public CanFrame(CanId id, byte[] data, int dataOffset, int dataLength)
{
Id = id;
Data = data;
DataOffset = dataOffset;
DataLength = dataLength;
}
public CanIdInfo(CanId id)
{
var value = id.Value;
SourceId = (byte)((value >> 0) & 0x7FU);
IsServiceNotMessage = ((value >> 7) & 0x1) == 1;
IsRequestNotResponse = ((value >> 15) & 0x1) == 1;
DestinationId = (byte)((value >> 8) & 0x7FU);
Priority = (UavcanPriority)((value >> 24) & 0x1FU);
MessageType = (value >> 8) & 0xFFFFU;
ServiceType = (value >> 16) & 0xFFU;
}
public static void WriteFrame(this CanRaw can, CanFrame frame)
{
var canId = new CanId();
canId.RemoteTransmissionRequest = frame.RemoteRequest;
if (frame.FrameFormat == FrameFormat.Extended)
{
canId.ExtendedFrameFormat = true;
canId.Extended = frame.Address;
}
else
{
canId.ExtendedFrameFormat = false;
canId.Standard = frame.Address;
}
byte[] data = new byte[frame.DLC];
Array.Copy(frame.Data, data, frame.DLC);
can.WriteFrame(data, canId);
}
public override string ToString()
{
return(IsExtId ? CanId.ToString("X8") : CanId.ToString("X3"));
}
