form1.cs

周立功can通信例程

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;

//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 = 8)]
    public byte[] Reserved;
}

//2.定义CAN信息帧的数据类型。
public struct VCI_CAN_OBJ 
{
    public UInt32 ID;
    public UInt32 TimeStamp;
    public byte TimeFlag;
    public byte SendType;
    public byte RemoteFlag;//是否是远程帧
    public byte ExternFlag;//是否是扩展帧
    public byte DataLen;
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
    public byte[] Data;
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
    public byte[] Reserved;

    public void Init()
    {
        Data = new byte[8];
        Reserved = new byte[3];
    }
}

//3.定义CAN控制器状态的数据类型。
public struct VCI_CAN_STATUS 
{
    public byte ErrInterrupt;
    public byte regMode;
    public byte regStatus;
    public byte regALCapture;
    public byte regECCapture;
    public byte regEWLimit;
    public byte regRECounter;
    public byte regTECounter;
    [MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
    public byte[] Reserved;
}

//4.定义错误信息的数据类型。
public struct VCI_ERR_INFO 
{
    public UInt32 ErrCode;
    public byte Passive_ErrData1;
    public byte Passive_ErrData2;
    public byte Passive_ErrData3;
    public byte ArLost_ErrData;
}

//5.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;
    public byte Timing0;
    public byte Timing1;
    public byte Mode;
}

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
    {
        [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_ReadErrInfo(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_ERR_INFO pErrInfo);
        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_ReadCANStatus(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_STATUS pCANStatus);

        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_GetReference(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, UInt32 RefType, ref byte pData);
        [DllImport("controlcan.dll")]
        static extern UInt32 VCI_SetReference(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, UInt32 RefType, ref byte pData);

        [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);

        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[50];

        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 = "14";
            comboBox_Filter.SelectedIndex = 1;
            comboBox_Mode.SelectedIndex = 0;
            comboBox_SendType.SelectedIndex = 2;
            comboBox_FrameFormat.SelectedIndex = 0;
            comboBox_FrameType.SelectedIndex = 0;
            textBox_ID.Text = "00000123";
            textBox_Data.Text = "00 01 02 03 04 05 06 07 ";

        }

        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)
        {
            if (m_bOpen==1)
            {
                VCI_CloseDevice(m_devtype, m_devind);
                m_bOpen = 0;
            }
            else
            {
                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;
                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;
        }

        private void timer_rec_Tick(object sender, EventArgs e)
        {
            UInt32 res = new UInt32();
            res=VCI_GetReceiveNum(m_devtype,m_devind,m_canind);
            if(res==0)
                return;
            res = VCI_Receive(m_devtype, m_devind, m_canind, ref m_recobj[0],
                50, 100);

            String str = "";
            for (UInt32 i = 0; i < res; i++)
            {
                str = "接收到数据: ";
                str += "  帧ID:0x" + System.Convert.ToString((Int32)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;
                    if (j++ < len)
                        str += " " + System.Convert.ToString(m_recobj[i].Data[0], 16);
                    if (j++ < len)
                        str += " " + System.Convert.ToString(m_recobj[i].Data[1], 16);
                    if (j++ < len)
                        str += " " + System.Convert.ToString(m_recobj[i].Data[2], 16);
                    if (j++ < len)
                        str += " " + System.Convert.ToString(m_recobj[i].Data[3], 16);
                    if (j++ < len)
                        str += " " + System.Convert.ToString(m_recobj[i].Data[4], 16);
                    if (j++ < len)
                        str += " " + System.Convert.ToString(m_recobj[i].Data[5], 16);
                    if (j++ < len)
                        str += " " + System.Convert.ToString(m_recobj[i].Data[6], 16);
                    if (j++ < len)
                        str += " " + System.Convert.ToString(m_recobj[i].Data[7], 16);
                }
                listBox_Info.Items.Add(str);
                listBox_Info.SelectedIndex = listBox_Info.Items.Count - 1;
            }
        }

        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);
        }

        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.SendType = (byte)comboBox_SendType.SelectedIndex;
            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);
            }
        }


    }
}