private void button1_Click(object sender, EventArgs e)
{
    // Test Send Command

    /*
    uint id = (uint)System.Convert.ToInt32(textBox_ID.Text, 16);
    string data = textBox_senddata.Text;
    int frame_type_index = comboBox_frametype.SelectedIndex;
    int protocol_index = comboBox_protocol.SelectedIndex;
    int send_type_index = comboBox_sendtype.SelectedIndex;
    int canfd_exp_index = comboBox_canfd_exp.SelectedIndex;
    uint result; //发送的帧数

    ZCAN_Transmit_Data can_data = new ZCAN_Transmit_Data();
    can_data.frame.can_id = MakeCanId(id, frame_type_index, 0, 0);
    can_data.frame.data = new byte[8];
    can_data.frame.can_dlc = (byte)SplitData(data, ref can_data.frame.data, CAN_MAX_DLEN);
    can_data.transmit_type = (uint)send_type_index;
    IntPtr ptr = Marshal.AllocHGlobal(Marshal.SizeOf(can_data));
    Marshal.StructureToPtr(can_data, ptr, true);
    result = Method.ZCAN_Transmit(channel_handle_, ptr, 1);
    Marshal.FreeHGlobal(ptr);

    if (result != 1)
    {
        MessageBox.Show("发送数据失败", "提示", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
        AddErr();
    }
    */

    uint id = (uint)System.Convert.ToInt32("00000100", 16);
    string data = "A0 FF 1F 04 00 00 00 00";
    int frame_type_index = 0;
    int protocol_index = 0;
    int send_type_index = 0;
    int canfd_exp_index = 0;
    uint result = 1; //发送的帧数

    ZCAN_Transmit_Data can_data = new ZCAN_Transmit_Data();
    can_data.frame.can_id = MakeCanId(id, frame_type_index, 0, 0);
    can_data.frame.data = new byte[8];
    can_data.frame.can_dlc = (byte)SplitData(data, ref can_data.frame.data, CAN_MAX_DLEN);
    can_data.transmit_type = (uint)send_type_index;
    IntPtr ptr = Marshal.AllocHGlobal(Marshal.SizeOf(can_data));
    Marshal.StructureToPtr(can_data, ptr, true);
    result = Method.ZCAN_Transmit(channel_handle_, ptr, 1);
    Marshal.FreeHGlobal(ptr);

    if (result != 1)
    {
        MessageBox.Show("发送数据失败", "提示", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
        AddErr();
    }
}

public uint MakeCanId(uint id, int eff, int rtr, int err)//1:extend frame 0:standard frame
{
    uint ueff = (uint)(!!(Convert.ToBoolean(eff)) ? 1 : 0);
    uint urtr = (uint)(!!(Convert.ToBoolean(rtr)) ? 1 : 0);
    uint uerr = (uint)(!!(Convert.ToBoolean(err)) ? 1 : 0);
    return id | ueff << 31 | urtr << 30 | uerr << 29;
}

        //拆分text到发送data数组
private int SplitData(string data, ref byte[] transData, int maxLen)
{
    string[] dataArray = data.Split(' ');
    for (int i = 0; (i < maxLen) && (i < dataArray.Length); i++)
    {
        transData[i] = Convert.ToByte(dataArray[i].Substring(0, 2), 16);
    }
    return dataArray.Length;
}