407 lines
12 KiB
Plaintext
407 lines
12 KiB
Plaintext
/*
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*使用说明：
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*1.创建CAN设备对象 CANHw = usb2canfd.USB2CANHW();
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*2.加载DLL CANHw.LoadDll();
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*3.扫描设备 hwnum = CANHw.FlashHw();
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*4.获取可用设备 allhw = CANHw.GetAvailableHW();
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*5.打开设备(初始化) CANHw.OpenDevice(设备序号,通道)
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*6.通过SendMsg和GetMsg发送和获取报文
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*/
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namespace usb2canfd{
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//参考 http://www.toomoss.com/help/index.htm
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//初始化CAN的数据类型定义
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class CANFD_INIT_CONFIG{
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ctor( /*输入构造函数所需要的参数*/ ){
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};
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type=me;
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/*对象的所有成员必须用分号分隔*/
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BYTE Mode; //0-正常模式，1-自发自收模式
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BYTE ISOCRCEnable;//0-禁止ISO CRC,1-使能ISO CRC
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BYTE RetrySend;//0-禁止重发，1-无限制重发
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BYTE ResEnable;//0-不接入内部120欧终端电阻，1-接入内部120欧终端电阻
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//波特率参数可以用TCANLINPro软件里面的波特率计算工具计算
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//仲裁段波特率参数,波特率=40M/NBT_BRP*(1+NBT_SEG1+NBT_SEG2)
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BYTE NBT_BRP;
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BYTE NBT_SEG1;
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BYTE NBT_SEG2;
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BYTE NBT_SJW;
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//数据段波特率参数,波特率=40M/DBT_BRP*(1+DBT_SEG1+DBT_SEG2)
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BYTE DBT_BRP;
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BYTE DBT_SEG1;
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BYTE DBT_SEG2;
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BYTE DBT_SJW;
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BYTE __Res0[8];
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}
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//初始化CAN的数据类型定义
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class CAN_INIT_CONFIG{
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ctor( /*输入构造函数所需要的参数*/ ){
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};
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type=me;
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/*对象的所有成员必须用分号分隔*/
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//CAN波特率 = 100MHz/(CAN_BRP)/(CAN_SJW+CAN_BS1+CAN_BS2)
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INT CAN_BRP; //取值范围1~1024
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BYTE CAN_SJW; //取值范围1~4
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BYTE CAN_BS1; //取值范围1~16
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BYTE CAN_BS2; //取值范围1~8
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BYTE CAN_Mode; //CAN工作模式，0-正常模式，1-环回模式，2-静默模式，3-静默环回模式，bit7为1则接入适配器内部终端电阻，否则不接入
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BYTE CAN_ABOM; //自动离线管理，0-禁止，1-使能
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BYTE CAN_NART; //报文重发管理，0-使能报文重传，1-禁止报文重传
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BYTE CAN_RFLM; //FIFO锁定管理，0-新报文覆盖旧报文，1-丢弃新报文
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BYTE CAN_TXFP; //发送优先级管理，0-标识符决定，1-发送请求顺序决定
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}
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//CANfd信息帧的数据类型定义
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class CANFD_MSG{
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ctor( /*输入构造函数所需要的参数*/ ){
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};
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type=me;
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/*对象的所有成员必须用分号分隔*/
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INT ID; //报文ID。 //| (1<<31);//扩展帧
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BYTE DLC; //数据字节长度，可设置为-0,1,2,3,4,5,6,7,8,12,16,20,24,32,48,64
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BYTE Flags; //bit[0]-BRS,bit[1]-ESI,bit[2]-FDF,bit[6..5]-Channel,bit[7]-RXD
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BYTE __Res0; //保留
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BYTE __Res1; //保留
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INT TimeStamp; //帧接收或者发送时的时间戳，单位为10us
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BYTE Data[64]; //报文的数据。
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}
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//CAN信息帧的数据类型定义
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class CAN_MSG{
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ctor( /*输入构造函数所需要的参数*/ ){
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};
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type=me;
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/*对象的所有成员必须用分号分隔*/
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INT ID; //报文ID。
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INT TimeStamp; //接收到信息帧时的时间标识，从CAN 控制器初始化开始计时。
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BYTE RemoteFlag; //是否是远程帧
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BYTE ExternFlag; //是否是扩展帧
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BYTE DataLen; //数据长度(<=8)，即Data 的长度。
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BYTE Data[8]; //报文的数据。
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BYTE __Res;
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}
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class CAN_UDS_ADDR{
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ctor( /*输入构造函数所需要的参数*/ ){
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};
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type=me;
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/*对象的所有成员必须用分号分隔*/
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INT ReqID; //请求报文ID。
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INT ResID; //应答报文ID。
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BYTE Flag; //bit[0]-帧类型(0-标准帧，1-扩展帧),
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//bit[1]-FDF(0-普通CAN帧，1-CANFD帧),
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//bit[2]-BRS(0-CANFD帧不加速，1-CANFD帧加速)
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BYTE AddrFormats; //0-normal, 1-extended ,2-mixed
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BYTE AddrExt; //当AddrFormats不为normal时，该数据放到CAN数据域第1字节
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BYTE MaxDLC; //每帧最大数据字节数，一般设置为8
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}
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class DEVICE_INFO{
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ctor( /*输入构造函数所需要的参数*/ ){
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};
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type=me;
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/*对象的所有成员必须用分号分隔*/
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BYTE FirmwareName[32]; //固件名称字符串
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BYTE BuildDate[32]; //固件编译时间字符串
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INT HardwareVersion; //硬件版本号
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INT FirmwareVersion; //固件版本号
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INT SerialNumber[3]; //适配器序列号
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INT Functions; //适配器当前具备的功能
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}
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//调用函数
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class USB2CANHW{
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ctor( /*输入构造函数所需要的参数*/ ){
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};
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type=me;
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/*对象的所有成员必须用分号分隔*/
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//初始化全局变量
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DllHandle = null;
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//加载DLL
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LoadDll = function(){
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try{
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DllHandle = ..raw.loadDll("\USB2XXX.dll")
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}
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catch(err)
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{
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import win;
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DllHandle = null;
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win.msgboxTimeout("加载USB2LIN的DLL失败，请检查USB2XXX.dll和libusb-1.0.dll文件","错误",1000,);
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}
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if(DllHandle == null)return 1;
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return 0;
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}
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//刷新硬件
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FlashHw = function(){
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if(DllHandle = null){
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//DLL为空，返回
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AvailableHW = {}
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return 0;
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}
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var arr_temp = {int value[] = { length = 10/*可以使用变量*/ } }//类似动态数组
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HwNum = DllHandle.USB_ScanDevice(arr_temp)
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AvailableHW = {}
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for(i=1;HwNum;1){
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var devtemp = {};
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devtemp.devnum = i;
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devtemp.channel = 1;
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devtemp.hLINHW = arr_temp.value[i];
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devtemp.name = "dev-" + i + ":" + tostring(arr_temp.value[i],16);
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..table.push(AvailableHW,devtemp);
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}
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return HwNum; //返回有效硬件数
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}
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//获取设备信息
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GetDevInfo = function(index){
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if(index > HwNum)
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{ //如果序号大于最大硬件数
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return 0;
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}
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DllHandle.USB_OpenDevice(AvailableHW[index].hLINHW);
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var DeviceInfo = ..usb2canfd.DEVICE_INFO();
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var funcstr = ..raw.buffer(100);
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var ret = DllHandle.DEV_GetDeviceInfo(AvailableHW[index].hLINHW,DeviceInfo,funcstr);
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return ret,DeviceInfo,funcstr;
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}
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//获取有效硬件
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GetAvailableHW = function(){
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return AvailableHW;
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}
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//打开设备，包括初始化通道
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OpenDevice = function(index,channel,canfd){
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if(index > HwNum)
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{ //如果序号大于最大硬件数
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return 0;
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}
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import console;
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var ret = DllHandle.USB_OpenDevice(AvailableHW[index].hLINHW)
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//canfd = true;
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if(canfd == true){
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canconfig = ..usb2canfd.CANFD_INIT_CONFIG();
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canconfig.Mode = 0; //0-正常模式，1-自发自收模式
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canconfig.ISOCRCEnable = 0;//0-禁止ISO CRC,1-使能ISO CRC
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canconfig.RetrySend = 0;//0-禁止重发，1-无限制重发
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canconfig.ResEnable = 1;//0-不接入内部120欧终端电阻，1-接入内部120欧终端电阻
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//波特率参数可以用TCANLINPro软件里面的波特率计算工具计算
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//仲裁段波特率参数,波特率=40M/NBT_BRP*(1+NBT_SEG1+NBT_SEG2)
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canconfig.NBT_BRP = 1; //参数来自官方上位机，默认500K
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canconfig.NBT_SEG1 = 59;
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canconfig.NBT_SEG2 = 20;
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canconfig.NBT_SJW = 2;
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//数据段波特率参数,波特率=40M/DBT_BRP*(1+DBT_SEG1+DBT_SEG2)
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canconfig.DBT_BRP = 2; //参数来自官方上位机，默认500K
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canconfig.DBT_SEG1 = 29;
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canconfig.DBT_SEG2 = 10;
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canconfig.DBT_SJW = 2;
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ret = DllHandle.CANFD_Init(AvailableHW[index].hLINHW,channel,canconfig);
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}
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else {
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canconfig = ..usb2canfd.CAN_INIT_CONFIG();
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canconfig.CAN_Mode = 0;//0-正常模式 1-环回模式
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canconfig.CAN_ABOM = 0;//禁止自动离线
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canconfig.CAN_NART = 1;//禁止报文重传
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canconfig.CAN_RFLM = 0;//FIFO满之后覆盖旧报文
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canconfig.CAN_TXFP = 1;//发送请求决定发送顺序
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//配置波特率,波特率 = 42M/(BRP*(SJW+BS1+BS2))
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canconfig.CAN_BRP = 4;
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canconfig.CAN_BS1 = 15;
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canconfig.CAN_BS2 = 5;
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canconfig.CAN_SJW = 1;
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ret = DllHandle.CAN_Init(AvailableHW[index].hLINHW,channel,canconfig);
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console.log("init ret = " + ret);
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}
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canfd_connected = canfd;
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if(ret == 0){//调用成功
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Hwconnected = AvailableHW[index].hLINHW;
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Chconntected = channel;
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}
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else {
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Hwconnected = null
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Chconntected = null;
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}
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return ret;
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}
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//关闭设备
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CloseDevice = function(){
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if(Hwconnected == null){
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return;
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}
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try{
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DllHandle.USB_CloseDevice(Hwconnected);
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Hwconnected = null;
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}
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}
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//是否连接
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isConnected = function(){
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if(Hwconnected == null){
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return false;
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}
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else {
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return true;
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}
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}
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//发送报文
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SendMsg = function(id,data){
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if(Hwconnected == null){//未连接
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return 0;
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}
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if(#data == 0 || #data>8){//长度不对
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return 0;
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}
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//console.log("发送报文")
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if(canfd_connected == true){
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var msg = ..usb2canfd.CANFD_MSG();
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msg.Flags = 0;
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if(id <= 0x7ff){
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msg.ID = id; //| (1<<31);//扩展帧
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}
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else {
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msg.ID = id | (1<<31);//扩展帧
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}
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msg.DLC = #data;
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msg.Data = data;
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var ret = DllHandle.CANFD_SendMsg(Hwconnected,Chconntected,msg,1);
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}
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else {
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var msg = ..usb2canfd.CAN_MSG();
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//msg.Flags = 0;
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if(id <= 0x7ff){
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msg.ID = id; //| (1<<31);//扩展帧
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}
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else {
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msg.ID = id | (1<<31);//扩展帧
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}
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msg.ExternFlag = 0;
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msg.RemoteFlag = 0;
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msg.DataLen = #data;
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msg.Data = data;
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console.log("发送报文")
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var ret = DllHandle.CAN_SendMsg(Hwconnected,Chconntected,msg,1);
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console.log("ret = " + ret);
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}
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return ret;
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}
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//从设备缓冲区获取报文
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GetMsg = function(){
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var ret = 0;
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var retdata = {};
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if(canfd_connected == true){
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//CANFD
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do{
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var msgbuf = ..usb2canfd.CANFD_MSG();
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ret = DllHandle.CANFD_GetMsg(Hwconnected,CANIndex,msgbuf,1);
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if(ret == 1){
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var data = {};
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for(i=1;msgbuf.DLC;1){
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data[i] = msgbuf.Data[i];
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}
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var msg = {"id"=msgbuf.ID;"data"=data;};//
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..table.push(retdata,msg);
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}
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}while(ret > 0)
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}
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else {
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//CAN
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do{
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var msgbuf = ..usb2canfd.CAN_MSG();
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ret = DllHandle.CAN_GetMsgWithSize(Hwconnected,CANIndex,msgbuf,1);
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if(ret == 1){
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var data = {};
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for(i=1;msgbuf.DataLen;1){
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data[i] = msgbuf.Data[i];
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}
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var msg = {"id"=msgbuf.ID;"data"=data;};//
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..table.push(retdata,msg);
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}
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}while(ret > 0)
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}
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return retdata;
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}
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GetDiag = function(data){
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if(#data<2){
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return 0,1;
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}
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var UDSAddr = ..usb2canfd.CAN_UDS_ADDR()
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UDSAddr.Flag = 1;//使用扩展帧
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UDSAddr.AddrFormats = 0;
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UDSAddr.ReqID = 0x18dadff1;
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UDSAddr.ResID = 0x18daf1df;
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UDSAddr.MaxDLC = 8;
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var req_data = ..raw.buffer(#data);
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for(i=1;#data;1){
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req_data[i] = data[i];
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}
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ret = DllHandle.CAN_UDS_Request(Hwconnected,CANIndex,UDSAddr,req_data,#data);
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var res_data = ..raw.buffer(4096);
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//sleep(10);
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var ret = DllHandle.CAN_UDS_Response(Hwconnected,CANIndex,UDSAddr,res_data,1000);
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return ret,2,res_data;
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}
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}
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}
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/**intellisense()
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usb2canfd = 图莫斯CANFD驱动
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usb2canfd.USB2CANHW = USB2CAN库
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usb2canfd.USB2CANHW() = 创建设备对象\n!usb2canfdUSB2CANHW.
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!usb2canfdUSB2CANHW.LoadDll() = 加载DLL
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!usb2canfdUSB2CANHW.FlashHw() = 刷新硬件
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!usb2canfdUSB2CANHW.GetDevInfo() = 获取设备信息
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!usb2canfdUSB2CANHW.GetAvailableHW() = 获取有效设备，需要先FlashHw()刷新
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!usb2canfdUSB2CANHW.OpenDevice() = 打开设备
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!usb2canfdUSB2CANHW.CloseDevice() = 关闭设备
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!usb2canfdUSB2CANHW.isConnected() = 是否已连接
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!usb2canfdUSB2CANHW.SendMsg() = 发送报文
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!usb2canfdUSB2CANHW.GetMsg() = 接收报文
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end intellisense**/
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