原创 C#编写Can上位机程序

 2011-4-29 11:05  13179 11 12 分类: 软件与OS

周立功CAN pci接口卡提供的示例代码都是VC，VB和Delphi的，没有C#.net的例子。但是在使用C#调用CAN api的时候，由于这些api对数据类型的校验非常严格，所以，调试起来比较麻烦。摸索了一段时间，终于使用C# 2.0 VS.2008调用CAN api可以正常的发送接收数据了。

      现在把API的声明提供如下，有同样需求的，就可以少走很多弯路了。
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01.public sealed class CANApi
02.    {
03.        //接口卡类型定义
04.        public enum PCIDeviceType
05.        {
06.            VCI_PCI5121     =1,
07.            VCI_PCI9810     =2,
08.            VCI_USBCAN1     =3,
09.            VCI_USBCAN2     =4,
10.            VCI_PCI9820     =5,
11.            VCI_CAN232      =6,
12.            VCI_PCI5110     =7,
13.            VCI_CANLITE     =8,
14.            VCI_ISA9620     =9,
15.            VCI_ISA5420     =10,
16.            VCI_PC104CAN    =   11,
17.            VCI_CANETE      =12,
18.            VCI_DNP9810     =13,
19.            VCI_PCI9840     =14,
20.            VCI_PCI9820I    =16
21.        }
22.
23.        //函数调用返回状态值
24.        public static readonly int STATUS_OK                    =1;
25.        public static readonly int STATUS_ERR                   =0;
26.
27.        public enum ErrorType
28.        {
29.            //CAN错误码
30.            ERR_CAN_OVERFLOW            =0x0001,    //CAN控制器内部FIFO溢出
31.            ERR_CAN_ERRALARM            =0x0002,    //CAN控制器错误报警
32.            ERR_CAN_PASSIVE             =0x0004,    //CAN控制器消极错误
33.            ERR_CAN_LOSE                =0x0008,    //CAN控制器仲裁丢失
34.            ERR_CAN_BUSERR              =0x0010,    //CAN控制器总线错误
35.
36.            //通用错误码
37.            ERR_DEVICEOPENED            =0x0100,    //设备已经打开
38.            ERR_DEVICEOPEN              =0x0200,    //打开设备错误
39.            ERR_DEVICENOTOPEN           =0x0400,    //设备没有打开
40.            ERR_BUFFEROVERFLOW          =0x0800,    //缓冲区溢出
41.            ERR_DEVICENOTEXIST          =0x1000,    //此设备不存在
42.            ERR_LOADKERNELDLL           =0x2000,    //装载动态库失败
43.            ERR_CMDFAILED               =0x4000,    //执行命令失败错误码
44.            ERR_BUFFERCREATE            =0x8000 //内存不足
45.
46.        }
47.
48.
49.
50.        //1.ZLGCAN系列接口卡信息的数据类型。
51.        [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
52.        public struct VCI_BOARD_INFO
53.        {
54.            public ushort hw_Version;
55.            public ushort fw_Version;
56.            public ushort dr_Version;
57.            public ushort in_Version;
58.            public ushort irq_Num;
59.            public byte can_Num;
60.            [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 20)]
61.            public string str_Serial_Num;
62.            [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 40)]
63.            public string str_hw_Type;
64.            [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst = 4, ArraySubType = System.Runtime.InteropServices.UnmanagedType.U2)]
65.            public ushort[] Reserved;
66.        }
67.
68.        //2.定义CAN信息帧的数据类型。
69.        [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
70.        public struct VCI_CAN_OBJ
71.        {
72.            public uint ID;
73.            public uint TimeStamp;
74.            public byte TimeFlag;
75.            public byte SendType;
76.            public byte RemoteFlag;//是否是远程帧
77.            public byte ExternFlag;//是否是扩展帧
78.            public byte DataLen;
79.            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8, ArraySubType = UnmanagedType.I1)]
80.            public byte[] Data;
81.            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3, ArraySubType = UnmanagedType.I1)]
82.            public byte[] Reserved;
83.        }
84.
85.        //3.定义CAN控制器状态的数据类型。
86.        [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
87.        public struct VCI_CAN_STATUS
88.        {
89.            public byte ErrInterrupt;
90.            public byte regMode;
91.            public byte regStatus;
92.            public byte regALCapture;
93.            public byte regECCapture;
94.            public byte regEWLimit;
95.            public byte regRECounter;
96.            public byte regTECounter;
97.            public uint Reserved;
98.        }
99.
100.        //4.定义错误信息的数据类型。
101.        [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
102.        public struct VCI_ERR_INFO
103.        {
104.            public uint ErrCode;
105.
106.            [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst = 3, ArraySubType = System.Runtime.InteropServices.UnmanagedType.I1)]
107.            public byte[] Passive_ErrData;
108.
109.            public byte ArLost_ErrData;
110.        }
111.
112.        //5.定义初始化CAN的数据类型
113.        [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
114.        public struct VCI_INIT_CONFIG
115.        {
116.            public uint AccCode;
117.            public uint AccMask;
118.            public uint Reserved;
119.            public byte Filter;
120.            public byte Timing0;
121.            public byte Timing1;
122.            public byte Mode;
123.        }
124.        [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
125.        public struct CHGDESIPANDPORT
126.        {
127.            [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 10)]
128.            public string szpwd;
129.
130.            [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 20)]
131.            public string szdesip;
132.
133.            public int desport;
134.        }
135.
136.        #region API函数
137.
138.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_OpenDevice", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
139.        public static extern uint VCI_OpenDevice(uint DeviceType, uint DeviceInd, uint Reserved);
140.
141.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_CloseDevice", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
142.        public static extern uint VCI_CloseDevice(uint DeviceType, uint DeviceInd);
143.
144.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_InitCAN", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
145.        public static extern uint VCI_InitCAN(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_INIT_CONFIG pInitConfig);
146.
147.
148.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_ReadBoardInfo", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
149.        public static extern uint VCI_ReadBoardInfo(uint DeviceType, uint DeviceInd, ref VCI_BOARD_INFO pInfo);
150.
151.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_ReadErrInfo", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
152.        public static extern uint VCI_ReadErrInfo(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_ERR_INFO pErrInfo);
153.
154.
155.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_ReadCANStatus", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
156.        public static extern uint VCI_ReadCANStatus(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_CAN_STATUS pCANStatus);
157.
158.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_GetReference", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
159.        public static extern uint VCI_GetReference(uint DeviceType, uint DeviceInd, uint CANInd, uint RefType, object pData);
160.
161.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_SetReference", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
162.        public static extern uint VCI_SetReference(uint DeviceType, uint DeviceInd, uint CANInd, uint RefType, object pData);
163.
164.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_GetReceiveNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
165.        public static extern uint VCI_GetReceiveNum(uint DeviceType, uint DeviceInd, uint CANInd);
166.
167.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_ClearBuffer", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
168.        public static extern uint VCI_ClearBuffer(uint DeviceType, uint DeviceInd, uint CANInd);
169.
170.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_StartCAN", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
171.        public static extern uint VCI_StartCAN(uint DeviceType, uint DeviceInd, uint CANInd);
172.
173.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_ResetCAN", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
174.        public static extern uint VCI_ResetCAN(uint DeviceType, uint DeviceInd, uint CANInd);
175.
176.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_Transmit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
177.        public static extern uint VCI_Transmit(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_CAN_OBJ pSend, uint Len);
178.
179.        [DllImport("ControlCAN.dll", EntryPoint = "VCI_Receive", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
180.        public static extern uint VCI_Receive(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_CAN_OBJ pReceive, uint Len, int WaitTime);
181.
182.
183.        #endregion
184.    }
public sealed class CANApi
    {
        //接口卡类型定义
        public enum PCIDeviceType
        {
            VCI_PCI5121  =1,
            VCI_PCI9810  =2,
            VCI_USBCAN1  =3,
            VCI_USBCAN2  =4,
            VCI_PCI9820  =5,
            VCI_CAN232  =6,
            VCI_PCI5110  =7,
            VCI_CANLITE  =8,
            VCI_ISA9620  =9,
            VCI_ISA5420  =10,
            VCI_PC104CAN = 11,
            VCI_CANETE  =12,
            VCI_DNP9810  =13,
            VCI_PCI9840  =14,
            VCI_PCI9820I =16
        }

        //函数调用返回状态值
        public static readonly int STATUS_OK     =1;
        public static readonly int STATUS_ERR     =0;

        public enum ErrorType
        {
            //CAN错误码
            ERR_CAN_OVERFLOW   =0x0001, //CAN控制器内部FIFO溢出
            ERR_CAN_ERRALARM   =0x0002, //CAN控制器错误报警
            ERR_CAN_PASSIVE    =0x0004, //CAN控制器消极错误
            ERR_CAN_LOSE    =0x0008, //CAN控制器仲裁丢失
            ERR_CAN_BUSERR    =0x0010, //CAN控制器总线错误

            //通用错误码
            ERR_DEVICEOPENED   =0x0100, //设备已经打开
            ERR_DEVICEOPEN    =0x0200, //打开设备错误
            ERR_DEVICENOTOPEN   =0x0400, //设备没有打开
            ERR_BUFFEROVERFLOW   =0x0800, //缓冲区溢出
            ERR_DEVICENOTEXIST   =0x1000, //此设备不存在
            ERR_LOADKERNELDLL   =0x2000, //装载动态库失败
            ERR_CMDFAILED    =0x4000, //执行命令失败错误码
            ERR_BUFFERCREATE   =0x8000 //内存不足

}

        //1.ZLGCAN系列接口卡信息的数据类型。
        [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
        public struct VCI_BOARD_INFO
        {
            public ushort hw_Version;
            public ushort fw_Version;
            public ushort dr_Version;
            public ushort in_Version;
            public ushort irq_Num;
            public byte can_Num;
            [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 20)]
            public string str_Serial_Num;
            [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 40)]
            public string str_hw_Type;
            [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst = 4, ArraySubType = System.Runtime.InteropServices.UnmanagedType.U2)]
            public ushort[] Reserved;
        }

        //2.定义CAN信息帧的数据类型。
        [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
        public struct VCI_CAN_OBJ
        {
            public uint ID;
            public uint 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, ArraySubType = UnmanagedType.I1)]
            public byte[] Data;
            [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3, ArraySubType = UnmanagedType.I1)]
            public byte[] Reserved;
        }

        //3.定义CAN控制器状态的数据类型。
        [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
        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;
            public uint Reserved;
        }

        //4.定义错误信息的数据类型。
        [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
        public struct VCI_ERR_INFO
        {
            public uint ErrCode;

[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValArray, SizeConst = 3, ArraySubType = System.Runtime.InteropServices.UnmanagedType.I1)]
public byte[] Passive_ErrData;

public byte ArLost_ErrData;
}

        //5.定义初始化CAN的数据类型
        [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
        public struct VCI_INIT_CONFIG
        {
            public uint AccCode;
            public uint AccMask;
            public uint Reserved;
            public byte Filter;
            public byte Timing0;
            public byte Timing1;
            public byte Mode;
        }
        [StructLayout(LayoutKind.Sequential, CharSet = CharSet.Ansi)]
        public struct CHGDESIPANDPORT
        {
            [System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 10)]
            public string szpwd;

[System.Runtime.InteropServices.MarshalAsAttribute(System.Runtime.InteropServices.UnmanagedType.ByValTStr, SizeConst = 20)]
public string szdesip;

public int desport;
}

#region API函数

[DllImport("ControlCAN.dll", EntryPoint = "VCI_OpenDevice", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_OpenDevice(uint DeviceType, uint DeviceInd, uint Reserved);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_CloseDevice", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_CloseDevice(uint DeviceType, uint DeviceInd);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_InitCAN", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_InitCAN(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_INIT_CONFIG pInitConfig);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_ReadBoardInfo", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_ReadBoardInfo(uint DeviceType, uint DeviceInd, ref VCI_BOARD_INFO pInfo);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_ReadErrInfo", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_ReadErrInfo(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_ERR_INFO pErrInfo);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_ReadCANStatus", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_ReadCANStatus(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_CAN_STATUS pCANStatus);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_GetReference", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_GetReference(uint DeviceType, uint DeviceInd, uint CANInd, uint RefType, object pData);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_SetReference", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_SetReference(uint DeviceType, uint DeviceInd, uint CANInd, uint RefType, object pData);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_GetReceiveNum", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_GetReceiveNum(uint DeviceType, uint DeviceInd, uint CANInd);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_ClearBuffer", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_ClearBuffer(uint DeviceType, uint DeviceInd, uint CANInd);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_StartCAN", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_StartCAN(uint DeviceType, uint DeviceInd, uint CANInd);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_ResetCAN", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_ResetCAN(uint DeviceType, uint DeviceInd, uint CANInd);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_Transmit", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_Transmit(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_CAN_OBJ pSend, uint Len);

[DllImport("ControlCAN.dll", EntryPoint = "VCI_Receive", CharSet = CharSet.Ansi, CallingConvention = CallingConvention.StdCall)]
public static extern uint VCI_Receive(uint DeviceType, uint DeviceInd, uint CANInd, ref VCI_CAN_OBJ pReceive, uint Len, int WaitTime);

#endregion
}

注意：在使用过程中，需要把ControlCAN.dll并kerneldlls文件夹及其下面的所有DLL都添加到工程中，并且把这些文件的“Copy到输出文件”属性设置为“常拷贝”。

发送和接收比较的容易出问题，示例代码如下：

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01.CANApi.VCI_CAN_OBJ[] frameInfo = new CANApi.VCI_CAN_OBJ[1];
02.            frameInfo[0].DataLen = (byte)(ss.Length);
03.
04.            frameInfo[0].Data = data;
05.            frameInfo[0].Reserved = new byte[3];
06.
07.            frameInfo[0].RemoteFlag = (byte)this.combFrameFormat.SelectedIndex;
08.            frameInfo[0].ExternFlag = (byte)this.combFrameType.SelectedIndex;
09.
10.            uint frameID = 0;
11.            if (!uint.TryParse(this.txtFrameID.Text, System.Globalization.NumberStyles.AllowHexSpecifier, null, out frameID))
12.                frameID = 0;
13.            if (frameInfo[0].ExternFlag == 1)
14.            {
15.                frameInfo[0].ID = frameID;
16.            }
17.            else
18.            {
19.                frameInfo[0].ID = frameID | 0x0000FFFF;
20.            }
21.            frameInfo[0].SendType = (byte)this.combSendFormat.SelectedIndex;
22.
23.            CANApi.VCI_Transmit(this.mDeviceType, this.mDeviceIndex, this.mCANIndex, ref frameInfo[0], 1);
CANApi.VCI_CAN_OBJ[] frameInfo = new CANApi.VCI_CAN_OBJ[1];
            frameInfo[0].DataLen = (byte)(ss.Length);

frameInfo[0].Data = data;
frameInfo[0].Reserved = new byte[3];

frameInfo[0].RemoteFlag = (byte)this.combFrameFormat.SelectedIndex;
frameInfo[0].ExternFlag = (byte)this.combFrameType.SelectedIndex;

            uint frameID = 0;
            if (!uint.TryParse(this.txtFrameID.Text, System.Globalization.NumberStyles.AllowHexSpecifier, null, out frameID))
                frameID = 0;
            if (frameInfo[0].ExternFlag == 1)
            {
                frameInfo[0].ID = frameID;
            }
            else
            {
                frameInfo[0].ID = frameID | 0x0000FFFF;
            }
            frameInfo[0].SendType = (byte)this.combSendFormat.SelectedIndex;

CANApi.VCI_Transmit(this.mDeviceType, this.mDeviceIndex, this.mCANIndex, ref frameInfo[0], 1);

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01.CANApi.VCI_CAN_OBJ[] frameInfos = new CANApi.VCI_CAN_OBJ[50];
02.len = (int)CANApi.VCI_Receive(this.mDeviceType, this.mDeviceIndex, this.mCANIndex, ref frameInfos[0], 50, 200);
03.                if (len <= 0)
04.                {
05.                    //注意：如果没有读到数据则必须调用此函数来读取出当前的错误码，
06.                    //千万不能省略这一步（即使你可能不想知道错误码是什么）
07.                    CANApi.VCI_ReadErrInfo(this.mDeviceType, this.mDeviceIndex, this.mCANIndex, ref errInfo);
08.                }
09.                else
10.                {...
CANApi.VCI_CAN_OBJ[] frameInfos = new CANApi.VCI_CAN_OBJ[50];
len = (int)CANApi.VCI_Receive(this.mDeviceType, this.mDeviceIndex, this.mCANIndex, ref frameInfos[0], 50, 200);
                if (len <= 0)
                {
                    //注意：如果没有读到数据则必须调用此函数来读取出当前的错误码，
                    //千万不能省略这一步（即使你可能不想知道错误码是什么）
                    CANApi.VCI_ReadErrInfo(this.mDeviceType, this.mDeviceIndex, this.mCANIndex, ref errInfo);
                }
                else
                {...