63 lines
2.0 KiB
C#
63 lines
2.0 KiB
C#
using System;
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namespace CapMachine.Wpf.CanDrive.ZlgCan
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{
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/// <summary>
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/// ZLG CAN ID 帮助类。
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/// </summary>
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public static class ZlgCanIdHelper
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{
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/// <summary>
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/// 生成 ZLG/SocketCAN 风格的 can_id（包含扩展帧/远程帧/错误帧标志位）。
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/// </summary>
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/// <param name="id">CAN 标识符（标准帧 11bit：0~0x7FF；扩展帧 29bit：0~0x1FFFFFFF）。</param>
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/// <param name="isExtended">是否为扩展帧。</param>
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/// <param name="isRemote">是否为远程帧（RTR）。</param>
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/// <param name="isError">是否为错误帧。</param>
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/// <returns>包含标志位的 can_id。</returns>
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public static uint MakeCanId(uint id, bool isExtended, bool isRemote, bool isError)
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{
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// 兼容官方样例写法：bit31 扩展帧，bit30 RTR，bit29 ERR
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// 注意：该函数不做强约束校验（例如扩展帧 29bit），上层可按需要增加校验。
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uint canId = id & 0x1FFFFFFF;
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if (isExtended)
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{
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canId |= 1u << 31;
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}
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if (isRemote)
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{
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canId |= 1u << 30;
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}
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if (isError)
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{
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canId |= 1u << 29;
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}
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return canId;
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}
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/// <summary>
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/// 从 can_id 中提取 29bit 标识符。
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/// </summary>
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/// <param name="canId">包含标志位的 can_id。</param>
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/// <returns>29bit 标识符。</returns>
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public static uint GetArbitrationId(uint canId)
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{
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return canId & 0x1FFFFFFF;
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}
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/// <summary>
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/// 判断 can_id 是否为扩展帧。
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/// </summary>
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/// <param name="canId">包含标志位的 can_id。</param>
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/// <returns>是否扩展帧。</returns>
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public static bool IsExtended(uint canId)
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{
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return (canId & (1u << 31)) != 0;
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}
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}
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}
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