95 lines
2.4 KiB
Go
95 lines
2.4 KiB
Go
package message
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import "encoding/binary"
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//数据帧（0x80+扩展类型）,一个CAN帧只能存储8个字节，对于一个应答器报文，分片到多个CAN数据帧中
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// BtmDataMessageFrame 数据帧-应答器报文
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// offset = [0x00,0x0c] 共13个即可用于存储应答器报文的共104个字节
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// BtmDataMessageTimeAFrame 数据帧-时间戳A
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// offset = 0x0d
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// BtmDataMessageTimeBFrame 数据帧-时间戳B
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// offset = 0x0e
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// BtmDataMessageEndFrame 数据帧-结束
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// offset = 0x7f
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const (
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DATA_TIME_A_OFFSET = 0x0d
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DATA_TIME_B_OFFSET = 0x0e
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DATA_END_OFFSET = 0x7f
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)
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type BtmDataMessageAtpFrame struct {
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//帧ID
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FId CanFrameId
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//8字节,应答器报文片段
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Message []byte
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}
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type BtmDataMessageAtpTimeAndEndFrame struct {
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//帧ID
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FId CanFrameId
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//时间戳A
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Time uint32
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//CRC
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Crc32 uint32
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}
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func CreateBtmDataMessageDataAtpFrame(sn byte, offset byte) *BtmDataMessageAtpFrame {
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return &BtmDataMessageAtpFrame{
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FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+offset, sn),
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}
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}
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func (f *BtmDataMessageAtpFrame) Encode() *BtmHeadFrame {
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cf := &BtmHeadFrame{}
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cf.CanId = f.FId
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cf.CanLen = 8
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dataBuf := make([]byte, 0, 8)
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for _, data := range f.Message {
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dataBuf = append(dataBuf, data)
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}
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cf.CanData = dataBuf
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return cf
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}
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func (f *BtmDataMessageAtpFrame) Decode(cf *BtmHeadFrame) bool {
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f.FId = cf.CanId
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//
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reader := NewCanBitsReader(cf.CanData, 8)
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//
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f.Message = make([]byte, 0, 8)
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for c := 0; c < 8; c++ {
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data, ok := reader.ReadByte()
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if !ok {
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return false
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}
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f.Message = append(f.Message, data)
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}
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//
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return true
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}
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/////////////////////////////////////////////////////
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func (atp *BtmDataMessageAtpTimeAndEndFrame) Encode() *BtmHeadFrame {
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cf := &BtmHeadFrame{}
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cf.CanId = atp.FId
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cf.CanLen = 8
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data := make([]byte, 0)
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data = binary.BigEndian.AppendUint32(data, atp.Time)
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data = binary.BigEndian.AppendUint32(data, atp.Crc32)
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cf.CanData = data
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return cf
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}
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func CreateBtmDataMessageTimeAtpFrame(sn byte, offset byte) *BtmDataMessageAtpTimeAndEndFrame {
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return &BtmDataMessageAtpTimeAndEndFrame{FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0x80+offset, sn)}
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}
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////////////////////////////////////////////////////////////
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func BtmDataMessageEndAtpFrame(sn byte) *BtmDataMessageAtpTimeAndEndFrame {
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return &BtmDataMessageAtpTimeAndEndFrame{
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FId: *NewCanFrameId(CAN_ADDR_RSP_ATP, CAN_ADDR_RSP_BTM, 0xff, sn),
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}
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}
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