Python 驱动周立功200U收发报文

本文以 USBCANFD200U CAN盒为例

基于python ，使用ZLG USBCANFD200U CAN盒进行收发报文等上位机Demo

一、周立功官网下载函数库和例程

下载链接：https://manual.zlg.cn/web/#/55?page_id=2286

二、周立功设备及通道的打开和关闭

import zlgcan

def main():
    # 创建can实例
    zcanlib = zlgcan.ZCAN()
    # 打开CAN设备
    canDriveHandle = zcanlib.OpenDevice(zlgcan.ZCAN_USBCANFD_200U, 0, 0)
    if canDriveHandle == zlgcan.INVALID_DEVICE_HANDLE:
            print("打开设备失败！")
    else:
            print("打开设备成功！")

    # 初始化
    chn_cfg = zlgcan.ZCAN_CHANNEL_INIT_CONFIG()
    chn0_handle = zcanlib.InitCAN(canDriveHandle, 0, chn_cfg)
    # 启动CAN通道
    zcanlib.StartCAN(chn0_handle)
    # 关闭CAN设备
    zcanlib.CloseDevice(canDriveHandle)

if __name__ == '__main__':
    main()

三、获取设备信息

import zlgcan

def main():
    # 创建can实例
    zcanlib = zlgcan.ZCAN()
    # 打开CAN设备
    canDriveHandle = zcanlib.OpenDevice(zlgcan.ZCAN_USBCANFD_200U, 0, 0)
    if canDriveHandle == zlgcan.INVALID_DEVICE_HANDLE:
            print("打开设备失败！")
    else:
            print("打开设备成功！")

    # 获取设备信息
    deviceInfo = zcanlib.GetDeviceInf(canDriveHandle)
    print("获取 硬件版本号：", deviceInfo.hw_version)
    print("获取 固件版本号：", deviceInfo.fw_version)
    print("获取 驱动程序版本号：", deviceInfo.dr_version)
    print("获取 接口库版本号：", deviceInfo.in_version)
    print("获取 支持通道数量：", deviceInfo.can_num)
    print("获取 板卡的序列号：", deviceInfo.serial)
    print("获取 硬件类型：", deviceInfo.hw_type)
    # 关闭CAN设备
    zcanlib.CloseDevice(canDriveHandle)

if __name__ == '__main__':
    main()

四、通道配置

import zlgcan

def main():
    # 创建can实例
    zcanlib = zlgcan.ZCAN()
    # 打开CAN设备
    canDriveHandle = zcanlib.OpenDevice(zlgcan.ZCAN_USBCANFD_200U, 0, 0)
    if canDriveHandle == zlgcan.INVALID_DEVICE_HANDLE:
            print("打开设备失败！")
    else:
            print("打开设备成功！")

    '''
    仲裁域波特率：
        "50K":12696558,
        "100K":4307950,
        "125K":4304830,
        "250K":110526,
        "500K":104286,
        "800K":101946,
        "1M":101166
    数据域波特率：
        "1M":8487694,
        "2M":4260362,
        "4M":66058,
        "5M":66055
    '''
    # 初始化
    chn0_cfg = zlgcan.ZCAN_CHANNEL_INIT_CONFIG()    
    chn0_cfg.can_type = zlgcan.ZCAN_TYPE_CANFD  # 设置为 CANFD 协议
    chn0_cfg.config.canfd.abit_timing = 104286  # 设置仲裁域波特率 500K
    chn0_cfg.config.canfd.dbit_timing = 4260362 # 设置数据域波特率 2M
    chn0_handle = zcanlib.InitCAN(canDriveHandle, 0, chn0_cfg)
    # 启动CAN通道
    zcanlib.StartCAN(chn0_handle)
    # 关闭CAN设备
    zcanlib.CloseDevice(canDriveHandle)

if __name__ == '__main__':
    main()

五、获取接收的报文数据

import zlgcan
import time

def main():
    # 创建can实例
    zcanlib = zlgcan.ZCAN()
    # 打开CAN设备
    canDriveHandle = zcanlib.OpenDevice(zlgcan.ZCAN_USBCANFD_200U, 0, 0)
    if canDriveHandle == zlgcan.INVALID_DEVICE_HANDLE:
            print("打开设备失败！")
    else:
            print("打开设备成功！")

    '''
    仲裁域波特率：
        "50K":12696558,
        "100K":4307950,
        "125K":4304830,
        "250K":110526,
        "500K":104286,
        "800K":101946,
        "1M":101166
    数据域波特率：
        "1M":8487694,
        "2M":4260362,
        "4M":66058,
        "5M":66055
    '''
    # 初始化
    chn0_cfg = zlgcan.ZCAN_CHANNEL_INIT_CONFIG()    
    chn0_cfg.can_type = zlgcan.ZCAN_TYPE_CANFD  # 设置为 CANFD 协议
    chn0_cfg.config.canfd.abit_timing = 104286  # 设置仲裁域波特率 500K
    chn0_cfg.config.canfd.dbit_timing = 4260362 # 设置数据域波特率 2M
    chn0_handle = zcanlib.InitCAN(canDriveHandle, 0, chn0_cfg)
    # 启动CAN通道
    zcanlib.StartCAN(chn0_handle)
    total_ReceiveNum = 0 # 总共接收到的报文数量
    while(1):
        can_num = zcanlib.GetReceiveNum(chn0_handle, zlgcan.ZCAN_TYPE_CAN) # 获取缓冲区 CAN 报文数量
        canfd_num = zcanlib.GetReceiveNum(chn0_handle, zlgcan.ZCAN_TYPE_CANFD) # # 获取缓冲区 CANFD 报文数量
        if can_num != 0 or canfd_num != 0:
            
            while can_num >= 1:
                read_cnt = 10 if can_num >= 10 else can_num # 若接收缓冲区的报文数量小于10，就以缓冲区内的数量进行读取
                can_msgs, act_num = zcanlib.Receive(chn0_handle, read_cnt, 5) # 5 表示缓冲区无数据，函数阻塞等待时间，单位毫秒
                for i in range(act_num): 
                    #update data
                    total_ReceiveNum += 1
                    rev_Data = " "
                    print("接收到的报文数量：", total_ReceiveNum)
                    print("报文ID：", can_msgs[i].frame.can_id)
                    print("数据长度：", can_msgs[i].frame.can_dlc)
                    for j in range(can_msgs[i].frame.can_dlc): 
                         rev_Data = rev_Data + str(can_msgs[i].frame.data[j]) + " "
                    print("数据：", rev_Data)
                else:
                    break
                can_num -= act_num
            while canfd_num >= 1:
                read_cnt = 10 if canfd_num >= 10 else canfd_num # 若接收缓冲区的报文数量小于10，就以缓冲区内的数量进行读取
                canfd_msgs, act_num = zcanlib.ReceiveFD(chn0_handle, read_cnt, 5) # 5 表示缓冲区无数据，函数阻塞等待时间，单位毫秒
                for i in range(act_num): 
                    #update data
                    total_ReceiveNum += 1
                    rev_Data = " "
                    print("接收到的报文数量：", total_ReceiveNum)
                    print("报文ID：", canfd_msgs[i].frame.can_id)
                    print("数据长度：", canfd_msgs[i].frame.len)
                    for j in range(canfd_msgs[i].frame.len): 
                         rev_Data = rev_Data + str(canfd_msgs[i].frame.data[j]) + " "
                    print("数据：", rev_Data)
                else:
                    break
                canfd_num -= act_num
        else:
            # print("can_num = ", can_num, "canfd_num = ", canfd_num)
            time.sleep(0.002) #wait 2ms

    # 关闭CAN设备
    zcanlib.CloseDevice(canDriveHandle)

if __name__ == '__main__':
    main()

# 六、报文发送

import zlgcan
import time

def main():
    # 创建can实例
    zcanlib = zlgcan.ZCAN()
    # 打开CAN设备
    canDriveHandle = zcanlib.OpenDevice(zlgcan.ZCAN_USBCANFD_200U, 0, 0)
    if canDriveHandle == zlgcan.INVALID_DEVICE_HANDLE:
            print("打开设备失败！")
    else:
            print("打开设备成功！")

    '''
    仲裁域波特率：
        "50K":12696558,
        "100K":4307950,
        "125K":4304830,
        "250K":110526,
        "500K":104286,
        "800K":101946,
        "1M":101166
    数据域波特率：
        "1M":8487694,
        "2M":4260362,
        "4M":66058,
        "5M":66055
    '''
    # 初始化
    chn0_cfg = zlgcan.ZCAN_CHANNEL_INIT_CONFIG()    
    chn0_cfg.can_type = zlgcan.ZCAN_TYPE_CANFD  # 设置为 CANFD 协议
    chn0_cfg.config.canfd.abit_timing = 104286  # 设置仲裁域波特率 500K
    chn0_cfg.config.canfd.dbit_timing = 4260362 # 设置数据域波特率 2M
    chn0_handle = zcanlib.InitCAN(canDriveHandle, 0, chn0_cfg)
    # 启动CAN通道
    zcanlib.StartCAN(chn0_handle)
    total_ReceiveNum = 0 # 总共接收到的报文数量
    while(1):
        send_data = [1,2,3,4,5,6,7,8,9,10,11,12]
        # 发送 CAN 报文
        msg_Can = zlgcan.ZCAN_Transmit_Data()
        msg_Can.transmit_type =  1 # 发送方式， 0=正常发送， 1=单次发送， 2=自发自收， 3=单次自发自收。
        msg_Can.frame.can_id = 25
        msg_Can.frame.can_dlc = 8
        for i in range(msg_Can.frame.can_dlc):
            msg_Can.frame.data[i] = send_data[i]
        zcanlib.Transmit(chn0_handle, msg_Can, 1) # 1 表示报文数目
        time.sleep(0.5) #wait 500ms

        # 发送 CANFD 报文
        msg_Canfd = zlgcan.ZCAN_TransmitFD_Data()
        msg_Canfd.frame.can_id = 45
        msg_Canfd.frame.len = 12
        for i in range(msg_Canfd.frame.len):
            msg_Canfd.frame.data[i] = send_data[i]
        zcanlib.TransmitFD(chn0_handle, msg_Canfd, 1) # 1 表示报文数目
        time.sleep(0.5) #wait 500ms

    # 关闭CAN设备
    zcanlib.CloseDevice(canDriveHandle)

if __name__ == '__main__':
    main()

提示：加载 zlgcan.dll 时报错 - OSError: [WinError 193] %1 不是有效的 Win32 应用程序

这通常是由于 Python 解释器的位数（32 位或 64 位）与 DLL 文件的位数不兼容导致的。
可以通过以下 Python 代码来确认 Python 解释器的位数：

import struct
print(struct.calcsize("P") * 8)

运行上述代码后，如果输出结果是 32，则表示你使用的是 32 位的 Python 解释器；如果输出结果是 64，则表示使用的是 64 位的 Python 解释器。

提示：无法打开设备

从下载的 demo 中，找到 kerneldlls 文件夹，将其放到 zlgcan.py 同一路径下

• 返回 Python 专栏目录索引

参考

• Python+周立功can卡+can收发