使用Python与CAN总线设备建立连接.zip

""" Program test environment Pyhone version:3.4.1 Firmware version:2.8.28 Dependent files(MacOSX):libGinkgo_Driver.dylib,libusb-0.1.4.dylib,libusb-1.0.0.dylib Dependent files(Windows):Ginkgo_Driver.dll Dependent files(Linux):libGinkgo_Driver.so,libusb-1.0.so More product infomation: http://www.viewtool.com/index.php/en/14-2016-07-26-07-18-35/57-2016-07-27-07-19-58 Data structure and API functionality definition detail please download: Ginkgo USB-CAN Interface API Library Instruction http://www.viewtool.com/demo/Ginkgo/Documents/Ginkgo_USB-CAN_Interface_API_Library_Instruction_v1.2.zip """ from ctypes import * import platform # Compatible with other CAN adapter datatype class VCI_BOARD_INFO(Structure): _fields_ = [ ("hw_Version", c_ushort), # hardware version, in hex format, for example: 0x0100 present version is 1.00 ("fw_Version", c_ushort), # firmware version in hex format ("dr_Version", c_ushort), # driver version, in hex format ("in_Version",c_ushort), # interface library version, in hex format ("irq_Num",c_ushort), # interrupt number used by board ("can_Num",c_ubyte), # CAN channel number ("str_Serial_Num",c_ubyte*20), # CAN board serial number ("str_hw_Type",c_ubyte*40), # string for hardware type,for example:"USBCAN V1.00\0"(note:include string null end'\0'). ("Reserved",c_ushort*4) ]; # Compatible with other CAN adapter datatype class VCI_BOARD_INFO_EX(Structure): _fields_ = [ ("ProductName", c_ubyte*32), # hardware name,for example: "Ginkgo-CAN-Adaptor\0"(note: include string null end'\0') ("FirmwareVersion", c_ubyte*4), # firmware version ("HardwareVersion", c_ubyte*4), # hardware version ("SerialNumber",c_ubyte*12) # adatper serial number ]; # Definition of CAN frame class VCI_CAN_OBJ(Structure): _fields_ = [("ID", c_uint), # Frame ID ("TimeStamp", c_uint), # timestamp of the frame arriving,started from initialization of CAN controller ("TimeFlag", c_byte), # if using timestamp. 1: use TimeStamp, 0:not use. TimeFlag and TimeStamp is available when the frame is recived frame ("SendType",c_byte), # send frame type. 0: normal send,1: single send,2: self send/receive,3: single self send/receive ("RemoteFlag",c_byte), # remote frame flag ("ExternFlag",c_byte), # extended frame flag ("DataLen",c_byte), # Data length(<=8),how many uint8_ts of data ("Data",c_ubyte*8), # text data ("Reserved",c_byte*3) # reserved ]; # definition of CAN controller status class VCI_CAN_STATUS(Structure): _fields_ = [("ErrInterrupt", c_byte), # interrupt record,will be cleared while reading ("regMode", c_byte), # CAN controller mode register ("regStatus", c_byte), # CAN controller status register ("regALCapture",c_byte), # CAN controller arbitrator lost register ("regECCapture",c_byte), # CAN controller error register ("regEWLimit",c_byte), # CAN controller error alarm limitation register ("regRECounter",c_byte), # CAN controller receive error register ("regTECounter",c_byte), # CAN controller send error register ("regESR",c_uint), # CAN controller status register ("regTSR",c_uint), # CAN controller status register ("BufferSize",c_uint), # CAN controller receive buffer size ("Reserved",c_uint), # ]; # definition of error data type class VCI_ERR_INFO(Structure): _fields_ = [("ErrCode",c_uint), # error code ("Passive_ErrData",c_ubyte*3), # error identification data when error has passive error ("ArLost_ErrData",c_ubyte) # error identification data when error has arbitration lost error ]; # definition of CAN initialization data type class VCI_INIT_CONFIG(Structure): _fields_ = [("AccCode",c_uint), # ACC code (for verification) ("AccMask",c_uint), # Mask code ("Reserved",c_uint), # ("Filter",c_byte), # filter type.0: double filter,1: single filter ("Timing0",c_byte), # Timer 0 ("Timing1",c_byte), # Timer 1 ("Mode",c_byte) ]; # Definition of CAN initialization data type """ CAN baudrate = 36MHz/(CAN_BRP)/(CAN_SJW+CAN_BS1+CAN_BS2) baudrate（bps） CAN_BRP CAN_SJW CAN_BS1 CAN_BS2 1M 9 1 2 1 900K 5 1 5 2 800K 3 1 10 4 600K 12 1 3 1 666K 6 1 7 1 500K 12 1 4 1 400K 10 1 7 1 300K 15 1 6 1 250K 18 1 6 1 200K 10 1 15 2 150K 30 1 6 1 125K 36 1 6 1 100K 45 1 6 1 90K 50 1 6 1 80K 75 1 4 1 60K 75 1 6 1 50K 90 1 6 1 40K 100 1 7 1 30K 150 1 6 1 20K 225 1 6 1 more baudrate parameters and detail please download: Ginkgo USB-CAN Interface STM32 baud rate calculation software: http://www.viewtool.com/demo/download/Ginkgo2/Ginkgo_USB-CAN_Baudrate_Windows.rar """ class VCI_INIT_CONFIG_EX(Structure): _fields_ = [("CAN_BRP", c_uint),# range: 1~1024, ("CAN_SJW", c_byte), # range: 1~4 ("CAN_BS1", c_byte), # range: 1~16 ("CAN_BS2",c_byte), # range: 1~8 ("CAN_Mode",c_byte), # CAN working mode. 0: normal,1: loopback,2: silent,3: silent loopback ("CAN_ABOM",c_byte), # auto off line management. 0: prohibit,1: enable ("CAN_NART",c_byte), # text repeat send management. 0: enable text repeat sending,1: disable text repeat sending ("CAN_RFLM",c_byte), # FIFO lock management. 0: new text overwrite old, 1: ignore new text ("CAN_TXFP",c_byte), # send priority management, 0: by ID, 1: by order ("CAN_RELAY",c_byte), # relay feature enable. 0x00: close relay function,0x10: relay from CAN1 to CAN2,0x01: relay from CAN2 to CAN1, 0x11: bidirectionaly relay ("Reserved",c_uint) # reserved ]; # definition of CAN filter setting class VCI_FILTER_CONFIG(Structure): _fields_ = [("Enable", c_byte), # filter enable. 1: enable,0: disable ("FilterIndex", c_byte), # filter index. range: 0~13 ("FilterMode", c_byte), # filter mode.0: mask bit,1: id list ("ExtFrame",c_byte), # filter frame flag. 1: the frame to be filtered is extended frame,0: the frame to be filtered is standard frame ("ID_Std_Ext",c_uint), # verification code ID ("ID_IDE",c_uint), # verification code IDE ("ID_RTR",c_uint), # verification code RTR ("MASK_Std_Ext",c_uint), # Mask code ID,only available when filter mode set to mask bit mode ("MASK_IDE",c_uint), # Mask code IDE,only available when filter mode set to mask bit mode ("MASK_RTR",c_uint), # Mask code RTR,only available when filter mode set to mask bit mode ("Reserved",c_uint), # reserved ]; # definition of CAN receive callback if(platform.system()=="Windows"): PVCI_RECEIVE_CALLBACK = WINFUNCTYPE(c_void_p,c_uint,c_uint,c_uint) else: PVCI_RECEIVE_CALLBACK = CFUNCTYPE(c_void_p,c_uint,c_uint,c_uint) # CAN type definition VCI_USBCAN1