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286 lines
8.7 KiB
286 lines
8.7 KiB
//样例只是提供一个简单的调用so库的方法供参考，程序接收，与发送函数设置在两个线程中，并且线程没有同步。
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//现实中客户编程中，发送与接收函数不能同时调用（不支持多线程），如果在多线程中，一定需要互锁。需要客户自行完善代码。
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#include <stdio.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <pthread.h>
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#include "controlcan.h"
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#include <ctime>
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#include <cstdlib>
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#include "unistd.h"
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VCI_BOARD_INFO pInfo;//用来获取设备信息。
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int count=0;//数据列表中，用来存储列表序号。
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VCI_BOARD_INFO pInfo1 [50];
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int num=0;
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void *receive_func(void* param) //接收线程。
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{
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int reclen=0;
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VCI_CAN_OBJ rec[3000];//接收缓存，设为3000为佳。
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int i,j;
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int *run=(int*)param;//线程启动，退出控制。
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int ind=0;
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while((*run)&0x0f)
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{
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if((reclen=VCI_Receive(VCI_USBCAN2,0,ind,rec,3000,100))>0)//调用接收函数，如果有数据，进行数据处理显示。
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{
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for(j=0;j<reclen;j++)
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{
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printf("Index:%04d ",count);count++;//序号递增
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printf("CAN%d RX ID:0x%08X", ind+1, rec[j].ID);//ID
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if(rec[j].ExternFlag==0) printf(" Standard ");//帧格式：标准帧
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if(rec[j].ExternFlag==1) printf(" Extend ");//帧格式：扩展帧
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if(rec[j].RemoteFlag==0) printf(" Data ");//帧类型：数据帧
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if(rec[j].RemoteFlag==1) printf(" Remote ");//帧类型：远程帧
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printf("DLC:0x%02X",rec[j].DataLen);//帧长度
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printf(" data:0x"); //数据
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for(i = 0; i < rec[j].DataLen; i++)
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{
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printf(" %02X", rec[j].Data[i]);
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}
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printf(" TimeStamp:0x%08X",rec[j].TimeStamp);//时间标识。
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printf("\n");
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}
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}
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ind=!ind;//变换通道号，以便下次读取另一通道，交替读取。
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}
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printf("run thread exit\n");//退出接收线程
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pthread_exit(0);
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}
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main()
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{
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printf(">>this is hello !\r\n");//指示程序已运行
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num=VCI_FindUsbDevice2(pInfo1);
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printf(">>USBCAN DEVICE NUM:");printf("%d", num);printf(" PCS");printf("\n");
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for(int i=0;i<num;i++)
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{
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printf("Device:");printf("%d", i);printf("\n");
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printf(">>Get VCI_ReadBoardInfo success!\n");
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printf(">>Serial_Num:%c", pInfo1[i].str_Serial_Num[0]);
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printf("%c", pInfo1[i].str_Serial_Num[1]);
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printf("%c", pInfo1[i].str_Serial_Num[2]);
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printf("%c", pInfo1[i].str_Serial_Num[3]);
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printf("%c", pInfo1[i].str_Serial_Num[4]);
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printf("%c", pInfo1[i].str_Serial_Num[5]);
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printf("%c", pInfo1[i].str_Serial_Num[6]);
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printf("%c", pInfo1[i].str_Serial_Num[7]);
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printf("%c", pInfo1[i].str_Serial_Num[8]);
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printf("%c", pInfo1[i].str_Serial_Num[9]);
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printf("%c", pInfo1[i].str_Serial_Num[10]);
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printf("%c", pInfo1[i].str_Serial_Num[11]);
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printf("%c", pInfo1[i].str_Serial_Num[12]);
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printf("%c", pInfo1[i].str_Serial_Num[13]);
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printf("%c", pInfo1[i].str_Serial_Num[14]);
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printf("%c", pInfo1[i].str_Serial_Num[15]);
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printf("%c", pInfo1[i].str_Serial_Num[16]);
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printf("%c", pInfo1[i].str_Serial_Num[17]);
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printf("%c", pInfo1[i].str_Serial_Num[18]);
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printf("%c", pInfo1[i].str_Serial_Num[19]);printf("\n");
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printf(">>hw_Type:%c", pInfo1[i].str_hw_Type[0]);
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printf("%c", pInfo1[i].str_hw_Type[1]);
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printf("%c", pInfo1[i].str_hw_Type[2]);
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printf("%c", pInfo1[i].str_hw_Type[3]);
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printf("%c", pInfo1[i].str_hw_Type[4]);
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printf("%c", pInfo1[i].str_hw_Type[5]);
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printf("%c", pInfo1[i].str_hw_Type[6]);
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printf("%c", pInfo1[i].str_hw_Type[7]);
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printf("%c", pInfo1[i].str_hw_Type[8]);
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printf("%c", pInfo1[i].str_hw_Type[9]);printf("\n");
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printf(">>Firmware Version:V");
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printf("%x", (pInfo1[i].fw_Version&0xF00)>>8);
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printf(".");
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printf("%x", (pInfo1[i].fw_Version&0xF0)>>4);
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printf("%x", pInfo1[i].fw_Version&0xF);
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printf("\n");
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}
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printf(">>\n");
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printf(">>\n");
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printf(">>\n");
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if(VCI_OpenDevice(VCI_USBCAN2,0,0)==1)//打开设备
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{
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printf(">>open deivce success!\n");//打开设备成功
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}else
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{
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printf(">>open deivce error!\n");
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exit(1);
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}
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if(VCI_ReadBoardInfo(VCI_USBCAN2,0,&pInfo)==1)//读取设备序列号、版本等信息。
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{
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printf(">>Get VCI_ReadBoardInfo success!\n");
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//printf(" %08X", pInfo.hw_Version);printf("\n");
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//printf(" %08X", pInfo.fw_Version);printf("\n");
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//printf(" %08X", pInfo.dr_Version);printf("\n");
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//printf(" %08X", pInfo.in_Version);printf("\n");
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//printf(" %08X", pInfo.irq_Num);printf("\n");
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//printf(" %08X", pInfo.can_Num);printf("\n");
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printf(">>Serial_Num:%c", pInfo.str_Serial_Num[0]);
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printf("%c", pInfo.str_Serial_Num[1]);
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printf("%c", pInfo.str_Serial_Num[2]);
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printf("%c", pInfo.str_Serial_Num[3]);
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printf("%c", pInfo.str_Serial_Num[4]);
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printf("%c", pInfo.str_Serial_Num[5]);
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printf("%c", pInfo.str_Serial_Num[6]);
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printf("%c", pInfo.str_Serial_Num[7]);
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printf("%c", pInfo.str_Serial_Num[8]);
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printf("%c", pInfo.str_Serial_Num[9]);
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printf("%c", pInfo.str_Serial_Num[10]);
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printf("%c", pInfo.str_Serial_Num[11]);
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printf("%c", pInfo.str_Serial_Num[12]);
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printf("%c", pInfo.str_Serial_Num[13]);
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printf("%c", pInfo.str_Serial_Num[14]);
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printf("%c", pInfo.str_Serial_Num[15]);
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printf("%c", pInfo.str_Serial_Num[16]);
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printf("%c", pInfo.str_Serial_Num[17]);
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printf("%c", pInfo.str_Serial_Num[18]);
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printf("%c", pInfo.str_Serial_Num[19]);printf("\n");
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printf(">>hw_Type:%c", pInfo.str_hw_Type[0]);
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printf("%c", pInfo.str_hw_Type[1]);
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printf("%c", pInfo.str_hw_Type[2]);
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printf("%c", pInfo.str_hw_Type[3]);
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printf("%c", pInfo.str_hw_Type[4]);
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printf("%c", pInfo.str_hw_Type[5]);
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printf("%c", pInfo.str_hw_Type[6]);
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printf("%c", pInfo.str_hw_Type[7]);
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printf("%c", pInfo.str_hw_Type[8]);
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printf("%c", pInfo.str_hw_Type[9]);printf("\n");
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printf(">>Firmware Version:V");
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printf("%x", (pInfo.fw_Version&0xF00)>>8);
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printf(".");
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printf("%x", (pInfo.fw_Version&0xF0)>>4);
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printf("%x", pInfo.fw_Version&0xF);
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printf("\n");
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}else
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{
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printf(">>Get VCI_ReadBoardInfo error!\n");
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exit(1);
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}
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//初始化参数，严格参数二次开发函数库说明书。
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VCI_INIT_CONFIG config;
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config.AccCode=0;
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config.AccMask=0xFFFFFFFF;
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config.Filter=1;//接收所有帧
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config.Timing0=0x03;/*波特率125 Kbps 0x03 0x1C*/
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config.Timing1=0x1C;
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config.Mode=0;//正常模式
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if(VCI_InitCAN(VCI_USBCAN2,0,0,&config)!=1)
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{
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printf(">>Init CAN1 error\n");
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VCI_CloseDevice(VCI_USBCAN2,0);
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}
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if(VCI_StartCAN(VCI_USBCAN2,0,0)!=1)
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{
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printf(">>Start CAN1 error\n");
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VCI_CloseDevice(VCI_USBCAN2,0);
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}
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if(VCI_InitCAN(VCI_USBCAN2,0,1,&config)!=1)
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{
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printf(">>Init can2 error\n");
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VCI_CloseDevice(VCI_USBCAN2,0);
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}
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if(VCI_StartCAN(VCI_USBCAN2,0,1)!=1)
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{
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printf(">>Start can2 error\n");
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VCI_CloseDevice(VCI_USBCAN2,0);
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}
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//需要发送的帧，结构体设置
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VCI_CAN_OBJ send[1];
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send[0].ID=0;
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send[0].SendType=0;
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send[0].RemoteFlag=0;
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send[0].ExternFlag=1;
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send[0].DataLen=8;
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int i=0;
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for(i = 0; i < send[0].DataLen; i++)
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{
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send[0].Data[i] = i;
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}
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int m_run0=1;
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pthread_t threadid;
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int ret;
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ret=pthread_create(&threadid,NULL,receive_func,&m_run0);
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int times = 5;
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while(times--)
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{
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if(VCI_Transmit(VCI_USBCAN2, 0, 0, send, 1) == 1)
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{
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printf("Index:%04d ",count);count++;
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printf("CAN1 TX ID:0x%08X",send[0].ID);
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if(send[0].ExternFlag==0) printf(" Standard ");
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if(send[0].ExternFlag==1) printf(" Extend ");
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if(send[0].RemoteFlag==0) printf(" Data ");
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if(send[0].RemoteFlag==1) printf(" Remote ");
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printf("DLC:0x%02X",send[0].DataLen);
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printf(" data:0x");
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for(i=0;i<send[0].DataLen;i++)
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{
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printf(" %02X",send[0].Data[i]);
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}
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printf("\n");
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send[0].ID+=1;
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}
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else
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{
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break;
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}
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if(VCI_Transmit(VCI_USBCAN2, 0, 1, send, 1) == 1)
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{
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printf("Index:%04d ",count);count++;
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printf("CAN2 TX ID:0x%08X", send[0].ID);
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if(send[0].ExternFlag==0) printf(" Standard ");
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if(send[0].ExternFlag==1) printf(" Extend ");
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if(send[0].RemoteFlag==0) printf(" Data ");
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if(send[0].RemoteFlag==1) printf(" Remote ");
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printf("DLC:0x%02X",send[0].DataLen);
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printf(" data:0x");
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for(i = 0; i < send[0].DataLen; i++)
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{
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printf(" %02X", send[0].Data[i]);
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}
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printf("\n");
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send[0].ID+=1;
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}
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else break;
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}
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usleep(10000000);//延时单位us，这里设置 10 000 000=10s 10s后关闭接收线程，并退出主程序。
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m_run0=0;//线程关闭指令。
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pthread_join(threadid,NULL);//等待线程关闭。
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usleep(100000);//延时100ms。
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VCI_ResetCAN(VCI_USBCAN2, 0, 0);//复位CAN1通道。
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usleep(100000);//延时100ms。
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VCI_ResetCAN(VCI_USBCAN2, 0, 1);//复位CAN2通道。
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usleep(100000);//延时100ms。
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VCI_CloseDevice(VCI_USBCAN2,0);//关闭设备。
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//除收发函数外，其它的函数调用前后，最好加个毫秒级的延时，即不影响程序的运行，又可以让USBCAN设备有充分的时间处理指令。
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//goto ext;
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}
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