public static Int16 encode11bit(CANHeader header)
{
Int16 buffer = 0;
buffer = (Int16)((buffer << 5) | 0x0); // 5 bit padding
buffer = (Int16)((buffer << 11) | header.arbitrationID);
return(buffer);
}
public static Int32 encode29bit(CANHeader header)
{
Int32 buffer = 0;
buffer = (buffer << 3) | 0x0; // 3 bit padding
buffer = (buffer << 3) | header.priorityID;
buffer = (buffer << 13) | header.arbitrationID;
buffer = (buffer << 13) | header.senderID;
return(buffer);
}
public static CANHeader decode(Int32 _header)
{
CANHeader OutputHeader = new CANHeader();
if (_header < 0x800)
{
// 11-bit header
OutputHeader.arbitrationID = (_header >> 0) & 0x7FF;
}
else
{
// 29-bit header
OutputHeader.priorityID = (_header >> 26) & 0x7;
OutputHeader.arbitrationID = (_header >> 13) & 0x1FFF;
OutputHeader.senderID = (_header >> 0) & 0x1FFF;
}
return(OutputHeader);
}
