using System; using System.Collections.Generic; using System.Linq; using System.Text; using System.Runtime.InteropServices; using USB2XXX; namespace USB2XXX { class USB2CAN { //1.CAN信息帧的数据类型定义 [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)] public struct CAN_MSG { public UInt32 ID; //报文ID。 public UInt32 TimeStamp; //接收到信息帧时的时间标识，从CAN 控制器初始化开始计时。 public Byte RemoteFlag; //bit[0]-是否是远程帧,bit[6..5]-当前帧通道号，bit[7]-发送帧标志 public Byte ExternFlag; //是否是扩展帧 public Byte DataLen; //数据长度(<=8)，即Data 的长度。 [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8, ArraySubType = UnmanagedType.I1)] public Byte[] Data; //报文的数据。 public Byte TimeStampHigh; //时间戳高位 }; //2.初始化CAN的数据类型定义 [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)] public struct CAN_INIT_CONFIG { //CAN波特率 = 100MHz/(CAN_BRP)/(CAN_SJW+CAN_BS1+CAN_BS2) public UInt32 CAN_BRP; //取值范围1~1024 public Byte CAN_SJW; //取值范围1~4 public Byte CAN_BS1; //取值范围1~16 public Byte CAN_BS2; //取值范围1~8 public Byte CAN_Mode; //CAN工作模式，0-正常模式，1-环回模式，2-静默模式，3-静默环回模式 public Byte CAN_ABOM; //自动离线管理，0-禁止，1-使能 public Byte CAN_NART; //报文重发管理，0-使能报文重传，1-禁止报文重传 public Byte CAN_RFLM; //FIFO锁定管理，0-新报文覆盖旧报文，1-丢弃新报文 public Byte CAN_TXFP; //发送优先级管理，0-标识符决定，1-发送请求顺序决定 }; //3.CAN 滤波器设置数据类型定义 [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)] public struct CAN_FILTER_CONFIG{ public Byte Enable; //使能该过滤器，1-使能，0-禁止 public Byte FilterIndex; //过滤器索引号，取值范围为0到13 public Byte FilterMode; //过滤器模式，0-屏蔽位模式，1-标识符列表模式 public Byte ExtFrame; //过滤的帧类型标志，为1 代表要过滤的为扩展帧，为0 代表要过滤的为标准帧。 public UInt32 ID_Std_Ext; //验收码ID public UInt32 ID_IDE; //验收码IDE public UInt32 ID_RTR; //验收码RTR public UInt32 MASK_Std_Ext; //屏蔽码ID，该项只有在过滤器模式为屏蔽位模式时有用 public UInt32 MASK_IDE; //屏蔽码IDE，该项只有在过滤器模式为屏蔽位模式时有用 public UInt32 MASK_RTR; //屏蔽码RTR，该项只有在过滤器模式为屏蔽位模式时有用 }; //4.CAN总线状态数据类型定义 [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)] public struct CAN_STATUS{ public UInt32 TSR; //发送状态寄存器 public UInt32 ESR; //错误状态寄存器 public Byte RECounter; //CAN 控制器接收错误寄存器。 public Byte TECounter; //CAN 控制器发送错误寄存器。 public Byte LECode; //最后的错误代码 }; //5.定义CAN Bootloader命令列表 [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)] public struct CBL_CMD_LIST{ //Bootloader相关命令 public Byte Erase; //擦出APP储存扇区数据 public Byte WriteInfo; //设置多字节写数据相关参数（写起始地址，数据量） public Byte Write; //以多字节形式写数据 public Byte Check; //检测节点是否在线，同时返回固件信息 public Byte SetBaudRate; //设置节点波特率 public Byte Excute; //执行固件 //节点返回状态 public Byte CmdSuccess; //命令执行成功 public Byte CmdFaild; //命令执行失败 }; public const UInt32 CAN_BL_BOOT = 0x55555555; public const UInt32 CAN_BL_APP = 0xAAAAAAAA; //6.函数返回错误代码定义 public const Int32 CAN_SUCCESS = (0); //函数执行成功 public const Int32 CAN_ERR_NOT_SUPPORT = (-1); //适配器不支持该函数 public const Int32 CAN_ERR_USB_WRITE_FAIL = (-2); //USB写数据失败 public const Int32 CAN_ERR_USB_READ_FAIL = (-3); //USB读数据失败 public const Int32 CAN_ERR_CMD_FAIL = (-4); //命令执行失败 public const Int32 CAN_BL_ERR_CONFIG = (-20); //配置设备错误 public const Int32 CAN_BL_ERR_SEND = (-21); //发送数据出错 public const Int32 CAN_BL_ERR_TIME_OUT = (-22); //超时错误 public const Int32 CAN_BL_ERR_CMD = (-23); //执行命令失败 //USB2CAN相关函数定义 [DllImport("USB2XXX.dll")] public static extern Int32 CAN_GetCANSpeedArg(Int32 DevHandle,ref CAN_INIT_CONFIG pCanConfig, UInt32 SpeedBps); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_Init(Int32 DevHandle, Byte CANIndex, ref CAN_INIT_CONFIG pCanConfig); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_Filter_Init(Int32 DevHandle, Byte CANIndex, ref CAN_FILTER_CONFIG pFilterConfig); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_StartGetMsg(Int32 DevHandle, Byte CANIndex); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_StopGetMsg(Int32 DevHandle, Byte CANIndex); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_SendMsg(Int32 DevHandle, Byte CANIndex, CAN_MSG[] pCanSendMsg,UInt32 SendMsgNum); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_GetMsg(Int32 DevHandle, Byte CANIndex, IntPtr pCanGetMsg); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_GetMsgWithSize(Int32 DevHandle, Byte CANIndex, IntPtr pCanGetMsg, Int32 BufferSize); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_ClearMsg(Int32 DevHandle, Byte CANIndex); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_GetStatus(Int32 DevHandle, Byte CANIndex, ref CAN_STATUS pCANStatus); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_SetSchedule(Int32 DevHandle, Byte CANIndex, CAN_MSG[] pCanMsgTab, Byte[] pMsgNum, UInt16[] pSendTimes, Byte MsgTabNum); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_StartSchedule(Int32 DevHandle, Byte CANIndex, Byte MsgTabIndex, Byte TimePrecMs,Byte OrderSend); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_StopSchedule(Int32 DevHandle, Byte CANIndex); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_SetRelay(Int32 DevHandle, Byte RelayState); //CAN Bootloader相关函数 [DllImport("USB2XXX.dll")] public static extern Int32 CAN_BL_Init(Int32 DevHandle,Int32 CANIndex,ref CAN_INIT_CONFIG pInitConfig,ref CBL_CMD_LIST pCmdList); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_BL_NodeCheck(Int32 DevHandle, Int32 CANIndex, UInt16 NodeAddr, UInt32[] pVersion, UInt32[] pType, UInt32 TimeOut); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_BL_Erase(Int32 DevHandle,Int32 CANIndex,UInt16 NodeAddr,UInt32 FlashSize,UInt32 TimeOut); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_BL_Write(Int32 DevHandle,Int32 CANIndex,UInt16 NodeAddr,UInt32 AddrOffset,Byte[] pData,UInt32 DataNum,UInt32 TimeOut); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_BL_Excute(Int32 DevHandle,Int32 CANIndex,UInt16 NodeAddr,UInt32 Type); [DllImport("USB2XXX.dll")] public static extern Int32 CAN_BL_SetNewBaudRate(Int32 DevHandle, Int32 CANIndex, UInt16 NodeAddr, ref CAN_INIT_CONFIG pInitConfig, UInt32 NewBaudRate, UInt32 TimeOut); } }