C#使用ZLGCANFD-200u实现同时接收CANFD和CAN报文代码

以下是一个简单的 C# 代码示例，可以使用 ZLGCANFD-200u 接口同时接收 CANFD 和 CAN 报文：

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Runtime.InteropServices;
using ZLGCAN;

namespace CanExample
{
    class Program
    {
        static UInt32 canFDDevType = 4;
        static UInt32 canDevType = 3;
        static UInt32 canFDDevIndex = 0;
        static UInt32 canDevIndex = 0;
        static UInt32 canFDChannel = 0;
        static UInt32 canChannel = 0;
        static UInt32 canFDMode = 2;

        static void Main(string[] args)
        {
            VCI_INIT_CONFIG config = new VCI_INIT_CONFIG();
            config.AccCode = 0;
            config.AccMask = 0xFFFFFFFF;
            config.Filter = 0;
            config.Mode = 0;
            config.Timing0 = 0x01;
            config.Timing1 = 0x1C;

            UInt32 canFDDeviceHandle = VCI_OpenDevice(canFDDevType, canFDDevIndex, 0);
            if (canFDDeviceHandle == 0)
            {
                Console.WriteLine("CANFD 设备打开失败!");
                return;
            }

            UInt32 canDeviceHandle = VCI_OpenDevice(canDevType, canDevIndex, 0);
            if (canDeviceHandle == 0)
            {
                Console.WriteLine("CAN 设备打开失败!");
                return;
            }

            UInt32 canFDRes = VCI_InitCANFD(canFDDeviceHandle, canFDChannel, ref config, canFDMode);
            if (canFDRes != 1)
            {
                Console.WriteLine("CANFD 通道初始化失败!");
                return;
            }

            UInt32 canRes = VCI_InitCAN(canDeviceHandle, canChannel, ref config);
            if (canRes != 1)
            {
                Console.WriteLine("CAN 通道初始化失败!");
                return;
            }

            while (true)
            {
                VCI_CAN_OBJ canFDMsg = new VCI_CAN_OBJ();
                canFDMsg.Data = new byte[64];
                canFDMsg.Reserved = new byte[3];

                VCI_CAN_OBJ canMsg = new VCI_CAN_OBJ();
                canMsg.Data = new byte[8];
                canMsg.Reserved = new byte[3];

                UInt32 canFDReadRes = VCI_ReadCANFD(canFDDeviceHandle, canFDChannel, out canFDMsg, 1, 100);
                if (canFDReadRes == 1)
                {
                    Console.WriteLine("CANFD 消息已接收: ID = 0x" + canFDMsg.ID.ToString("X") + ", 数据 = " + BitConverter.ToString(canFDMsg.Data));
                }

                UInt32 canReadRes = VCI_ReadCAN(canDeviceHandle, canChannel, out canMsg, 1, 100);
                if (canReadRes == 1)
                {
                    Console.WriteLine("CAN 消息已接收: ID = 0x" + canMsg.ID.ToString("X") + ", 数据 = " + BitConverter.ToString(canMsg.Data));
                }
            }
        }
    }
}

需要使用 ZLGCANFD-200u 接口的 DLL 文件，可以从官网下载并安装相应的驱动程序和 DLL 文件。在代码中，我们使用 `VCI_OpenDevice` 函数打开 CANFD 和 CAN 设备，使用 `VCI_InitCANFD` 和 `VCI_InitCAN` 函数初始化 CANFD 和 CAN 通道，并使用 `VCI_ReadCANFD` 和 `VCI_ReadCAN` 函数分别接收 CANFD 和 CAN 消息。具体的数据解析和处理需要根据实际情况进行调整。