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CANFD设备
USB2CANFD.CANFD_INIT_CONFIG CANFDConfig = new USB2CANFD.CANFD_INIT_CONFIG();
CANFDConfig.Mode = 0; //0-正常模式，1-自发自收模式
CANFDConfig.RetrySend = 1; //使能自动重传
CANFDConfig.ISOCRCEnable = 1; //使能ISOCRC
CANFDConfig.ResEnable = 1; //使能内部终端电阻（若总线上没有终端电阻，则必须使能终端电阻才能正常传输数据）
//波特率参数可以用TCANLINPro软件里面的波特率计算工具计算
//仲裁段波特率参数,波特率=40M/NBT_BRP*(1+NBT_SEG1+NBT_SEG2)
CANFDConfig.NBT_BRP = 1;
CANFDConfig.NBT_SEG1 = 63;
CANFDConfig.NBT_SEG2 = 16;
CANFDConfig.NBT_SJW = 16;
//数据域波特率参数,波特率=40M/DBT_BRP*(1+DBT_SEG1+DBT_SEG2)
CANFDConfig.DBT_BRP = 1;
CANFDConfig.DBT_SEG1 = 15;
CANFDConfig.DBT_SEG2 = 4;
CANFDConfig.DBT_SJW = 4;
ret = USB2CANFD.CANFD_Init(DevHandle, CANIndex, ref CANFDConfig);
if (ret != USB2CANFD.CANFD_SUCCESS)
{
Console.WriteLine("Config CANFD failed!");
return;
}
else
{
Console.WriteLine("Config CANFD Success!");
}
//启动CAN数据接收
ret = USB2CANFD.CANFD_StartGetMsg(DevHandle, CANIndex);
if (ret != USB2CANFD.CANFD_SUCCESS)
{
Console.WriteLine("Start receive CANFD failed!");
return;
}
else
{
Console.WriteLine("Start receive CANFD Success!");
}
//发送CAN数据
USB2CANFD.CANFD_MSG[] CanMsg = new USB2CANFD.CANFD_MSG[5];
IntPtr pCanSendMsg = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)) * CanMsg.Length);//申请缓冲区
for (int i = 0; i < 5; i++)
{
CanMsg[i] = new USB2CANFD.CANFD_MSG();
CanMsg[i].Flags = 0;//bit[0]-BRS,bit[1]-ESI,bit[2]-FDF,bit[6..5]-Channel,bit[7]-RXD
CanMsg[i].DLC = 8;
CanMsg[i].ID = (UInt32)i;
CanMsg[i].Data = new Byte[64];
for (int j = 0; j < CanMsg[i].DLC; j++)
{
CanMsg[i].Data[j] = (Byte)j;
}
//将数组中的数据复制到数据缓冲区中
IntPtr pPonitor = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
Marshal.StructureToPtr(CanMsg[i], pPonitor, true);
byte[] buffer = new byte[Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))];
Marshal.Copy(pPonitor, buffer, 0, Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
Marshal.Copy(buffer, 0, (IntPtr)((UInt32)pCanSendMsg + i * Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))), Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)));
Marshal.FreeHGlobal(pPonitor);//释放缓冲区
}
int SendedMsgNum = USB2CANFD.CANFD_SendMsg(DevHandle, CANIndex, pCanSendMsg, CanMsg.Length);
if (SendedMsgNum >= 0)
{
Console.WriteLine("Success send frames:{0}", SendedMsgNum);
}
else
{
Console.WriteLine("Send CAN data failed!");
}
Marshal.FreeHGlobal(pCanSendMsg);//释放缓冲区
//延时
System.Threading.Thread.Sleep(100);
//读取接收数据缓冲中的数据
USB2CANFD.CANFD_MSG[] CanMsgBuffer = new USB2CANFD.CANFD_MSG[10240];
for (int i = 0; i < CanMsgBuffer.Length; i++)
{
CanMsgBuffer[i] = new USB2CANFD.CANFD_MSG();
CanMsgBuffer[i].Data = new Byte[64];
}
//将缓冲区转换成指针
IntPtr pCanGetMsg = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG)) * CanMsgBuffer.Length);//申请缓冲区
int GetMsgNum = USB2CANFD.CANFD_GetMsg(DevHandle, CANIndex, pCanGetMsg, CanMsgBuffer.Length);
if (GetMsgNum > 0)
{
for (int i = 0; i < GetMsgNum; i++)
{
CanMsgBuffer[i] = (USB2CANFD.CANFD_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)pCanGetMsg + i * Marshal.SizeOf(typeof(USB2CANFD.CANFD_MSG))), typeof(USB2CANFD.CANFD_MSG));
Console.WriteLine("CanMsg[{0}].ID = {1}", i, CanMsgBuffer[i].ID & USB2CANFD.CANFD_MSG_FLAG_ID_MASK);
Console.WriteLine("CanMsg[{0}].TimeStamp = {1}", i, CanMsgBuffer[i].TimeStamp);
Console.Write("CanMsg[{0}].Data = ", i);
for (int j = 0; j < CanMsgBuffer[i].DLC; j++)
{
Console.Write("{0:X2} ", CanMsgBuffer[i].Data[j]);
}
Console.WriteLine("\n");
}
}
else if (GetMsgNum < 0)
{
Console.WriteLine("Get CAN data error!");
}
Marshal.FreeHGlobal(pCanGetMsg);//释放缓冲区
//停止接收数据
ret = USB2CANFD.CANFD_StopGetMsg(DevHandle, CANIndex);
if (ret != USB2CANFD.CANFD_SUCCESS)
{
Console.WriteLine("Stop receive CANFD failed!");
return;
}
else
{
Console.WriteLine("Stop receive CANFD Success!");
}
}
static void Main(string[] args)
{
USB_DEVICE.DEVICE_INFO DevInfo = new USB_DEVICE.DEVICE_INFO();
Int32[] DevHandles = new Int32[20];
Int32 DevHandle = 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);
}
//启动I2C Sniffer
GC.KeepAlive(get_data_callback);
ret = I2C_SNIFFER.I2C_SnifferStart(DevHandles[0], 0, 5000000, get_data_callback);
if (ret != I2C_SNIFFER.SUCCESS)
{
Console.WriteLine("Start i2c sniffer faild!");
return;
}
Console.ReadLine();
I2C_SNIFFER.I2C_SnifferStop(DevHandles[0]);
USB_DEVICE.USB_CloseDevice(DevHandles[0]);
}
