/// <summary>
/// 发送握手指令
/// </summary>
public int SendShakehand(uint deviceId)
{
CAN_MSG_T msg = new CAN_MSG_T();
msg.rtr = 0;
msg.dlen = 2;
msg.id = deviceId;
msg.data = new byte[8];
msg.data[0] = (byte)(0x10 + deviceId & 0x0F);
msg.data[1] = InstructNum;
return(CanBusApi.CANWriteFile(m_nPort, ref ready, ref msg));
}
/// <summary>
/// 开启监听Can总线的线程
/// </summary>
public void BeginListen()
{
ThreadPool.QueueUserWorkItem(o =>
{
CAN_MSG_T cMsg = new CAN_MSG_T();
cMsg.data = new byte[8];
int returnNum = 0;
CanBusApi.CANReadFile(m_nPort, 1, ref cMsg, ref returnNum);
if (returnNum > 0)
{
receiveData[(cMsg.data[0] >> 4) - 1].Enqueue(cMsg);
}
});
}
/// <summary>
/// Can通讯初始化
/// </summary>
public void CanInit(IntPtr hwnd)
{
m_nBTR0 = 0x03;
m_nBTR1 = 0x1C;
m_nAcpCode = 0;
m_nAcpMask = 255;
m_nIntMask = 0;
m_nOutCtrlCode = 250;
byte[] DeviceName = Encoding.ASCII.GetBytes(m_strDevName);
CanBusApi.CANPortClose(m_nPort);
if (CanBusApi.CANSelectDevice(hwnd, 0, ref m_nDevNum, DeviceName) != 0)
{
}
if (CanBusApi.CANPortOpen((UInt16)m_nDevNum, ref m_nPort, ref m_nHostID, ref m_nPreBaudRate) != 0)
{
MessageBox.Show("CAN port open error!", "Error");
}
if (CanBusApi.CANSetProtocolType(m_nPort, 0) != 0)
{
MessageBox.Show("CAN Set Protocol Type error!", "Error");
CanBusApi.CANPortClose(m_nPort);
}
if (CanBusApi.CANHwReset(m_nPort) != 0)
{
MessageBox.Show("CAN port HW Reset error!", "Error");
CanBusApi.CANPortClose(m_nPort);
}
if (CanBusApi.CANInit(m_nPort, m_nBTR0, m_nBTR1, (byte)m_nIntMask) != 0)
{
MessageBox.Show("CAN port init error!", "Error");
CanBusApi.CANPortClose(m_nPort);
}
if (CanBusApi.CANSetOutCtrl(m_nPort, m_nOutCtrlCode) != 0)
{
MessageBox.Show("CAN set out ctrl code error!", "Error");
CanBusApi.CANPortClose(m_nPort);
}
if (CanBusApi.CANSetAcp(m_nPort, m_nAcpCode, m_nAcpMask) != 0)
{
MessageBox.Show("CAN set acp code error!", "Error");
CanBusApi.CANPortClose(m_nPort);
}
if (CanBusApi.CANSetBaud(m_nPort, m_nBTR0, m_nBTR1) != 0)
{
MessageBox.Show("CAN set baud rate error!", "Error");
CanBusApi.CANPortClose(m_nPort);
}
if (CanBusApi.CANSetNormal(m_nPort) != 0)
{
MessageBox.Show("CAN set normal error!", "Error");
CanBusApi.CANPortClose(m_nPort);
}
CanBusApi.CANEnableEvent(m_nPort, 1);
CanBusApi.CANEnableRxInt(m_nPort);
m_strDevName = Encoding.ASCII.GetString(DeviceName);
}
