/// <summary>
/// 根据ID号读取相应传感器的数值
/// </summary>
/// <param name="id">输入所要读取的ID号</param>
/// <returns></returns>
public LIN_STP318_ReadData ReadData_STP318(int DevHandle, byte id)
{
int ret;
LIN_STP318_ReadData rd_msg = new LIN_STP318_ReadData();
USB2LIN.LIN_MSG[] msg = new USB2LIN.LIN_MSG[1];
msg[0].Data = new Byte[9];
msg[0].DataLen = 3;
msg[0].ID = id;
IntPtr[] ptArray = new IntPtr[1];
ptArray[0] = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2LIN.LIN_MSG)) * msg.Length);
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2LIN.LIN_MSG)));
Marshal.Copy(ptArray, 0, pt, 1);
//将数组中的数据拷贝到指针所指区域
for (int k = 0; k < msg.Length; k++)
{
Marshal.StructureToPtr(msg[k], (IntPtr)((UInt32)pt + k * Marshal.SizeOf(typeof(USB2LIN.LIN_MSG))), true);
}
ret = USB2LIN.LIN_Read(DevHandle, LINIndex, pt, 1);
if (ret < USB2LIN.LIN_SUCCESS)
{
Console.WriteLine("LIN read data failed!\n");
return(rd_msg);
}
else
{
msg[0] = (USB2LIN.LIN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)pt + 0 * Marshal.SizeOf(typeof(USB2LIN.LIN_MSG))), typeof(USB2LIN.LIN_MSG));
rd_msg.TOF = BitConverter.ToUInt16(msg[0].Data, 0);
rd_msg.status = msg[0].Data[2];
return(rd_msg);
}
}
/*** STP318 ***/
/// <summary>
/// 设置STP318传感器的收发状态
/// </summary>
/// <param name="tx">指定传感器的发送状态</param>
/// <param name="rx">指定传感器的接收状态</param>
public void InitSensing_STP318(int DevHandle, byte tx, byte rx)
{
int ret;
USB2LIN.LIN_MSG[] msg = new USB2LIN.LIN_MSG[2];
msg[0].Data = new Byte[9];
msg[0].Data[0] = tx;
msg[0].Data[1] = rx;
msg[0].DataLen = 2;
msg[0].ID = 0x80;
ret = USB2LIN.LIN_Write(DevHandle, LINIndex, msg, 1);
if (ret != USB2LIN.LIN_SUCCESS)
{
MessageBox.Show("LIN write data failed!\n", "错误", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
else
{
//Console.WriteLine("LIN write data success!\n");
}
//延时
//System.Threading.Thread.Sleep(20);
}
/// <summary>
/// 打开超声波设备
/// </summary>
/// <param name="DevHandle"></param>
public bool OpenUltrasonicDevice()
{
bool state;
Int32 ret;
for (int i = 0; i < DevNum; i++)
{
//打开设备
state = usb_device.USB_OpenDevice(DevHandles[i]);
if (!state)
{
MessageBox.Show("Open device error!", "错误", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return(false);
}
//初始化配置LIN
USB2LIN.LIN_CONFIG LINConfig = new USB2LIN.LIN_CONFIG();
LINConfig.BaudRate = 19200;
LINConfig.BreakBits = USB2LIN.LIN_BREAK_BITS_10;
LINConfig.CheckMode = USB2LIN.LIN_CHECK_MODE_EXT;
LINConfig.MasterMode = USB2LIN.LIN_MASTER;
ret = USB2LIN.LIN_Init(DevHandles[i], 0, ref LINConfig);
if (ret != USB2LIN.LIN_SUCCESS)
{
MessageBox.Show("Config LIN failed!", "错误", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return(false);
}
else
{
Console.WriteLine("Config LIN Success!");
}
}
return(true);
}
/// <summary>
/// 根据ID号读取相应传感器的数值，一次读取一组数值
/// </summary>
/// <param name="id">输入所要读取的ID号</param>
/// <returns></returns>
public void STP318_ReadDatas(int DevHandle, byte FrameLenght, byte[] id, ref LIN_STP318_ReadData[] m_stp318datas)
{
int ret;
USB2LIN.LIN_MSG[] msg = new USB2LIN.LIN_MSG[FrameLenght];
for (int i = 0; i < FrameLenght; i++)
{
msg[0].Data = new Byte[9];
msg[0].DataLen = 3;
msg[0].ID = id[i];
}
IntPtr[] ptArray = new IntPtr[FrameLenght];
for (int i = 0; i < FrameLenght; i++)
{
ptArray[i] = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2LIN.LIN_MSG)) * msg.Length);
}
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2LIN.LIN_MSG)) * msg.Length);
Marshal.Copy(ptArray, 0, pt, FrameLenght);
////将数组中的数据拷贝到指针所指区域
for (int k = 0; k < msg.Length; k++)
{
Marshal.StructureToPtr(msg[k], (IntPtr)((UInt32)pt + k * Marshal.SizeOf(typeof(USB2LIN.LIN_MSG))), true);
}
ret = USB2LIN.LIN_Read(DevHandle, LINIndex, pt, FrameLenght);
if (ret < USB2LIN.LIN_SUCCESS)
{
Console.WriteLine("LIN read data failed!\n");
//return rd_msg;
}
else
{
//msg[0] = (USB2LIN.LIN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)pt + 0 * Marshal.SizeOf(typeof(USB2LIN.LIN_MSG))), typeof(USB2LIN.LIN_MSG));
//msg[1] = (USB2LIN.LIN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)pt + 1 * Marshal.SizeOf(typeof(USB2LIN.LIN_MSG))), typeof(USB2LIN.LIN_MSG));
//rd_msg.TOF = BitConverter.ToUInt16(msg[0].Data, 0);
//rd_msg.status = msg[0].Data[2];
//return rd_msg;
}
}
/*** STP313 ***/
/// <summary>
/// STP313 Send and receive function
/// </summary>
///
public void InitSensing_STP313(int DevHandle, byte tx_rx)
{
int ret;
USB2LIN.LIN_MSG[] msg = new USB2LIN.LIN_MSG[1];
msg[0].Data = new Byte[9];
msg[0].Data[0] = tx_rx;
msg[0].DataLen = 1;
msg[0].ID = 0xC1;
ret = USB2LIN.LIN_Write(DevHandle, LINIndex, msg, 1);
if (ret != USB2LIN.LIN_SUCCESS)
{
MessageBox.Show("LIN write data failed!\n", "错误", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
else
{
Console.WriteLine("LIN write data success!\n");
}
}
static void Main(string[] args)
{
usb_device.DEVICE_INFO DevInfo = new usb_device.DEVICE_INFO();
Int32[] DevHandles = new Int32[20];
Int32 DevHandle = 0;
Byte LINIndex = 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LIN
USB2LIN.LIN_CONFIG LINConfig = new USB2LIN.LIN_CONFIG();
LINConfig.BaudRate = 19200;
LINConfig.BreakBits = USB2LIN.LIN_BREAK_BITS_11;
LINConfig.CheckMode = USB2LIN.LIN_CHECK_MODE_EXT;
#if LIN_MASTER
LINConfig.MasterMode = USB2LIN.LIN_MASTER;
#else
LINConfig.MasterMode = USB2LIN.LIN_SLAVE;
#endif
ret = USB2LIN.LIN_Init(DevHandle, LINIndex, ref LINConfig);
if (ret != USB2LIN.LIN_SUCCESS)
{
Console.WriteLine("Config LIN failed!");
return;
}
else
{
Console.WriteLine("Config LIN Success!");
}
#if LIN_MASTER
//主机写数据
for (Byte ID = 0; ID < 10; ID++)
{
USB2LIN.LIN_MSG[] msg = new USB2LIN.LIN_MSG[1];
msg[0].Data = new Byte[9];
for (Byte i = 0; i < 8; i++)
{
msg[0].Data[i] = (Byte)(ID + i);
}
msg[0].DataLen = 8;
msg[0].ID = ID;
ret = USB2LIN.LIN_Write(DevHandle, LINIndex, msg, 1);
if (ret != USB2LIN.LIN_SUCCESS)
{
Console.WriteLine("LIN write data failed!\n");
return;
}
else
{
Console.WriteLine("LIN write data success!\n");
}
//延时
System.Threading.Thread.Sleep(10);
}
//主机读数据
for (Byte ID = 0; ID < 10; ID++)
{
USB2LIN.LIN_MSG[] msg = new USB2LIN.LIN_MSG[1];
msg[0].Data = new Byte[9];
msg[0].ID = ID;
IntPtr[] ptArray = new IntPtr[1];
ptArray[0] = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2LIN.LIN_MSG)) * msg.Length);
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2LIN.LIN_MSG)));
Marshal.Copy(ptArray, 0, pt, 1);
//将数组中的数据拷贝到指针所指区域
for (int k = 0; k < msg.Length; k++)
{
Marshal.StructureToPtr(msg[k], (IntPtr)((UInt32)pt + k * Marshal.SizeOf(typeof(USB2LIN.LIN_MSG))), true);
}
ret = USB2LIN.LIN_Read(DevHandle, LINIndex, pt, 1);
if (ret < USB2LIN.LIN_SUCCESS)
{
Console.WriteLine("LIN read data failed!\n");
return;
}
else
{
msg[0] = (USB2LIN.LIN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)pt + 0 * Marshal.SizeOf(typeof(USB2LIN.LIN_MSG))), typeof(USB2LIN.LIN_MSG));
Console.Write("Master LIN Read: ID = 0x{0:X2} Data = ", msg[0].ID);
for (int i = 0; i < msg[0].DataLen; i++)
{
Console.Write("0x{0:X2} ", msg[0].Data[i]);
}
Console.WriteLine("");
}
}
#else
//设置从机模式下所有ID都为从接收数据模式，这样就可以获取到主机发送过来的所有数据,初始化配置为从机后，默认所有ID都为接收数据模式，所以若是监听LIN总线数据，这个函数可以不用调用
USB2LIN.LIN_MSG[] LINSlaveData = new USB2LIN.LIN_MSG[64];
for (Byte i = 0; i < 64; i++)
{
LINSlaveData[i] = new USB2LIN.LIN_MSG();
LINSlaveData[i].DataLen = 9; //最大8Byte数据+1Byte和校验
LINSlaveData[i].ID = i; //ID值
LINSlaveData[i].Data = new Byte[9];
}
ret = USB2LIN.LIN_SlaveSetIDMode(DevHandle, LINIndex, USB2LIN.LIN_SLAVE_READ, LINSlaveData, 64);
if (ret != USB2LIN.LIN_SUCCESS)
{
Console.WriteLine("Set LIN operation mode failed!");
return;
}
else
{
Console.WriteLine("Set LIN operation mode success!");
}
//从机接收数据,若要连续不断的监控LIN总线数据，可以循环调用LIN_SlaveGetData函数
USB2LIN.LIN_MSG[] LINSlaveDataBuffer = new USB2LIN.LIN_MSG[1024];//为了防止缓冲区溢出，可以将接收数据缓冲区设置大一点
for (int i = 0; i < LINSlaveDataBuffer.Length; i++)
{
LINSlaveDataBuffer[i] = new USB2LIN.LIN_MSG();
LINSlaveDataBuffer[i].Data = new Byte[9];
}
while (true)
{
IntPtr[] ptArray = new IntPtr[2];
ptArray[0] = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2LIN.LIN_MSG)) * LINSlaveDataBuffer.Length);
IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2LIN.LIN_MSG)));
Marshal.Copy(ptArray, 0, pt, 1);
ret = USB2LIN.LIN_SlaveGetData(DevHandle, LINIndex, pt);
if (ret < USB2LIN.LIN_SUCCESS)
{
Console.WriteLine("LIN slave read data error!");
return;
}
else if (ret == 0)
{
//Console.WriteLine("LIN slave read no data!");
}
else
{
Console.WriteLine("LIN slave read data:");
for (int i = 0; i < ret; i++)
{
LINSlaveDataBuffer[i] = (USB2LIN.LIN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)pt + i * Marshal.SizeOf(typeof(USB2LIN.LIN_MSG))), typeof(USB2LIN.LIN_MSG));
Console.Write("Data[{0}]: ", i);
Console.Write("ID = 0x{0:X2} ", LINSlaveDataBuffer[i].ID);
Console.Write("Data = ");
for (int j = 0; j < LINSlaveDataBuffer[i].DataLen; j++)
{
Console.Write("0x{0:X2} ", LINSlaveDataBuffer[i].Data[j]);
}
Console.WriteLine("");
}
}
//延时
System.Threading.Thread.Sleep(10);
}
#endif
}