using System; using System.Collections.Generic; using System.Linq; using System.Text; using System.Runtime.InteropServices; namespace USB2XXX { class USB2CANFD { //1.CANFD信息帧的数据类型定义 [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi, Pack = 1)] public struct CANFD_MSG { public UInt32 ID; //报文ID,bit[30]-RTR,bit[31]-IDE,bit[28..0]-ID public Byte DLC; //数据字节长度，可设置为-0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64 public Byte Flags; //bit[0]-BRS,bit[1]-ESI,bit[2]-FDF,bit[6..5]-Channel,bit[7]-RXD public Byte __Res0; //保留 public Byte TimeStampHigh;//时间戳高位 public UInt32 TimeStamp;//帧接收或者发送时的时间戳，单位为10us [MarshalAs(UnmanagedType.ByValArray, SizeConst = 64, ArraySubType = UnmanagedType.I1)] public Byte[] Data; //报文的数据。 }; //2.CANFD初始化配置数据类型定义 [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi, Pack = 1)] public struct CANFD_INIT_CONFIG { public Byte Mode; //0-正常模式，1-自发自收模式 public Byte ISOCRCEnable;//0-禁止ISO CRC,1-使能ISO CRC public Byte RetrySend;//0-禁止重发，1-无限制重发 public Byte ResEnable;//0-不接入内部120欧终端电阻，1-接入内部120欧终端电阻 //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) public Byte NBT_BRP; public Byte NBT_SEG1; public Byte NBT_SEG2; public Byte NBT_SJW; //数据段波特率参数,波特率=40M/DBT_BRP*(1+DBT_SEG1+DBT_SEG2) public Byte DBT_BRP; public Byte DBT_SEG1; public Byte DBT_SEG2; public Byte DBT_SJW; [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8, ArraySubType = UnmanagedType.I1)] public Byte[] __Res0;//保留 }; //3.CANFD诊断帧信息结构体定义 [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi, Pack = 1)] public struct CANFD_DIAGNOSTIC { public Byte NREC;//标称比特率接收错误计数 public Byte NTEC;//标称比特率发送错误计数 public Byte DREC;//数据比特率接收错误计数 public Byte DTEC;//数据比特率发送错误计数 public UInt16 ErrorFreeMsgCount;//无错误帧计数 public UInt16 Flags;//参考诊断标志定义 }; //4.CANFD总线错误信息结构体定义 [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi, Pack = 1)] public struct CANFD_BUS_ERROR { public Byte TEC;//发送错误计数 public Byte REC;//接收错误计数 public Byte Flags;//参考总线错误标志定义 public Byte __Res0; }; //5.CAN 滤波器设置数据类型定义 public struct CANFD_FILTER_CONFIG{ public Byte Enable; //使能该过滤器，1-使能，0-禁止 public Byte Index; //过滤器索引号，取值范围为0到31 public Byte __Res0; public Byte __Res1; public UInt32 ID_Accept; //验收码ID,bit[28..0]为有效ID位，bit[31]为IDE public UInt32 ID_Mask; //屏蔽码，对应bit位若为1，则需要对比对应验收码bit位，相同才接收 }; //函数返回错误代码定义 public const Int32 CANFD_SUCCESS = (0); //函数执行成功 public const Int32 CANFD_ERR_NOT_SUPPORT = (-1); //适配器不支持该函数 public const Int32 CANFD_ERR_USB_WRITE_FAIL = (-2); //USB写数据失败 public const Int32 CANFD_ERR_USB_READ_FAIL = (-3); //USB读数据失败 public const Int32 CANFD_ERR_CMD_FAIL = (-4); //命令执行失败 //CANFD_MSG.ID定义 public const Int32 CANFD_MSG_FLAG_RTR = (1<<30); public const Int32 CANFD_MSG_FLAG_IDE = (1<<31); public const Int32 CANFD_MSG_FLAG_ID_MASK = (0x1FFFFFFF); //CANFD_MSG.Flags定义 public const Int32 CANFD_MSG_FLAG_BRS = (1<<0); public const Int32 CANFD_MSG_FLAG_ESI = (1<<1); public const Int32 CANFD_MSG_FLAG_FDF = (1<<2); public const Int32 CANFD_MSG_FLAG_RXD = (1<<7); //CANFD_DIAGNOSTIC.Flags定义 public const Int32 CANFD_DIAGNOSTIC_FLAG_NBIT0_ERR = (0x0001);//在发送报文（或应答位、主动错误标志或过载标志）期间，器件要发送显性电平（逻辑值为0的数据或标识符位），但监视的总线值为隐性。 public const Int32 CANFD_DIAGNOSTIC_FLAG_NBIT1_ERR = (0x0002);//在发送报文（仲裁字段除外）期间，器件要发送隐性电平（逻辑值为1的位），但监视到的总线值为显性。 public const Int32 CANFD_DIAGNOSTIC_FLAG_NACK_ERR = (0x0004);//发送报文未应答。 public const Int32 CANFD_DIAGNOSTIC_FLAG_NFORM_ERR = (0x0008);//接收报文的固定格式部分格式错误。 public const Int32 CANFD_DIAGNOSTIC_FLAG_NSTUFF_ERR = (0x0010);//在接收报文的一部分中，序列中包含了5个以上相等位，而报文中不允许出现这种序列。 public const Int32 CANFD_DIAGNOSTIC_FLAG_NCRC_ERR = (0x0020);//接收的报文的CRC校验和不正确。输入报文的CRC与通过接收到的数据计算得到的CRC不匹配。 public const Int32 CANFD_DIAGNOSTIC_FLAG_TXBO_ERR = (0x0080);//器件进入离线状态（且自动恢复）。 public const Int32 CANFD_DIAGNOSTIC_FLAG_DBIT0_ERR = (0x0100);//见NBIT0_ERR public const Int32 CANFD_DIAGNOSTIC_FLAG_DBIT1_ERR = (0x0200);//见NBIT1_ERR public const Int32 CANFD_DIAGNOSTIC_FLAG_DFORM_ERR = (0x0800);//见NFORM_ERR public const Int32 CANFD_DIAGNOSTIC_FLAG_DSTUFF_ERR = (0x1000);//见NSTUFF_ERR public const Int32 CANFD_DIAGNOSTIC_FLAG_DCRC_ERR = (0x2000);//见NCRC_ERR public const Int32 CANFD_DIAGNOSTIC_FLAG_ESI_ERR = (0x4000);//接收的CAN FD报文的ESI标志置1 public const Int32 CANFD_DIAGNOSTIC_FLAG_DLC_MISMATCH = (0x8000);//DLC不匹配,在发送或接收期间，指定的DLC大于FIFO元素的PLSIZE //CANFD_BUS_ERROR.Flags定义 public const Int32 CANFD_BUS_ERROR_FLAG_TX_RX_WARNING = (0x01); public const Int32 CANFD_BUS_ERROR_FLAG_RX_WARNING = (0x02); public const Int32 CANFD_BUS_ERROR_FLAG_TX_WARNING = (0x04); public const Int32 CANFD_BUS_ERROR_FLAG_RX_BUS_PASSIVE = (0x08); public const Int32 CANFD_BUS_ERROR_FLAG_TX_BUS_PASSIVE = (0x10); public const Int32 CANFD_BUS_ERROR_FLAG_TX_BUS_OFF = (0x20); //USB2CANFD相关函数定义 [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_GetCANSpeedArg(Int32 DevHandle, ref CANFD_INIT_CONFIG pCanConfig, UInt32 SpeedBpsNBT, UInt32 SpeedBpsDBT); [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_Init(Int32 DevHandle, Byte CANIndex, ref CANFD_INIT_CONFIG pCanConfig); [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_StartGetMsg(Int32 DevHandle, Byte CANIndex); [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_StopGetMsg(Int32 DevHandle, Byte CANIndex); [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_SendMsg(Int32 DevHandle, Byte CANIndex, IntPtr pCanSendMsg, Int32 SendMsgNum); [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_GetMsg(Int32 DevHandle, Byte CANIndex, IntPtr pCanGetMsg, Int32 BufferSize); [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_SetFilter(Int32 DevHandle, Byte CANIndex,ref CANFD_FILTER_CONFIG pCanFilter,Byte Len); [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_GetDiagnostic(Int32 DevHandle, Byte CANIndex,ref CANFD_DIAGNOSTIC pCanDiagnostic); [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_GetBusError(Int32 DevHandle, Byte CANIndex,ref CANFD_BUS_ERROR pCanBusError); [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_SetSchedule(Int32 DevHandle, Byte CANIndex, CANFD_MSG[] pCanMsgTab, Byte[] pMsgNum, UInt16[] pSendTimes, Byte MsgTabNum); [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_StartSchedule(Int32 DevHandle, Byte CANIndex, Byte MsgTabIndex, Byte TimePrecMs,Byte OrderSend); [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_StopSchedule(Int32 DevHandle, Byte CANIndex); [DllImport("USB2XXX.dll")] public static extern Int32 CANFD_SetRelay(Int32 DevHandle, Byte RelayState); } }