125 lines
2.9 KiB
Go
125 lines
2.9 KiB
Go
package message
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import (
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"fmt"
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"log/slog"
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"strings"
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)
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// CanetFrame USR-CANET200_V1.0.7 设备 以太网-CAN 透传协议帧(13字节)
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type CanetFrame struct {
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FF bool //true-1扩展帧
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RTR bool //true-1远程帧
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CanLen byte //CAN帧数据长度[0,8]，CanData中有效数据字节数
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CanId CanFrameId //CAN帧ID
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CanData []byte //CAN帧数据，8字节
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}
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func NewCanetFrame(buf []byte) *CanetFrame {
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cf := &CanetFrame{}
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cf.Decode(buf)
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return cf
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}
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func (p *CanetFrame) Encode() []byte {
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buf := make([]byte, 0, 13)
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//canet200帧信息
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b1 := byte(0x00)
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if p.FF {
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b1 |= 0x80 //bit7
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}
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if p.RTR {
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b1 |= 0x40 //bit6
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}
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b1 |= p.CanLen & 0x0f
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buf = append(buf, b1)
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//CAN 帧ID
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buf = append(buf, p.CanId.ID1)
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buf = append(buf, p.CanId.ID2)
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buf = append(buf, p.CanId.ID3)
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buf = append(buf, p.CanId.ID4<<3)
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//CAN 帧数据
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if len(p.CanData) != 8 {
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panic("len(p.CanData)!=8")
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}
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buf = append(buf, p.CanData...)
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return buf
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}
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func (p *CanetFrame) Decode(buf []byte) {
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if len(buf) != 13 {
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panic("len(buf)!=13")
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}
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//
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p.FF = buf[0]&0x80 == 0x80
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p.RTR = buf[0]&0x40 == 0x40
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p.CanLen = buf[0] & 0x0f
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//1 2 3 4
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p.CanId.ID1 = buf[1]
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p.CanId.ID2 = buf[2]
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p.CanId.ID3 = buf[3]
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p.CanId.ID4 = buf[4] >> 3
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//
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p.CanData = buf[5:]
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}
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func (p *CanetFrame) String() string {
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sb := strings.Builder{}
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sb.WriteString(fmt.Sprintf("CanetFrame FF = %t, RTR = %t, CanLen = %d, ID1 = 0x%0x, ID2 = 0x%0x, ID3 = 0x%0x, ID4 = 0x%0x,", p.FF, p.RTR, p.CanLen,
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p.CanId.ID1, p.CanId.ID2, p.CanId.ID3, p.CanId.ID4))
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sb.WriteString("CanData = ")
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for _, d := range p.CanData {
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sb.WriteString(fmt.Sprintf(" 0x%0x ", d))
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}
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return sb.String()
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}
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// CanFrameType 获取canet帧类型
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func (p *CanetFrame) CanFrameType() CanFrameType {
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switch p.CanId.ID3 {
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case 0x01:
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{ //状态应答帧0x01
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return CfStatusRsp
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}
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case 0x8d:
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{ //msgTimeA数据帧0x80+0x0d
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return CfMsgTimeA
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}
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case 0x8e:
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{ //msgTimeB数据帧0x80+0x0e
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return CfMsgTimeB
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}
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case 0xff:
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{ //msgEnd数据帧0x80+0x7f
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return CfMsgEnd
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}
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case 0x02:
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{
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if p.CanId.ID1 == 0x62 && p.CanId.ID2 == 0x81 {
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return CfReq
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} else {
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return CfTimeSync
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}
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}
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default:
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if p.CanId.ID3 >= 0x80 && p.CanId.ID3 <= 0x8c { //数据帧0x80+(0x00-0x0c)
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return CfMsg
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} else {
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slog.Warn(fmt.Sprintf("无法识别的Canet帧[%s]", p.String()))
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return CfNon
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}
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}
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}
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// CanFrameType 帧类型定义
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type CanFrameType = byte
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// Can帧类型枚举
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const (
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CfNon = CanFrameType(0)
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CfReq = CanFrameType(1) //查询帧0x02
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CfStatusRsp = CanFrameType(2) //状态应答帧0x01
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CfTimeSync = CanFrameType(3) //时间同步校验帧0x02
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CfMsg = CanFrameType(4) //数据帧0x80+(0x00-0x0c)
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CfMsgTimeA = CanFrameType(5) //msgTimeA数据帧0x80+0x0d
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CfMsgTimeB = CanFrameType(6) //msgTimeB数据帧0x80+0x0e
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CfMsgEnd = CanFrameType(7) //msgEnd数据帧0x80+0x7f
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)
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