芯耀
2210
1 Python环境搭建
Python我用的版本是3.13，建议使用3.8以上版本，具体环境搭建我这里就不多说了，网上的教程很多。
2 下载二次开发所需资料
官网地址:https://manual.zlg.cn/web/#/55
具体下载链接
3 demo测试
3.1 示例代码
打开上面下载的二次开发资料，找到USBCANFD系列_文件夹，这个示例是匹配CANFD200U的。
注：kerneldlls和zlgcan.dll是CAN盒运行的基本环境，不能脱离这个单独运行py文件，zlgcan.py是官方示例代码。
若是其他型号的CAN盒，可以查看里面有个型号的说明文档。
CANFD200U官方示例代码如下： zlgcan.py:
# -*- coding:utf-8 -*-# zlgcan.py## ~~~~~~~~~~~~## ZLGCAN API## ~~~~~~~~~~~~## ------------------------------------------------------------------# Language: Python 2.7, 3.6# ------------------------------------------------------------------#from ctypes import *import platformimport threadingimport timeZCAN_DEVICE_TYPE = c_uintINVALID_DEVICE_HANDLE = 0INVALID_CHANNEL_HANDLE = 0''' Device Type'''ZCAN_PCI5121 = ZCAN_DEVICE_TYPE(1)ZCAN_PCI9810 = ZCAN_DEVICE_TYPE(2)ZCAN_USBCAN1 = ZCAN_DEVICE_TYPE(3)ZCAN_USBCAN2 = ZCAN_DEVICE_TYPE(4)ZCAN_PCI9820 = ZCAN_DEVICE_TYPE(5)ZCAN_CAN232 = ZCAN_DEVICE_TYPE(6)ZCAN_PCI5110 = ZCAN_DEVICE_TYPE(7)ZCAN_CANLITE = ZCAN_DEVICE_TYPE(8)ZCAN_ISA9620 = ZCAN_DEVICE_TYPE(9)ZCAN_ISA5420 = ZCAN_DEVICE_TYPE(10)ZCAN_PC104CAN = ZCAN_DEVICE_TYPE(11)ZCAN_CANETUDP = ZCAN_DEVICE_TYPE(12)ZCAN_CANETE = ZCAN_DEVICE_TYPE(12)ZCAN_DNP9810 = ZCAN_DEVICE_TYPE(13)ZCAN_PCI9840 = ZCAN_DEVICE_TYPE(14)ZCAN_PC104CAN2 = ZCAN_DEVICE_TYPE(15)ZCAN_PCI9820I = ZCAN_DEVICE_TYPE(16)ZCAN_CANETTCP = ZCAN_DEVICE_TYPE(17)ZCAN_PCIE_9220 = ZCAN_DEVICE_TYPE(18)ZCAN_PCI5010U = ZCAN_DEVICE_TYPE(19)ZCAN_USBCAN_E_U = ZCAN_DEVICE_TYPE(20)ZCAN_USBCAN_2E_U = ZCAN_DEVICE_TYPE(21)ZCAN_PCI5020U = ZCAN_DEVICE_TYPE(22)ZCAN_EG20T_CAN = ZCAN_DEVICE_TYPE(23)ZCAN_PCIE9221 = ZCAN_DEVICE_TYPE(24)ZCAN_WIFICAN_TCP = ZCAN_DEVICE_TYPE(25)ZCAN_WIFICAN_UDP = ZCAN_DEVICE_TYPE(26)ZCAN_PCIe9120 = ZCAN_DEVICE_TYPE(27)ZCAN_PCIe9110 = ZCAN_DEVICE_TYPE(28)ZCAN_PCIe9140 = ZCAN_DEVICE_TYPE(29)ZCAN_USBCAN_4E_U = ZCAN_DEVICE_TYPE(31)ZCAN_CANDTU_200UR = ZCAN_DEVICE_TYPE(32)ZCAN_CANDTU_MINI = ZCAN_DEVICE_TYPE(33)ZCAN_USBCAN_8E_U = ZCAN_DEVICE_TYPE(34)ZCAN_CANREPLAY = ZCAN_DEVICE_TYPE(35)ZCAN_CANDTU_NET = ZCAN_DEVICE_TYPE(36)ZCAN_CANDTU_100UR = ZCAN_DEVICE_TYPE(37)ZCAN_PCIE_CANFD_100U = ZCAN_DEVICE_TYPE(38)ZCAN_PCIE_CANFD_200U = ZCAN_DEVICE_TYPE(39)ZCAN_PCIE_CANFD_400U = ZCAN_DEVICE_TYPE(40)ZCAN_USBCANFD_200U = ZCAN_DEVICE_TYPE(41)ZCAN_USBCANFD_100U = ZCAN_DEVICE_TYPE(42)ZCAN_USBCANFD_MINI = ZCAN_DEVICE_TYPE(43)ZCAN_CANFDCOM_100IE = ZCAN_DEVICE_TYPE(44)ZCAN_CANSCOPE = ZCAN_DEVICE_TYPE(45)ZCAN_CLOUD = ZCAN_DEVICE_TYPE(46)ZCAN_CANDTU_NET_400 = ZCAN_DEVICE_TYPE(47)ZCAN_CANFDNET_200U_TCP = ZCAN_DEVICE_TYPE(48)ZCAN_CANFDNET_200U_UDP = ZCAN_DEVICE_TYPE(49)ZCAN_CANFDWIFI_100U_TCP = ZCAN_DEVICE_TYPE(50)ZCAN_CANFDWIFI_100U_UDP = ZCAN_DEVICE_TYPE(51)ZCAN_CANFDNET_400U_TCP = ZCAN_DEVICE_TYPE(52)ZCAN_CANFDNET_400U_UDP = ZCAN_DEVICE_TYPE(53)ZCAN_CANFDBLUE_200U = ZCAN_DEVICE_TYPE(54)ZCAN_CANFDNET_100U_TCP = ZCAN_DEVICE_TYPE(55)ZCAN_CANFDNET_100U_UDP = ZCAN_DEVICE_TYPE(56)ZCAN_CANFDNET_800U_TCP = ZCAN_DEVICE_TYPE(57)ZCAN_CANFDNET_800U_UDP = ZCAN_DEVICE_TYPE(58)ZCAN_USBCANFD_800U = ZCAN_DEVICE_TYPE(59)ZCAN_PCIE_CANFD_100U_EX = ZCAN_DEVICE_TYPE(60)ZCAN_PCIE_CANFD_400U_EX = ZCAN_DEVICE_TYPE(61)ZCAN_PCIE_CANFD_200U_MINI = ZCAN_DEVICE_TYPE(62)ZCAN_PCIE_CANFD_200U_M2 = ZCAN_DEVICE_TYPE(63)ZCAN_PCIE_CANFD_200U_EX = ZCAN_DEVICE_TYPE(62)ZCAN_CANFDDTU_400_TCP = ZCAN_DEVICE_TYPE(64)ZCAN_CANFDDTU_400_UDP = ZCAN_DEVICE_TYPE(65)ZCAN_CANFDWIFI_200U_TCP = ZCAN_DEVICE_TYPE(66)ZCAN_CANFDWIFI_200U_UDP = ZCAN_DEVICE_TYPE(67)ZCAN_CANFDDTU_800ER_TCP = ZCAN_DEVICE_TYPE(68)ZCAN_CANFDDTU_800ER_UDP = ZCAN_DEVICE_TYPE(69)ZCAN_CANFDDTU_800EWGR_TCP = ZCAN_DEVICE_TYPE(70)ZCAN_CANFDDTU_800EWGR_UDP = ZCAN_DEVICE_TYPE(71)ZCAN_CANFDDTU_600EWGR_TCP = ZCAN_DEVICE_TYPE(72)ZCAN_CANFDDTU_600EWGR_UDP = ZCAN_DEVICE_TYPE(73)ZCAN_CANFDDTU_CASCADE_TCP = ZCAN_DEVICE_TYPE(74)ZCAN_CANFDDTU_CASCADE_UDP = ZCAN_DEVICE_TYPE(75)ZCAN_USBCANFD_400U = ZCAN_DEVICE_TYPE(76)ZCAN_CANFDDTU_200U = ZCAN_DEVICE_TYPE(77)ZCAN_CANFDBRIDGE_PLUS = ZCAN_DEVICE_TYPE(80)ZCAN_CANFDDTU_300U = ZCAN_DEVICE_TYPE(81)ZCAN_VIRTUAL_DEVICE = ZCAN_DEVICE_TYPE(99)''' Interface return status'''ZCAN_STATUS_ERR = 0ZCAN_STATUS_OK = 1ZCAN_STATUS_ONLINE = 2ZCAN_STATUS_OFFLINE = 3ZCAN_STATUS_UNSUPPORTED = 4''' CAN type'''ZCAN_TYPE_CAN = c_uint(0)ZCAN_TYPE_CANFD = c_uint(1)def input_thread(): input()''' Device information'''class ZCAN_DEVICE_INFO(Structure): _fields_ = [("hw_Version", c_ushort), ("fw_Version", c_ushort), ("dr_Version", c_ushort), ("in_Version", c_ushort), ("irq_Num", c_ushort), ("can_Num", c_ubyte), ("str_Serial_Num", c_ubyte * 20), ("str_hw_Type", c_ubyte * 40), ("reserved", c_ushort * 4)] def __str__(self): return "Hardware Version:%snFirmware Version:%snDriver Interface:%snInterface Interface:%snInterrupt Number:%dnCAN Number:%dnSerial:%snHardware Type:%sn" %( self.hw_version, self.fw_version, self.dr_version, self.in_version, self.irq_num, self.can_num, self.serial, self.hw_type) def _version(self, version): return ("V%02x.%02x" if version // 0xFF >= 9 else "V%d.%02x") % (version // 0xFF, version & 0xFF) @property def hw_version(self): return self._version(self.hw_Version) @property def fw_version(self): return self._version(self.fw_Version) @property def dr_version(self): return self._version(self.dr_Version) @property def in_version(self): return self._version(self.in_Version) @property def irq_num(self): return self.irq_Num @property def can_num(self): return self.can_Num @property def serial(self): serial = '' for c in self.str_Serial_Num: if c > 0: serial += chr(c) else: break return serial @property def hw_type(self): hw_type = '' for c in self.str_hw_Type: if c > 0: hw_type += chr(c) else: break return hw_typeclass _ZCAN_CHANNEL_CAN_INIT_CONFIG(Structure): _fields_ = [("acc_code", c_uint), ("acc_mask", c_uint), ("reserved", c_uint), ("filter", c_ubyte), ("timing0", c_ubyte), ("timing1", c_ubyte), ("mode", c_ubyte)]class _ZCAN_CHANNEL_CANFD_INIT_CONFIG(Structure): _fields_ = [("acc_code", c_uint), ("acc_mask", c_uint), ("abit_timing", c_uint), ("dbit_timing", c_uint), ("brp", c_uint), ("filter", c_ubyte), ("mode", c_ubyte), ("pad", c_ushort), ("reserved", c_uint)]class _ZCAN_CHANNEL_INIT_CONFIG(Union): _fields_ = [("can", _ZCAN_CHANNEL_CAN_INIT_CONFIG), ("canfd", _ZCAN_CHANNEL_CANFD_INIT_CONFIG)]class ZCAN_CHANNEL_INIT_CONFIG(Structure): _fields_ = [("can_type", c_uint), ("config", _ZCAN_CHANNEL_INIT_CONFIG)]class ZCAN_CHANNEL_ERR_INFO(Structure): _fields_ = [("error_code", c_uint), ("passive_ErrData", c_ubyte * 3), ("arLost_ErrData", c_ubyte)]class ZCAN_CHANNEL_STATUS(Structure): _fields_ = [("errInterrupt", c_ubyte), ("regMode", c_ubyte), ("regStatus", c_ubyte), ("regALCapture", c_ubyte), ("regECCapture", c_ubyte), ("regEWLimit", c_ubyte), ("regRECounter", c_ubyte), ("regTECounter", c_ubyte), ("Reserved", c_ubyte)]class ZCAN_CAN_FRAME(Structure): _fields_ = [("can_id", c_uint, 29), ("err", c_uint, 1), ("rtr", c_uint, 1), ("eff", c_uint, 1), ("can_dlc", c_ubyte), ("__pad", c_ubyte), ("__res0", c_ubyte), ("__res1", c_ubyte), ("data", c_ubyte * 8)]class ZCAN_CANFD_FRAME(Structure): _fields_ = [("can_id", c_uint, 29), ("err", c_uint, 1), ("rtr", c_uint, 1), ("eff", c_uint, 1), ("len", c_ubyte), ("brs", c_ubyte, 1), ("esi", c_ubyte, 1), ("__pad", c_ubyte, 6), ("__res0", c_ubyte), ("__res1", c_ubyte), ("data", c_ubyte * 64)]class ZCANdataFlag(Structure): _pack_ = 1 _fields_= [("frameType",c_uint,2), ("txDelay",c_uint,2), ("transmitType",c_uint,4), ("txEchoRequest",c_uint,1), ("txEchoed",c_uint,1), ("reserved",c_uint,22), ]class ZCANFDData(Structure): ##表示 CAN/CANFD 帧结构,目前仅作为 ZCANDataObj 结构的成员使用 _pack_ = 1 _fields_= [("timestamp",c_uint64), ("flag",ZCANdataFlag), ("extraData",c_ubyte*4), ("frame",ZCAN_CANFD_FRAME),]class ZCANDataObj(Structure): _pack_ = 1 _fields_= [("dataType",c_ubyte), ("chnl",c_ubyte), ("flag",c_ushort), ("extraData",c_ubyte*4), ("zcanfddata",ZCANFDData),##88个字节 ("reserved",c_ubyte*4), ] class ZCAN_Transmit_Data(Structure): _fields_ = [("frame", ZCAN_CAN_FRAME), ("transmit_type", c_uint)]class ZCAN_Receive_Data(Structure): _fields_ = [("frame", ZCAN_CAN_FRAME), ("timestamp", c_ulonglong)]class ZCAN_TransmitFD_Data(Structure): _fields_ = [("frame", ZCAN_CANFD_FRAME), ("transmit_type", c_uint)]class ZCAN_ReceiveFD_Data(Structure): _fields_ = [("frame", ZCAN_CANFD_FRAME), ("timestamp", c_ulonglong)]class ZCAN_AUTO_TRANSMIT_OBJ(Structure): _fields_ = [("enable", c_ushort), ("index", c_ushort), ("interval", c_uint), ("obj", ZCAN_Transmit_Data)]class ZCANFD_AUTO_TRANSMIT_OBJ(Structure): _fields_ = [("enable", c_ushort), ("index", c_ushort), ("interval", c_uint), ("obj", ZCAN_TransmitFD_Data)]class ZCANFD_AUTO_TRANSMIT_OBJ_PARAM(Structure): #auto_send delay _fields_ = [("indix", c_ushort), ("type", c_ushort), ("value", c_uint)]class IProperty(Structure): _fields_ = [("SetValue", c_void_p), ("GetValue", c_void_p), ("GetPropertys", c_void_p)]class ZCAN(object): def __init__(self): if platform.system() == "Windows": self.__dll = windll.LoadLibrary("./zlgcan.dll") else: print("No support now!") if self.__dll == None: print("DLL couldn't be loaded!") def OpenDevice(self, device_type, device_index, reserved): try: return self.__dll.ZCAN_OpenDevice(device_type, device_index, reserved) except: print("Exception on OpenDevice!") raise def CloseDevice(self, device_handle): try: return self.__dll.ZCAN_CloseDevice(device_handle) except: print("Exception on CloseDevice!") raise def GetDeviceInf(self, device_handle): try: info = ZCAN_DEVICE_INFO() ret = self.__dll.ZCAN_GetDeviceInf(device_handle, byref(info)) return info if ret == ZCAN_STATUS_OK else None except: print("Exception on ZCAN_GetDeviceInf") raise def DeviceOnLine(self, device_handle): try: return self.__dll.ZCAN_IsDeviceOnLine(device_handle) except: print("Exception on ZCAN_ZCAN_IsDeviceOnLine!") raise def InitCAN(self, device_handle, can_index, init_config): try: return self.__dll.ZCAN_InitCAN(device_handle, can_index, byref(init_config)) except: print("Exception on ZCAN_InitCAN!") raise def StartCAN(self, chn_handle): try: return self.__dll.ZCAN_StartCAN(chn_handle) except: print("Exception on ZCAN_StartCAN!") raise def ResetCAN(self, chn_handle): try: return self.__dll.ZCAN_ResetCAN(chn_handle) except: print("Exception on ZCAN_ResetCAN!") raise def ClearBuffer(self, chn_handle): try: return self.__dll.ZCAN_ClearBuffer(chn_handle) except: print("Exception on ZCAN_ClearBuffer!") raise def ReadChannelErrInfo(self, chn_handle): try: ErrInfo = ZCAN_CHANNEL_ERR_INFO() ret = self.__dll.ZCAN_ReadChannelErrInfo(chn_handle, byref(ErrInfo)) return ErrInfo if ret == ZCAN_STATUS_OK else None except: print("Exception on ZCAN_ReadChannelErrInfo!") raise def ReadChannelStatus(self, chn_handle): try: status = ZCAN_CHANNEL_STATUS() ret = self.__dll.ZCAN_ReadChannelStatus(chn_handle, byref(status)) return status if ret == ZCAN_STATUS_OK else None except: print("Exception on ZCAN_ReadChannelStatus!") raise def GetReceiveNum(self, chn_handle, can_type = ZCAN_TYPE_CAN): try: return self.__dll.ZCAN_GetReceiveNum(chn_handle, can_type) except: print("Exception on ZCAN_GetReceiveNum!") raise def Transmit(self, chn_handle, std_msg, len): try: return self.__dll.ZCAN_Transmit(chn_handle, byref(std_msg), len) except: print("Exception on ZCAN_Transmit!") raise def Receive(self, chn_handle, rcv_num, wait_time = c_int(-1)): try: rcv_can_msgs = (ZCAN_Receive_Data * rcv_num)() ret = self.__dll.ZCAN_Receive(chn_handle, byref(rcv_can_msgs), rcv_num, wait_time) return rcv_can_msgs, ret except: print("Exception on ZCAN_Receive!") raise def TransmitFD(self, chn_handle, fd_msg, len): try: return self.__dll.ZCAN_TransmitFD(chn_handle, byref(fd_msg), len) except: print("Exception on ZCAN_TransmitFD!") raise def TransmitData(self,device_handle,msg,len): try: return self.__dll.ZCAN_TransmitData(device_handle,byref(msg),len) except: print("Exception on ZCAN_TransmitData!") raise def ReceiveFD(self, chn_handle, rcv_num, wait_time = c_int(-1)): try: rcv_canfd_msgs = (ZCAN_ReceiveFD_Data * rcv_num)() ret = self.__dll.ZCAN_ReceiveFD(chn_handle, byref(rcv_canfd_msgs), rcv_num, wait_time) return rcv_canfd_msgs, ret except: print("Exception on ZCAN_ReceiveF D!") raise def ReceiveData(self,device_handle,rcv_num,wait_time = c_int(-1)): try: rcv_can_data_msgs = (ZCANDataObj * rcv_num)() ret = self.__dll.ZCAN_ReceiveData(device_handle , rcv_can_data_msgs, rcv_num,wait_time) return rcv_can_data_msgs ,ret except: print("Exception on ZCAN_ReceiveData!") raise def GetIProperty(self, device_handle): try: self.__dll.GetIProperty.restype = POINTER(IProperty) return self.__dll.GetIProperty(device_handle) except: print("Exception on ZCAN_GetIProperty!") raise def SetValue(self, iproperty, path, value): try: func = CFUNCTYPE(c_uint, c_char_p, c_char_p)(iproperty.contents.SetValue) return func(c_char_p(path.encode("utf-8")), c_char_p(value.encode("utf-8"))) except: print("Exception on IProperty SetValue") raise def SetValue1(self, iproperty, path, value): ############################# try: func = CFUNCTYPE(c_uint, c_char_p, c_char_p)(iproperty.contents.SetValue) return func(c_char_p(path.encode("utf-8")), c_void_p(value)) except: print("Exception on IProperty SetValue") raise def GetValue(self, iproperty, path): try: func = CFUNCTYPE(c_char_p, c_char_p)(iproperty.contents.GetValue) return func(c_char_p(path.encode("utf-8"))) except: print("Exception on IProperty GetValue") raise def ReleaseIProperty(self, iproperty): try: return self.__dll.ReleaseIProperty(iproperty) except: print("Exception on ZCAN_ReleaseIProperty!") raise def ZCAN_SetValue(self,device_handle,path,value): try: self.__dll.ZCAN_SetValue.argtypes=[c_void_p,c_char_p,c_void_p] return self.__dll.ZCAN_SetValue(device_handle,path.encode("utf-8"),value) except: print("Exception on ZCAN_SetValue") raise def ZCAN_GetValue(self,device_handle,path): try: self.__dll.ZCAN_GetValue.argtypes =[c_void_p,c_char_p] self.__dll.ZCAN_GetValue.restype =c_void_p return self.__dll.ZCAN_GetValue(device_handle,path.encode("utf-8")) except: print("Exception on ZCAN_GetValue") raise ###############################################################################'''USBCANFD-MINI Demo'''def canfd_start(zcanlib, device_handle, chn): ret = zcanlib.ZCAN_SetValue(device_handle, str(chn) + "/canfd_standard", "0".encode("utf-8")) if ret != ZCAN_STATUS_OK: print("Set CH%d CANFD standard failed!" %(chn)) ret = zcanlib.ZCAN_SetValue(device_handle, str(chn) + "/initenal_resistance", "1".encode("utf-8")) if ret != ZCAN_STATUS_OK: print("Open CH%d resistance failed!" %(chn)) exit(0) ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/canfd_abit_baud_rate","500000".encode("utf-8")) #设置波特率 ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/canfd_dbit_baud_rate","2000000".encode("utf-8")) if ret != ZCAN_STATUS_OK: print("Set CH%d baud failed!" %(chn)) exit(0) ret = zcanlib.ZCAN_SetValue(device_handle, "0/set_cn","A001".encode("utf-8")) if ret == ZCAN_STATUS_OK: t = zcanlib.ZCAN_GetValue(device_handle, "0/get_cn/1") print(c_char_p(t).value.decode("utf-8")) chn_init_cfg = ZCAN_CHANNEL_INIT_CONFIG() chn_init_cfg.can_type = ZCAN_TYPE_CANFD chn_init_cfg.config.canfd.mode = 0 chn_handle = zcanlib.InitCAN(device_handle, chn, chn_init_cfg) if chn_handle ==0: print("initCAN failed!" %(chn)) exit(0)###SET filter ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/filter_clear","0".encode("utf-8")) if ret != ZCAN_STATUS_OK: print("Set CH%d filter_clear failed!" %(chn)) exit(0) ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/filter_mode","0".encode("utf-8")) #标准帧滤波 if ret != ZCAN_STATUS_OK: print("Set CH%d filter_mode failed!" %(chn)) exit(0) ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/filter_start","0".encode("utf-8")) if ret != ZCAN_STATUS_OK: print("Set CH%d filter_start failed!" %(chn)) exit(0) ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/filter_end","0x7FF".encode("utf-8")) if ret != ZCAN_STATUS_OK: print("Set CH%d filter_end failed!" %(chn)) exit(0) ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/filter_mode","1".encode("utf-8")) #扩展帧滤波 if ret != ZCAN_STATUS_OK: print("Set CH%d filter_mode failed!" %(chn)) exit(0) ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/filter_start","0".encode("utf-8")) if ret != ZCAN_STATUS_OK: print("Set CH%d filter_start failed!" %(chn)) exit(0) ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/filter_end","0x1FFFFFFF".encode("utf-8")) if ret != ZCAN_STATUS_OK: print("Set CH%d filter_end failed!" %(chn)) exit(0) ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/filter_ack","0".encode("utf-8")) if ret != ZCAN_STATUS_OK: print("Set CH%d filter_ack failed!" %(chn)) exit(0) ret=zcanlib.StartCAN(chn_handle) if ret != ZCAN_STATUS_OK: print("startCAN failed!" %(chn)) exit(0) # ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/set_device_tx_echo","1".encode("utf-8")) #发送回显设置，0-禁用，1-开启 # if ret != ZCAN_STATUS_OK: # print("Set CH%d set_device_tx_echo failed!" %(chn)) # exit(0)### Set Auto Transmit ''' #开启硬件定时发送代码 ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/clear_auto_send","0".encode("utf-8")) if ret != ZCAN_STATUS_OK: print("Clear CH%d USBCANFD AutoSend failed!" %(chn)) exit(0) ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/auto_send",byref(AutoCAN_A)) #添加A can报文定时 ret = zcanlib.ZCAN_SetValue(device_handle, str(chn) + "/auto_send_canfd", byref(AutoCAN_B)) #添加B canfd报文定时 ret = zcanlib.ZCAN_SetValue(device_handle,str(chn)+"/apply_auto_send","0".encode("utf-8")) if ret != ZCAN_STATUS_OK: print("Apply CH%d USBCANFD AutoSend failed!" %(chn)) exit(0) ''' return chn_handleif __name__ == "__main__": zcanlib = ZCAN() testcantype =0 #0:CAN; 1:canfd handle = zcanlib.OpenDevice(ZCAN_USBCANFD_200U, 0,0) if handle == INVALID_DEVICE_HANDLE: print("Open CANFD Device failed!") exit(0) print("device handle:%d." %(handle)) info = zcanlib.GetDeviceInf(handle) print("Device Information:n%s" %(info)) #set auto send obj AutoCAN_A = ZCAN_AUTO_TRANSMIT_OBJ() #CAN AutoCAN_B = ZCANFD_AUTO_TRANSMIT_OBJ() #canfd AutoCAN_A.enable = 1 #enable AutoCAN_A.index = 0 AutoCAN_A.interval = 200 #ms AutoCAN_A.obj.frame.can_id = 0x100 AutoCAN_A.obj.transmit_type = 0 AutoCAN_A.obj.frame.eff = 0 AutoCAN_A.obj.frame.rtr = 0 AutoCAN_A.obj.frame.can_dlc = 8 for j in range(AutoCAN_A.obj.frame.can_dlc): AutoCAN_A.obj.frame.data[j] = j AutoCAN_B.enable = 1 #enable AutoCAN_B.index = 1 AutoCAN_B.interval = 200 #ms AutoCAN_B.obj.frame.can_id = 0x300 AutoCAN_B.obj.transmit_type = 0 AutoCAN_B.obj.frame.eff = 0 AutoCAN_B.obj.frame.rtr = 0 AutoCAN_B.obj.frame.len = 8 for j in range(AutoCAN_B.obj.frame.len): AutoCAN_B.obj.frame.data[j] = j #Start CAN chn_handle = canfd_start(zcanlib, handle, 0) print("channel handle:%d." %(chn_handle)) #Send CAN Messages transmit_num = 10 msgs = (ZCAN_Transmit_Data * transmit_num)() for i in range(transmit_num): msgs[i].transmit_type = 0 #0-正常发送，2-自发自收 msgs[i].frame.eff = 0 #0-标准帧，1-扩展帧 msgs[i].frame.rtr = 0 #0-数据帧，1-远程帧 msgs[i].frame.can_id = i msgs[i].frame.can_dlc = 8 for j in range(msgs[i].frame.can_dlc): msgs[i].frame.data[j] = j ret = zcanlib.Transmit(chn_handle, msgs, transmit_num) print("Tranmit Num: %d." % ret) #Send CANFD Messages transmit_canfd_num = 10 canfd_msgs = (ZCAN_TransmitFD_Data * transmit_canfd_num)() for i in range(transmit_num): canfd_msgs[i].transmit_type = 0 #0-正常发送，2-自发自收 canfd_msgs[i].frame.eff = 0 #0-标准帧，1-扩展帧 canfd_msgs[i].frame.rtr = 0 #0-数据帧，1-远程帧 canfd_msgs[i].frame.brs = 1 #BRS 加速标志位：0不加速，1加速 canfd_msgs[i].frame.can_id = i canfd_msgs[i].frame.len = 8 for j in range(canfd_msgs[i].frame.len): canfd_msgs[i].frame.data[j] = j ret = zcanlib.TransmitFD(chn_handle, canfd_msgs, transmit_canfd_num) print("Tranmit CANFD Num: %d." % ret) thread=threading.Thread(target=input_thread) thread.start() #Receive Messages while True: rcv_num = zcanlib.GetReceiveNum(chn_handle, ZCAN_TYPE_CAN) rcv_canfd_num = zcanlib.GetReceiveNum(chn_handle, ZCAN_TYPE_CANFD) if rcv_num: rcv_msg, rcv_num = zcanlib.Receive(chn_handle, rcv_num) for i in range(rcv_num): print("timestamps:%6fs,type:CAN, %s ,id:%s, dlc:%d, eff:%d, rtr:%d, data:%s" %( rcv_msg[i].timestamp/1000000,"tx" if (rcv_msg[i].frame.__pad&0x20) else "rx", hex(rcv_msg[i].frame.can_id), rcv_msg[i].frame.can_dlc, rcv_msg[i].frame.eff, rcv_msg[i].frame.rtr, ''.join(hex(rcv_msg[i].frame.data[j])+ ' 'for j in range(rcv_msg[i].frame.can_dlc)))) if rcv_canfd_num: rcv_canfd_msgs, rcv_canfd_num = zcanlib.ReceiveFD(chn_handle, rcv_canfd_num) for i in range(rcv_canfd_num): print("timestamp:%6fs,type:canfd, %s ,id:%s, len:%d, eff:%d, rtr:%d, esi:%d, brs: %d, data:%s" %( rcv_canfd_msgs[i].timestamp/1000000,"tx" if (rcv_canfd_msgs[i].frame.__pad&0x8) else "rx" , hex(rcv_canfd_msgs[i].frame.can_id), rcv_canfd_msgs[i].frame.len, rcv_canfd_msgs[i].frame.eff, rcv_canfd_msgs[i].frame.rtr, rcv_canfd_msgs[i].frame.esi, rcv_canfd_msgs[i].frame.brs, ''.join(hex(rcv_canfd_msgs[i].frame.data[j]) + ' ' for j in range(rcv_canfd_msgs[i].frame.len)))) if thread.is_alive() == False: break #Close CAN ret=zcanlib.ResetCAN(chn_handle) if ret==1: print("ResetCAN success! ") #Close Device ret=zcanlib.CloseDevice(handle) if ret==1: print("CloseDevice success! ")3.2 运行结果
接上CAN盒，运行zlgcan.py。 注：我这里是用VScode跑的，直接用Python自带IDE也行 运行结果如下：
如果像上述log一样，能连接上CAN盒，那环境应该就没有问题了。
4 编程开发
1、在同一目录下，把kerneldlls、zlgcan.dll和zlgcan.py放一起，然后新建一个py文件用来作为你的主程序。
2、修改zlgcan.py文件，把里面的main()函数删掉或者注释掉.
3、添加主程序。 注：我这里还是以官方demo为例。区别在于我这里使用了from zlgcan import *，用来调用zlgcan.py里面的函数，这样的话就把上层应用和CAN盒底层的库分离开来，不然代码看得很乱。
from zlgcan import * if __name__ == "__main__": zcanlib = ZCAN() testcantype =0 #0:CAN; 1:canfd handle = zcanlib.OpenDevice(ZCAN_USBCANFD_200U, 0,0) if handle == INVALID_DEVICE_HANDLE: print("Open CANFD Device failed!") exit(0) print("device handle:%d." %(handle)) info = zcanlib.GetDeviceInf(handle) print("Device Information:n%s" %(info)) #set auto send obj AutoCAN_A = ZCAN_AUTO_TRANSMIT_OBJ() #CAN AutoCAN_B = ZCANFD_AUTO_TRANSMIT_OBJ() #canfd AutoCAN_A.enable = 1 #enable AutoCAN_A.index = 0 AutoCAN_A.interval = 200 #ms AutoCAN_A.obj.frame.can_id = 0x100 AutoCAN_A.obj.transmit_type = 0 AutoCAN_A.obj.frame.eff = 0 AutoCAN_A.obj.frame.rtr = 0 AutoCAN_A.obj.frame.can_dlc = 8 for j in range(AutoCAN_A.obj.frame.can_dlc): AutoCAN_A.obj.frame.data[j] = j AutoCAN_B.enable = 1 #enable AutoCAN_B.index = 1 AutoCAN_B.interval = 200 #ms AutoCAN_B.obj.frame.can_id = 0x300 AutoCAN_B.obj.transmit_type = 0 AutoCAN_B.obj.frame.eff = 0 AutoCAN_B.obj.frame.rtr = 0 AutoCAN_B.obj.frame.len = 8 for j in range(AutoCAN_B.obj.frame.len): AutoCAN_B.obj.frame.data[j] = j #Start CAN chn_handle = canfd_start(zcanlib, handle, 0) print("channel handle:%d." %(chn_handle)) #Send CAN Messages transmit_num = 10 msgs = (ZCAN_Transmit_Data * transmit_num)() for i in range(transmit_num): msgs[i].transmit_type = 0 #0-正常发送，2-自发自收 msgs[i].frame.eff = 0 #0-标准帧，1-扩展帧 msgs[i].frame.rtr = 0 #0-数据帧，1-远程帧 msgs[i].frame.can_id = i msgs[i].frame.can_dlc = 8 for j in range(msgs[i].frame.can_dlc): msgs[i].frame.data[j] = j ret = zcanlib.Transmit(chn_handle, msgs, transmit_num) print("Tranmit Num: %d." % ret) #Send CANFD Messages transmit_canfd_num = 10 canfd_msgs = (ZCAN_TransmitFD_Data * transmit_canfd_num)() for i in range(transmit_num): canfd_msgs[i].transmit_type = 0 #0-正常发送，2-自发自收 canfd_msgs[i].frame.eff = 0 #0-标准帧，1-扩展帧 canfd_msgs[i].frame.rtr = 0 #0-数据帧，1-远程帧 canfd_msgs[i].frame.brs = 1 #BRS 加速标志位：0不加速，1加速 canfd_msgs[i].frame.can_id = i canfd_msgs[i].frame.len = 8 for j in range(canfd_msgs[i].frame.len): canfd_msgs[i].frame.data[j] = j ret = zcanlib.TransmitFD(chn_handle, canfd_msgs, transmit_canfd_num) print("Tranmit CANFD Num: %d." % ret) thread=threading.Thread(target=input_thread) thread.start() #Receive Messages while True: rcv_num = zcanlib.GetReceiveNum(chn_handle, ZCAN_TYPE_CAN) rcv_canfd_num = zcanlib.GetReceiveNum(chn_handle, ZCAN_TYPE_CANFD) if rcv_num: rcv_msg, rcv_num = zcanlib.Receive(chn_handle, rcv_num) for i in range(rcv_num): print("timestamps:%6fs,type:CAN, %s ,id:%s, dlc:%d, eff:%d, rtr:%d, data:%s" %( rcv_msg[i].timestamp/1000000,"tx" if (rcv_msg[i].frame.__pad&0x20) else "rx", hex(rcv_msg[i].frame.can_id), rcv_msg[i].frame.can_dlc, rcv_msg[i].frame.eff, rcv_msg[i].frame.rtr, ''.join(hex(rcv_msg[i].frame.data[j])+ ' 'for j in range(rcv_msg[i].frame.can_dlc)))) if rcv_canfd_num: rcv_canfd_msgs, rcv_canfd_num = zcanlib.ReceiveFD(chn_handle, rcv_canfd_num) for i in range(rcv_canfd_num): print("timestamp:%6fs,type:canfd, %s ,id:%s, len:%d, eff:%d, rtr:%d, esi:%d, brs: %d, data:%s" %( rcv_canfd_msgs[i].timestamp/1000000,"tx" if (rcv_canfd_msgs[i].frame.__pad&0x8) else "rx" , hex(rcv_canfd_msgs[i].frame.can_id), rcv_canfd_msgs[i].frame.len, rcv_canfd_msgs[i].frame.eff, rcv_canfd_msgs[i].frame.rtr, rcv_canfd_msgs[i].frame.esi, rcv_canfd_msgs[i].frame.brs, ''.join(hex(rcv_canfd_msgs[i].frame.data[j]) + ' ' for j in range(rcv_canfd_msgs[i].frame.len)))) if thread.is_alive() == False: break #Close CAN ret=zcanlib.ResetCAN(chn_handle) if ret==1: print("ResetCAN success! ") #Close Device ret=zcanlib.CloseDevice(handle) if ret==1: print("CloseDevice success! ")
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