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使用GO语言实现创新科技CAN盒通信

夏立军7个月前 (11-15)Go299

## 使用GO语言实现 创新科技CAN盒通信

```go
package main

import (
	"fmt"
	"syscall"
	"time"
	"unsafe"
)

/**
* @Desc:
* @Author: 夏立军
* @Date: 2024/11/15 上午11:04
**/

const TestPort string = "./ControlCAN.dll"

var canDll = syscall.NewLazyDLL(TestPort)

type VCI_INIT_CONFIG struct {
	AccCode  uint32
	AccMask  uint32
	Reserved uint32
	Filter   byte
	Timing0  byte
	Timing1  byte
	Mode     byte
}

type VCI_CAN_OBJ struct {
	ID         uint32
	TimeStamp  uint32
	TimeFlag   byte
	SendType   byte
	RemoteFlag byte
	ExternFlag byte
	DataLen    byte
	Data       [8]byte
	Reserved   [3]byte
}

type VCI_CAN_OBJ_ARRAY struct {
	SIZE         uint16
	STRUCT_ARRAY *VCI_CAN_OBJ
	Addr         VCI_CAN_OBJ
}

func main() {
	VCI_CloseDevice := canDll.NewProc("VCI_CloseDevice")
	u3, u4, err := VCI_CloseDevice.Call(4, 0)
	if err.Error() != "The operation completed successfully." {
		fmt.Println("CAN 关闭失败: ", err.Error())
		return
	}
	fmt.Println("关闭成功", u3, u4)

VciOpenDevice := canDll.NewProc("VCI_OpenDevice")
	call, u, err := VciOpenDevice.Call(4, 0, 0)
	if err.Error() != "The operation completed successfully." {
		fmt.Println("CAN 打开失败", err.Error())
		return
	}
	fmt.Println("CAN 打开成功")
	fmt.Println("call", call, u)

VCIInitCAN := canDll.NewProc("VCI_InitCAN")
	vciInitConfig := VCI_INIT_CONFIG{
		AccCode:  0x80000008,
		AccMask:  0xFFFFFFFF,
		Reserved: 0,
		Filter:   0,
		Timing0:  0x00,
		Timing1:  0x1C,
		Mode:     0,
	}
	call, u2, err := VCIInitCAN.Call(4, 0, 0, uintptr(unsafe.Pointer(&vciInitConfig)))
	if err.Error() != "The operation completed successfully." {
		fmt.Println("初始化失败", err.Error())
		return
	}
	fmt.Println("初始化成功", call, u2)
	VCIStartCAN := canDll.NewProc("VCI_StartCAN")
	_, _, err = VCIStartCAN.Call(4, 0, 0)
	if err.Error() != "The operation completed successfully." {
		fmt.Println("Can 启动失败 : ", err.Error())
		return
	}

fmt.Println("启动成功")
	VCIReceive := canDll.NewProc("VCI_Receive")
	vciCanObjArray := VCI_CAN_OBJ_ARRAY{
		SIZE: 2500,
	}
	vciCanObjArray.STRUCT_ARRAY = (*VCI_CAN_OBJ)(unsafe.Pointer(&vciCanObjArray))
	vciCanObjArray.Addr = VCI_CAN_OBJ{}
	go func() {
		for {
			canList, _, err := VCIReceive.Call(4, 0, 0, uintptr(unsafe.Pointer(&vciCanObjArray.Addr)), 2500, 0)
			if err.Error() != "The operation completed successfully." {
				return
			}

if canList > 0 {
				//fmt.Println("接收成功", vciCanObjArray)
				//fmt.Println("接收成功 -- :", canList)
				for i := 0; i < int(canList); i++ {
					fmt.Println(vciCanObjArray.Addr.Data)
				}
			}
			//time.Sleep(20 * time.Millisecond)
		}
	}()

VciTransmit := canDll.NewProc("VCI_Transmit")

i := 0
	for {
		vciCanObj := VCI_CAN_OBJ{
			ID:         0x200,
			TimeStamp:  0,
			TimeFlag:   0,
			SendType:   1,
			RemoteFlag: 0,
			ExternFlag: 0,
			DataLen:    8,
			Data:       [8]byte{byte(i % 255), 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07},
			Reserved:   [3]byte{0x00, 0x00, 0x00},
		}
		//fmt.Println("uintptr(unsafe.Pointer(&vciCanObj))", uintptr(unsafe.Pointer(&vciCanObj)))
		_, _, err = VciTransmit.Call(4, 0, 0, uintptr(unsafe.Pointer(&vciCanObj)), 1)
		if err.Error() != "The operation completed successfully." {
			fmt.Println("Can 发送失败", err.Error())
			return
		}
		fmt.Println("发送成功")
		time.Sleep(20 * time.Millisecond)
		i++
	}
}

```