149 lines
5.4 KiB
C
Executable File
149 lines
5.4 KiB
C
Executable File
//
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// Created by 93094 on 2025/12/23.
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//
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#ifndef DM_DEVICE_PUB_USER_H
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#define DM_DEVICE_PUB_USER_H
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#define DEVICE_EXPORTS
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#ifdef _WIN32
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#ifdef DEVICE_EXPORTS
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#define DEVICE_API __declspec(dllexport)
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#else
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#define DEVICE_API __declspec(dllimport)
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#endif
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#else
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#define DEVICE_API __attribute__((visibility("default")))
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#endif
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#ifdef __cplusplus
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#include <stdint.h>
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extern "C"
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{
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typedef struct damiao_handle hDamiaoUsb;
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typedef struct device_handle hDevice;
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#pragma pack(push,1)
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typedef struct
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{
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uint32_t can_id:29; //can id
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uint32_t esi:1; //错误状态指示 一般不用
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uint32_t ext:1; //拓展帧 1-拓展帧 0-标准帧
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uint32_t rtr:1; //远程帧 1-远程帧 0-数据帧
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uint8_t canfd:1; //canfd 1-canfd帧 0-can2.0帧
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uint8_t brs:1; //波特率切换 1-切换 0-不切换
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uint8_t id_inc:1; //ID自增 1-自增 0-不自增
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uint8_t data_inc:1; //数据自增 1-自增 0-不自增
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uint8_t dlc:4; //数据长度
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uint8_t channel; //通道号
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uint16_t reserved; //预留字节
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uint16_t step_id; //步进ID
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uint32_t stop_id; //停止ID
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uint32_t interval; //发送间隔
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int32_t send_times; //发送次数
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}usb_tx_frame_head_t;
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typedef struct
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{
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usb_tx_frame_head_t head;
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uint8_t payload[64];
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}usb_tx_frame_t;
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typedef struct
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{
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uint32_t can_id:29; //can id
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uint32_t esi:1; //错误状态指示 一般不用
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uint32_t ext:1; //类型：标准/拓展
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uint32_t rtr:1; //类型：数据/远程
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uint64_t time_stamp; //时间戳
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uint8_t channel; //发送通道
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uint8_t canfd:1; //类型：2.0/fd
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uint8_t dir:1; //方向：rx/tx
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uint8_t brs:1; //BRS
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uint8_t ack:1; //应答标志
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uint8_t dlc:4; //长度
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uint16_t reserved; //预留字节
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}usb_rx_frame_head_t;
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typedef struct
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{
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usb_rx_frame_head_t head;
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uint8_t payload[64];
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}usb_rx_frame_t ;
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typedef struct
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{
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int can_baudrate;
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int canfd_baudrate;
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float can_sp;
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float canfd_sp;
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}device_baud_t;
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typedef enum
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{
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DEV_None=-1,
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DEV_USB2CANFD=0,
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DEV_USB2CANFD_DUAL,
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DEV_ECAT2CANFD
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}device_def_t;
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typedef struct
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{
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uint8_t channel;
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uint8_t can_fd;
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uint8_t can_seg1;
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uint8_t can_seg2;
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uint8_t can_sjw;
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uint8_t can_prescaler;
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uint8_t canfd_seg1;
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uint8_t canfd_seg2;
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uint8_t canfd_sjw;
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uint8_t canfd_prescaler;
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}dmcan_ch_can_config_t;
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#pragma pack(pop)
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typedef void (*dev_rec_callback)(usb_rx_frame_t* rec_frame);
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typedef void (*dev_sent_callback)(usb_rx_frame_t* sent_frame);
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typedef void (*dev_err_callback)(usb_rx_frame_t* err_frame);
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DEVICE_API damiao_handle* damiao_handle_create(device_def_t type);
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DEVICE_API void damiao_handle_destroy(damiao_handle* handle);
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DEVICE_API void damiao_print_version(damiao_handle* handle);
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DEVICE_API void damiao_get_sdk_version(damiao_handle* handle, char* version_buf, size_t buf_size);
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DEVICE_API int damiao_handle_find_devices(damiao_handle* handle);
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DEVICE_API void damiao_handle_get_devices(damiao_handle* handle,device_handle** dev_list, int* device_count);
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DEVICE_API void device_get_version(device_handle* dev, char* version_buf, size_t buf_size);
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DEVICE_API void device_get_pid_vid(device_handle* dev, int* pid, int* vid);
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DEVICE_API void device_get_serial_number(device_handle* dev, char* serial_buf, size_t buf_size);
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DEVICE_API void device_get_type(device_handle* dev, device_def_t* type);
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DEVICE_API bool device_open(device_handle* dev);
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DEVICE_API bool device_close(device_handle* dev);
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DEVICE_API bool device_save_config(device_handle* dev);
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DEVICE_API bool device_open_channel(device_handle* dev, uint8_t channel);
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DEVICE_API bool device_close_channel(device_handle* dev, uint8_t channel);
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DEVICE_API bool device_channel_get_baudrate(device_handle*dev ,uint8_t channel,device_baud_t* baud);
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DEVICE_API bool device_channel_set_baud(device_handle*dev ,uint8_t channel,bool canfd,int bitrate,int dbitrate);
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DEVICE_API bool device_channel_set_baud_with_sp(device_handle*dev ,uint8_t channel,bool canfd,int bitrate,int dbitrate,float can_sp,float canfd_sp);
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DEVICE_API void device_hook_to_rec(device_handle*dev,dev_rec_callback callback);
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DEVICE_API void device_hook_to_sent(device_handle*dev,dev_sent_callback callback);
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DEVICE_API void device_hook_to_err(device_handle*dev,dev_err_callback callback);
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DEVICE_API void device_channel_send(device_handle*dev,usb_tx_frame_t frame);
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DEVICE_API void device_channel_send_fast(device_handle*dev,uint8_t ch,uint32_t can_id,int32_t cnt,bool ext,bool canfd,bool brs,uint8_t len,uint8_t* payload);
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DEVICE_API void device_channel_send_advanced(device_handle*dev,uint8_t ch,uint32_t can_id,uint16_t step_id,uint32_t stop_id,int32_t cnt,bool id_inc,bool data_inc,bool ext,bool canfd,bool brs,uint8_t len,uint8_t* payload);
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}
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#endif
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#endif //DM_DEVICE_PUB_USER_H
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