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);
}
}
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);
}
}
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
}
