(CANStatus);
}
public bool StartGetMsg()
{
if (GetMsgStarted)
{
return(true);
}
GetMsgStarted = true;
//启动CAN接收数据
var ret = USB2CAN.CAN_StartGetMsg(DeviceHandle, canIndex);
if (ret != USB2CAN.CAN_SUCCESS)
{
LogLine("Start Get Msg failed!");
return(false);
}
else
{
LogLine("Start Get Msg Success!");
return(true);
}
}
private bool InitFilter()
{
//配置过滤器，接收所有数据
canFilter = new USB2CAN.CAN_FILTER_CONFIG();
canFilter.Enable = 1;
canFilter.ExtFrame = 0;
canFilter.FilterIndex = 0;
canFilter.FilterMode = 0;
canFilter.MASK_IDE = 0;
canFilter.MASK_RTR = 0;
canFilter.MASK_Std_Ext = 0;
var ret = USB2CAN.CAN_Filter_Init(DeviceHandle, canIndex, ref canFilter);
if (ret != USB2CAN.CAN_SUCCESS)
{
LogLine("Config CAN Filter failed!");
return(false);
}
else
{
LogLine("Config CAN Filter Success!");
return(true);
}
}
void upgrateFirmware(FormProgress sender, DoWorkEventArgs e)
{
int FirmwareFileSize;
UInt16 NodeAddr;
int ret;
//如果文件不存在，就提示错误
if (File.Exists(this.textBoxFilePath.Text))
{
BinaryReader br;
FirmwareFileSize = (int)new FileInfo(this.textBoxFilePath.Text).Length;
try
{
//将固件文件读取到数据缓冲区中
br = new BinaryReader(new FileStream(this.textBoxFilePath.Text, FileMode.Open));
//判断当前所选择的节点
if (this.listViewNodeList.Items.Count <= 0)
{
//当前节点列表中没有节点
MessageBox.Show(this, "节点列表中无节点，请先扫描节点！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
else
{
if (this.checkBoxAllNode.Checked)
{
NodeAddr = 0;
}
else
{
if (this.listViewNodeList.SelectedIndices[0] < 0)
{
//没有选择任何节点
MessageBox.Show(this, "请先选择节点！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
else
{
NodeAddr = UInt16.Parse(this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[0].Text);
}
}
}
//MessageBox.Show(this, "NodeAddr = " + NodeAddr, "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
//发送跳转到Bootloader的命令
sender.SetProgress(0, "跳转到Bootloader...");
ret = USB2CAN.CAN_BL_Excute(DeviceIndex, CANIndex, NodeAddr, USB2CAN.CAN_BL_BOOT);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "执行固件跳转命令失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
//延时
System.Threading.Thread.Sleep(500);
//检测当前节点是否为Bootloader
if (!this.checkBoxAllNode.Checked)
{
UInt32[] appVersion = new UInt32[1], appType = new UInt32[1];
ret = USB2CAN.CAN_BL_NodeCheck(DeviceIndex, CANIndex, NodeAddr, appVersion, appType, 10);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "节点检测失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
else
{
if (appType[0] != USB2CAN.CAN_BL_BOOT)
{
MessageBox.Show(this, "当前节点固件类型不是Bootloader，请重新点击升级固件！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
}
}
//发送擦出固件命令
sender.SetProgress(0, "擦出固件...");
ret = USB2CAN.CAN_BL_Erase(DeviceIndex, CANIndex, NodeAddr, (UInt32)FirmwareFileSize, 10000);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "擦出固件失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
if (this.checkBoxAllNode.Checked)
{
System.Threading.Thread.Sleep(1000);
}
//循环发送数据
UInt32 AddrOffset = 0;
UInt32 PackSize = 512;
byte[] DataBuffer = new byte[PackSize];
for (AddrOffset = 0; AddrOffset < FirmwareFileSize; AddrOffset += PackSize)
{
UInt32 read_data_num = (UInt32)br.Read(DataBuffer, 0, (int)PackSize);
ret = USB2CAN.CAN_BL_Write(DeviceIndex, CANIndex, NodeAddr, AddrOffset, DataBuffer, read_data_num, 1000);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "写数据失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
if (this.checkBoxAllNode.Checked)
{
System.Threading.Thread.Sleep(20);
}
sender.SetProgress((int)(AddrOffset + read_data_num), "正在发送固件数据...");
}
//执行固件
ret = USB2CAN.CAN_BL_Excute(DeviceIndex, CANIndex, NodeAddr, USB2CAN.CAN_BL_APP);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "执行固件跳转命令失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
System.Threading.Thread.Sleep(100);
//获取固件信息
if (!this.checkBoxAllNode.Checked)
{
UInt32[] appVersion = new UInt32[1], appType = new UInt32[1];
ret = USB2CAN.CAN_BL_NodeCheck(DeviceIndex, CANIndex, NodeAddr, appVersion, appType, 10);
if (ret == USB2CAN.CAN_SUCCESS)
{
string AppTypeStr;
if (appType[0] == USB2CAN.CAN_BL_BOOT)
{
AppTypeStr = "BOOT";
}
else
{
AppTypeStr = "APP";
}
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[1].Text = AppTypeStr;
string AppVersionStr;
AppVersionStr = String.Format("v{0}.{1}", (((appVersion[0] >> 24) & 0xFF) * 10) + (appVersion[0] >> 16) & 0xFF, (((appVersion[0] >> 8) & 0xFF) * 10) + appVersion[0] & 0xFF);
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[2].Text = AppVersionStr;
}
}
br.Close();
}
catch (IOException ep)
{
MessageBox.Show(this, ep.Message, "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
}
else
{
MessageBox.Show(this, "无法打开固件文件，是否选择了固件文件？", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
}
/// <summary>
/// 初始化配置USB2XXX CAN适配器
/// </summary>
/// <returns></returns>
private bool configDevice()
{
int ret, DevNum;
bool state;
DeviceIndex = this.comboBoxDeviceIndex.SelectedIndex;
CANIndex = this.comboBoxCANIndex.SelectedIndex;
//扫描查找设备
DevNum = usb_device.USB_ScanDevice(DevHandles);
if (DevNum <= 0)
{
MessageBox.Show(this, "无设备连接！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return(false);
}
//打开设备
state = usb_device.USB_OpenDevice(DevHandles[DeviceIndex]);
if (!state)
{
MessageBox.Show(this, "打开设备失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return(false);
}
//获取设备类型
usb_device.DEVICE_INFO DevInfo = new usb_device.DEVICE_INFO();
StringBuilder FuncStr = new StringBuilder(256);
state = usb_device.DEV_GetDeviceInfo(DevHandles[DeviceIndex], ref DevInfo, FuncStr);
if (!state)
{
MessageBox.Show(this, "获取设备信息失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return(false);
}
DevType = ((UInt64)DevInfo.SerialNumber[0] << 32) | (DevInfo.SerialNumber[1]);
USB2CAN.CBL_CMD_LIST CMD_List = new USB2CAN.CBL_CMD_LIST();
String[] cmdStr = { "Erase", "WriteInfo", "Write", "Check", "SetBaudRate", "Execute", "CmdSuccess", "CmdFaild" };
byte[] cmdData = new byte[cmdStr.Length];
for (int i = 0; i < this.listViewCmdList.Items.Count; i++)
{
ListViewItem item = listViewCmdList.Items[i];
if (item.SubItems[0].Text == cmdStr[i])
{
cmdData[i] = byte.Parse(item.SubItems[1].Text);
}
}
CMD_List.Erase = cmdData[0];
CMD_List.WriteInfo = cmdData[1];
CMD_List.Write = cmdData[2];
CMD_List.Check = cmdData[3];
CMD_List.SetBaudRate = cmdData[4];
CMD_List.Execute = cmdData[5];
CMD_List.CmdSuccess = cmdData[6];
CMD_List.CmdFaild = cmdData[7];
USB2CAN.CAN_INIT_CONFIG CAN_InitConfig = new USB2CAN.CAN_INIT_CONFIG();
int BaudRate = int.Parse(this.comboBoxBaudRate.Text.Substring(0, this.comboBoxBaudRate.Text.Length - 4));
if (DevType == DevTypeUSB2CANB)
{
CAN_InitConfig.CAN_BRP = (UInt32)CANBaudRateTab42M[GetBaudRateIndex(BaudRate)].PreScale;
CAN_InitConfig.CAN_SJW = CANBaudRateTab42M[GetBaudRateIndex(BaudRate)].SJW;
CAN_InitConfig.CAN_BS1 = CANBaudRateTab42M[GetBaudRateIndex(BaudRate)].BS1;
CAN_InitConfig.CAN_BS2 = CANBaudRateTab42M[GetBaudRateIndex(BaudRate)].BS2;
}
else
{
CAN_InitConfig.CAN_BRP = (UInt32)CANBaudRateTab[GetBaudRateIndex(BaudRate)].PreScale;
CAN_InitConfig.CAN_SJW = CANBaudRateTab[GetBaudRateIndex(BaudRate)].SJW;
CAN_InitConfig.CAN_BS1 = CANBaudRateTab[GetBaudRateIndex(BaudRate)].BS1;
CAN_InitConfig.CAN_BS2 = CANBaudRateTab[GetBaudRateIndex(BaudRate)].BS2;
}
ret = USB2CAN.CAN_BL_Init(DevHandles[DeviceIndex], CANIndex, ref CAN_InitConfig, ref CMD_List);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "初始化设备失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return(false);
}
return(true);
}
static void Main(string[] args)
{
usb_device.DEVICE_INFO DevInfo = new usb_device.DEVICE_INFO();
Int32[] DevHandles = new Int32[20];
Int32 DevHandle = 0;
Byte CANIndex = 0;
bool state;
Int32 DevNum, ret;
//扫描查找设备
DevNum = usb_device.USB_ScanDevice(DevHandles);
if (DevNum <= 0)
{
Console.WriteLine("No device connected!");
return;
}
else
{
Console.WriteLine("Have {0} device connected!", DevNum);
}
DevHandle = DevHandles[0];
//打开设备
state = usb_device.USB_OpenDevice(DevHandle);
if (!state)
{
Console.WriteLine("Open device error!");
return;
}
else
{
Console.WriteLine("Open device success!");
}
//获取固件信息
StringBuilder FuncStr = new StringBuilder(256);
state = usb_device.DEV_GetDeviceInfo(DevHandle, ref DevInfo, FuncStr);
if (!state)
{
Console.WriteLine("Get device infomation error!");
return;
}
else
{
Console.WriteLine("Firmware Info:");
Console.WriteLine(" Name:" + Encoding.Default.GetString(DevInfo.FirmwareName));
Console.WriteLine(" Build Date:" + Encoding.Default.GetString(DevInfo.BuildDate));
Console.WriteLine(" Firmware Version:v{0}.{1}.{2}", (DevInfo.FirmwareVersion >> 24) & 0xFF, (DevInfo.FirmwareVersion >> 16) & 0xFF, DevInfo.FirmwareVersion & 0xFFFF);
Console.WriteLine(" Hardware Version:v{0}.{1}.{2}", (DevInfo.HardwareVersion >> 24) & 0xFF, (DevInfo.HardwareVersion >> 16) & 0xFF, DevInfo.HardwareVersion & 0xFFFF);
Console.WriteLine(" Functions:" + DevInfo.Functions.ToString("X8"));
Console.WriteLine(" Functions String:" + FuncStr);
}
//初始化配置CAN
USB2CAN.CAN_INIT_CONFIG CANConfig = new USB2CAN.CAN_INIT_CONFIG();
#if CAN_MODE_LOOPBACK
CANConfig.CAN_Mode = 1; //环回模式
#else
CANConfig.CAN_Mode = 0; //正常模式
#endif
CANConfig.CAN_ABOM = 0; //禁止自动离线
CANConfig.CAN_NART = 1; //禁止报文重传
CANConfig.CAN_RFLM = 0; //FIFO满之后覆盖旧报文
CANConfig.CAN_TXFP = 1; //发送请求决定发送顺序
//配置波特率,波特率 = 100M/(BRP*(SJW+BS1+BS2))
CANConfig.CAN_BRP = 2;
CANConfig.CAN_BS1 = 15;
CANConfig.CAN_BS2 = 5;
CANConfig.CAN_SJW = 1;
ret = USB2CAN.CAN_Init(DevHandle, CANIndex, ref CANConfig);
if (ret != USB2CAN.CAN_SUCCESS)
{
Console.WriteLine("Config CAN failed!");
return;
}
else
{
Console.WriteLine("Config CAN Success!");
}
//配置过滤器，接收所有数据
USB2CAN.CAN_FILTER_CONFIG CANFilter = new USB2CAN.CAN_FILTER_CONFIG();
CANFilter.Enable = 1;
CANFilter.ExtFrame = 0;
CANFilter.FilterIndex = 0;
CANFilter.FilterMode = 0;
CANFilter.MASK_IDE = 0;
CANFilter.MASK_RTR = 0;
CANFilter.MASK_Std_Ext = 0;
ret = USB2CAN.CAN_Filter_Init(DevHandle, CANIndex, ref CANFilter);
if (ret != USB2CAN.CAN_SUCCESS)
{
Console.WriteLine("Config CAN Filter failed!");
return;
}
else
{
Console.WriteLine("Config CAN Filter Success!");
}
//启动CAN接收数据
ret = USB2CAN.CAN_StartGetMsg(DevHandle, CANIndex);
if (ret != USB2CAN.CAN_SUCCESS)
{
Console.WriteLine("Start CAN failed!");
return;
}
else
{
Console.WriteLine("Start CAN Success!");
}
#if CAN_SEND_MSG//发送CAN帧
USB2CAN.CAN_MSG[] CanMsg = new USB2CAN.CAN_MSG[5];
for (int i = 0; i < 5; i++)
{
CanMsg[i] = new USB2CAN.CAN_MSG();
CanMsg[i].ExternFlag = 0;
CanMsg[i].RemoteFlag = 0;
CanMsg[i].ID = (UInt32)i;
CanMsg[i].DataLen = 8;
CanMsg[i].Data = new Byte[CanMsg[i].DataLen];
for (int j = 0; j < CanMsg[i].DataLen; j++)
{
CanMsg[i].Data[j] = (Byte)j;
}
}
int SendedNum = USB2CAN.CAN_SendMsg(DevHandle, CANIndex, CanMsg, (UInt32)CanMsg.Length);
if (SendedNum >= 0)
{
Console.WriteLine("Success send frames:{0}", SendedNum);
}
else
{
Console.WriteLine("Send CAN data failed!");
}
#endif
#if CAN_GET_STATUS
USB2CAN.CAN_STATUS CANStatus = new USB2CAN.CAN_STATUS();
ret = USB2CAN.CAN_GetStatus(DevHandle, CANIndex, ref CANStatus);
if (ret == USB2CAN.CAN_SUCCESS)
{
Console.WriteLine("TSR = {0:X8}", CANStatus.TSR);
Console.WriteLine("ESR = {0:X8}", CANStatus.ESR);
}
else
{
Console.WriteLine("Get CAN status error!\n");
}
#endif
//延时
System.Threading.Thread.Sleep(500);
#if CAN_GET_MSG
for (int t = 0; t < 10; t++)
{
USB2CAN.CAN_MSG[] CanMsgBuffer = new USB2CAN.CAN_MSG[1024];
//申请存储数据缓冲区
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)) * CanMsgBuffer.Length);
int CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, CANIndex, pt, CanMsgBuffer.Length);
if (CanNum > 0)
{
for (int i = 0; i < CanNum; i++)
{
//从缓冲区中获取数据
CanMsgBuffer[i] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)pt + i * Marshal.SizeOf(typeof(USB2CAN.CAN_MSG))), typeof(USB2CAN.CAN_MSG));
Console.WriteLine("CanMsg[{0}].ID = {1}", i, CanMsgBuffer[i].ID);
Console.WriteLine("CanMsg[{0}].TimeStamp = {1}", i, CanMsgBuffer[i].TimeStamp);
Console.Write("CanMsg[{0}].Data = ", i);
for (int j = 0; j < CanMsgBuffer[i].DataLen; j++)
{
Console.Write("{0:X2} ", CanMsgBuffer[i].Data[j]);
}
Console.WriteLine("\n");
}
}
else if (CanNum < 0)
{
Console.WriteLine("Get CAN data error!");
}
//延时
System.Threading.Thread.Sleep(100);
//释放申请的数据缓冲区
Marshal.FreeHGlobal(pt);
}
//停止CAN
USB2CAN.CAN_StopGetMsg(DevHandle, CANIndex);
#endif
}
static void Main(string[] args)
{
usb_device.DEVICE_INFO DevInfo = new usb_device.DEVICE_INFO();
Int32[] DevHandles = new Int32[20];
bool state;
Int32 DevNum, ret;
Thread CANSendMsgThread = new Thread(new ThreadStart(SendMsgThread));
Thread CANReadMsgThread = new Thread(new ThreadStart(ReadMsgThread));
//扫描查找设备
DevNum = usb_device.USB_ScanDevice(DevHandles);
if (DevNum <= 0)
{
Console.WriteLine("No device connected!");
return;
}
else
{
Console.WriteLine("Have {0} device connected!", DevNum);
}
DevHandle = DevHandles[0];
//打开设备
state = usb_device.USB_OpenDevice(DevHandle);
if (!state)
{
Console.WriteLine("Open device error!");
return;
}
else
{
Console.WriteLine("Open device success!");
}
//获取固件信息
StringBuilder FuncStr = new StringBuilder(256);
state = usb_device.DEV_GetDeviceInfo(DevHandle, ref DevInfo, FuncStr);
if (!state)
{
Console.WriteLine("Get device infomation error!");
return;
}
else
{
Console.WriteLine("Firmware Info:");
Console.WriteLine(" Name:" + Encoding.Default.GetString(DevInfo.FirmwareName));
Console.WriteLine(" Build Date:" + Encoding.Default.GetString(DevInfo.BuildDate));
Console.WriteLine(" Firmware Version:v{0}.{1}.{2}", (DevInfo.FirmwareVersion >> 24) & 0xFF, (DevInfo.FirmwareVersion >> 16) & 0xFF, DevInfo.FirmwareVersion & 0xFFFF);
Console.WriteLine(" Hardware Version:v{0}.{1}.{2}", (DevInfo.HardwareVersion >> 24) & 0xFF, (DevInfo.HardwareVersion >> 16) & 0xFF, DevInfo.HardwareVersion & 0xFFFF);
Console.WriteLine(" Functions:" + DevInfo.Functions.ToString("X8"));
Console.WriteLine(" Functions String:" + FuncStr);
}
//初始化配置CAN
USB2CAN.CAN_INIT_CONFIG CANConfig = new USB2CAN.CAN_INIT_CONFIG();
CANConfig.CAN_Mode = 0x80; //正常模式
CANConfig.CAN_ABOM = 0; //禁止自动离线
CANConfig.CAN_NART = 1; //禁止报文重传
CANConfig.CAN_RFLM = 0; //FIFO满之后覆盖旧报文
CANConfig.CAN_TXFP = 1; //发送请求决定发送顺序
//配置波特率,波特率 = 42M/(BRP*(SJW+BS1+BS2))
CANConfig.CAN_BRP = 2;
CANConfig.CAN_BS1 = 15;
CANConfig.CAN_BS2 = 5;
CANConfig.CAN_SJW = 1;
ret = USB2CAN.CAN_Init(DevHandle, CANSendIndex, ref CANConfig);
if (ret != USB2CAN.CAN_SUCCESS)
{
Console.WriteLine("Config Send CAN failed!");
return;
}
else
{
Console.WriteLine("Config Send CAN Success!");
}
ret = USB2CAN.CAN_Init(DevHandle, CANReadIndex, ref CANConfig);
if (ret != USB2CAN.CAN_SUCCESS)
{
Console.WriteLine("Config Read CAN failed!");
return;
}
else
{
Console.WriteLine("Config Read CAN Success!");
}
//配置过滤器，接收所有数据
USB2CAN.CAN_FILTER_CONFIG CANFilter = new USB2CAN.CAN_FILTER_CONFIG();
CANFilter.Enable = 1;
CANFilter.ExtFrame = 0;
CANFilter.FilterIndex = 0;
CANFilter.FilterMode = 0;
CANFilter.MASK_IDE = 0;
CANFilter.MASK_RTR = 0;
CANFilter.MASK_Std_Ext = 0;
ret = USB2CAN.CAN_Filter_Init(DevHandle, CANReadIndex, ref CANFilter);
if (ret != USB2CAN.CAN_SUCCESS)
{
Console.WriteLine("Config CAN Filter failed!");
return;
}
else
{
Console.WriteLine("Config CAN Filter Success!");
}
//启动CAN接收数据
ret = USB2CAN.CAN_StartGetMsg(DevHandle, CANReadIndex);
if (ret != USB2CAN.CAN_SUCCESS)
{
Console.WriteLine("Start CAN failed!");
return;
}
else
{
Console.WriteLine("Start CAN Success!");
}
//启动接收数据线程
CANReadMsgFlag = true;
CANReadMsgThread.Start();
//启动发送数据线程
CANSendMsgFlag = true;
CANSendMsgThread.Start();
//按下回车后结束发送接收线程
Console.ReadLine();
//结束线程
CANSendMsgFlag = false;
CANReadMsgFlag = false;
CANSendMsgThread.Join();
CANReadMsgThread.Join();
//停止CAN
USB2CAN.CAN_StopGetMsg(DevHandle, CANReadIndex);
}