Aotecar-CAN/CompressorXN_Communication/TuMos/BaseTMS.cs

using CompressorXN_Common;
using System;
using System.Text;
using USB2XXX;

namespace CompressorXN_Communication.TuMos
{
    public class BaseTMS
    {
        private static USB_DEVICE.DEVICE_INFO DevInfo = new USB_DEVICE.DEVICE_INFO();
        private static Int32[] DevHandles = new Int32[20];
        protected static int DevHandle = 0;
        protected static Byte WriteCANIndex = 0;
        protected static Byte ReadCANIndex = 0;
        protected static Byte CANIndex = 0;
        private static bool state;
        private static Int32 DevNum = 0;
        private static USB2CANFD.CANFD_MSG[] CanMsgBuffer = new USB2CANFD.CANFD_MSG[10240];

        /// <summary>
        /// 打开设备
        /// </summary>
        /// <returns></returns>
        public static (bool isOk, string msg) OpenDevice()
        {
            //扫描查找设备
            DevNum = USB_DEVICE.USB_ScanDevice(DevHandles);
            if (DevNum <= 0)
            {
                return (false, $"无设备连接!");
            }
            else
            {
                Console.WriteLine("Have {0} device connected!", DevNum);
            }

            DevHandle = DevHandles[0];
            //打开设备
            state = USB_DEVICE.USB_OpenDevice(DevHandle);
            if (!state)
            {
                return (false, $"打开设备异常：state={state}!");
            }
            else
            {
                Console.WriteLine("Open device success!");
            }

            //获取固件信息
            StringBuilder FuncStr = new StringBuilder(256);
            state = USB_DEVICE.DEV_GetDeviceInfo(DevHandle, ref DevInfo, FuncStr);
            if (!state)
            {
                return (false, $"获取设备信息异常：state={state}!");
            }
            else
            {
                Console.WriteLine($"{DateTime.Now}>>>>Firmware Info:");
                Console.WriteLine("    Name:" + Encoding.Default.GetString(DevInfo.FirmwareName));
                Console.WriteLine("    Build Date:" + Encoding.Default.GetString(DevInfo.BuildDate));
                Console.WriteLine("    Firmware Version:v{0}.{1}.{2}", (DevInfo.FirmwareVersion >> 24) & 0xFF, (DevInfo.FirmwareVersion >> 16) & 0xFF, DevInfo.FirmwareVersion & 0xFFFF);
                Console.WriteLine("    Hardware Version:v{0}.{1}.{2}", (DevInfo.HardwareVersion >> 24) & 0xFF, (DevInfo.HardwareVersion >> 16) & 0xFF, DevInfo.HardwareVersion & 0xFFFF);
                Console.WriteLine("    Functions:" + DevInfo.Functions.ToString("X8"));
                Console.WriteLine("    Functions String:" + FuncStr);
            }
            GlobalVar.DevHandle = DevHandle;

            return (true, "连接成功");
        }

        /// <summary>
        /// 初始化CAN
        /// </summary>
        /// <param name="bps"></param>
        public static void CanInit(uint bps)
        {
            USB2CAN.CAN_INIT_CONFIG CANConfig = new USB2CAN.CAN_INIT_CONFIG();
            //波特率
            var ret = USB2CAN.CAN_GetCANSpeedArg(DevHandle, ref CANConfig, bps);
            if (ret != USB2CAN.CAN_SUCCESS)
            {
                Console.WriteLine("Get CAN Speed failed!");
                return;
            }
            else
            {
                Console.WriteLine("Get CAN Speed Success!");
            }
            //初始化配置CAN
            CANConfig.CAN_Mode = 0x80;//正常模式
            CANConfig.CAN_ABOM = 0;//禁止自动离线
            CANConfig.CAN_NART = 1;//禁止报文重传
            CANConfig.CAN_RFLM = 0;//FIFO满之后覆盖旧报文
            CANConfig.CAN_TXFP = 1;//发送请求决定发送顺序
            ret = USB2CAN.CAN_Init(DevHandle, WriteCANIndex, ref CANConfig);

            if (ret != USB2CAN.CAN_SUCCESS)
            {
                Console.WriteLine("Config Send CAN failed!");
                return;
            }
            else
            {
                Console.WriteLine("Config Send CAN Success!");
            }
            //配置过滤器，接收所有数据
            //int[] pIdList = new int[1] { Convert.ToInt32(GlobalVar.agreementMsgVM.ReciveId, 16) };
            //byte idListLen = 1;
            //ret = USB2CAN.CAN_FilterList_Init(DevHandle, ReadCANIndex, pIdList, idListLen);
            //if (ret != USB2CAN.CAN_SUCCESS)
            //{
            //    Console.WriteLine("Config CAN Filter failed!");
            //    return;
            //}
            //else
            //{
            //    Console.WriteLine("Config CAN Filter Success!");
            //}

            //启动CAN接收数据
            ret = USB2CAN.CAN_StartGetMsg(GlobalVar.DevHandle, GlobalVar.ReadCANIndex);
            if (ret != USB2CAN.CAN_SUCCESS)
            {
                Console.WriteLine("Start CAN failed!");
                return;
            }
            else
            {
                Console.WriteLine("Start CAN Success!");
            }
        }

        /// <summary>
        /// CANFD初始化
        /// </summary>
        /// <param name="bpsNBT">仲裁段波特率</param>
        /// <param name="bpsDBT">数据段波特率</param>
        public static void CANFDInit(uint bpsNBT, uint bpsDBT)
        {
            USB2CANFD.CANFD_INIT_CONFIG CANFDConfig = new USB2CANFD.CANFD_INIT_CONFIG();

            /*
               CANFDConfig.Mode = 1;        //0-正常模式，1-自发自收模式
               CANFDConfig.RetrySend = 1;   //使能自动重传
               CANFDConfig.ISOCRCEnable = 1;//使能ISOCRC
               CANFDConfig.ResEnable = 1;   //使能内部终端电阻（若总线上没有终端电阻，则必须使能终端电阻才能正常传输数据）
               //波特率参数可以用TCANLINPro软件里面的波特率计算工具计算
               //仲裁段波特率参数,波特率=40M/NBT_BRP*(1+NBT_SEG1+NBT_SEG2)
               CANFDConfig.NBT_BRP = 1;
               CANFDConfig.NBT_SEG1 = 63;
               CANFDConfig.NBT_SEG2 = 16;
               CANFDConfig.NBT_SJW = 16;
               //数据域波特率参数,波特率=40M/DBT_BRP*(1+DBT_SEG1+DBT_SEG2)
               CANFDConfig.DBT_BRP = 1;
               CANFDConfig.DBT_SEG1 = 15;
               CANFDConfig.DBT_SEG2 = 4;
               CANFDConfig.DBT_SJW = 4;
            * */
            //填充初始化参数
            var ret = USB2CANFD.CANFD_GetCANSpeedArg(DevHandle, ref CANFDConfig, bpsNBT, bpsDBT);
            if (ret != USB2CANFD.CANFD_SUCCESS)
            {
                Console.WriteLine("Get CANFD Speed failed!");
                return;
            }
            else
            {
                Console.WriteLine("Get CANFD Speed Success!");
            }
            CANFDConfig.ISOCRCEnable = 1;//使能ISOCRC
            ret = USB2CANFD.CANFD_Init(DevHandle, CANIndex, ref CANFDConfig);
            if (ret != USB2CANFD.CANFD_SUCCESS)
            {
                Console.WriteLine("Config CANFD failed!");
                return;
            }
            else
            {
                Console.WriteLine("Config CANFD Success!");
            }
            //配置过滤器，若不配置过滤器，默认是接收所有数据
            //USB2CANFD.CANFD_FILTER_CONFIG CANFDFilter = new USB2CANFD.CANFD_FILTER_CONFIG();
            //CANFDFilter.Index = 0;//取值范围为：0~31
            //CANFDFilter.Enable = 1;
            ////配置为只接收扩展帧数据
            //CANFDFilter.ID_Accept = 0x80000000;
            //CANFDFilter.ID_Mask = 0x80000000;
            //ret = USB2CANFD.CANFD_SetFilter(DevHandle, CANIndex, ref CANFDFilter, 1);
            //if (ret != USB2CANFD.CANFD_SUCCESS)
            //{
            //    Console.WriteLine("Config filter failed!");
            //    return;
            //}
            //else
            //{
            //    Console.WriteLine("Config filter success!");
            //}
            //启动CAN数据接收
            ret = USB2CANFD.CANFD_StartGetMsg(DevHandle, CANIndex);
            if (ret != USB2CANFD.CANFD_SUCCESS)
            {
                Console.WriteLine("Start receive CANFD failed!");
                return;
            }
            else
            {
                Console.WriteLine("Start receive CANFD Success!");
            }
        }
    }
}