自定义报文发送

ZLGUSBCANFD/USBCANFD.cs

@@ -660,6 +660,81 @@ namespace ZLGUSBCANFD
             }
         }
 
+        /// <summary>
+        /// 直接发送 8 字节原始报文（经典 CAN 或 CANFD 均可）。
+        /// 无需加载 DBC，适合手动构造简单报文。
+        /// </summary>
+        /// <param name="通道号">通道号（0 ~ MaxChannels-1）</param>
+        /// <param name="帧ID">帧 ID（标准 11 位，扩展帧自动置位 0x80000000）</param>
+        /// <param name="data">原始数据；超过 8 字节会自动截断，不足 8 字节自动补零</param>
+        /// <param name="是否是扩展帧">是否为 29 位扩展帧</param>
+        /// <param name="是否是CANFD">true = CANFD 格式；false = 经典 CAN 格式</param>
+        /// <param name="开启波特率加速BRS">CANFD 是否开启波特率加速（经典 CAN 忽略此参数）</param>
+        /// <returns>是否发送成功</returns>
+        public virtual bool 发送原始报文(
+            uint 通道号,
+            uint 帧ID,
+            byte[] data,
+            bool 是否是扩展帧 = false,
+            bool 是否是CANFD = true,
+            bool 开启波特率加速BRS = true)
+        {
+            if (通道号 >= _maxChannels || _channelHandles[通道号] == IntPtr.Zero) return false;
+
+            byte[] buffer = new byte[8];
+            if (data != null)
+            {
+                Array.Copy(data, 0, buffer, 0, Math.Min(data.Length, 8));
+            }
+
+            uint canId = 帧ID & 0x7FFFFFFF;
+            if (是否是扩展帧) canId |= 0x80000000;
+
+            lock (_channelLocks[通道号])
+            {
+                if (是否是CANFD)
+                {
+                    ZLGCAN.canfd_frame fdFrame = new ZLGCAN.canfd_frame
+                    {
+                        can_id = canId,
+                        len = 8,
+                        flags = (byte)((是否是扩展帧 ? 0x01 : 0x00) | (开启波特率加速BRS ? 0x02 : 0x00) | 0x20),
+                        data = new byte[64]
+                    };
+                    Array.Copy(buffer, 0, fdFrame.data, 0, 8);
+
+                    ZLGCAN.ZCAN_TransmitFD_Data txFdData = new ZLGCAN.ZCAN_TransmitFD_Data { frame = fdFrame, transmit_type = 2 };
+                    IntPtr pTxFd = Marshal.AllocHGlobal(Marshal.SizeOf(txFdData));
+                    try
+                    {
+                        Marshal.StructureToPtr(txFdData, pTxFd, true);
+                        return ZLGCAN.ZCAN_TransmitFD(_channelHandles[通道号], pTxFd, 1) == 1;
+                    }
+                    finally { Marshal.FreeHGlobal(pTxFd); }
+                }
+                else
+                {
+                    ZLGCAN.can_frame standardFrame = new ZLGCAN.can_frame
+                    {
+                        can_id = canId,
+                        can_dlc = 8,
+                        __pad = 0x20,
+                        data = new byte[8]
+                    };
+                    Array.Copy(buffer, 0, standardFrame.data, 0, 8);
+
+                    ZLGCAN.ZCAN_Transmit_Data txData = new ZLGCAN.ZCAN_Transmit_Data { frame = standardFrame, transmit_type = 2 };
+                    IntPtr pTx = Marshal.AllocHGlobal(Marshal.SizeOf(txData));
+                    try
+                    {
+                        Marshal.StructureToPtr(txData, pTx, true);
+                        return ZLGCAN.ZCAN_Transmit(_channelHandles[通道号], pTx, 1) == 1;
+                    }
+                    finally { Marshal.FreeHGlobal(pTx); }
+                }
+            }
+        }
+
         /// <summary>
         /// 构建发送用信号字典：DBC 初始值 + 额外覆盖。
         /// 调用方需自行保证通道已初始化且 DBC 已加载。