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