first commit
This commit is contained in:
liyp
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build/
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Vendored
+28
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{
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"tasks": [
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{
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"type": "cppbuild",
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"label": "C/C++: gcc 生成活动文件",
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"command": "/usr/bin/gcc",
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"args": [
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"-fdiagnostics-color=always",
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"-g",
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"${file}",
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"-o",
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"${fileDirname}/${fileBasenameNoExtension}"
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],
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"options": {
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"cwd": "${fileDirname}"
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},
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"problemMatcher": [
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"$gcc"
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],
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"group": {
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"kind": "build",
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"isDefault": true
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},
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"detail": "调试器生成的任务。"
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}
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],
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"version": "2.0.0"
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}
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cmake_minimum_required(VERSION 3.10)
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project(UniversalCan VERSION 1.0.0)
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# 设置C标准（纯C工程）
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set(CMAKE_C_STANDARD 11)
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set(CMAKE_C_STANDARD_REQUIRED ON)
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# 公共部分（所有平台共享）
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set(COMMON_INCLUDES
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${CMAKE_CURRENT_SOURCE_DIR}/Inc
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${CMAKE_CURRENT_SOURCE_DIR}/OsSample
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)
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set(COMMON_SOURCES
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${CMAKE_CURRENT_SOURCE_DIR}/Src/*.c
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${CMAKE_CURRENT_SOURCE_DIR}/OsSample/*.c
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)
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# Windows平台（包括MinGW）
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if(WIN32 OR MINGW)
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message(STATUS "Configuring for Windows/MinGW")
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# Windows平台特定包含目录
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set(PLATFORM_INCLUDES
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${CMAKE_CURRENT_SOURCE_DIR}/Device/ScHHS
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${CMAKE_CURRENT_SOURCE_DIR}/Device/ScHHS/Port
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${CMAKE_CURRENT_SOURCE_DIR}/Device/Zlg/Port
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)
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# Windows平台特定源文件
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set(PLATFORM_SOURCES
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${CMAKE_CURRENT_SOURCE_DIR}/Device/ScHHS/Port/*.c
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${CMAKE_CURRENT_SOURCE_DIR}/Device/Zlg/Port/*.c
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)
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# Windows平台链接库
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set(PLATFORM_LIBS
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HCanbus # 四川何华盛的库
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ws2_32 # winsock库
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)
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# Windows平台链接目录
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set(PLATFORM_LINK_DIRS
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${CMAKE_CURRENT_SOURCE_DIR}/Device/ScHHS
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)
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# Windows平台定义
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add_definitions(-D_WIN32_WINNT=0x0601)
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# Linux平台
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elseif(UNIX)
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message(STATUS "Configuring for Linux")
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# Linux平台特定包含目录（假设有Linux设备目录）
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set(PLATFORM_INCLUDES
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${CMAKE_CURRENT_SOURCE_DIR}/Device/Linux
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)
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# Linux平台特定源文件
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set(PLATFORM_SOURCES
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${CMAKE_CURRENT_SOURCE_DIR}/Device/Linux/*.c
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)
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# Linux平台链接库
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set(PLATFORM_LIBS
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pthread
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rt
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)
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# Linux平台链接目录
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set(PLATFORM_LINK_DIRS "")
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endif()
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# 收集所有源文件
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file(GLOB COMMON_SRC ${COMMON_SOURCES})
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file(GLOB PLATFORM_SRC ${PLATFORM_SOURCES})
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# 创建可执行文件
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add_executable(${PROJECT_NAME} ${COMMON_SRC} ${PLATFORM_SRC})
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# 设置包含目录
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target_include_directories(${PROJECT_NAME} PRIVATE
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${COMMON_INCLUDES}
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${PLATFORM_INCLUDES}
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)
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# 设置链接目录
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target_link_directories(${PROJECT_NAME} PRIVATE ${PLATFORM_LINK_DIRS})
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# 链接库
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target_link_libraries(${PROJECT_NAME} ${PLATFORM_LIBS})
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Binary file not shown.
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#ifndef HCANBUS_H
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#define HCANBUS_H
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#define LIBUSB_CALL WINAPI
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typedef struct _Dev_Info {
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char HW_Type[32]; //设备型号 字符串
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char HW_Ser[32]; //设备序列号 字符串
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char HW_Ver[32]; //硬件版本 字符串
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char FW_Ver[32]; //软件版本 字符串
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char MF_Date[32]; //生产日期 字符串
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} Dev_Info, *PDev_Info;
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typedef struct _Can_Config {
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unsigned int Baudrate;
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unsigned char Config; //配置信息：0x01接通内部电阻 0x02离线唤醒 0x04自动重传
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unsigned char Pres; // Pres,Tseg1,Tseg2如果与Baudrate不匹配，动态库会自动按
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unsigned char Tseg1; // Baudrate重新计算Pres,Tseg1,Tseg2,SJW并且采样点设置为
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unsigned char Tseg2; // 75%左右。一般情况可以只设置波特率，Pres,Tseg1,Tseg2填0
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unsigned char Model; //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
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unsigned char SJW;
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unsigned char Reserved1; //保留
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unsigned char Reserved2;
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}Can_Config, *P_Can_Config;
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typedef struct _CanFD_Config {
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unsigned int NomBaud; //常规波特率
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unsigned int DatBaud; //数据波特率
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unsigned char NomPre; // NomPre,NomTseg1,NomTseg2如果与NomBaud不匹配，动态库会自动按
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unsigned char NomTseg1; // NomBaud重新计算NomPre,NomTseg1,NomTseg2,NomSJW并且采样点设置为
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unsigned char NomTseg2; // 75%左右。这些值可借助波特率计算器计算后设置
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unsigned char NomSJW;
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unsigned char DatPre; // DatPre,DatTseg1,DatTseg2如果与DatBaud不匹配，动态库会自动按
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unsigned char DatTseg1; // DatBaud重新计算DatPre,DatTseg1,DatTseg2,DatSJW并且采样点设置为
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unsigned char DatTseg2; // 75%左右。这些值可借助波特率计算器计算后设置
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unsigned char DatSJW;
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unsigned char Config; //配置信息：0x01接通内部电阻 0x02离线唤醒 0x04自动重传
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unsigned char Model; //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
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unsigned char Cantype; //CAN模式：0 CAN,1 IOS CANFD,2 Non-ISO CANFD
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unsigned char Reserved; //保留
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}CanFD_Config, *P_CanFD_Config;
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typedef struct _Can_Msg {
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unsigned int ID; //报文ID
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unsigned int TimeStamp; //微秒级时间戳
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unsigned char FrameType; //帧类型
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unsigned char DataLen; //有效字节数
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unsigned char Data[8]; //报文数据
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unsigned char ExternFlag; //扩展帧标识：0标准帧,1扩展帧
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unsigned char RemoteFlag; //远程帧标识：0数据帧,1远程帧
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unsigned char BusSatus; //总线状态
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unsigned char ErrSatus; //错误状态
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unsigned char TECounter; //发送错误计数
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unsigned char RECounter; //接收错误计数
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}Can_Msg, *P_Can_Msg;
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typedef struct _CanFD_Msg {
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unsigned int ID; //报文ID
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unsigned int TimeStamp; //微秒级时间戳
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unsigned char FrameType; //帧类型
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unsigned char DLC; //DLC不等于数据长度。最大值15，对于数据长度64
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unsigned char ExternFlag; //扩展帧标识：0标准帧,1扩展帧
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unsigned char RemoteFlag; //远程帧标识：0数据帧,1远程帧
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unsigned char BusSatus; //总线状态
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unsigned char ErrSatus; //错误状态
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unsigned char TECounter; //发送错误计数
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unsigned char RECounter; //接收错误计数
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unsigned char Data[64]; //报文数据
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}CanFD_Msg, *P_CanFD_Msg;
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typedef struct _Can_Status {
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unsigned char BusSatus; //总线状态
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unsigned char ErrSatus; //错误状态
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unsigned char TECounter; //发送错误计数
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unsigned char RECounter; //接收错误计数
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unsigned int TimeStamp; //产生状态时的时间戳
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}Can_Status, *P_Can_Status;
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#ifdef __cplusplus
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extern "C" {
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#endif
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int __stdcall Reg_HotPlug_Func(void(*pfunc)(void)); //热拔插函数
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int __stdcall CAN_ScanDevice(void); //扫描CAN,CANFD设备
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int __stdcall CAN_GeDevType(unsigned int devNum); //获取CAN,CANFD类型 0：常规CAN，1：CANFD
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int __stdcall CAN_GeDevPlck(unsigned int devNum); //获取CAN,CANFD主频
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int __stdcall CAN_OpenDevice(unsigned int devNum); //打开CAN,CANFD设备
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int __stdcall CAN_CloseDevice(unsigned int devNum); //关闭CAN,CANFD设备
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int __stdcall CAN_ReadDevInfo(unsigned int devNum, PDev_Info devinfo); //读取CAN,CANFD设备信息
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int __stdcall CAN_SetFilter(unsigned int devNum,char namber, char type, unsigned int ftID, unsigned int ftMask, char enable); //设置CAN,CANFD硬件屏蔽
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int __stdcall CAN_Reset(unsigned int devNum); //复位CAN,CANFD设备
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int __stdcall CAN_GetStatus(unsigned int devNum,P_Can_Status status); //获取CAN,CANFD设备状态
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int __stdcall CAN_Init(unsigned int devNum,P_Can_Config pInitConfig); //初始化CAN设备
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int __stdcall CAN_Transmit(unsigned int devNum, P_Can_Msg canmsg, unsigned int items, int timeou); //发送CAN报文
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int __stdcall CAN_TransmitRt(unsigned int devNum, P_Can_Msg canmsg, unsigned int items, unsigned int *txitems, int timeou); //定时发送CAN报文
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int __stdcall CAN_GetReceiveNum(unsigned int devNum); //获取接收缓冲区中接收到但尚未被读取的帧数量
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int __stdcall CAN_Receive(unsigned int devNum,P_Can_Msg canmsg, int Len, int timeou); //接收CAN报文
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int __stdcall CANFD_Init(unsigned int devNum, P_CanFD_Config pInitConfig);
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int __stdcall CANFD_Transmit(unsigned int devNum, P_CanFD_Msg canmsg, unsigned int items, int timeout);
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int __stdcall CANFD_TransmitRt(unsigned int devNum, P_CanFD_Msg canmsg, unsigned int items, unsigned int *txitems, int timeou); //定时发送CAN报文
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int __stdcall CANFD_GetReceiveNum(unsigned int devNum);//获取接收缓冲区中接收到但尚未被读取的帧数量
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int __stdcall CANFD_Receive(unsigned int devNum, P_CanFD_Msg canmsg, unsigned int Len, int timeout); //接收CANFD报文
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#ifdef __cplusplus
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|
}
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#endif
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#endif
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||||||
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@@ -0,0 +1,45 @@
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#include "ScHHS.h"
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#define PRODUCT "ScHHSUSBCan"
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||||||
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CAN_DRIVER ScHHScanDriver =
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{
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.ScanCanChnl = ScHHSScanCanChnl,
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.InitCan = ScHHSInitCan,
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.OpenCan = ScHHSOpenCan,
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.CloseCan = ScHHSCloseCan,
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.ResetCan = ScHHSResetCan,
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.SendCan = ScHHSSendCan,
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.RecvCan = ScHHSRecvCan
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|
};
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|
|
||||||
|
uint8_t ScHHSScanCanChnl(void)
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||||||
|
{
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|
printf("Scan %s Can\n",PRODUCT);
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|
}
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|
uint8_t ScHHSInitCan(uint8_t chnl)
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|
{
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|
printf("Init %s Can\n",PRODUCT);
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|
}
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||||||
|
uint8_t ScHHSOpenCan(uint8_t chnl)
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|
{
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|
printf("Open %s Can\n",PRODUCT);
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||||||
|
}
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||||||
|
uint8_t ScHHSCloseCan(uint8_t chnl)
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||||||
|
{
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||||||
|
printf("Close %s Can\n",PRODUCT);
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||||||
|
}
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||||||
|
uint8_t ScHHSResetCan(uint8_t chnl)
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||||||
|
{
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|
printf("Reset %s Can\n",PRODUCT);
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||||||
|
}
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||||||
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uint8_t ScHHSSendCan(uint8_t chnl,CAN_PKG_PTR canPkg)
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||||||
|
{
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||||||
|
printf("Send %s Can\n",PRODUCT);
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||||||
|
}
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||||||
|
uint8_t ScHHSRecvCan(uint8_t chnl,CAN_PKG_PTR canPkg)
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||||||
|
{
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||||||
|
printf("Recive %s Can\n",PRODUCT);
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||||||
|
}
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||||||
|
|
||||||
|
|
||||||
@@ -0,0 +1,18 @@
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|||||||
|
#ifndef __SCHHS_H__
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|
#define __SCHHS_H__
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||||||
|
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||||||
|
#include <stdint.h>
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||||||
|
#include "canDriver.h"
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||||||
|
#include "HCanbus.h"
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||||||
|
|
||||||
|
uint8_t ScHHSScanCanChnl(void);
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||||||
|
uint8_t ScHHSInitCan(uint8_t chnl);
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||||||
|
uint8_t ScHHSOpenCan(uint8_t chnl);
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||||||
|
uint8_t ScHHSCloseCan(uint8_t chnl);
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||||||
|
uint8_t ScHHSResetCan(uint8_t chnl);
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||||||
|
uint8_t ScHHSSendCan(uint8_t chnl,CAN_PKG_PTR canPkg);
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||||||
|
uint8_t ScHHSRecvCan(uint8_t chnl,CAN_PKG_PTR canPkg);
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||||||
|
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||||||
|
extern CAN_DRIVER ScHHScanDriver;
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|
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||||||
|
#endif
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|
#ifndef CONTROLCAN_H
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|
#define CONTROLCAN_H
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||||||
|
|
||||||
|
//接口卡类型定义
|
||||||
|
#define VCI_PCI5121 1
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||||||
|
#define VCI_PCI9810 2
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||||||
|
#define VCI_USBCAN1 3
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|
#define VCI_USBCAN2 4
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|
#define VCI_USBCAN2A 4
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|
#define VCI_PCI9820 5
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||||||
|
#define VCI_CAN232 6
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||||||
|
#define VCI_PCI5110 7
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||||||
|
#define VCI_CANLITE 8
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||||||
|
#define VCI_ISA9620 9
|
||||||
|
#define VCI_ISA5420 10
|
||||||
|
#define VCI_PC104CAN 11
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||||||
|
#define VCI_CANETUDP 12
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||||||
|
#define VCI_CANETE 12
|
||||||
|
#define VCI_DNP9810 13
|
||||||
|
#define VCI_PCI9840 14
|
||||||
|
#define VCI_PC104CAN2 15
|
||||||
|
#define VCI_PCI9820I 16
|
||||||
|
#define VCI_CANETTCP 17
|
||||||
|
#define VCI_PEC9920 18
|
||||||
|
#define VCI_PCIE_9220 18
|
||||||
|
#define VCI_PCI5010U 19
|
||||||
|
#define VCI_USBCAN_E_U 20
|
||||||
|
#define VCI_USBCAN_2E_U 21
|
||||||
|
#define VCI_PCI5020U 22
|
||||||
|
#define VCI_EG20T_CAN 23
|
||||||
|
#define VCI_PCIE9221 24
|
||||||
|
#define VCI_WIFICAN_TCP 25
|
||||||
|
#define VCI_WIFICAN_UDP 26
|
||||||
|
#define VCI_PCIe9120 27
|
||||||
|
#define VCI_PCIe9110 28
|
||||||
|
#define VCI_PCIe9140 29
|
||||||
|
#define VCI_USBCAN_4E_U 31
|
||||||
|
#define VCI_CANDTU_200UR 32
|
||||||
|
#define VCI_CANDTU_MINI 33
|
||||||
|
#define VCI_USBCAN_8E_U 34
|
||||||
|
#define VCI_CANREPLAY 35
|
||||||
|
#define VCI_CANDTU_NET 36
|
||||||
|
#define VCI_CANDTU_100UR 37
|
||||||
|
|
||||||
|
//CAN错误码
|
||||||
|
#define ERR_CAN_OVERFLOW 0x0001 //CAN控制器内部FIFO溢出
|
||||||
|
#define ERR_CAN_ERRALARM 0x0002 //CAN控制器错误报警
|
||||||
|
#define ERR_CAN_PASSIVE 0x0004 //CAN控制器消极错误
|
||||||
|
#define ERR_CAN_LOSE 0x0008 //CAN控制器仲裁丢失
|
||||||
|
#define ERR_CAN_BUSERR 0x0010 //CAN控制器总线错误
|
||||||
|
#define ERR_CAN_BUSOFF 0x0020 //总线关闭错误
|
||||||
|
#define ERR_CAN_BUFFER_OVERFLOW 0x0040 //CAN控制器内部BUFFER溢出
|
||||||
|
//通用错误码
|
||||||
|
#define ERR_DEVICEOPENED 0x0100 //设备已经打开
|
||||||
|
#define ERR_DEVICEOPEN 0x0200 //打开设备错误
|
||||||
|
#define ERR_DEVICENOTOPEN 0x0400 //设备没有打开
|
||||||
|
#define ERR_BUFFEROVERFLOW 0x0800 //缓冲区溢出
|
||||||
|
#define ERR_DEVICENOTEXIST 0x1000 //此设备不存在
|
||||||
|
#define ERR_LOADKERNELDLL 0x2000 //装载动态库失败
|
||||||
|
#define ERR_CMDFAILED 0x4000 //执行命令失败错误码
|
||||||
|
#define ERR_BUFFERCREATE 0x8000 //内存不足
|
||||||
|
|
||||||
|
//CANET错误码
|
||||||
|
#define ERR_CANETE_PORTOPENED 0x00010000 //端口已经被打开
|
||||||
|
#define ERR_CANETE_INDEXUSED 0x00020000 //设备索引号已经被占用
|
||||||
|
#define ERR_REF_TYPE_ID 0x00030000 //SetReference或GetReference传递的RefType不存在
|
||||||
|
#define ERR_CREATE_SOCKET 0x00030002 //创建Socket失败
|
||||||
|
#define ERR_OPEN_CONNECT 0x00030003 //打开Socket的连接时失败，可能设备连接已经存在
|
||||||
|
#define ERR_NO_STARTUP 0x00030004 //设备没启动
|
||||||
|
#define ERR_NO_CONNECTED 0x00030005 //设备无连接
|
||||||
|
#define ERR_SEND_PARTIAL 0x00030006 //只发送了部分的CAN帧
|
||||||
|
#define ERR_SEND_TOO_FAST 0x00030007 //数据发得太快，Socket缓冲区满了
|
||||||
|
|
||||||
|
//函数调用返回状态值
|
||||||
|
#define STATUS_OK 1
|
||||||
|
#define STATUS_ERR 0
|
||||||
|
|
||||||
|
#define CMD_DESIP 0
|
||||||
|
#define CMD_DESPORT 1
|
||||||
|
#define CMD_CHGDESIPANDPORT 2
|
||||||
|
#define CMD_SRCPORT 2
|
||||||
|
#define CMD_TCP_TYPE 4 //tcp 工作方式，服务器:1 或是客户端:0
|
||||||
|
#define TCP_CLIENT 0
|
||||||
|
#define TCP_SERVER 1
|
||||||
|
//服务器方式下有效
|
||||||
|
#define CMD_CLIENT_COUNT 5 //连接上的客户端计数
|
||||||
|
#define CMD_CLIENT 6 //连接上的客户端
|
||||||
|
#define CMD_DISCONN_CLINET 7 //断开一个连接
|
||||||
|
#define CMD_SET_RECONNECT_TIME 8 //使能自动重连
|
||||||
|
//CANDTU_NET支持GPS
|
||||||
|
#define CMD_GET_GPS 9
|
||||||
|
#define CMD_GET_GPS_NUM 10 //获取GPS信息的数目
|
||||||
|
|
||||||
|
typedef unsigned long DWORD, ULONG;
|
||||||
|
typedef int INT;
|
||||||
|
typedef void* HANDLE;
|
||||||
|
typedef unsigned char BYTE;
|
||||||
|
typedef unsigned short USHORT;
|
||||||
|
typedef char CHAR;
|
||||||
|
typedef unsigned int UINT;
|
||||||
|
typedef unsigned char UCHAR;
|
||||||
|
typedef unsigned short UINT16;
|
||||||
|
typedef void* PVOID;
|
||||||
|
|
||||||
|
typedef struct tagRemoteClient{
|
||||||
|
int iIndex;
|
||||||
|
DWORD port;
|
||||||
|
HANDLE hClient;
|
||||||
|
char szip[32];
|
||||||
|
}REMOTE_CLIENT;
|
||||||
|
|
||||||
|
typedef struct _tagChgDesIPAndPort
|
||||||
|
{
|
||||||
|
char szpwd[10];
|
||||||
|
char szdesip[20];
|
||||||
|
int desport;
|
||||||
|
BYTE blistenonly;
|
||||||
|
}CHGDESIPANDPORT;
|
||||||
|
|
||||||
|
//1.ZLGCAN系列接口卡信息的数据类型。
|
||||||
|
typedef struct _VCI_BOARD_INFO{
|
||||||
|
USHORT hw_Version;
|
||||||
|
USHORT fw_Version;
|
||||||
|
USHORT dr_Version;
|
||||||
|
USHORT in_Version;
|
||||||
|
USHORT irq_Num;
|
||||||
|
BYTE can_Num;
|
||||||
|
CHAR str_Serial_Num[20];
|
||||||
|
CHAR str_hw_Type[40];
|
||||||
|
USHORT Reserved[4];
|
||||||
|
} VCI_BOARD_INFO,*PVCI_BOARD_INFO;
|
||||||
|
|
||||||
|
//2.定义CAN信息帧的数据类型。
|
||||||
|
typedef struct _VCI_CAN_OBJ{
|
||||||
|
UINT ID;
|
||||||
|
UINT TimeStamp;
|
||||||
|
BYTE TimeFlag;
|
||||||
|
BYTE SendType;
|
||||||
|
BYTE RemoteFlag;//是否是远程帧
|
||||||
|
BYTE ExternFlag;//是否是扩展帧
|
||||||
|
BYTE DataLen;
|
||||||
|
BYTE Data[8];
|
||||||
|
BYTE Reserved[3]; //Reserved[0] 第0位表示特殊的空行或者高亮帧
|
||||||
|
}VCI_CAN_OBJ,*PVCI_CAN_OBJ;
|
||||||
|
|
||||||
|
//3.定义CAN控制器状态的数据类型。
|
||||||
|
typedef struct _VCI_CAN_STATUS{
|
||||||
|
UCHAR ErrInterrupt;
|
||||||
|
UCHAR regMode;
|
||||||
|
UCHAR regStatus;
|
||||||
|
UCHAR regALCapture;
|
||||||
|
UCHAR regECCapture;
|
||||||
|
UCHAR regEWLimit;
|
||||||
|
UCHAR regRECounter;
|
||||||
|
UCHAR regTECounter;
|
||||||
|
DWORD Reserved;
|
||||||
|
}VCI_CAN_STATUS,*PVCI_CAN_STATUS;
|
||||||
|
|
||||||
|
//4.定义错误信息的数据类型。
|
||||||
|
typedef struct _VCI_ERR_INFO{
|
||||||
|
UINT ErrCode;
|
||||||
|
BYTE Passive_ErrData[3];
|
||||||
|
BYTE ArLost_ErrData;
|
||||||
|
} VCI_ERR_INFO,*PVCI_ERR_INFO;
|
||||||
|
|
||||||
|
//5.定义初始化CAN的数据类型
|
||||||
|
typedef struct _VCI_INIT_CONFIG{
|
||||||
|
DWORD AccCode;
|
||||||
|
DWORD AccMask;
|
||||||
|
DWORD Reserved;
|
||||||
|
UCHAR Filter;
|
||||||
|
UCHAR Timing0;
|
||||||
|
UCHAR Timing1;
|
||||||
|
UCHAR Mode;
|
||||||
|
}VCI_INIT_CONFIG,*PVCI_INIT_CONFIG;
|
||||||
|
|
||||||
|
///////// new add struct for filter /////////
|
||||||
|
typedef struct _VCI_FILTER_RECORD{
|
||||||
|
DWORD ExtFrame; //是否为扩展帧
|
||||||
|
DWORD Start;
|
||||||
|
DWORD End;
|
||||||
|
}VCI_FILTER_RECORD,*PVCI_FILTER_RECORD;
|
||||||
|
|
||||||
|
//定时自动发送帧结构
|
||||||
|
typedef struct _VCI_AUTO_SEND_OBJ{
|
||||||
|
BYTE Enable; //使能本条报文 0:禁能 1:使能
|
||||||
|
BYTE Index; //报文编号 最大支持32条报文
|
||||||
|
DWORD Interval; //定时发送时间 1ms为单位
|
||||||
|
VCI_CAN_OBJ obj; //报文
|
||||||
|
}VCI_AUTO_SEND_OBJ,*PVCI_AUTO_SEND_OBJ;
|
||||||
|
|
||||||
|
//设置指示灯状态结构
|
||||||
|
typedef struct _VCI_INDICATE_LIGHT{
|
||||||
|
BYTE Indicate; //指示灯编号
|
||||||
|
BYTE AttribRedMode:2; //Red LED灭/亮/闪烁/自控
|
||||||
|
BYTE AttribGreenMode:2; //Green LED灭/亮/闪烁/自控
|
||||||
|
BYTE AttribReserved:4; //保留暂时不用
|
||||||
|
BYTE FrequenceRed:2; //Red LED闪烁频率
|
||||||
|
BYTE FrequenceGreen:2; //Green LED闪烁频率
|
||||||
|
BYTE FrequenceReserved:4; //保留暂时不用
|
||||||
|
} VCI_INDICATE_LIGHT,*PVCI_INDICATE_LIGHT;
|
||||||
|
|
||||||
|
//设置转发结构
|
||||||
|
typedef struct _VCI_CAN_OBJ_REDIRECT{
|
||||||
|
BYTE Action; //标识开启或停止转发
|
||||||
|
BYTE DestCanIndex; //CAN目标通道
|
||||||
|
} VCI_CAN_OBJ_REDIRECT,*PVCI_CAN_OBJ_REDIRECT;
|
||||||
|
|
||||||
|
typedef struct _CANDTUTIME {
|
||||||
|
UINT16 wYear;
|
||||||
|
UINT16 wMonth;
|
||||||
|
UINT16 wDay;
|
||||||
|
UINT16 wHour;
|
||||||
|
UINT16 wMinute;
|
||||||
|
UINT16 wSecond;
|
||||||
|
} CANDTUTIME;
|
||||||
|
|
||||||
|
//GPS数据结构
|
||||||
|
typedef struct _tagCANDTUGPSData
|
||||||
|
{
|
||||||
|
float fLatitude; //纬度
|
||||||
|
float fLongitude; //经度
|
||||||
|
float fSpeed; //速度
|
||||||
|
CANDTUTIME candtuTime;
|
||||||
|
}CANDTUGPSData, *PCANDTUGPSData;
|
||||||
|
|
||||||
|
//获取GPS结构
|
||||||
|
typedef struct _VCI_CANDTU_GPS_DATA
|
||||||
|
{
|
||||||
|
PCANDTUGPSData pGPSData; //用户提供接收GPS数据的缓冲区地址
|
||||||
|
ULONG nGPSDataCnt; //可以容纳的GPS数据个数
|
||||||
|
}VCI_CANDTU_GPS_DATA, *PVCI_CANDTU_GPS_DATA;
|
||||||
|
|
||||||
|
#ifdef __cplusplus
|
||||||
|
#define EXTERNC extern "C"
|
||||||
|
#define DEF(a) = a
|
||||||
|
#else
|
||||||
|
#define EXTERNC
|
||||||
|
#define DEF(a)
|
||||||
|
#endif
|
||||||
|
|
||||||
|
EXTERNC DWORD __stdcall VCI_OpenDevice(DWORD DeviceType,DWORD DeviceInd,DWORD Reserved);
|
||||||
|
EXTERNC DWORD __stdcall VCI_CloseDevice(DWORD DeviceType,DWORD DeviceInd);
|
||||||
|
EXTERNC DWORD __stdcall VCI_InitCAN(DWORD DeviceType, DWORD DeviceInd, DWORD CANInd, PVCI_INIT_CONFIG pInitConfig);
|
||||||
|
|
||||||
|
EXTERNC DWORD __stdcall VCI_ReadBoardInfo(DWORD DeviceType,DWORD DeviceInd,PVCI_BOARD_INFO pInfo);
|
||||||
|
EXTERNC DWORD __stdcall VCI_ReadErrInfo(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_ERR_INFO pErrInfo);
|
||||||
|
EXTERNC DWORD __stdcall VCI_ReadCANStatus(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_STATUS pCANStatus);
|
||||||
|
|
||||||
|
EXTERNC DWORD __stdcall VCI_GetReference(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,DWORD RefType,PVOID pData);
|
||||||
|
EXTERNC DWORD __stdcall VCI_SetReference(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,DWORD RefType,PVOID pData);
|
||||||
|
|
||||||
|
EXTERNC ULONG __stdcall VCI_GetReceiveNum(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
|
||||||
|
EXTERNC DWORD __stdcall VCI_ClearBuffer(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
|
||||||
|
|
||||||
|
EXTERNC DWORD __stdcall VCI_StartCAN(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
|
||||||
|
EXTERNC DWORD __stdcall VCI_ResetCAN(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd);
|
||||||
|
|
||||||
|
EXTERNC ULONG __stdcall VCI_Transmit(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_OBJ pSend,ULONG Len);
|
||||||
|
EXTERNC ULONG __stdcall VCI_Receive(DWORD DeviceType,DWORD DeviceInd,DWORD CANInd,PVCI_CAN_OBJ pReceive,ULONG Len,INT WaitTime DEF(-1));
|
||||||
|
|
||||||
|
#endif
|
||||||
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@@ -0,0 +1,6 @@
|
|||||||
|
#ifndef __ZLG_H__
|
||||||
|
#define __ZLG_H__
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
#endif
|
||||||
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@@ -0,0 +1,42 @@
|
|||||||
|
[KERNELDLL]
|
||||||
|
COUNT=40
|
||||||
|
1=PCI5121.dll
|
||||||
|
2=PCI9810.dll
|
||||||
|
3=USBCAN.dll
|
||||||
|
4=USBCAN.dll
|
||||||
|
5=PCI9820.dll
|
||||||
|
6=CAN232.dll
|
||||||
|
7=PCI5121.dll
|
||||||
|
8=CANLite.dll
|
||||||
|
9=ISA9620B.dll
|
||||||
|
10=ISA5420.dll
|
||||||
|
11=PC104CAN.dll
|
||||||
|
12=CANETE.dll
|
||||||
|
13=DNP9810B.dll
|
||||||
|
14=PCI9840B.dll
|
||||||
|
15=PC104C2.dll
|
||||||
|
16=PCI9820I.dll
|
||||||
|
17=CANET_TCP.dll
|
||||||
|
18=pec9920.dll
|
||||||
|
19=pci5010u.dll
|
||||||
|
20=USBCAN_E_64.dll
|
||||||
|
21=USBCAN_E_64.dll
|
||||||
|
22=pci50xx_u_x64.dll
|
||||||
|
23=topcliff_can_x64.dll
|
||||||
|
24=pcie9221_X64.dll
|
||||||
|
25=CANWIFI_TCP.dll
|
||||||
|
26=CANWIFI_UDP.dll
|
||||||
|
27=pcie9120.dll
|
||||||
|
28=pcie9110.dll
|
||||||
|
29=pcie9140.dll
|
||||||
|
30=pci5010p_x64.dll
|
||||||
|
31=USBCAN_4E_U_X64.dll
|
||||||
|
32=CANDTU_x64.dll
|
||||||
|
33=CANDTU_MINI_x64.dll
|
||||||
|
34=USBCAN_8E_U_x64.dll
|
||||||
|
35=CAN_REPLAY_x64.dll
|
||||||
|
36=CANDTU_NET.dll
|
||||||
|
37=CANDTU_x64.dll
|
||||||
|
38=zpcfd_x64.dll
|
||||||
|
39=zpcfd_x64.dll
|
||||||
|
40=zpcfd_x64.dll
|
||||||
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@@ -0,0 +1,43 @@
|
|||||||
|
#ifndef CAN_DRIVER_H
|
||||||
|
#define CAN_DRIVER_H
|
||||||
|
|
||||||
|
#include "OsSample.h"
|
||||||
|
|
||||||
|
#define SC_HHS 0 //四川和华盛的USB CAN
|
||||||
|
#define ZLG_USB_CAN_II 1 //周立功的USB CAN II & PRO
|
||||||
|
#define GC_USB_CAN_II 2 //广诚科技的USB CAN II
|
||||||
|
|
||||||
|
// CAN包长度
|
||||||
|
#define CAN_DATA_LEN 8
|
||||||
|
#define CANFD_DATA_LEN 64
|
||||||
|
|
||||||
|
// CAN包结构体
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
char data[CANFD_DATA_LEN];
|
||||||
|
}CAN_PKG,*CAN_PKG_PTR;
|
||||||
|
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
// 扫描通道，返回通道数量或状态
|
||||||
|
uint8_t (*ScanCanChnl)(void);
|
||||||
|
// 初始化硬件
|
||||||
|
uint8_t (*InitCan)(uint8_t);
|
||||||
|
// 打开/启动 CAN
|
||||||
|
uint8_t (*OpenCan)(uint8_t);
|
||||||
|
// 关闭 CAN
|
||||||
|
uint8_t (*CloseCan)(uint8_t);
|
||||||
|
// 复位 CAN
|
||||||
|
uint8_t (*ResetCan)(uint8_t);
|
||||||
|
// 发送数据包
|
||||||
|
uint8_t (*SendCan)(uint8_t chnl, CAN_PKG_PTR canPkg);
|
||||||
|
// 接收数据包
|
||||||
|
uint8_t (*RecvCan)(uint8_t chnl, CAN_PKG_PTR canPkg);
|
||||||
|
}CAN_DRIVER,*CAN_DRIVER_PTR;
|
||||||
|
|
||||||
|
Status CanProcessInit(void);
|
||||||
|
Status CanFuncRegister(uint8_t DeviceType);
|
||||||
|
|
||||||
|
extern CAN_DRIVER can;
|
||||||
|
|
||||||
|
#endif
|
||||||
@@ -0,0 +1,20 @@
|
|||||||
|
#ifndef NETWORK_H
|
||||||
|
#define NETWORK_H
|
||||||
|
|
||||||
|
#include "OsSample.h"
|
||||||
|
#include "SocketSample.h"
|
||||||
|
|
||||||
|
#define PKG_LEN 73 //报文长度
|
||||||
|
|
||||||
|
#define PKG_HEART 0xFF //心跳包索引
|
||||||
|
#define PKG_OPEN_CAN 0x00 //打开CAN
|
||||||
|
#define PKG_CLOSE_CAN 0x01 //关闭CAN
|
||||||
|
#define PKG_CTRL_CAN 0x02 //收发CAN
|
||||||
|
|
||||||
|
#define PHEAD 0x55 //报文头
|
||||||
|
#define PEND 0xAA //报文尾
|
||||||
|
|
||||||
|
Status NetProcessInit(uint32_t Port);
|
||||||
|
Status CanFuncOpen(uint8_t chnl);
|
||||||
|
|
||||||
|
#endif
|
||||||
+19
@@ -0,0 +1,19 @@
|
|||||||
|
#ifndef WORK_H
|
||||||
|
#define WORK_H
|
||||||
|
|
||||||
|
#include "OsSample.h"
|
||||||
|
|
||||||
|
#define LISTEN_PORT 12345 //监听端口
|
||||||
|
#define SEND_PORT 54321 //发送端口
|
||||||
|
|
||||||
|
typedef struct
|
||||||
|
{
|
||||||
|
uint8_t canFd; //是否CAN_FD
|
||||||
|
uint8_t status; //开关状态
|
||||||
|
uint8_t product; //当前厂商
|
||||||
|
uint8_t chnlNum; //通道个数
|
||||||
|
}WORK_STATUS,*WORK_STATUS_PTR;
|
||||||
|
|
||||||
|
extern WORK_STATUS work;
|
||||||
|
|
||||||
|
#endif
|
||||||
@@ -0,0 +1,174 @@
|
|||||||
|
#include "OsSample.h"
|
||||||
|
|
||||||
|
// --- 1. vTaskDelay ---
|
||||||
|
void vTaskDelay(const TickType_t xTicksToDelay) {
|
||||||
|
#ifdef _WIN32
|
||||||
|
Sleep(xTicksToDelay);
|
||||||
|
#elif defined(__linux__)
|
||||||
|
struct timespec ts;
|
||||||
|
ts.tv_sec = xTicksToDelay / 1000;
|
||||||
|
ts.tv_nsec = (xTicksToDelay % 1000) * 1000000L;
|
||||||
|
nanosleep(&ts, NULL);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
// --- 2. xTaskCreate ---
|
||||||
|
// 内部包装函数：为了适配系统线程接口并防止任务返回导致进程奔溃
|
||||||
|
#ifdef _WIN32
|
||||||
|
DWORD WINAPI prvTaskWrapper(LPVOID lpParam) {
|
||||||
|
TaskFunction_t pxTask = (TaskFunction_t)(((void**)lpParam)[0]);
|
||||||
|
void* pvParams = ((void**)lpParam)[1];
|
||||||
|
free(lpParam);
|
||||||
|
pxTask(pvParams);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
#else
|
||||||
|
void* prvTaskWrapper(void* lpParam) {
|
||||||
|
TaskFunction_t pxTask = (TaskFunction_t)(((void**)lpParam)[0]);
|
||||||
|
void* pvParams = ((void**)lpParam)[1];
|
||||||
|
free(lpParam);
|
||||||
|
pxTask(pvParams);
|
||||||
|
return NULL;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
BaseType_t xTaskCreate(TaskFunction_t pvTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask) {
|
||||||
|
// 准备参数包
|
||||||
|
void** args = malloc(sizeof(void*) * 2);
|
||||||
|
args[0] = (void*)pvTaskCode;
|
||||||
|
args[1] = pvParameters;
|
||||||
|
|
||||||
|
#ifdef _WIN32
|
||||||
|
HANDLE hThread = CreateThread(NULL, usStackDepth, prvTaskWrapper, args, 0, NULL);
|
||||||
|
if (pxCreatedTask) *pxCreatedTask = (TaskHandle_t)hThread;
|
||||||
|
return (hThread != NULL) ? pdPASS : pdFAIL;
|
||||||
|
#elif defined(__linux__)
|
||||||
|
pthread_t threadId;
|
||||||
|
int res = pthread_create(&threadId, NULL, prvTaskWrapper, args);
|
||||||
|
if (pxCreatedTask) *pxCreatedTask = (TaskHandle_t)threadId;
|
||||||
|
return (res == 0) ? pdPASS : pdFAIL;
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
// --- 3. xQueueCreate (简易内存模拟) ---
|
||||||
|
// 注意：实际生产环境建议使用互斥锁保护。这里仅展示逻辑框架。
|
||||||
|
typedef struct {
|
||||||
|
uint8_t* storage;
|
||||||
|
uint32_t length;
|
||||||
|
uint32_t item_size;
|
||||||
|
uint32_t write_idx; // 写指针
|
||||||
|
uint32_t read_idx; // 读指针
|
||||||
|
uint32_t count; // 当前元素数量
|
||||||
|
#ifdef _WIN32
|
||||||
|
HANDLE mutex; // 保护结构体内部数据
|
||||||
|
HANDLE sem_fill; // 计数信号量：当前有多少数据可读
|
||||||
|
#else
|
||||||
|
pthread_mutex_t mutex;
|
||||||
|
sem_t sem_fill;
|
||||||
|
#endif
|
||||||
|
} SimulatedQueue;
|
||||||
|
|
||||||
|
// --- xQueueCreate ---
|
||||||
|
QueueHandle_t xQueueCreate(UBaseType_t uxQueueLength, UBaseType_t uxItemSize) {
|
||||||
|
SimulatedQueue* q = (SimulatedQueue*)malloc(sizeof(SimulatedQueue));
|
||||||
|
if (!q) return NULL;
|
||||||
|
|
||||||
|
q->storage = (uint8_t*)malloc(uxQueueLength * uxItemSize);
|
||||||
|
q->length = uxQueueLength;
|
||||||
|
q->item_size = uxItemSize;
|
||||||
|
q->write_idx = 0;
|
||||||
|
q->read_idx = 0;
|
||||||
|
q->count = 0;
|
||||||
|
|
||||||
|
#ifdef _WIN32
|
||||||
|
q->mutex = CreateMutex(NULL, FALSE, NULL);
|
||||||
|
q->sem_fill = CreateSemaphore(NULL, 0, uxQueueLength, NULL);
|
||||||
|
#else
|
||||||
|
pthread_mutex_init(&q->mutex, NULL);
|
||||||
|
sem_init(&q->sem_fill, 0, 0);
|
||||||
|
#endif
|
||||||
|
return (QueueHandle_t)q;
|
||||||
|
}
|
||||||
|
|
||||||
|
// --- xQueueSend ---
|
||||||
|
BaseType_t xQueueSend(QueueHandle_t xQueue, const void * pvItemToQueue, TickType_t xTicksToWait) {
|
||||||
|
SimulatedQueue* q = (SimulatedQueue*)xQueue;
|
||||||
|
if (!q) return pdFAIL;
|
||||||
|
|
||||||
|
// 1. 进入临界区保护数据
|
||||||
|
#ifdef _WIN32
|
||||||
|
WaitForSingleObject(q->mutex, INFINITE);
|
||||||
|
#else
|
||||||
|
pthread_mutex_lock(&q->mutex);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// 检查队列是否已满
|
||||||
|
if (q->count >= q->length) {
|
||||||
|
#ifdef _WIN32
|
||||||
|
ReleaseMutex(q->mutex);
|
||||||
|
#else
|
||||||
|
pthread_mutex_unlock(&q->mutex);
|
||||||
|
#endif
|
||||||
|
return errQUEUE_FULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 2. 拷贝数据到环形缓冲区
|
||||||
|
memcpy(q->storage + (q->write_idx * q->item_size), pvItemToQueue, q->item_size);
|
||||||
|
q->write_idx = (q->write_idx + 1) % q->length;
|
||||||
|
q->count++;
|
||||||
|
|
||||||
|
// 3. 释放信号量通知接收方，退出临界区
|
||||||
|
#ifdef _WIN32
|
||||||
|
ReleaseSemaphore(q->sem_fill, 1, NULL);
|
||||||
|
ReleaseMutex(q->mutex);
|
||||||
|
#else
|
||||||
|
sem_post(&q->sem_fill);
|
||||||
|
pthread_mutex_unlock(&q->mutex);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
return pdPASS;
|
||||||
|
}
|
||||||
|
|
||||||
|
// --- xQueueReceive ---
|
||||||
|
BaseType_t xQueueReceive(QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait) {
|
||||||
|
SimulatedQueue* q = (SimulatedQueue*)xQueue;
|
||||||
|
if (!q) return pdFAIL;
|
||||||
|
|
||||||
|
// 1. 等待信号量（是否有数据可读）
|
||||||
|
#ifdef _WIN32
|
||||||
|
DWORD res = WaitForSingleObject(q->sem_fill, (xTicksToWait == portMAX_DELAY) ? INFINITE : xTicksToWait);
|
||||||
|
if (res != WAIT_OBJECT_0) return pdFAIL;
|
||||||
|
WaitForSingleObject(q->mutex, INFINITE); // 进入临界区
|
||||||
|
#else
|
||||||
|
// Linux 简化处理，直接阻塞等
|
||||||
|
sem_wait(&q->sem_fill);
|
||||||
|
pthread_mutex_lock(&q->mutex);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
// 2. 拷贝数据
|
||||||
|
memcpy(pvBuffer, q->storage + (q->read_idx * q->item_size), q->item_size);
|
||||||
|
q->read_idx = (q->read_idx + 1) % q->length;
|
||||||
|
q->count--;
|
||||||
|
|
||||||
|
// 3. 退出临界区
|
||||||
|
#ifdef _WIN32
|
||||||
|
ReleaseMutex(q->mutex);
|
||||||
|
#else
|
||||||
|
pthread_mutex_unlock(&q->mutex);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
return pdPASS;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 在 OsSample.c 中实现
|
||||||
|
void vTaskStartScheduler(void) {
|
||||||
|
#ifdef _WIN32
|
||||||
|
// Windows: 挂起主线程，直到进程结束
|
||||||
|
Sleep(INFINITE);
|
||||||
|
#elif defined(__linux__)
|
||||||
|
// Linux: 使用 pause() 挂起，等待信号，或者用死循环
|
||||||
|
while(1) {
|
||||||
|
pause();
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
}
|
||||||
@@ -0,0 +1,79 @@
|
|||||||
|
#ifndef OS_SAMPLE_H
|
||||||
|
#define OS_SAMPLE_H
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stddef.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
#ifdef _WIN32
|
||||||
|
#ifndef WIN32_LEAN_AND_MEAN
|
||||||
|
#define WIN32_LEAN_AND_MEAN // 阻止 windows.h 包含旧版 winsock.h
|
||||||
|
#endif
|
||||||
|
#include <semaphore.h>
|
||||||
|
#include <windows.h>
|
||||||
|
#elif defined(__linux__)
|
||||||
|
#include <unistd.h>
|
||||||
|
#include <time.h>
|
||||||
|
#include <pthread.h>
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief 状态返回码枚举
|
||||||
|
*/
|
||||||
|
typedef enum {
|
||||||
|
#ifndef ERROR
|
||||||
|
ERROR = 0,
|
||||||
|
#endif
|
||||||
|
#ifndef SUCCESS
|
||||||
|
SUCCESS = 1
|
||||||
|
#endif
|
||||||
|
} Status;
|
||||||
|
|
||||||
|
// 常用公共宏定义
|
||||||
|
#define ENABLE 1
|
||||||
|
#define DISABLE 0
|
||||||
|
|
||||||
|
/* 时间常数定义 */
|
||||||
|
#define portMAX_DELAY (TickType_t)0xFFFFFFFFUL
|
||||||
|
|
||||||
|
/* FreeRTOS 基础类型模拟 */
|
||||||
|
typedef int32_t BaseType_t;
|
||||||
|
typedef uint32_t TickType_t;
|
||||||
|
typedef uint32_t UBaseType_t;
|
||||||
|
typedef void* TaskHandle_t;
|
||||||
|
typedef void* QueueHandle_t;
|
||||||
|
|
||||||
|
#define pdTRUE 1
|
||||||
|
#define pdFALSE 0
|
||||||
|
#define pdPASS 1
|
||||||
|
#define pdFAIL 0
|
||||||
|
#define errQUEUE_FULL 0 // 或者根据你现有的定义调整
|
||||||
|
|
||||||
|
/* 任务函数指针定义 */
|
||||||
|
typedef void (*TaskFunction_t)(void *);
|
||||||
|
|
||||||
|
/* --- 严格一致的接口声明 --- */
|
||||||
|
|
||||||
|
// 延时 (ms)
|
||||||
|
void vTaskDelay(const TickType_t xTicksToDelay);
|
||||||
|
|
||||||
|
// 创建任务
|
||||||
|
BaseType_t xTaskCreate(
|
||||||
|
TaskFunction_t pvTaskCode,
|
||||||
|
const char * const pcName,
|
||||||
|
const uint16_t usStackDepth,
|
||||||
|
void * const pvParameters,
|
||||||
|
UBaseType_t uxPriority,
|
||||||
|
TaskHandle_t * const pxCreatedTask
|
||||||
|
);
|
||||||
|
|
||||||
|
void vTaskStartScheduler(void);
|
||||||
|
|
||||||
|
// 队列操作
|
||||||
|
QueueHandle_t xQueueCreate(UBaseType_t uxQueueLength, UBaseType_t uxItemSize);
|
||||||
|
BaseType_t xQueueSend(QueueHandle_t xQueue, const void * pvItemToQueue, TickType_t xTicksToWait);
|
||||||
|
BaseType_t xQueueReceive(QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait);
|
||||||
|
|
||||||
|
#endif
|
||||||
@@ -0,0 +1,85 @@
|
|||||||
|
#include "SocketSample.h"
|
||||||
|
#include <stdio.h>
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
// --- 1. xSocketInitEnvironment ---
|
||||||
|
int xSocketInitEnvironment(void) {
|
||||||
|
#ifdef _WIN32
|
||||||
|
WSADATA wsaData;
|
||||||
|
if (WSAStartup(MAKEWORD(2, 2), &wsaData) != 0) {
|
||||||
|
return SOCKET_FAIL;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
return SOCKET_SUCCESS;
|
||||||
|
}
|
||||||
|
|
||||||
|
// --- 2. xSocketCreateUDP ---
|
||||||
|
Socket_t xSocketCreateUDP(void) {
|
||||||
|
Socket_t xSocket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
|
||||||
|
return xSocket;
|
||||||
|
}
|
||||||
|
|
||||||
|
// --- 3. xSocketBind ---
|
||||||
|
int xSocketBind(Socket_t xSocket, uint16_t usPort) {
|
||||||
|
struct sockaddr_in xLocalAddr;
|
||||||
|
memset(&xLocalAddr, 0, sizeof(xLocalAddr));
|
||||||
|
xLocalAddr.sin_family = AF_INET;
|
||||||
|
xLocalAddr.sin_port = htons(usPort);
|
||||||
|
xLocalAddr.sin_addr.s_addr = INADDR_ANY; // 监听所有网卡
|
||||||
|
|
||||||
|
if (bind(xSocket, (struct sockaddr*)&xLocalAddr, sizeof(xLocalAddr)) == SOCKET_ERROR_HANDLE) {
|
||||||
|
return SOCKET_FAIL;
|
||||||
|
}
|
||||||
|
return SOCKET_SUCCESS;
|
||||||
|
}
|
||||||
|
|
||||||
|
// --- 4. vSocketClose ---
|
||||||
|
void vSocketClose(Socket_t xSocket) {
|
||||||
|
if (xSocket == INVALID_SOCKET_HANDLE) return;
|
||||||
|
#ifdef _WIN32
|
||||||
|
closesocket(xSocket);
|
||||||
|
#else
|
||||||
|
close(xSocket);
|
||||||
|
#endif
|
||||||
|
}
|
||||||
|
|
||||||
|
// --- 5. xSocketSendTo ---
|
||||||
|
int32_t xSocketSendTo(Socket_t xSocket, const void* pvBuffer, uint32_t ulLength,
|
||||||
|
const char* pcIPAddress, uint16_t usPort) {
|
||||||
|
struct sockaddr_in xDestAddr;
|
||||||
|
memset(&xDestAddr, 0, sizeof(xDestAddr));
|
||||||
|
xDestAddr.sin_family = AF_INET;
|
||||||
|
xDestAddr.sin_port = htons(usPort);
|
||||||
|
xDestAddr.sin_addr.s_addr = inet_addr(pcIPAddress);
|
||||||
|
|
||||||
|
int res = sendto(xSocket, (const char*)pvBuffer, (int)ulLength, 0,
|
||||||
|
(struct sockaddr*)&xDestAddr, sizeof(xDestAddr));
|
||||||
|
|
||||||
|
if (res == SOCKET_ERROR_HANDLE) return SOCKET_FAIL;
|
||||||
|
return (int32_t)res;
|
||||||
|
}
|
||||||
|
|
||||||
|
// --- 6. xSocketReceiveFrom ---
|
||||||
|
int32_t xSocketReceiveFrom(Socket_t xSocket, void* pvBuffer, uint32_t ulLength,
|
||||||
|
char* pcIPAddress, uint16_t* pusPort) {
|
||||||
|
struct sockaddr_in xSourceAddr;
|
||||||
|
#ifdef _WIN32
|
||||||
|
int xAddrLen = sizeof(xSourceAddr);
|
||||||
|
#else
|
||||||
|
socklen_t xAddrLen = sizeof(xSourceAddr);
|
||||||
|
#endif
|
||||||
|
|
||||||
|
int res = recvfrom(xSocket, (char*)pvBuffer, (int)ulLength, 0,
|
||||||
|
(struct sockaddr*)&xSourceAddr, &xAddrLen);
|
||||||
|
|
||||||
|
if (res != SOCKET_ERROR_HANDLE) {
|
||||||
|
if (pcIPAddress) {
|
||||||
|
char* ip = inet_ntoa(xSourceAddr.sin_addr);
|
||||||
|
if (ip) strcpy(pcIPAddress, ip);
|
||||||
|
}
|
||||||
|
if (pusPort) *pusPort = ntohs(xSourceAddr.sin_port);
|
||||||
|
} else {
|
||||||
|
return SOCKET_FAIL;
|
||||||
|
}
|
||||||
|
return (int32_t)res;
|
||||||
|
}
|
||||||
@@ -0,0 +1,45 @@
|
|||||||
|
#ifndef SOCKET_SAMPLE_H
|
||||||
|
#define SOCKET_SAMPLE_H
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
#ifdef _WIN32
|
||||||
|
#include <winsock2.h>
|
||||||
|
#include <ws2tcpip.h>
|
||||||
|
typedef SOCKET Socket_t;
|
||||||
|
#define INVALID_SOCKET_HANDLE INVALID_SOCKET
|
||||||
|
#define SOCKET_ERROR_HANDLE SOCKET_ERROR
|
||||||
|
#else
|
||||||
|
#include <sys/socket.h>
|
||||||
|
#include <netinet/in.h>
|
||||||
|
#include <arpa/inet.h>
|
||||||
|
#include <unistd.h>
|
||||||
|
typedef int Socket_t;
|
||||||
|
#define INVALID_SOCKET_HANDLE -1
|
||||||
|
#define SOCKET_ERROR_HANDLE -1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define SOCKET_SUCCESS 0
|
||||||
|
#define SOCKET_FAIL -1
|
||||||
|
|
||||||
|
// 环境初始化（Win必须，Linux为空操作）
|
||||||
|
int xSocketInitEnvironment(void);
|
||||||
|
|
||||||
|
// 创建 UDP Socket
|
||||||
|
Socket_t xSocketCreateUDP(void);
|
||||||
|
|
||||||
|
// 绑定端口（接收端必备）
|
||||||
|
int xSocketBind(Socket_t xSocket, uint16_t usPort);
|
||||||
|
|
||||||
|
// 关闭 Socket
|
||||||
|
void vSocketClose(Socket_t xSocket);
|
||||||
|
|
||||||
|
// UDP 发送数据
|
||||||
|
int32_t xSocketSendTo(Socket_t xSocket, const void* pvBuffer, uint32_t ulLength,
|
||||||
|
const char* pcIPAddress, uint16_t usPort);
|
||||||
|
|
||||||
|
// UDP 接收数据
|
||||||
|
int32_t xSocketReceiveFrom(Socket_t xSocket, void* pvBuffer, uint32_t ulLength,
|
||||||
|
char* pcIPAddress, uint16_t* pusPort);
|
||||||
|
|
||||||
|
#endif
|
||||||
@@ -0,0 +1,8 @@
|
|||||||
|
mkdir build && cd build
|
||||||
|
cmake .. -G "MinGW Makefiles" -DCMAKE_C_COMPILER="C:/Applications/Program Custom/msys2/mingw64/bin/gcc.exe"
|
||||||
|
mingw32-make
|
||||||
|
|
||||||
|
|
||||||
|
mkdir build && cd build
|
||||||
|
cmake ..
|
||||||
|
make
|
||||||
@@ -0,0 +1,43 @@
|
|||||||
|
#include "OsSample.h"
|
||||||
|
#include "canDriver.h"
|
||||||
|
#include "ScHHS.h"
|
||||||
|
|
||||||
|
CAN_DRIVER can;
|
||||||
|
|
||||||
|
#define CAN_QUEUE_RECV_NUM 100000 //CAN接收队列长度
|
||||||
|
#define CAN_QUEUE_SEND_NUM 100000 //CAN发送队列长度
|
||||||
|
|
||||||
|
QueueHandle_t CanRecvQueue;
|
||||||
|
QueueHandle_t CanSendQueue;
|
||||||
|
|
||||||
|
//初始化CAN任务相关队列，数组等等
|
||||||
|
Status CanProcessInit(void)
|
||||||
|
{
|
||||||
|
CanRecvQueue = xQueueCreate(CAN_QUEUE_RECV_NUM, sizeof(CAN_PKG));
|
||||||
|
CanSendQueue = xQueueCreate(CAN_QUEUE_SEND_NUM, sizeof(CAN_PKG));
|
||||||
|
}
|
||||||
|
//关联驱动函数
|
||||||
|
Status CanFuncRegister(uint8_t DeviceType)
|
||||||
|
{
|
||||||
|
switch (DeviceType)
|
||||||
|
{
|
||||||
|
case SC_HHS:
|
||||||
|
//四川和华盛的USB CAN
|
||||||
|
can = ScHHScanDriver;
|
||||||
|
return SUCCESS;
|
||||||
|
case ZLG_USB_CAN_II:
|
||||||
|
//周立功的USB CAN II & PRO
|
||||||
|
return SUCCESS;
|
||||||
|
case GC_USB_CAN_II:
|
||||||
|
//广诚科技的USB CAN II
|
||||||
|
return SUCCESS;
|
||||||
|
default:
|
||||||
|
return ERROR;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
//打开CAN
|
||||||
|
Status CanFuncOpen(uint8_t chnl)
|
||||||
|
{
|
||||||
|
|
||||||
|
}
|
||||||
+69
@@ -0,0 +1,69 @@
|
|||||||
|
#include "OsSample.h"
|
||||||
|
#include "work.h"
|
||||||
|
#include "canDriver.h"
|
||||||
|
#include "network.h"
|
||||||
|
|
||||||
|
#define APP_NAME "UniversalCan"
|
||||||
|
|
||||||
|
int SearchPreProcess(const char* processName);
|
||||||
|
void KillPreProcess(const char* processName);
|
||||||
|
|
||||||
|
int main(void)
|
||||||
|
{
|
||||||
|
//此程序必须只有一个进程在运行
|
||||||
|
while (SearchPreProcess(APP_NAME) == ENABLE)
|
||||||
|
{
|
||||||
|
//杀死上一个进程
|
||||||
|
KillPreProcess(APP_NAME);
|
||||||
|
printf("Kill Pre Process\n");
|
||||||
|
//等待进程里面的socket和内存被释放
|
||||||
|
vTaskDelay(500);
|
||||||
|
}
|
||||||
|
// 初始化队列和任务等等
|
||||||
|
// 初始化网络
|
||||||
|
NetProcessInit(LISTEN_PORT);
|
||||||
|
// 初始化CAN
|
||||||
|
CanProcessInit();
|
||||||
|
// 初始化network
|
||||||
|
|
||||||
|
vTaskStartScheduler();
|
||||||
|
}
|
||||||
|
|
||||||
|
// 查找是否有指定名称的进程在运行（排除自身）
|
||||||
|
int SearchPreProcess(const char* processName)
|
||||||
|
{
|
||||||
|
char cmd[512];
|
||||||
|
|
||||||
|
#ifdef _WIN32
|
||||||
|
DWORD currentPID = GetCurrentProcessId();
|
||||||
|
// Windows 下通常需要 .exe 后缀，建议传入时带上或在这里处理
|
||||||
|
snprintf(cmd, sizeof(cmd),
|
||||||
|
"tasklist | findstr \"%s\" | findstr /v \"%lu\" > nul",
|
||||||
|
processName, currentPID);
|
||||||
|
#elif defined(__linux__)
|
||||||
|
snprintf(cmd, sizeof(cmd),
|
||||||
|
"pgrep -x \"%s\" | grep -v %d > /dev/null 2>&1",
|
||||||
|
processName, getpid());
|
||||||
|
#endif
|
||||||
|
|
||||||
|
return system(cmd) == 0 ? ENABLE : DISABLE;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 杀死指定名称的同名进程（排除自身）
|
||||||
|
void KillPreProcess(const char* processName)
|
||||||
|
{
|
||||||
|
char cmd[512]; // 稍微加大 buffer 以防万一
|
||||||
|
|
||||||
|
#ifdef _WIN32
|
||||||
|
DWORD currentPID = GetCurrentProcessId();
|
||||||
|
// 逻辑不变，仅参数化进程名
|
||||||
|
snprintf(cmd, sizeof(cmd),
|
||||||
|
"for /f \"tokens=2\" %%a in ('tasklist ^| findstr \"%s\"') do if not %%a==%lu taskkill /F /PID %%a",
|
||||||
|
processName, currentPID);
|
||||||
|
#elif defined(__linux__)
|
||||||
|
snprintf(cmd, sizeof(cmd),
|
||||||
|
"pgrep -x \"%s\" | grep -v %d | xargs -r kill -9 > /dev/null 2>&1",
|
||||||
|
processName, getpid());
|
||||||
|
#endif
|
||||||
|
system(cmd);
|
||||||
|
}
|
||||||
+182
@@ -0,0 +1,182 @@
|
|||||||
|
#include "network.h"
|
||||||
|
#include "work.h"
|
||||||
|
|
||||||
|
Socket_t context;
|
||||||
|
|
||||||
|
#define SOCKET_QUEUE_SEND_NUM 100000 //SOCKET接收队列长度
|
||||||
|
#define SOCKET_QUEUE_RECV_NUM 100000 //SOCKET发送队列长度
|
||||||
|
|
||||||
|
QueueHandle_t SocketRecvQueue;
|
||||||
|
QueueHandle_t SocketSendQueue;
|
||||||
|
|
||||||
|
void NetLoopTask(void *p);
|
||||||
|
void NetReciveTask(void *p);
|
||||||
|
void NetAnalysis(char *data);
|
||||||
|
void NetPkgSend(char *data);
|
||||||
|
void NetReciveQueueTask(void *p);
|
||||||
|
void NetSendQueueTask(void *p);
|
||||||
|
|
||||||
|
Status NetProcessInit(uint32_t Port)
|
||||||
|
{
|
||||||
|
//初始化
|
||||||
|
if (xSocketInitEnvironment() == SOCKET_SUCCESS)
|
||||||
|
{
|
||||||
|
printf("socket init success\n");
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
printf("socket init error\n");
|
||||||
|
return ERROR;
|
||||||
|
}
|
||||||
|
// 创建
|
||||||
|
context = xSocketCreateUDP();
|
||||||
|
// 绑定
|
||||||
|
if (xSocketBind(context,Port) == SOCKET_SUCCESS)
|
||||||
|
{
|
||||||
|
printf("socket listen success\n");
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
printf("socket listen error\n");
|
||||||
|
return ERROR;
|
||||||
|
}
|
||||||
|
|
||||||
|
SocketRecvQueue = xQueueCreate(SOCKET_QUEUE_RECV_NUM, PKG_LEN);
|
||||||
|
SocketSendQueue = xQueueCreate(SOCKET_QUEUE_SEND_NUM, PKG_LEN);
|
||||||
|
|
||||||
|
//开启任务
|
||||||
|
xTaskCreate(NetReciveTask, /*!< 任务函数 */
|
||||||
|
"NetReciveTask", /*!< 任务名 */
|
||||||
|
1024, /*!< stack大小，单位word，也就是4字节 */
|
||||||
|
NULL, /*!< 任务参数 */
|
||||||
|
0, /*!< 任务优先级, 数字越大优先级越高*/
|
||||||
|
NULL); /*!< 任务句柄 */
|
||||||
|
|
||||||
|
xTaskCreate(NetReciveQueueTask, /*!< 任务函数 */
|
||||||
|
"NetReciveQueueTask", /*!< 任务名 */
|
||||||
|
1024, /*!< stack大小，单位word，也就是4字节 */
|
||||||
|
NULL, /*!< 任务参数 */
|
||||||
|
0, /*!< 任务优先级, 数字越大优先级越高*/
|
||||||
|
NULL); /*!< 任务句柄 */
|
||||||
|
|
||||||
|
xTaskCreate(NetSendQueueTask, /*!< 任务函数 */
|
||||||
|
"NetSendQueueTask", /*!< 任务名 */
|
||||||
|
1024, /*!< stack大小，单位word，也就是4字节 */
|
||||||
|
NULL, /*!< 任务参数 */
|
||||||
|
0, /*!< 任务优先级, 数字越大优先级越高*/
|
||||||
|
NULL); /*!< 任务句柄 */
|
||||||
|
|
||||||
|
//网络循环执行任务
|
||||||
|
xTaskCreate(NetLoopTask, /*!< 任务函数 */
|
||||||
|
"NetLoopTask", /*!< 任务名 */
|
||||||
|
1024, /*!< stack大小，单位word，也就是4字节 */
|
||||||
|
NULL, /*!< 任务参数 */
|
||||||
|
0, /*!< 任务优先级, 数字越大优先级越高*/
|
||||||
|
NULL); /*!< 任务句柄 */
|
||||||
|
}
|
||||||
|
|
||||||
|
//udp接收任务
|
||||||
|
void NetReciveTask(void *p)
|
||||||
|
{
|
||||||
|
char PcRecvBuf[PKG_LEN]; // 接收缓冲区
|
||||||
|
char PcRemoteIP[16]; // 存放谁发过来的 IP
|
||||||
|
uint16_t PcRemotePort; //存放谁发过来的端口
|
||||||
|
int PkgLen; //接收长度
|
||||||
|
|
||||||
|
while (1)
|
||||||
|
{
|
||||||
|
PkgLen = xSocketReceiveFrom(context,PcRecvBuf,PKG_LEN,PcRemoteIP,&PcRemotePort);
|
||||||
|
if (PkgLen == PKG_LEN)
|
||||||
|
{
|
||||||
|
xQueueSend(SocketRecvQueue,PcRecvBuf,portMAX_DELAY);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
//udp解析函数
|
||||||
|
void NetAnalysis(char *data)
|
||||||
|
{
|
||||||
|
switch (data[1])
|
||||||
|
{
|
||||||
|
case PKG_OPEN_CAN:
|
||||||
|
//打开CAN
|
||||||
|
CanFuncRegister(data[2]);
|
||||||
|
CanFuncOpen(data[3]);
|
||||||
|
break;
|
||||||
|
case PKG_CLOSE_CAN:
|
||||||
|
//关闭CAN
|
||||||
|
break;
|
||||||
|
case PKG_CTRL_CAN:
|
||||||
|
//收发CAN
|
||||||
|
break;
|
||||||
|
default:
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
//心跳包
|
||||||
|
void NetHeart(void)
|
||||||
|
{
|
||||||
|
static char heart[PKG_LEN];
|
||||||
|
heart[0] = PHEAD;
|
||||||
|
heart[1] = PKG_HEART;
|
||||||
|
heart[2] = work.status;
|
||||||
|
heart[3] = work.product;
|
||||||
|
heart[4] = work.chnlNum;
|
||||||
|
heart[5] = work.canFd;
|
||||||
|
|
||||||
|
for (uint8_t i = 6; i < PKG_LEN; i++)
|
||||||
|
{
|
||||||
|
heart[i] = DISABLE;
|
||||||
|
}
|
||||||
|
|
||||||
|
heart[PKG_LEN - 1] = PEND;
|
||||||
|
|
||||||
|
NetPkgSend(heart);
|
||||||
|
}
|
||||||
|
|
||||||
|
//网络循环任务
|
||||||
|
void NetLoopTask(void *p)
|
||||||
|
{
|
||||||
|
while (1)
|
||||||
|
{
|
||||||
|
//发送心跳包
|
||||||
|
// NetHeart();
|
||||||
|
vTaskDelay(500);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
//udp队列接收任务
|
||||||
|
void NetReciveQueueTask(void *p)
|
||||||
|
{
|
||||||
|
char PcRecvBuf[PKG_LEN]; // 接收缓冲区
|
||||||
|
|
||||||
|
while(1)
|
||||||
|
{
|
||||||
|
xQueueReceive(SocketRecvQueue,&PcRecvBuf,portMAX_DELAY);
|
||||||
|
|
||||||
|
NetAnalysis(PcRecvBuf);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
//网络数据包发送
|
||||||
|
void NetPkgSend(char *data)
|
||||||
|
{
|
||||||
|
data[0] = PHEAD;
|
||||||
|
data[PKG_LEN - 1] = PEND;
|
||||||
|
xQueueSend(SocketSendQueue,data,portMAX_DELAY);
|
||||||
|
}
|
||||||
|
|
||||||
|
//网络数据包发送队列
|
||||||
|
void NetSendQueueTask(void *p)
|
||||||
|
{
|
||||||
|
static uint16_t SendPort = SEND_PORT;
|
||||||
|
char PcSendBuf[PKG_LEN]; // 接收缓冲区
|
||||||
|
|
||||||
|
while(1)
|
||||||
|
{
|
||||||
|
xQueueReceive(SocketSendQueue,&PcSendBuf,portMAX_DELAY);
|
||||||
|
|
||||||
|
xSocketSendTo(context,PcSendBuf,PKG_LEN,"127.0.0.1",SendPort);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,3 @@
|
|||||||
|
#include "work.h"
|
||||||
|
|
||||||
|
WORK_STATUS work;
|
||||||
@@ -0,0 +1 @@
|
|||||||
|
1、心跳包
|
||||||
Binary file not shown.
Reference in New Issue
Block a user