周立功 CAN PCI接口卡C#语言示例

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。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：

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);

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 {...

运行效果图如下：