CAN FD 波特率等参数的增加和联动配置

CapMachine.Wpf/CanDrive/CanFD/ToomossCanFD.cs

@@ -73,6 +73,38 @@ namespace CapMachine.Wpf.CanDrive
 
         #region 公共变量
 
+        /// <summary>
+        /// 仲裁波特率
+        /// </summary>
+        public uint ArbBaudRate { get; set; } = 500000;
+
+        /// <summary>
+        /// 数据波特率
+        /// </summary>
+        public uint DataBaudRate { get; set; } = 2000000;
+
+        /// <summary>
+        /// CAN FD标准 ISO是否启用
+        /// </summary>
+        public bool ISOEnable { get; set; } = true;
+
+        /// <summary>
+        /// 终端电阻 是否启用
+        /// </summary>
+        public bool ResEnable { get; set; } = true;
+
+        /// <summary>
+        /// 更新配置
+        /// </summary>
+        public void UpdateConfig(uint arbBaudRate, uint dataBaudRate, bool iSOEnable, bool resEnable)
+        {
+            ArbBaudRate = arbBaudRate;
+            DataBaudRate = dataBaudRate;
+            ISOEnable = iSOEnable;
+            ResEnable = resEnable;
+
+        }
+
         /// <summary>
         /// 设备固件信息
         /// </summary>
@@ -256,7 +288,7 @@ namespace CapMachine.Wpf.CanDrive
         public void GetCANConfig()
         {
             //获取CAN波特率参数
-            ret = USB2CANFD.CANFD_GetCANSpeedArg(DevHandle, ref CANConfig, 500000, 2000000);
+            ret = USB2CANFD.CANFD_GetCANSpeedArg(DevHandle, ref CANConfig, ArbBaudRate, DataBaudRate);
             if (ret != USB2CANFD.CANFD_SUCCESS)
             {
                 Console.WriteLine("Get CAN Speed failed!");
@@ -276,7 +308,8 @@ namespace CapMachine.Wpf.CanDrive
         public void InitCAN()
         {
             //初始化CAN
-            CANConfig.ISOCRCEnable = 1;//使能ISOCRC
+            CANConfig.ISOCRCEnable = ISOEnable == true ? (byte)1 : (byte)0;//使能ISOCRC
+            CANConfig.ResEnable = ResEnable == true ? (byte)1 : (byte)0;//使能终端电阻
             ret = USB2CANFD.CANFD_Init(DevHandle, WriteCANIndex, ref CANConfig);
             if (ret != USB2CANFD.CANFD_SUCCESS)
             {
@@ -554,7 +587,7 @@ namespace CapMachine.Wpf.CanDrive
 
                                 //发送CAN数据
                                 int SendedNum = USB2CANFD.CANFD_SendMsg(DevHandle, WriteCANIndex, CanMsg, (Int32)CanMsg.Length);
-               
+
                                 if (SendedNum >= 0)
                                 {
                                     //Console.WriteLine("Success send frames:{0}", SendedNum);