// convert from From Node/From Device/To Node/To Device to CAN ID
public static long ConvNDID(FndTnd nd)
{
long id;
id = (long)nd.Fn << 21;
id += (long)nd.Fd << 14;
id += (long)nd.Tn << 7;
id += (long)nd.Td;
return(id);
}
public static FndTnd ConvIDND(long ID)
{
FndTnd nd = new FndTnd();
// 01111111000000000000000000000 7 bits for From Node
nd.Fn = (byte)((ID >> 21) & 0x7F);
// 00000000111111100000000000000 7 bits for From Device
nd.Fd = (byte)((ID >> 14) & 0x7F);
// 00000000000000011111110000000 7 bits for To Node
nd.Tn = (byte)((ID >> 7) & 0x7F);
// 00000000000000000000001111111 7 bits for To Device
nd.Td = (byte)(ID & 0x7F);
return(nd);
}