要同时兼容ZLGCAN和CANFD怎么写 C#

要同时兼容ZLGCAN和CANFD，需要使用不同的函数库来实现CAN总线通信。对于ZLGCAN，可以使用官方提供的函数库；对于CANFD，可以使用SocketCAN等开源的函数库。

以下是一个简单的C#示例代码，演示了如何同时兼容ZLGCAN和CANFD：

using System;
using System.Runtime.InteropServices;
using System.Net.Sockets;

public class CanBus
{
    // ZLGCAN函数库
    [DllImport("ControlCAN.dll")]
    private static extern UInt32 VCI_OpenDevice(UInt32 DeviceType, UInt32 DeviceInd, UInt32 Reserved);
    [DllImport("ControlCAN.dll")]
    private static extern UInt32 VCI_CloseDevice(UInt32 DeviceType, UInt32 DeviceInd);
    [DllImport("ControlCAN.dll")]
    private static extern UInt32 VCI_InitCAN(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_INIT_CONFIG pInitConfig);
    [DllImport("ControlCAN.dll")]
    private static extern UInt32 VCI_StartCAN(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);
    [DllImport("ControlCAN.dll")]
    private static extern UInt32 VCI_ResetCAN(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd);
    [DllImport("ControlCAN.dll")]
    private static extern UInt32 VCI_Transmit(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_OBJ pSend, UInt32 Length);

    // SocketCAN函数库
    private const int AF_CAN = 29;
    private const int PF_CAN = AF_CAN;
    private const int SOL_CAN_RAW = 101;
    private const int CAN_RAW_FILTER = 1;
    private const int CAN_RAW_ERR_FILTER = 2;
    private const int CAN_RAW_LOOPBACK = 3;
    private const int CAN_RAW_RECV_OWN_MSGS = 4;
    private const int CAN_SFF_MASK = 0x7FF;
    private const int CAN_EFF_FLAG = 0x80000000;
    private const int CAN_RTR_FLAG = 0x40000000;
    private const int CAN_ERR_FLAG = 0x20000000;
    private const int CAN_SFF_ID_BITS = 11;
    private const int CAN_EFF_ID_BITS = 29;
    private const int CAN_ERR_DLC = 8;
    private const int CAN_MTU = 16;
    private const int CAN_FD_MTU = 72;
    private const int CAN_MAX_DLEN = 8;

    [StructLayout(LayoutKind.Sequential)]
    private struct can_frame
    {
        public int can_id;
        public byte can_dlc;
        public byte can_data_0;
        public byte can_data_1;
        public byte can_data_2;
        public byte can_data_3;
        public byte can_data_4;
        public byte can_data_5;
        public byte can_data_6;
        public byte can_data_7;
    }

    [StructLayout(LayoutKind.Sequential)]
    private struct sockaddr_can
    {
        public int can_family;
        public int can_ifindex;
        public can_frame can_addr;
    }

    [DllImport("libsocketcan")]
    private static extern int socket(int domain, int type, int protocol);
    [DllImport("libsocketcan")]
    private static extern int bind(int sockfd, ref sockaddr_can addr, int addrlen);
    [DllImport("libsocketcan")]
    private static extern int setsockopt(int sockfd, int level, int optname, IntPtr optval, int optlen);
    [DllImport("libsocketcan")]
    private static extern int write(int sockfd, ref can_frame frame, int count);

    // CAN总线初始化配置信息
    private struct VCI_INIT_CONFIG
    {
        public UInt32 AccCode;
        public UInt32 AccMask;
        public UInt32 Reserved;
        public Byte Filter;
        public Byte Timing0;
        public Byte Timing1;
        public Byte Mode;
    }

    // CAN数据帧信息
    private struct VCI_CAN_OBJ
    {
        public UInt32 ID;
        public UInt32 TimeStamp;
        public Byte TimeFlag;
        public Byte SendType;
        public Byte RemoteFlag;
        public Byte ExternFlag;
        public Byte DataLen;
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 8)]
        public Byte[] Data;
        [MarshalAs(UnmanagedType.ByValArray, SizeConst = 3)]
        public Byte[] Reserved;
    }

    // 发送CAN数据帧到ZLGCAN
    public void SendCanFrameToZLG(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, UInt32 ID, Byte[] Data, Byte DataLen)
    {
        UInt32 status;
        VCI_INIT_CONFIG config = new VCI_INIT_CONFIG();
        VCI_CAN_OBJ can_data = new VCI_CAN_OBJ();

        // 初始化CAN总线
        status = VCI_OpenDevice(DeviceType, DeviceInd, 0);
        status = VCI_InitCAN(DeviceType, DeviceInd, CANInd, ref config);
        status = VCI_StartCAN(DeviceType, DeviceInd, CANInd);

        // 发送CAN数据
        can_data.ID = ID;
        can_data.SendType = 0;
        can_data.DataLen = DataLen;
        can_data.Data = new Byte[8];
        Array.Copy(Data, can_data.Data, DataLen);
        status = VCI_Transmit(DeviceType, DeviceInd, CANInd, ref can_data, 1);

        // 关闭CAN总线
        status = VCI_ResetCAN(DeviceType, DeviceInd, CANInd);
        status = VCI_CloseDevice(DeviceType, DeviceInd);
    }

    // 发送CAN数据帧到SocketCAN
    public void SendCanFrameToSocketCAN(String InterfaceName, UInt32 ID, Byte[] Data, Byte DataLen, Boolean IsCANFD)
    {
        int sockfd, ret;
        sockaddr_can addr = new sockaddr_can();
        can_frame frame = new can_frame();

        // 创建SocketCAN套接字
        sockfd = socket(PF_CAN, SOCK_RAW, CAN_RAW);

        // 绑定到指定的CAN接口
        addr.can_family = AF_CAN;
        addr.can_ifindex = if_nametoindex(InterfaceName);
        ret = bind(sockfd, ref addr, Marshal.SizeOf(addr));

        // 设置过滤规则
        int[] filter = new int[1] { 0 };
        int filterLen = Marshal.SizeOf(filter);
        ret = setsockopt(sockfd, SOL_CAN_RAW, CAN_RAW_FILTER, filter, filterLen);

        // 构造CAN数据帧
        if (IsCANFD)
        {
            frame.can_id = (int)(ID | CAN_EFF_FLAG);
            frame.can_dlc = DataLen | CAN_FD_MTU;
        }
        else
        {
            frame.can_id = ID & CAN_SFF_MASK;
            frame.can_dlc = DataLen;
        }
        Array.Copy(Data, frame.can_data_0, DataLen);

        // 发送CAN数据帧
        ret = write(sockfd, ref frame, Marshal.SizeOf(frame));
    }
}

在上述代码中，我们使用了ZLGCAN函数库和SocketCAN函数库来实现CAN总线通信，并提供了两个方法SendCanFrameToZLG和SendCanFrameToSocketCAN，分别用于发送CAN数据帧到ZLGCAN和SocketCAN。在发送CAN数据帧时，我们需要根据CAN数据帧的类型（CAN或CANFD）来选择合适的函数库和数据格式。