NI 8473S USBCAN是大名鼎鼎的美國NATIONAL INSTRUMENTS公司出品的USBCAN卡，爲了深入對比市場上各類CAN卡的性能，筆者特意在網上購買了NI 8473S的CAN卡，此CAN卡帶。
有圖有真相，左邊是NI8473S 右邊是Vector CANCASEXL
下面是接入CANoe後的精度對比，CAN1是NI 8473s， CAN2是Vector CANCASEXL通過對比，發現NI 8473s的硬件性能非常驚豔，就筆者自己的感覺而言，API的響應速度和整體性能比ValueCAN PCAN ZLGCAN好許多。
接入方案請參考https://blog.csdn.net/fz835304205/article/details/88560764
編程API提供給大家請參考：
利用官方提供的頭文件Nican.h和庫文件nicanmsc.lib，封裝代碼爲git前輩所寫，貼出來供大家參考
/*======================*/
/* Includes */
/*======================*/
//system headers
#include <stdio.h>
#include <errno.h>
#ifndef _WIN32
#include <inttypes.h>
#include <pthread.h>
#include <syslog.h>
#include <unistd.h>
#endif
#include <windows.h>
#include <malloc.h>
#include <assert.h>
//project headers
extern "C" {
#include "NI-CAN/nican.h"
}
#include "canDef.h"
#include "canAPI.h"
CANAPI_BEGIN
#define CH_COUNT (int)1 // number of CAN channels
int hd[CH_COUNT], ret_c;
long id;
unsigned char sdata[8], rdata[8];
unsigned int dlc, flags;
unsigned long timestamp;
#define canMSG_MASK 0x00ff // Used to mask the non-info bits
#define canMSG_RTR 0x0001 // Message is a remote request
#define canMSG_STD 0x0002 // Message has a standard ID
#define canMSG_EXT 0x0004 // Message has an extended ID
#define canMSG_WAKEUP 0x0008 // Message to be sent / was received in wakeup mode
#define canMSG_NERR 0x0010 // NERR was active during the message
#define canMSG_ERROR_FRAME 0x0020 // Message is an error frame
#define canMSG_TXACK 0x0040 // Message is a TX ACK (msg is really sent)
#define canMSG_TXRQ 0x0080 // Message is a TX REQUEST (msg is transfered to the chip)
//#define _DUMP_RXFRAME (1)
/* NI-CAN Status */
NCTYPE_STATUS Status=0;
/* NI-CAN handles */
NCTYPE_OBJH TxHandle=0;
/* NI-CAN Frame Type for Write Object */
NCTYPE_CAN_DATA Transmit;
/* NI-CAN Frame Type for Write Object */
NCTYPE_CAN_FRAME TxFrame;
/* NI-CAN Frame Type for Read Object */
NCTYPE_CAN_STRUCT RxFrame;
/* This function converts the absolute time obtained from ncReadMult into a
string. */
void AbsTimeToString(NCTYPE_ABS_TIME *time, char *TimeString)
{
SYSTEMTIME stime;
FILETIME localftime;
FileTimeToLocalFileTime((FILETIME *)(time), &localftime);
FileTimeToSystemTime(&localftime, &stime);
sprintf(TimeString, "%02d:%02d:%02d.%03d",
stime.wHour, stime.wMinute, stime.wSecond,
stime.wMilliseconds);
}
/* Print a description of an NI-CAN error/warning. */
void PrintStat(NCTYPE_STATUS Status, char *source)
{
char StatusString[1024];
if (Status != 0)
{
ncStatusToString(Status, sizeof(StatusString), StatusString);
printf("\n%s\nSource = %s\n", StatusString, source);
// On error, close object handle.
printf("<< CAN: Close\n");
ncCloseObject(TxHandle);
TxHandle = 0;
hd[0] = TxHandle;
//hd[1] = TxHandle;
//exit(1);
}
}
/* Print read frame */
void PrintRxFrame()
{
char output[15];
char CharBuff[50];
AbsTimeToString(&RxFrame.Timestamp, &output[0]);
printf("%s ", output);
sprintf (&CharBuff[0], "%8.8X", RxFrame.ArbitrationId);
printf("%s ", CharBuff);
sprintf (&CharBuff[0], "%s","CAN Data Frame");
printf("%s ", CharBuff);
sprintf (&CharBuff[0], "%1d", RxFrame.DataLength);
printf("%s ", CharBuff);
for (int j=0; j<RxFrame.DataLength; j++)
{
sprintf (CharBuff, " %02X", RxFrame.Data[j]);
printf("%s", CharBuff);
}
printf("\n");
}
int canWrite(int handle,
long id,
void * msg,
unsigned int dlc,
unsigned int /*flag*/)
{
if (!handle)
return -1;
TxFrame.IsRemote = NC_FRMTYPE_DATA;
TxFrame.ArbitrationId = id;
TxFrame.DataLength = dlc;
for (int i=0; i<dlc; i++)
TxFrame.Data[i] = ((NCTYPE_UINT8_P)msg)[i];
Status = ncWrite(handle, sizeof(NCTYPE_CAN_FRAME), &TxFrame);
if (Status < 0)
{
PrintStat(Status, "ncWrite");
return Status;
}
return Status;
}
int canRead(int handle,
long * id,
void * msg,
unsigned int * dlc,
unsigned int * /*flag*/,
unsigned long * time)
{
if (!handle)
return -1;
memset(&RxFrame, 0, sizeof(NCTYPE_CAN_FRAME));
//RxFrame.FrameType = NC_FRMTYPE_DATA;
RxFrame.DataLength = *dlc;
Status = ncRead(handle, sizeof(NCTYPE_CAN_STRUCT), &RxFrame);
if (Status < 0 || NC_FRMTYPE_DATA != RxFrame.FrameType)
{
PrintStat(Status, "ncRead");
return Status;
}
else if (Status == CanWarnOldData)
{
(*dlc) = 0;
return Status;
}
(*id) = RxFrame.ArbitrationId;
//(*time) = (FILETIME)(RxFrame.Timestamp);
(*dlc) = RxFrame.DataLength;
for (int i=0; i<RxFrame.DataLength; i++)
((NCTYPE_UINT8_P)msg)[i] = RxFrame.Data[i];
#ifdef _DUMP_RXFRAME
PrintRxFrame();
#endif
return Status;
}
int canReadWait(int handle,
long * id,
void * msg,
unsigned int * dlc,
unsigned int * /*flag*/,
unsigned long * time,
unsigned long timeout)
{
if (!handle)
return -1;
NCTYPE_STATE currentState;
Status = ncWaitForState(handle, NC_ST_READ_AVAIL, timeout, ¤tState);
if (Status < 0)
{
PrintStat(Status, "ncWaitForState");
return Status;
}
memset(&RxFrame, 0, sizeof(NCTYPE_CAN_FRAME));
RxFrame.FrameType = NC_FRMTYPE_DATA;
RxFrame.DataLength = *dlc;
Status = ncRead(handle, sizeof(NCTYPE_CAN_STRUCT), &RxFrame);
if (Status < 0)
{
PrintStat(Status, "ncRead");
return Status;
}
(*id) = RxFrame.ArbitrationId;
//(*time) = (FILETIME)(RxFrame.Timestamp);
(*dlc) = RxFrame.DataLength;
for (int i=0; i<RxFrame.DataLength; i++)
((NCTYPE_UINT8_P)msg)[i] = RxFrame.Data[i];
#ifdef _DUMP_RXFRAME
PrintRxFrame();
#endif
return Status;
}
int command_can_open(int ch)
{
NCTYPE_ATTRID AttrIdList[8];
NCTYPE_UINT32 AttrValueList[8];
//NCTYPE_UINT32 Baudrate = 125000; // BAUD_125K
NCTYPE_UINT32 Baudrate = NC_BAUD_1000K;
char Interface[15];
sprintf_s(Interface, "CAN%d", ch);
// Configure the CAN Network Interface Object
AttrIdList[0] = NC_ATTR_BAUD_RATE;
AttrValueList[0] = Baudrate;
AttrIdList[1] = NC_ATTR_START_ON_OPEN;
AttrValueList[1] = NC_TRUE;
AttrIdList[2] = NC_ATTR_READ_Q_LEN;
AttrValueList[2] = 100;
AttrIdList[3] = NC_ATTR_WRITE_Q_LEN;
AttrValueList[3] = 10;
AttrIdList[4] = NC_ATTR_CAN_COMP_STD;
AttrValueList[4] = 0;//0xCFFFFFFF;
AttrIdList[5] = NC_ATTR_CAN_MASK_STD;
AttrValueList[5] = NC_CAN_MASK_STD_DONTCARE;
AttrIdList[6] = NC_ATTR_CAN_COMP_XTD;
AttrValueList[6] = 0;//0xCFFFFFFF;
AttrIdList[7] = NC_ATTR_CAN_MASK_XTD;
AttrValueList[7] = NC_CAN_MASK_XTD_DONTCARE;
printf("<< CAN: Config\n");
Status = ncConfig(Interface, 2, AttrIdList, AttrValueList);
if (Status < 0)
{
PrintStat(Status, "ncConfig");
return Status;
}
printf(" - Done\n");
// open the CAN Network Interface Object
printf("<< CAN: Open Channel\n");
Status = ncOpenObject (Interface, &TxHandle);
if (Status < 0)
{
PrintStat(Status, "ncOpenObject");
return Status;
}
hd[0] = TxHandle;
//hd[1] = TxHandle;
printf(" - Done\n");
return 1;
}
int command_can_open_ex(int ch, int type, int index)
{
return command_can_open(ch);
}
int command_can_reset(int ch)
{
printf("<< CAN: Reset Bus\n");
// stop the CAN Network
Status = ncAction(TxHandle, NC_OP_STOP, 0);
if (Status < 0)
{
PrintStat(Status, "ncAction(NC_OP_STOP)");
return Status;
}
// start the CAN Network
Status = ncAction(TxHandle, NC_OP_START, 0);
if (Status < 0)
{
PrintStat(Status, "ncAction(NC_OP_START)");
return Status;
}
/*while (true)
{
memset(rdata, NULL, sizeof(rdata));
Status = canRead(TxHandle, &id, rdata, &dlc, &flags, ×tamp);
if (Status != 0) break;
printf(" %ld+%ld (%d)", id-id%128, id%128, dlc);
for(int nd=0; nd<(int)dlc; nd++) printf(" %3d ", rdata[nd]);
printf("\n");
}*/
/*int nc;
printf("<< CAN: Reset Bus\n");
for(nc=0; nc<CH_COUNT; nc++) {
ret_c = canResetBus(hd[nc]);
if (ret_c < 0) return ret_c;
printf(" Ch.%2d (OK)\n", nc, ret_c);
}*/
printf(" - Done\n");
Sleep(200);
return 1;
}
int command_can_close(int ch)
{
if (!TxHandle)
return 0;
printf("<< CAN: Close\n");
Status = ncCloseObject(TxHandle);
if (Status < 0)
{
PrintStat(Status, "ncCloseObject");
return Status;
}
TxHandle = 0;
hd[0] = TxHandle;
//hd[1] = TxHandle;
printf(" - Done\n");
return 1;
}
int command_can_query_id(int ch)
{
long Txid;
unsigned char data[8];
Txid = ((unsigned long)ID_CMD_QUERY_ID<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);
canWrite(TxHandle, Txid, data, 0, STD);
return 0;
}
int command_can_sys_init(int ch, int period_msec)
{
long Txid;
unsigned char data[8];
Txid = ((unsigned long)ID_CMD_SET_PERIOD<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);
data[0] = (unsigned char)period_msec;
canWrite(TxHandle, Txid, data, 1, STD);
Sleep(10);
Txid = ((unsigned long)ID_CMD_SET_MODE_TASK<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);
canWrite(TxHandle, Txid, data, 0, STD);
Sleep(10);
Txid = ((unsigned long)ID_CMD_QUERY_STATE_DATA<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);
canWrite(TxHandle, Txid, data, 0, STD);
return 0;
}
int command_can_start(int ch)
{
long Txid;
unsigned char data[8];
Txid = ((unsigned long)ID_CMD_QUERY_STATE_DATA<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);
canWrite(TxHandle, Txid, data, 0, STD);
Sleep(10);
Txid = ((unsigned long)ID_CMD_SET_SYSTEM_ON<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);
canWrite(TxHandle, Txid, data, 0, STD);
return 0;
}
int command_can_stop(int ch)
{
long Txid;
unsigned char data[8];
Txid = ((unsigned long)ID_CMD_SET_SYSTEM_OFF<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);
canWrite(TxHandle, Txid, data, 0, STD);
return 0;
}
int command_can_AHRS_set(int ch, unsigned char rate, unsigned char mask)
{
long Txid;
unsigned char data[8];
Txid = ((unsigned long)ID_CMD_AHRS_SET<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);
data[0] = (unsigned char)rate;
data[1] = (unsigned char)mask;
canWrite(TxHandle, Txid, data, 2, STD);
return 0;
}
int write_current(int ch, int findex, short* pwm)
{
long Txid;
unsigned char data[8];
if (findex >= 0 && findex < 4)
{
data[0] = (unsigned char)( (pwm[0] >> 8) & 0x00ff);
data[1] = (unsigned char)(pwm[0] & 0x00ff);
data[2] = (unsigned char)( (pwm[1] >> 8) & 0x00ff);
data[3] = (unsigned char)(pwm[1] & 0x00ff);
data[4] = (unsigned char)( (pwm[2] >> 8) & 0x00ff);
data[5] = (unsigned char)(pwm[2] & 0x00ff);
data[6] = (unsigned char)( (pwm[3] >> 8) & 0x00ff);
data[7] = (unsigned char)(pwm[3] & 0x00ff);
Txid = ((unsigned long)(ID_CMD_SET_TORQUE_1 + findex)<<6) | ((unsigned long)ID_COMMON <<3) | ((unsigned long)ID_DEVICE_MAIN);
canWrite(TxHandle, Txid, data, 8, STD);
}
else
return -1;
return 0;
}
int get_message(int ch, char* cmd, char* src, char* des, int* len, unsigned char* data, int blocking)
{
long id;
memset(rdata, NULL, sizeof(rdata));
Status = canRead(TxHandle, &id, rdata, &dlc, &flags, ×tamp);
if (Status != 0) return Status;
//printf(" %ld+%ld (%d)", id-id%128, id%128, dlc);
//for(int nd=0; nd<(int)dlc; nd++) printf(" %3d ", rdata[nd]);
//printf("\n");
*cmd = (char)( (id >> 6) & 0x1f );
*des = (char)( (id >> 3) & 0x07 );
*src = (char)( id & 0x07);
*len = (int)dlc;
for(int nd=0; nd<(int)dlc; nd++) data[nd] = rdata[nd];
return 0;
}
CANAPI_END
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