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本文以 USBCANFD200U CAN盒为例

基于python ，使用ZLG USBCANFD200U CAN盒进行收发报文等上位机Demo

一、周立功官网下载函数库和例程

下载链接：https://manual.zlg.cn/web/#/55?page_id=2286

二、周立功设备及通道的打开和关闭

import zlgcandef main():# 创建can实例zcanlib = zlgcan.ZCAN()# 打开CAN设备canDriveHandle = zcanlib.OpenDevice(zlgcan.ZCAN_USBCANFD_200U, 0, 0)if canDriveHandle == zlgcan.INVALID_DEVICE_HANDLE:print("打开设备失败！")else:print("打开设备成功！")# 初始化chn_cfg = zlgcan.ZCAN_CHANNEL_INIT_CONFIG()chn0_handle = zcanlib.InitCAN(canDriveHandle, 0, chn_cfg)# 启动CAN通道zcanlib.StartCAN(chn0_handle)# 关闭CAN设备zcanlib.CloseDevice(canDriveHandle)if __name__ == '__main__':main()

三、获取设备信息

import zlgcandef main():# 创建can实例zcanlib = zlgcan.ZCAN()# 打开CAN设备canDriveHandle = zcanlib.OpenDevice(zlgcan.ZCAN_USBCANFD_200U, 0, 0)if canDriveHandle == zlgcan.INVALID_DEVICE_HANDLE:print("打开设备失败！")else:print("打开设备成功！")# 获取设备信息deviceInfo = zcanlib.GetDeviceInf(canDriveHandle)print("获取 硬件版本号：", deviceInfo.hw_version)print("获取 固件版本号：", deviceInfo.fw_version)print("获取 驱动程序版本号：", deviceInfo.dr_version)print("获取 接口库版本号：", deviceInfo.in_version)print("获取 支持通道数量：", deviceInfo.can_num)print("获取 板卡的序列号：", deviceInfo.serial)print("获取 硬件类型：", deviceInfo.hw_type)# 关闭CAN设备zcanlib.CloseDevice(canDriveHandle)if __name__ == '__main__':main()

四、通道配置

import zlgcandef main():# 创建can实例zcanlib = zlgcan.ZCAN()# 打开CAN设备canDriveHandle = zcanlib.OpenDevice(zlgcan.ZCAN_USBCANFD_200U, 0, 0)if canDriveHandle == zlgcan.INVALID_DEVICE_HANDLE:print("打开设备失败！")else:print("打开设备成功！")'''仲裁域波特率："50K":12696558,"100K":4307950,"125K":4304830,"250K":110526,"500K":104286,"800K":101946,"1M":101166数据域波特率："1M":8487694,"2M":4260362,"4M":66058,"5M":66055'''# 初始化chn0_cfg = zlgcan.ZCAN_CHANNEL_INIT_CONFIG()    chn0_cfg.can_type = zlgcan.ZCAN_TYPE_CANFD  # 设置为 CANFD 协议chn0_cfg.config.canfd.abit_timing = 104286  # 设置仲裁域波特率 500Kchn0_cfg.config.canfd.dbit_timing = 4260362 # 设置数据域波特率 2Mchn0_handle = zcanlib.InitCAN(canDriveHandle, 0, chn0_cfg)# 启动CAN通道zcanlib.StartCAN(chn0_handle)# 关闭CAN设备zcanlib.CloseDevice(canDriveHandle)if __name__ == '__main__':main()

五、获取接收的报文数据

import zlgcan
import timedef main():# 创建can实例zcanlib = zlgcan.ZCAN()# 打开CAN设备canDriveHandle = zcanlib.OpenDevice(zlgcan.ZCAN_USBCANFD_200U, 0, 0)if canDriveHandle == zlgcan.INVALID_DEVICE_HANDLE:print("打开设备失败！")else:print("打开设备成功！")'''仲裁域波特率："50K":12696558,"100K":4307950,"125K":4304830,"250K":110526,"500K":104286,"800K":101946,"1M":101166数据域波特率："1M":8487694,"2M":4260362,"4M":66058,"5M":66055'''# 初始化chn0_cfg = zlgcan.ZCAN_CHANNEL_INIT_CONFIG()    chn0_cfg.can_type = zlgcan.ZCAN_TYPE_CANFD  # 设置为 CANFD 协议chn0_cfg.config.canfd.abit_timing = 104286  # 设置仲裁域波特率 500Kchn0_cfg.config.canfd.dbit_timing = 4260362 # 设置数据域波特率 2Mchn0_handle = zcanlib.InitCAN(canDriveHandle, 0, chn0_cfg)# 启动CAN通道zcanlib.StartCAN(chn0_handle)total_ReceiveNum = 0 # 总共接收到的报文数量while(1):can_num = zcanlib.GetReceiveNum(chn0_handle, zlgcan.ZCAN_TYPE_CAN) # 获取缓冲区 CAN 报文数量canfd_num = zcanlib.GetReceiveNum(chn0_handle, zlgcan.ZCAN_TYPE_CANFD) # # 获取缓冲区 CANFD 报文数量if can_num != 0 or canfd_num != 0:while can_num >= 1:read_cnt = 10 if can_num >= 10 else can_num # 若接收缓冲区的报文数量小于10，就以缓冲区内的数量进行读取can_msgs, act_num = zcanlib.Receive(chn0_handle, read_cnt, 5) # 5 表示缓冲区无数据，函数阻塞等待时间，单位毫秒for i in range(act_num): #update datatotal_ReceiveNum += 1rev_Data = " "print("接收到的报文数量：", total_ReceiveNum)print("报文ID：", can_msgs[i].frame.can_id)print("数据长度：", can_msgs[i].frame.can_dlc)for j in range(can_msgs[i].frame.can_dlc): rev_Data = rev_Data + str(can_msgs[i].frame.data[j]) + " "print("数据：", rev_Data)else:breakcan_num -= act_numwhile canfd_num >= 1:read_cnt = 10 if canfd_num >= 10 else canfd_num # 若接收缓冲区的报文数量小于10，就以缓冲区内的数量进行读取canfd_msgs, act_num = zcanlib.ReceiveFD(chn0_handle, read_cnt, 5) # 5 表示缓冲区无数据，函数阻塞等待时间，单位毫秒for i in range(act_num): #update datatotal_ReceiveNum += 1rev_Data = " "print("接收到的报文数量：", total_ReceiveNum)print("报文ID：", canfd_msgs[i].frame.can_id)print("数据长度：", canfd_msgs[i].frame.len)for j in range(canfd_msgs[i].frame.len): rev_Data = rev_Data + str(canfd_msgs[i].frame.data[j]) + " "print("数据：", rev_Data)else:breakcanfd_num -= act_numelse:# print("can_num = ", can_num, "canfd_num = ", canfd_num)time.sleep(0.002) #wait 2ms# 关闭CAN设备zcanlib.CloseDevice(canDriveHandle)if __name__ == '__main__':main()

# 六、报文发送

import zlgcan
import timedef main():# 创建can实例zcanlib = zlgcan.ZCAN()# 打开CAN设备canDriveHandle = zcanlib.OpenDevice(zlgcan.ZCAN_USBCANFD_200U, 0, 0)if canDriveHandle == zlgcan.INVALID_DEVICE_HANDLE:print("打开设备失败！")else:print("打开设备成功！")'''仲裁域波特率："50K":12696558,"100K":4307950,"125K":4304830,"250K":110526,"500K":104286,"800K":101946,"1M":101166数据域波特率："1M":8487694,"2M":4260362,"4M":66058,"5M":66055'''# 初始化chn0_cfg = zlgcan.ZCAN_CHANNEL_INIT_CONFIG()    chn0_cfg.can_type = zlgcan.ZCAN_TYPE_CANFD  # 设置为 CANFD 协议chn0_cfg.config.canfd.abit_timing = 104286  # 设置仲裁域波特率 500Kchn0_cfg.config.canfd.dbit_timing = 4260362 # 设置数据域波特率 2Mchn0_handle = zcanlib.InitCAN(canDriveHandle, 0, chn0_cfg)# 启动CAN通道zcanlib.StartCAN(chn0_handle)total_ReceiveNum = 0 # 总共接收到的报文数量while(1):send_data = [1,2,3,4,5,6,7,8,9,10,11,12]# 发送 CAN 报文msg_Can = zlgcan.ZCAN_Transmit_Data()msg_Can.transmit_type =  1 # 发送方式， 0=正常发送， 1=单次发送， 2=自发自收， 3=单次自发自收。msg_Can.frame.can_id = 25msg_Can.frame.can_dlc = 8for i in range(msg_Can.frame.can_dlc):msg_Can.frame.data[i] = send_data[i]zcanlib.Transmit(chn0_handle, msg_Can, 1) # 1 表示报文数目time.sleep(0.5) #wait 500ms# 发送 CANFD 报文msg_Canfd = zlgcan.ZCAN_TransmitFD_Data()msg_Canfd.frame.can_id = 45msg_Canfd.frame.len = 12for i in range(msg_Canfd.frame.len):msg_Canfd.frame.data[i] = send_data[i]zcanlib.TransmitFD(chn0_handle, msg_Canfd, 1) # 1 表示报文数目time.sleep(0.5) #wait 500ms# 关闭CAN设备zcanlib.CloseDevice(canDriveHandle)if __name__ == '__main__':main()

提示：加载 zlgcan.dll 时报错 - OSError: [WinError 193] %1 不是有效的 Win32 应用程序

这通常是由于 Python 解释器的位数（32 位或 64 位）与 DLL 文件的位数不兼容导致的。
可以通过以下 Python 代码来确认 Python 解释器的位数：

import struct
print(struct.calcsize("P") * 8)

运行上述代码后，如果输出结果是 32，则表示你使用的是 32 位的 Python 解释器；如果输出结果是 64，则表示使用的是 64 位的 Python 解释器。

提示：无法打开设备

从下载的 demo 中，找到 kerneldlls 文件夹，将其放到 zlgcan.py 同一路径下

• 返回 Python 专栏目录索引

参考

• Python+周立功can卡+can收发