C#编写Can上位机程序

1、c#编写can上位机程序周立功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。view plaincopy to clipboardprint?01.public sealed class canapi 02. 03. /接口卡类型定义 04. public enum pcidevicety

2、pe 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_

3、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

4、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_loadk

5、erneldll =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_v

6、ersion; 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.i

7、nteropservices.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.interop

8、services.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 re

9、moteflag;/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;

10、 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 regewlim

11、it; 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.marshalasatt

12、ribute(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 = ch

13、arset.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)

14、 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.b

15、yvaltstr, 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

16、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, en

17、trypoint = 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 =

18、 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.s

19、tdcall) 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 u

20、int 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 devicetyp

21、e, 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 re

22、ftype, 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, entrypo

23、int = 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 = calli

24、ngconvention.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 devi

25、cetype, 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.

26、 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.

27、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

28、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 er

29、r_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(layoutkin

30、d.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.unma

31、nagedtype.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.unm

32、anagedtype.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 by

33、te 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 reserv

34、ed; /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 reg

35、tecounter; 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

36、.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 by

37、te 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.i

38、nteropservices.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 stat

39、ic 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(controlc

40、an.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.a

41、nsi, 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 ext

42、ern 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 device

43、ind, 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); dlli

44、mport(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,

45、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 stat

46、ic 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, u