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HONGRI_uds_tools/CAN_Tool/CanDevice/ZLG/ZLG_CANBasic.cs

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1.添加boot模式下支持的DID 2.预加周立功驱动，还没有加好。
2024-11-13 10:01:40 +00:00
using System;
using System.Runtime.InteropServices;
namespace ZLGCAN.Basic
{
[StructLayout(LayoutKind.Sequential)]
public struct ZCAN
{
public uint acc_code;
public uint acc_mask;
public uint reserved;
public byte filter;
public byte timing0;
public byte timing1;
public byte mode;
};
[StructLayout(LayoutKind.Sequential)]
public struct CANFD
{
public uint acc_code;
public uint acc_mask;
public uint abit_timing;
public uint dbit_timing;
public uint brp;
public byte filter;
public byte mode;
public UInt16 pad;
public uint reserved;
};
[StructLayout(LayoutKind.Sequential)]
public struct can_frame
{
public uint can_id; /* 32 bit MAKE_CAN_ID + EFF/RTR/ERR flags */
public byte can_dlc; /* frame payload length in byte (0 .. CAN_MAX_DLEN) */
public byte __pad; /* padding */
public byte __res0; /* reserved / padding */
public byte __res1; /* reserved / padding */
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
public byte[] data/* __attribute__((aligned(8)))*/;
};
[StructLayout(LayoutKind.Sequential)]
public struct canfd_frame
{
public uint can_id; /* 32 bit MAKE_CAN_ID + EFF/RTR/ERR flags */
public byte len; /* frame payload length in byte */
public byte flags; /* additional flags for CAN FD,i.e error code */
public byte __res0; /* reserved / padding */
public byte __res1; /* reserved / padding */
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
public byte[] data/* __attribute__((aligned(8)))*/;
};
[StructLayout(LayoutKind.Explicit)]
public struct ZCAN_CHANNEL_INIT_CONFIG
{
[FieldOffset(0)]
public uint can_type; //type:TYPE_CAN TYPE_CANFD
[FieldOffset(4)]
public ZCAN can;
[FieldOffset(4)]
public CANFD canfd;
};
[StructLayout(LayoutKind.Sequential)]
public struct ZCAN_Transmit_Data
{
public can_frame frame;
public uint transmit_type;
};
[StructLayout(LayoutKind.Sequential)]
public struct ZCAN_Receive_Data
{
public can_frame frame;
public UInt64 timestamp;//us
};
[StructLayout(LayoutKind.Sequential)]
public struct ZCAN_TransmitFD_Data
{
public canfd_frame frame;
public uint transmit_type;
};
[StructLayout(LayoutKind.Sequential)]
public struct ZCAN_AUTO_TRANSMIT_OBJ //CAN<41><4E>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>֡<EFBFBD>ṹ<EFBFBD><E1B9B9>
{
public ushort enable; //0-<2D><><EFBFBD>ã<EFBFBD>1-ʹ<><CAB9>
public ushort index; //<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint interval; //<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
public ZCAN_Transmit_Data obj;
};
[StructLayout(LayoutKind.Sequential)]
public struct ZCANFD_AUTO_TRANSMIT_OBJ //CANFD<46><44>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>֡<EFBFBD>ṹ<EFBFBD><E1B9B9>
{
public ushort enable; //0-<2D><><EFBFBD>ã<EFBFBD>1-ʹ<><CAB9>
public ushort index; //<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public uint interval; //<2F><>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
public ZCAN_TransmitFD_Data obj;
};
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct ZCANLINEventData
{
public UInt64 timeStamp;
public byte type;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 7)]
public byte[] reserved;
}
public struct DeviceInfo
{
public uint device_type; //<2F>豸<EFBFBD><E8B1B8><EFBFBD><EFBFBD>
public uint channel_count;//<2F>豸<EFBFBD><E8B1B8>ͨ<EFBFBD><CDA8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public DeviceInfo(uint type, uint count)
{
device_type = type;
channel_count = count;
}
};
[StructLayout(LayoutKind.Sequential)]
public struct ZCAN_ReceiveFD_Data
{
public canfd_frame frame;
public UInt64 timestamp;//us
};
[StructLayout(LayoutKind.Sequential)]
public struct ZCAN_CHANNEL_ERROR_INFO
{
public uint error_code;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
public byte[] passive_ErrData;
public byte arLost_ErrData;
};
//for zlg cloud
[StructLayout(LayoutKind.Sequential)]
public struct ZCLOUD_CHNINFO
{
public byte enable;
public byte type;
public byte isUpload;
public byte isDownload;
};
//for zlg cloud
[StructLayout(LayoutKind.Sequential)]
public struct ZCLOUD_DEVINFO
{
public int devIndex;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
public char[] type;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
public char[] id;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
public char[] name;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
public char[] owner;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
public char[] model;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)]
public char[] fwVer;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)]
public char[] hwVer;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
public char[] serial;
public int status; // 0:online, 1:offline
//[MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)]
public byte bGpsUploads;
public byte channelCnt; // each channel enable can upload
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)]
public ZCLOUD_CHNINFO[] channels;
};
//[StructLayout(LayoutKind.Sequential)]
//public struct ZCLOUD_DEV_GROUP_INFO
//{
// [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
// public char[] groupName;
// [MarshalAs(UnmanagedType.ByValArray, SizeConst = 128)]
// public char[] desc;
// [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
// public char[] groupId;
// //public ZCLOUD_DEVINFO *pDevices;
// public IntPtr pDevices;
// public uint devSize;
//};
[StructLayout(LayoutKind.Sequential)]
public struct ZCLOUD_USER_DATA
{
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
public char[] username;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 64)]
public char[] mobile;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 16)]
public char[] dllVer;
public uint devCnt;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 100)]
public ZCLOUD_DEVINFO[] devices;
};
//LIN_init_config
[StructLayout(LayoutKind.Sequential)]
public struct ZCAN_LIN_INIT_CONFIG
{
public byte linMode; //0-slave,1-master
public byte chkSumMode; //1-<2D><><EFBFBD><EFBFBD>У<EFBFBD>飬2-<2D><>ǿУ<C7BF><D0A3> 3-<2D>Զ<EFBFBD>(<28><>ӦeZLINChkSumMode<64><65>ģʽ)
public UInt16 reserved;
public uint libBaud; //<2F><><EFBFBD><EFBFBD><EFBFBD>ʣ<EFBFBD>ȡֵ1000~20000
};
//ZCAN_LIN_PUBLISH_CFG<46><47>ע<EFBFBD><D7A2><EFBFBD><EFBFBD>վ<EFBFBD><D5BE>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD>
[StructLayout(LayoutKind.Sequential)]
public struct ZCAN_LIN_PUBLISH_CFG
{
public byte ID; //<2F>ܱ<EFBFBD><DCB1><EFBFBD><EFBFBD><EFBFBD>ID<49><44>IDȡֵ<C8A1><D6B5>ΧΪ0-63<36><33>
public byte datelen; //<2F><>Χ1~8
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)] //<2F><><EFBFBD>ݶ<EFBFBD><DDB6><EFBFBD><EFBFBD><EFBFBD>
public byte[] data;
public byte chkSumMode; //У<>鷽ʽ<E9B7BD><CABD>0-Ĭ<>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD> 1-<2D><><EFBFBD><EFBFBD>У<EFBFBD><D0A3> 2-<2D><>ǿУ<C7BF><D0A3>(<28><>ӦeZLINChkSumMode<64><65>ģʽ)
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 5)]
public byte[] reserved;
};
/////////////////////LIN<49>շ<EFBFBD><D5B7><EFBFBD><EFBFBD>Ľṹ<C4BD><E1B9B9>////////////////
//LIN<49>շ<EFBFBD><D5B7><EFBFBD>ID
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct PID
{
public byte rawVal;
}
//LIN<49>շ<EFBFBD><D5B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݶβ<DDB6><CEB2><EFBFBD>
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct RxData
{
public UInt64 timeStamp;
public byte datalen;
public byte dir;
public byte chkSum;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 13)]
public byte[] reserved;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
public byte[] data;
}
//LIN<49>շ<EFBFBD><D5B7>ı<EFBFBD><C4B1>IJ<EFBFBD><C4B2>ֽṹ<D6BD><E1B9B9>
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct ZCANLINData
{
public PID pid;
public RxData rxData;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 13)]
public byte[] reserved;
}
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct Reserved
{
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 46)]
public byte[] reserved;
}
//ZCAN_LIN_MSG<53><47><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD><EFBFBD>LIN<49>Ľṹ<C4BD><E1B9B9>
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct ZCAN_LIN_MSG
{
public byte chnl; //<2F><><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8>
public byte dataType; //0-LIN<49><4E>1-ErrLIN
public ZCANLINData zcanLINData; //<2F><><EFBFBD>ݶ<EFBFBD><DDB6><EFBFBD><EFBFBD>ݣ<EFBFBD><DDA3><EFBFBD>40<34>ֽ<EFBFBD>
//FieldOffset(2)]
// public ZCAN_AUTO_TRANSMIT_OBJ ZCAN_OBJ;
};
//////////////////<2F>ϲ<EFBFBD><CFB2><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>յĽṹ<C4BD><E1B9B9>////////////////////////////////////
public class flag
{
public const uint CANFD_FLAG = 0x1; //1<><31><EFBFBD><EFBFBD>CANFD<46><44><EFBFBD>ģ<EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD>CAN<41><4E><EFBFBD><EFBFBD>
public const uint TXDELAY_FLAG = 0x4; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD><EFBFBD>з<EFBFBD><D0B7>ͱ<EFBFBD>־λ
public const uint TRANSMIT_TYPE_FLAG = 0x0; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
public const uint TXECHOREQUEST_FLAG = 0x100; //<2F><><EFBFBD>ͻ<EFBFBD><CDBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>󣬷<EFBFBD><F3A3ACB7><EFBFBD><EFBFBD><EFBFBD>Ч
public const uint TXECHOED_FLAG = 0x200; //<2F><><EFBFBD>ͻ<EFBFBD><CDBB>Ա<EFBFBD>־<EFBFBD><D6BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч
}
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct ZCANCANFDData
{
public UInt64 timeStamp;
public UInt32 flag;
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
public byte[] extraData; //δʹ<CEB4><CAB9>
public canfd_frame frame; //ʵ<>ʱ<EFBFBD><CAB1>Ľṹ<C4BD><E1B9B9>
}
[StructLayout(LayoutKind.Sequential, Pack = 1)]
public struct ZCANDataObj
{
public byte dataType; //1-can/canfd<66><64><EFBFBD>ݡ<EFBFBD>
public byte chnl; //<2F><><EFBFBD><EFBFBD>ͨ<EFBFBD><CDA8>
public UInt16 flag; //δʹ<CEB4><CAB9>
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
public byte[] extraData; //δʹ<CEB4><CAB9>
public ZCANCANFDData zcanCANFDData; //<2F><><EFBFBD>Ľṹ<C4BD><E1B9B9>
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
public byte[] reserve; //<2F><><EFBFBD><EFBFBD><EFBFBD>ֽڶ<D6BD><DAB6><EFBFBD>
}
public class Define
{
public const int TYPE_CAN = 0;
public const int TYPE_CANFD = 1;
public const int ZCAN_USBCAN1 = 3;
public const int ZCAN_USBCAN2 = 4;
public const int ZCAN_PCI9820I = 16;
public const int ZCAN_CANETUDP = 12;
public const int ZCAN_CANETTCP = 17;
public const int ZCAN_CANWIFI_TCP = 25;
public const int ZCAN_USBCAN_E_U = 20;
public const int ZCAN_USBCAN_2E_U = 21;
public const int ZCAN_USBCAN_4E_U = 31;
public const int ZCAN_PCIECANFD_100U = 38;
public const int ZCAN_PCIECANFD_200U = 39;
public const int ZCAN_PCIECANFD_200U_EX = 62;
public const int ZCAN_PCIECANFD_400U = 61;
public const int ZCAN_USBCANFD_200U = 41;
public const int ZCAN_USBCANFD_400U = 76;
public const int ZCAN_USBCANFD_100U = 42;
public const int ZCAN_USBCANFD_MINI = 43;
public const int ZCAN_USBCANFD_800U = 59;
public const int ZCAN_CLOUD = 46;
public const int ZCAN_CANFDNET_200U_TCP = 48;
public const int ZCAN_CANFDNET_200U_UDP = 49;
public const int ZCAN_CANFDNET_400U_TCP = 52;
public const int ZCAN_CANFDNET_400U_UDP = 53;
public const int ZCAN_CANFDNET_800U_TCP = 57;
public const int ZCAN_CANFDNET_800U_UDP = 58;
public const int STATUS_ERR = 0;
public const int STATUS_OK = 1;
};
public class Method
{
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern IntPtr ZCAN_OpenDevice(uint device_type, uint device_index, uint reserved);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_CloseDevice(IntPtr device_handle);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
// pInitConfig -> ZCAN_CHANNEL_INIT_CONFIG
public static extern IntPtr ZCAN_InitCAN(IntPtr device_handle, uint can_index, IntPtr pInitConfig);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_SetValue(IntPtr device_handle, string path, byte[] value);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_SetValue(IntPtr device_handle, string path, IntPtr value);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern IntPtr ZCAN_GetValue(IntPtr device_handle, string path);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_StartCAN(IntPtr channel_handle);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_ResetCAN(IntPtr channel_handle);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_ClearBuffer(IntPtr channel_handle);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
// pTransmit -> ZCAN_Transmit_Data
public static extern uint ZCAN_Transmit(IntPtr channel_handle, IntPtr pTransmit, uint len);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
// pTransmit -> ZCAN_TransmitFD_Data
public static extern uint ZCAN_TransmitFD(IntPtr channel_handle, IntPtr pTransmit, uint len);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
// pTransmit -> ZCAN_TransmitFD_Data
public static extern uint ZCAN_TransmitData(IntPtr device_handle, IntPtr pTransmit, uint len);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_GetReceiveNum(IntPtr channel_handle, byte type);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_Receive(IntPtr channel_handle, IntPtr data, uint len, int wait_time = -1);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_ReceiveFD(IntPtr channel_handle, IntPtr data, uint len, int wait_time = -1);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_ReceiveData(IntPtr device_handle, IntPtr data, uint len, int wait_time = -1);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
// pErrInfo -> ZCAN_CHANNEL_ERROR_INFO
public static extern uint ZCAN_ReadChannelErrInfo(IntPtr channel_handle, IntPtr pErrInfo);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern IntPtr GetIProperty(IntPtr device_handle);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern bool ZCLOUD_IsConnected();
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern void ZCLOUD_SetServerInfo(string httpAddr, ushort httpPort,
string mqttAddr, ushort mqttPort);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCLOUD_ConnectServer(string username, string password);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCLOUD_DisconnectServer();
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern IntPtr ZCLOUD_GetUserData(int updata);
///////////LIN<49><4E><EFBFBD>ؽӿں<D3BF><DABA><EFBFBD>////////
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern IntPtr ZCAN_InitLIN(IntPtr device_handle, uint lin_index, IntPtr pLINinitConfig);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_StartLIN(IntPtr channel_handle);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_ResetLIN(IntPtr channel_handle);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_TransmitLIN(IntPtr channel_handle, IntPtr pTransmit, uint len);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_ReceiveLIN(IntPtr channel_handle, IntPtr data, uint len, int wait_time);
[DllImport("zlgcan.dll", CallingConvention = CallingConvention.StdCall)]
public static extern uint ZCAN_SetLINPublish(IntPtr channel_handle, IntPtr data, uint nPublishCount); //ע<><D7A2><EFBFBD><EFBFBD>Ӧ<EFBFBD><D3A6><EFBFBD><EFBFBD>
}
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
public delegate int SetValueFunc(string path, byte[] value);
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
public delegate IntPtr GetValueFunc(string path);
[UnmanagedFunctionPointer(CallingConvention.Cdecl)]
public delegate IntPtr GetPropertysFunc(string path, string value);
public struct IProperty
{
public SetValueFunc SetValue;
public GetValueFunc GetValue;
public GetPropertysFunc GetPropertys;
};
}
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