static void Main(string[] args)
{
UInt32 Status;
//Scan device
Status = ControlCAN.VCI_ScanDevice(1);
if (Status <= 0)
{
Console.WriteLine("No device connect!");
return;
}
#if CAN_GET_BOARD_INFO
ControlCAN.VCI_BOARD_INFO_EX CAN_BoardInfo = new ControlCAN.VCI_BOARD_INFO_EX();
Status = ControlCAN.VCI_ReadBoardInfoEx(0, ref CAN_BoardInfo);//It will open device
if (Status == ControlCAN.VCI_STATUS.STATUS_ERR)
{
Console.WriteLine("Get board info failed!");
return;
}
else
{
Console.WriteLine("--CAN_BoardInfo.ProductName = " + Encoding.Default.GetString(CAN_BoardInfo.ProductName));
Console.WriteLine("--CAN_BoardInfo.FirmwareVersion = v" + CAN_BoardInfo.FirmwareVersion[1].ToString() + "." + CAN_BoardInfo.FirmwareVersion[2].ToString() + "." + CAN_BoardInfo.FirmwareVersion[3].ToString());
Console.WriteLine("--CAN_BoardInfo.HardwareVersion = v" + CAN_BoardInfo.HardwareVersion[1].ToString() + "." + CAN_BoardInfo.HardwareVersion[2].ToString() + "." + CAN_BoardInfo.HardwareVersion[3].ToString());
Console.Write("--CAN_BoardInfo.SerialNumber = ");
for (int i = 0; i < 12; i++)
{
Console.Write(CAN_BoardInfo.SerialNumber[i].ToString("X2"));
}
Console.WriteLine("");
}
#else
//Open device
Status = ControlCAN.VCI_OpenDevice(ControlCAN.VCI_DEVICE_TYPE.VCI_USBCAN2, 0, 0);
if (Status == ControlCAN.VCI_STATUS.STATUS_ERR)
{
Console.WriteLine("Open device failed!");
return;
}
else
{
Console.WriteLine("Open device success!");
}
#endif
#if CAN_INIT_EX
ControlCAN.VCI_INIT_CONFIG_EX CAN_InitEx = new ControlCAN.VCI_INIT_CONFIG_EX();
//Config device
CAN_InitEx.CAN_ABOM = 0;//Automatic bus-off management
#if CAN_MODE_LOOP_BACK
CAN_InitEx.CAN_Mode = 1;
#else
CAN_InitEx.CAN_Mode = 0;
#endif
//1Mbps
CAN_InitEx.CAN_BRP = 6;
CAN_InitEx.CAN_BS1 = 3;
CAN_InitEx.CAN_BS2 = 2;
CAN_InitEx.CAN_SJW = 1;
CAN_InitEx.CAN_NART = 1; //No automatic retransmission
CAN_InitEx.CAN_RFLM = 0; //Receive FIFO locked mode
CAN_InitEx.CAN_TXFP = 0; //Transmit FIFO priority
CAN_InitEx.CAN_RELAY = 0;
Status = ControlCAN.VCI_InitCANEx(ControlCAN.VCI_DEVICE_TYPE.VCI_USBCAN2, 0, 0, ref CAN_InitEx);
if (Status == ControlCAN.VCI_STATUS.STATUS_ERR)
{
Console.WriteLine("Init device failed!");
return;
}
else
{
Console.WriteLine("Init device success!");
}
//Set filter
ControlCAN.VCI_FILTER_CONFIG CAN_FilterConfig = new ControlCAN.VCI_FILTER_CONFIG();
CAN_FilterConfig.FilterIndex = 0;
CAN_FilterConfig.Enable = 1;//Enable
CAN_FilterConfig.ExtFrame = 0;
CAN_FilterConfig.FilterMode = 0;
CAN_FilterConfig.ID_IDE = 0;
CAN_FilterConfig.ID_RTR = 0;
CAN_FilterConfig.ID_Std_Ext = 0;
CAN_FilterConfig.MASK_IDE = 0;
CAN_FilterConfig.MASK_RTR = 0;
CAN_FilterConfig.MASK_Std_Ext = 0;
Status = ControlCAN.VCI_SetFilter(ControlCAN.VCI_DEVICE_TYPE.VCI_USBCAN2, 0, 0, ref CAN_FilterConfig);
if (Status == ControlCAN.VCI_STATUS.STATUS_ERR)
{
Console.WriteLine("Set filter failed!");
return;
}
else
{
Console.WriteLine("Set filter success!");
}
#else
ControlCAN.VCI_INIT_CONFIG CAN_Init = new ControlCAN.VCI_INIT_CONFIG();
//Config device
CAN_Init.AccCode = 0x00000000;
CAN_Init.AccMask = 0xFFFFFFFF;
CAN_Init.Filter = 1;
CAN_Init.Mode = 0;
CAN_Init.Timing0 = 0x00;
CAN_Init.Timing1 = 0x14;
Status = ControlCAN.VCI_InitCAN(ControlCAN.VCI_DEVICE_TYPE.VCI_USBCAN2, 0, 0, ref CAN_Init);
if (Status == ControlCAN.VCI_STATUS.STATUS_ERR)
{
Console.WriteLine("Init device failed!");
return;
}
else
{
Console.WriteLine("Init device success!");
}
#endif
//Start CAN
Status = ControlCAN.VCI_StartCAN(ControlCAN.VCI_DEVICE_TYPE.VCI_USBCAN2, 0, 0);
if (Status == ControlCAN.VCI_STATUS.STATUS_ERR)
{
Console.WriteLine("Start CAN failed!");
return;
}
else
{
Console.WriteLine("Start CAN success!");
}
//Register receive callback
#if CAN_CALLBACK_READ_DATA
ControlCAN.VCI_RegisterReceiveCallback(0, GetDataCallback);
#endif
//Send data
#if CAN_SEND_DATA
ControlCAN.VCI_CAN_OBJ[] CAN_SendData = new ControlCAN.VCI_CAN_OBJ[2];
for (int i = 0; i < CAN_SendData.Length; i++)
{
CAN_SendData[i].DataLen = 8;
CAN_SendData[i].Data = new Byte[8];
for (int j = 0; j < CAN_SendData[i].DataLen; j++)
{
CAN_SendData[i].Data[j] = (Byte)(i + j);
}
CAN_SendData[i].ExternFlag = 0;
CAN_SendData[i].RemoteFlag = 0;
CAN_SendData[i].ID = 0x123 + (UInt32)i;
#if CAN_MODE_LOOP_BACK
CAN_SendData[i].SendType = 2;
#else
CAN_SendData[i].SendType = 0;
#endif
}
Status = ControlCAN.VCI_Transmit(ControlCAN.VCI_DEVICE_TYPE.VCI_USBCAN2, 0, 0, CAN_SendData, (UInt32)CAN_SendData.Length);
if (Status == ControlCAN.VCI_STATUS.STATUS_ERR)
{
Console.WriteLine("Send CAN data failed!");
}
else
{
Console.WriteLine("Send CAN data success!");
}
#endif
//Delay
System.Threading.Thread.Sleep(50);
#if CAN_GET_STATUS
ControlCAN.VCI_CAN_STATUS CAN_Status = new ControlCAN.VCI_CAN_STATUS();
Status = ControlCAN.VCI_ReadCANStatus(ControlCAN.VCI_DEVICE_TYPE.VCI_USBCAN2, 0, 0, ref CAN_Status);
if (Status == ControlCAN.VCI_STATUS.STATUS_ERR)
{
Console.WriteLine("Get CAN status failed!");
return;
}
else
{
Console.WriteLine("Buffer Size : " + CAN_Status.BufferSize.ToString());
Console.WriteLine("ESR : 0x" + CAN_Status.regESR.ToString("X8"));
Console.WriteLine("------Error warning flag : " + ((CAN_Status.regESR >> 0) & 0x01).ToString());
Console.WriteLine("------Error passive flag : " + ((CAN_Status.regESR >> 1) & 0x01).ToString());
Console.WriteLine("------Bus-off flag : " + ((CAN_Status.regESR >> 2) & 0x01).ToString());
Console.Write("------Last error code(" + ((CAN_Status.regESR >> 4) & 0x07).ToString() + ") : ");
switch ((CAN_Status.regESR >> 4) & 0x07)
{
case 0:
Console.WriteLine("No Error");
break;
case 1:
Console.WriteLine("Stuff Error");
break;
case 2:
Console.WriteLine("Form Error");
break;
case 3:
Console.WriteLine("Acknowledgment Error");
break;
case 4:
Console.WriteLine("Bit recessive Error");
break;
case 5:
Console.WriteLine("Bit dominant Error");
break;
case 6:
Console.WriteLine("CRC Error");
break;
case 7:
Console.WriteLine("Set by software");
break;
default:
break;
}
Console.WriteLine("------Transmit error counter : " + ((CAN_Status.regESR >> 16) & 0xFF).ToString());
Console.WriteLine("------Receive error counter : " + ((CAN_Status.regESR >> 24) & 0xFF).ToString());
Console.WriteLine("TSR : 0x" + CAN_Status.regTSR.ToString("X8"));
}
#endif
//Read data
#if CAN_READ_DATA
ControlCAN.VCI_CAN_OBJ[] CAN_ReceiveData = new ControlCAN.VCI_CAN_OBJ[2];
for (int i = 0; i < CAN_ReceiveData.Length; i++)
{
CAN_ReceiveData[i].Data = new Byte[8];
}
UInt32 ReadDataNum;
UInt32 DataNum = ControlCAN.VCI_GetReceiveNum(ControlCAN.VCI_DEVICE_TYPE.VCI_USBCAN2, 0, 0);
if (DataNum > 0)
{
ReadDataNum = ControlCAN.VCI_Receive(ControlCAN.VCI_DEVICE_TYPE.VCI_USBCAN2, 0, 0, CAN_ReceiveData, (UInt32)CAN_ReceiveData.Length);
for (int i = 0; i < ReadDataNum; i++)
{
Console.WriteLine("");
Console.WriteLine("--CAN_ReceiveData.RemoteFlag = " + CAN_ReceiveData[i].RemoteFlag.ToString());
Console.WriteLine("--CAN_ReceiveData.ExternFlag = " + CAN_ReceiveData[i].ExternFlag.ToString());
Console.WriteLine("--CAN_ReceiveData.ID = 0x" + CAN_ReceiveData[i].ID.ToString("X4"));
Console.WriteLine("--CAN_ReceiveData.DataLen = " + CAN_ReceiveData[i].DataLen.ToString());
Console.Write("--CAN_ReceiveData.Data:");
for (int j = 0; j < CAN_ReceiveData[i].DataLen; j++)
{
Console.Write(CAN_ReceiveData[i].Data[j].ToString("X2") + " ");
}
Console.WriteLine("");
Console.WriteLine("--CAN_ReceiveData.TimeStamp = " + CAN_ReceiveData[i].TimeStamp.ToString());
}
}
#endif
Console.WriteLine("");
#if CAN_CALLBACK_READ_DATA
ControlCAN.VCI_LogoutReceiveCallback(0);
#endif
//Stop receive can data
ControlCAN.VCI_ResetCAN(ControlCAN.VCI_DEVICE_TYPE.VCI_USBCAN2, 0, 0);
Console.WriteLine("VCI_ResetCAN");
//Close Device
ControlCAN.VCI_CloseDevice(ControlCAN.VCI_DEVICE_TYPE.VCI_USBCAN2, 0);
Console.WriteLine("VCI_CloseDevice");
}
private void button1_Click(object sender, EventArgs e)
{
ControlCAN.VCI_INIT_CONFIG CAN_Init = new ControlCAN.VCI_INIT_CONFIG();
//Config device
CAN_Init.AccCode = 0x00000000;
CAN_Init.AccMask = 0xFFFFFFFF;
CAN_Init.Filter = 1;
CAN_Init.Mode = 0;
if (comboBox3.SelectedIndex == 0)
{
CAN_Init.Timing0 = 0x01;
CAN_Init.Timing1 = 0x1c;
}
else if (comboBox3.SelectedIndex == 1)
{
CAN_Init.Timing0 = 0x00;
CAN_Init.Timing1 = 0x1c;
}
else if (comboBox3.SelectedIndex == 2)
{
CAN_Init.Timing0 = 0x00;
CAN_Init.Timing1 = 0x14;
}
if (button1.Text == "打开USBCAN-I设备")
{
if (ControlCAN.VCI_OpenDevice(3, 0, 0) != 1)
{
MessageBox.Show("打开设备失败,请检查设备是否连接或已开启！", "错误",
MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
else
{
if (ControlCAN.VCI_InitCAN(3, 0, 0, ref CAN_Init) != 1)
{
MessageBox.Show("初始化CAN失败!", "警告", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
ControlCAN.VCI_CloseDevice(3, 0);
return;
}
else
{
ControlCAN.VCI_StartCAN(3, 0, 0);
button1.Text = "关闭USBCAN-I设备";
nonParameterThread = new Thread(new ThreadStart(recive));
nonParameterThread.IsBackground = true;
nonParameterThread.Start();
CAN_Opend = true;
button2.Enabled = true;
button3.Enabled = true;
button5.Enabled = true;
button6.Enabled = true;
button7.Enabled = true;
button8.Enabled = true;
button9.Enabled = true;
}
}
}
else
{
ControlCAN.VCI_CloseDevice(3, 0);
button1.Text = "打开USBCAN-I设备";
button2.Enabled = false;
button3.Enabled = false;
button4.Enabled = false;
button5.Enabled = false;
button6.Enabled = false;
button7.Enabled = false;
button8.Enabled = false;
button9.Enabled = false;
try
{
nonParameterThread.Abort();
}
catch (System.Threading.ThreadAbortException)
{
MessageBox.Show("线程关闭失败!", "警告", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
}
}
}
