实例介绍
【实例简介】
C# CAN通讯
【实例截图】
【核心代码】
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using System.Runtime.InteropServices;
/*------------兼容ZLG的数据类型---------------------------------*/
//1.ZLGCAN系列接口卡信息的数据类型。
//public struct VCI_BOARD_INFO
//{
// public UInt16 hw_Version;
// public UInt16 fw_Version;
// public UInt16 dr_Version;
// public UInt16 in_Version;
// public UInt16 irq_Num;
// public byte can_Num;
// [MarshalAs(UnmanagedType.ByValArray, SizeConst=20)] public byte []str_Serial_Num;
// [MarshalAs(UnmanagedType.ByValArray, SizeConst = 40)]
// public byte[] str_hw_Type;
// [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
// public byte[] Reserved;
//}
//以下为简易定义与调用方式，在项目属性->生成->勾选使用不安全代码即可
unsafe public struct VCI_BOARD_INFO//使用不安全代码
{
public UInt16 hw_Version;
public UInt16 fw_Version;
public UInt16 dr_Version;
public UInt16 in_Version;
public UInt16 irq_Num;
public byte can_Num;
public fixed byte str_Serial_Num[20];
public fixed byte str_hw_Type[40];
public fixed byte Reserved[8];
}
/////////////////////////////////////////////////////
//2.定义CAN信息帧的数据类型。
unsafe public struct VCI_CAN_OBJ //使用不安全代码
{
public uint ID;
public uint TimeStamp; //时间标识
public byte TimeFlag; //是否使用时间标识
public byte SendType; //发送标志。保留，未用
public byte RemoteFlag; //是否是远程帧
public byte ExternFlag; //是否是扩展帧
public byte DataLen; //数据长度
public fixed byte Data[8]; //数据
public fixed byte Reserved[3];//保留位
}
//3.定义初始化CAN的数据类型
public struct VCI_INIT_CONFIG
{
public UInt32 AccCode;
public UInt32 AccMask;
public UInt32 Reserved;
public byte Filter; //0或1接收所有帧。2标准帧滤波，3是扩展帧滤波。
public byte Timing0; //波特率参数，具体配置，请查看二次开发库函数说明书。
public byte Timing1;
public byte Mode; //模式，0表示正常模式，1表示只听模式,2自测模式
}
/*------------其他数据结构描述---------------------------------*/
//4.USB-CAN总线适配器板卡信息的数据类型1，该类型为VCI_FindUsbDevice函数的返回参数。
public struct VCI_BOARD_INFO1
{
public UInt16 hw_Version;
public UInt16 fw_Version;
public UInt16 dr_Version;
public UInt16 in_Version;
public UInt16 irq_Num;
public byte can_Num;
public byte Reserved;
[MarshalAs(UnmanagedType.ByValArray, SizeConst=8)] public byte []str_Serial_Num;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)]
public byte[] str_hw_Type;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)]
public byte[] str_Usb_Serial;
}
/*------------数据结构描述完成---------------------------------*/
public struct CHGDESIPANDPORT
{
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 10)]
public byte[] szpwd;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 20)]
public byte[] szdesip;
public Int32 desport;
public void Init()
{
szpwd = new byte[10];
szdesip = new byte[20];
}
}
namespace WindowsApplication1
{
public partial class Form1 : Form
{
const int DEV_USBCAN = 3;
const int DEV_USBCAN2 = 4;
/// <summary>
///
/// </summary>
/// <param name="DeviceType"></param>
/// <param name="DeviceInd"></param>
/// <param name="Reserved"></param>
/// <returns></returns>
/*------------兼容ZLG的函数描述---------------------------------*/
[DllImport("controlcan.dll")]
static extern UInt32 VCI_OpenDevice(UInt32 DeviceType, UInt32 DeviceInd, UInt32 Reserved);
[DllImport("controlcan.dll")]
static extern UInt32 VCI_CloseDevice(UInt32 DeviceType, UInt32 DeviceInd);
[DllImport("controlcan.dll")]
static extern UInt32 VCI_InitCAN(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_INIT_CONFIG pInitConfig);
[DllImport("controlcan.dll")]
static extern UInt32 VCI_ReadBoardInfo(UInt32 DeviceType, UInt32 DeviceInd, ref VCI_BOARD_INFO pInfo);
[DllImport("controlcan.dll")]
static extern UInt32 VCI_GetReceiveNum(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);
[DllImport("controlcan.dll")]
static extern UInt32 VCI_ClearBuffer(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);
[DllImport("controlcan.dll")]
static extern UInt32 VCI_StartCAN(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);
[DllImport("controlcan.dll")]
static extern UInt32 VCI_ResetCAN(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);
[DllImport("controlcan.dll")]
static extern UInt32 VCI_Transmit(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_OBJ pSend, UInt32 Len);
[DllImport("controlcan.dll")]
static extern UInt32 VCI_Receive(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_OBJ pReceive, UInt32 Len, Int32 WaitTime);
/*------------其他函数描述---------------------------------*/
[DllImport("controlcan.dll")]
static extern UInt32 VCI_ConnectDevice(UInt32 DevType,UInt32 DevIndex);
[DllImport("controlcan.dll")]
static extern UInt32 VCI_UsbDeviceReset(UInt32 DevType,UInt32 DevIndex,UInt32 Reserved);
[DllImport("controlcan.dll")]
static extern UInt32 VCI_FindUsbDevice2(ref VCI_BOARD_INFO pInfo);
/*------------函数描述结束---------------------------------*/
static UInt32 m_devtype = 4;//USBCAN2
UInt32 m_bOpen = 0;
UInt32 m_devind = 0;
UInt32 m_canind = 0;
VCI_CAN_OBJ[] m_recobj = new VCI_CAN_OBJ[1000];
UInt32[] m_arrdevtype = new UInt32[20];
public Form1()
{
InitializeComponent();
}
private void Form1_Load(object sender, EventArgs e)
{
comboBox_DevIndex.SelectedIndex = 0;
comboBox_CANIndex.SelectedIndex = 0;
textBox_AccCode.Text = "00000000";
textBox_AccMask.Text = "FFFFFFFF";
textBox_Time0.Text = "00";
textBox_Time1.Text = "1C";
comboBox_Filter.SelectedIndex = 0; //接收所有类型
comboBox_Mode.SelectedIndex = 2; //还回测试模式
comboBox_FrameFormat.SelectedIndex = 0;
comboBox_FrameType.SelectedIndex = 0;
textBox_ID.Text = "00000123";
textBox_Data.Text = "00 01 02 03 04 05 06 07 ";
//
Int32 curindex = 0;
comboBox_devtype.Items.Clear();
curindex = comboBox_devtype.Items.Add("DEV_USBCAN");
m_arrdevtype[curindex] = DEV_USBCAN;
//comboBox_devtype.Items[2] = "VCI_USBCAN1";
//m_arrdevtype[2]= VCI_USBCAN1 ;
curindex = comboBox_devtype.Items.Add("DEV_USBCAN2");
m_arrdevtype[curindex] = DEV_USBCAN2 ;
//comboBox_devtype.Items[3] = "VCI_USBCAN2";
//m_arrdevtype[3]= VCI_USBCAN2 ;
comboBox_devtype.SelectedIndex = 1;
comboBox_devtype.MaxDropDownItems = comboBox_devtype.Items.Count;
}
private void Form1_FormClosed(object sender, FormClosedEventArgs e)
{
if (m_bOpen==1)
{
VCI_CloseDevice(m_devtype, m_devind);
}
}
private void buttonConnect_Click(object sender, EventArgs e)
{
//以下两行为多卡同机测试代码，用来获取序列号与对应的设备索引号，单卡可以不使用。
VCI_BOARD_INFO[] vbi2 = new VCI_BOARD_INFO[50];
uint num1 = VCI_FindUsbDevice2(ref vbi2[0]);
if (m_bOpen==1)
{
VCI_CloseDevice(m_devtype, m_devind);
m_bOpen = 0;
}
else
{
m_devtype = m_arrdevtype[comboBox_devtype.SelectedIndex];
m_devind=(UInt32)comboBox_DevIndex.SelectedIndex;
m_canind = (UInt32)comboBox_CANIndex.SelectedIndex;
if (VCI_OpenDevice(m_devtype, m_devind, 0) == 0)
{
MessageBox.Show("打开设备失败,请检查设备类型和设备索引号是否正确", "错误",
MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
return;
}
m_bOpen = 1;
VCI_INIT_CONFIG config=new VCI_INIT_CONFIG();
config.AccCode=System.Convert.ToUInt32("0x" textBox_AccCode.Text,16);
config.AccMask = System.Convert.ToUInt32("0x" textBox_AccMask.Text, 16);
config.Timing0 = System.Convert.ToByte("0x" textBox_Time0.Text, 16);
config.Timing1 = System.Convert.ToByte("0x" textBox_Time1.Text, 16);
config.Filter = (Byte)(comboBox_Filter.SelectedIndex 1);
config.Mode = (Byte)comboBox_Mode.SelectedIndex;
VCI_InitCAN(m_devtype, m_devind, m_canind, ref config);
}
buttonConnect.Text = m_bOpen==1?"断开":"连接";
timer_rec.Enabled = m_bOpen==1?true:false;
}
unsafe private void timer_rec_Tick(object sender, EventArgs e)
{
UInt32 res = new UInt32();
res = VCI_Receive(m_devtype, m_devind, m_canind, ref m_recobj[0],1000, 100);
/////////////////////////////////////
//IntPtr[] ptArray = new IntPtr[1];
//ptArray[0] = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(VCI_CAN_OBJ)) * 50);
//IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(IntPtr)) * 1);
//Marshal.Copy(ptArray, 0, pt, 1);
//res = VCI_Receive(m_devtype, m_devind, m_canind, pt, 50/*50*/, 100);
////////////////////////////////////////////////////////
if (res == 0xFFFFFFFF) res = 0;//当设备未初始化时，返回0xFFFFFFFF，不进行列表显示。
String str = "";
for (UInt32 i = 0; i < res; i )
{
//VCI_CAN_OBJ obj = (VCI_CAN_OBJ)Marshal.PtrToStructure((IntPtr)((UInt32)pt i * Marshal.SizeOf(typeof(VCI_CAN_OBJ))), typeof(VCI_CAN_OBJ));
str = "接收到数据: ";
str = " 帧ID:0x" System.Convert.ToString(m_recobj[i].ID, 16);
str = " 帧格式:";
if (m_recobj[i].RemoteFlag == 0)
str = "数据帧 ";
else
str = "远程帧 ";
if (m_recobj[i].ExternFlag == 0)
str = "标准帧 ";
else
str = "扩展帧 ";
//////////////////////////////////////////
if (m_recobj[i].RemoteFlag == 0)
{
str = "数据: ";
byte len = (byte)(m_recobj[i].DataLen % 9);
byte j = 0;
fixed (VCI_CAN_OBJ* m_recobj1 = &m_recobj[i])
{
if (j < len)
str = " " System.Convert.ToString(m_recobj1->Data[0], 16);
if (j < len)
str = " " System.Convert.ToString(m_recobj1->Data[1], 16);
if (j < len)
str = " " System.Convert.ToString(m_recobj1->Data[2], 16);
if (j < len)
str = " " System.Convert.ToString(m_recobj1->Data[3], 16);
if (j < len)
str = " " System.Convert.ToString(m_recobj1->Data[4], 16);
if (j < len)
str = " " System.Convert.ToString(m_recobj1->Data[5], 16);
if (j < len)
str = " " System.Convert.ToString(m_recobj1->Data[6], 16);
if (j < len)
str = " " System.Convert.ToString(m_recobj1->Data[7], 16);
}
}
listBox_Info.Items.Add(str);
listBox_Info.SelectedIndex = listBox_Info.Items.Count - 1;
}
//Marshal.FreeHGlobal(ptArray[0]);
//Marshal.FreeHGlobal(pt);
}
private void button_StartCAN_Click(object sender, EventArgs e)
{
if (m_bOpen == 0)
return;
VCI_StartCAN(m_devtype, m_devind, m_canind);
}
private void button_StopCAN_Click(object sender, EventArgs e)
{
if (m_bOpen == 0)
return;
VCI_ResetCAN(m_devtype, m_devind, m_canind);
}
unsafe private void button_Send_Click(object sender, EventArgs e)
{
if(m_bOpen==0)
return;
VCI_CAN_OBJ sendobj = new VCI_CAN_OBJ();
//sendobj.Init();
sendobj.RemoteFlag = (byte)comboBox_FrameFormat.SelectedIndex;
sendobj.ExternFlag = (byte)comboBox_FrameType.SelectedIndex;
sendobj.ID = System.Convert.ToUInt32("0x" textBox_ID.Text,16);
int len = (textBox_Data.Text.Length 1) / 3;
sendobj.DataLen =System.Convert.ToByte(len);
String strdata = textBox_Data.Text;
int i=-1;
if(i <len-1)
sendobj.Data[0]=System.Convert.ToByte("0x" strdata.Substring(i * 3, 2),16);
if (i < len - 1)
sendobj.Data[1]=System.Convert.ToByte("0x" strdata.Substring(i * 3, 2),16);
if (i < len - 1)
sendobj.Data[2]=System.Convert.ToByte("0x" strdata.Substring(i * 3, 2),16);
if (i < len - 1)
sendobj.Data[3]=System.Convert.ToByte("0x" strdata.Substring(i * 3, 2),16);
if (i < len - 1)
sendobj.Data[4]=System.Convert.ToByte("0x" strdata.Substring(i * 3, 2),16);
if (i < len - 1)
sendobj.Data[5]=System.Convert.ToByte("0x" strdata.Substring(i * 3, 2),16);
if (i < len - 1)
sendobj.Data[6]=System.Convert.ToByte("0x" strdata.Substring(i * 3, 2),16);
if (i < len - 1)
sendobj.Data[7] = System.Convert.ToByte("0x" strdata.Substring(i * 3, 2), 16);
if(VCI_Transmit(m_devtype,m_devind,m_canind,ref sendobj,1)==0)
{
MessageBox.Show("发送失败", "错误",
MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
}
}
private void button_Clear_Click(object sender, EventArgs e)
{
listBox_Info.Items.Clear();
}
}
}
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