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| <div class="textblock"><code>#include <Arduino.h></code><br /> | ||
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| <p><a href="CAN__testing__utilities_8h_source.html">Go to the source code of this file.</a></p> | ||
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| Functions</h2></td></tr> | ||
| <tr class="memitem:ae0418d6c762cbfad40d20dd9771db812"><td class="memItemLeft" align="right" valign="top">CAN_message_t </td><td class="memItemRight" valign="bottom"><a class="el" href="CAN__testing__utilities_8h.html#ae0418d6c762cbfad40d20dd9771db812">generate_can_msg_from_uint_16s</a> (uint16_t first, uint16_t second, uint16_t third, uint16_t fourth, bool use_little_endian)</td></tr> | ||
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| <tr class="memitem:a6fba3a2adf43c1fdccee66f528383a87"><td class="memItemLeft" align="right" valign="top">CAN_message_t </td><td class="memItemRight" valign="bottom"><a class="el" href="CAN__testing__utilities_8h.html#a6fba3a2adf43c1fdccee66f528383a87">generate_can_msg_from_uint_32s</a> (uint32_t first, uint32_t second, bool use_little_endian)</td></tr> | ||
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| <h2 class="groupheader">Function Documentation</h2> | ||
| <a id="ae0418d6c762cbfad40d20dd9771db812" name="ae0418d6c762cbfad40d20dd9771db812"></a> | ||
| <h2 class="memtitle"><span class="permalink"><a href="#ae0418d6c762cbfad40d20dd9771db812">◆ </a></span>generate_can_msg_from_uint_16s()</h2> | ||
|
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||
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| <table class="mlabels"> | ||
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| <table class="memname"> | ||
| <tr> | ||
| <td class="memname">CAN_message_t generate_can_msg_from_uint_16s </td> | ||
| <td>(</td> | ||
| <td class="paramtype">uint16_t </td> | ||
| <td class="paramname"><em>first</em>, </td> | ||
| </tr> | ||
| <tr> | ||
| <td class="paramkey"></td> | ||
| <td></td> | ||
| <td class="paramtype">uint16_t </td> | ||
| <td class="paramname"><em>second</em>, </td> | ||
| </tr> | ||
| <tr> | ||
| <td class="paramkey"></td> | ||
| <td></td> | ||
| <td class="paramtype">uint16_t </td> | ||
| <td class="paramname"><em>third</em>, </td> | ||
| </tr> | ||
| <tr> | ||
| <td class="paramkey"></td> | ||
| <td></td> | ||
| <td class="paramtype">uint16_t </td> | ||
| <td class="paramname"><em>fourth</em>, </td> | ||
| </tr> | ||
| <tr> | ||
| <td class="paramkey"></td> | ||
| <td></td> | ||
| <td class="paramtype">bool </td> | ||
| <td class="paramname"><em>use_little_endian</em> </td> | ||
| </tr> | ||
| <tr> | ||
| <td></td> | ||
| <td>)</td> | ||
| <td></td><td></td> | ||
| </tr> | ||
| </table> | ||
| </td> | ||
| <td class="mlabels-right"> | ||
| <span class="mlabels"><span class="mlabel">inline</span></span> </td> | ||
| </tr> | ||
| </table> | ||
| </div><div class="memdoc"> | ||
| <p >Generates a CAN message containing the given data. This handles the byte-swapping (because of big-endian) automatically.</p> | ||
| <dl class="params"><dt>Parameters</dt><dd> | ||
| <table class="params"> | ||
| <tr><td class="paramname">first</td><td>The leftmost 16 bits of this CAN message's 64 bits. </td></tr> | ||
| <tr><td class="paramname">second</td><td>The second-leftmost 16 bits of this CAN message's 64 bits. </td></tr> | ||
| <tr><td class="paramname">third</td><td>The second-rightmost 16 bits of this CAN message's 64 bits. </td></tr> | ||
| <tr><td class="paramname">fourth</td><td>The rightmost 16 bits of this CAN message's 64 bits. </td></tr> | ||
| <tr><td class="paramname">use_little_endian</td><td>True if the bytes will be READ OFF OF THE CAN LINE using little-endian. If the unpack function expects the number 0013 to be on the CAN line as 00 13, then set this to true. If the unpack function expects the number 0013 to be on the CAN line as 13 00, then set this to false.</td></tr> | ||
| </table> | ||
| </dd> | ||
| </dl> | ||
| <dl class="section return"><dt>Returns</dt><dd>A CAN_message_t with ONLY its data set (not the ID or any other bits) </dd></dl> | ||
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||
| <p class="definition">Definition at line <a class="el" href="CAN__testing__utilities_8h_source.html#l00016">16</a> of file <a class="el" href="CAN__testing__utilities_8h_source.html">CAN_testing_utilities.h</a>.</p> | ||
| <div class="fragment"><div class="line"><span class="lineno"> 17</span>{</div> | ||
| <div class="line"><span class="lineno"> 18</span> </div> | ||
| <div class="line"><span class="lineno"> 19</span> CAN_message_t can_msg;</div> | ||
| <div class="line"><span class="lineno"> 20</span> </div> | ||
| <div class="line"><span class="lineno"> 21</span> uint16_t actual_first = first, actual_second = second, actual_third = third, actual_fourth = fourth;</div> | ||
| <div class="line"><span class="lineno"> 22</span> </div> | ||
| <div class="line"><span class="lineno"> 23</span> <span class="comment">// By default, uint16s are saved in memory using big-endian, by byte. This means that if you say "uint16_t x = 0x0013", this will be saved</span></div> | ||
| <div class="line"><span class="lineno"> 24</span> <span class="comment">// in memory as 1300. If the bits SHOULD be on the CAN line using big-endian, then this is fine. However, if the bits SHOULD be on the CAN</span></div> | ||
| <div class="line"><span class="lineno"> 25</span> <span class="comment">// line as little-endian, then we need to invert the bytes before copying the memory into the CAN buffer.</span></div> | ||
| <div class="line"><span class="lineno"> 26</span> <span class="keywordflow">if</span> (use_little_endian) {</div> | ||
| <div class="line"><span class="lineno"> 27</span> actual_first = (uint16_t) ( (0x00FFU & first) << 8U | (0xFF00U & first) >> 8U );</div> | ||
| <div class="line"><span class="lineno"> 28</span> actual_second = (uint16_t) ( (0x00FFU & second) << 8U | (0xFF00U & second) >> 8U );</div> | ||
| <div class="line"><span class="lineno"> 29</span> actual_third = (uint16_t) ( (0x00FFU & third) << 8U | (0xFF00U & third) >> 8U );</div> | ||
| <div class="line"><span class="lineno"> 30</span> actual_fourth = (uint16_t) ( (0x00FFU & fourth) << 8U | (0xFF00U & fourth) >> 8U );</div> | ||
| <div class="line"><span class="lineno"> 31</span> }</div> | ||
| <div class="line"><span class="lineno"> 32</span> </div> | ||
| <div class="line"><span class="lineno"> 33</span> <span class="comment">// Places expected values into buffer</span></div> | ||
| <div class="line"><span class="lineno"> 34</span> memcpy(&can_msg.buf, &actual_first, <span class="keyword">sizeof</span>(uint16_t));</div> | ||
| <div class="line"><span class="lineno"> 35</span> memcpy(&can_msg.buf[2], &actual_second, <span class="keyword">sizeof</span>(uint16_t));</div> | ||
| <div class="line"><span class="lineno"> 36</span> memcpy(&can_msg.buf[4], &actual_third, <span class="keyword">sizeof</span>(uint16_t));</div> | ||
| <div class="line"><span class="lineno"> 37</span> memcpy(&can_msg.buf[6], &actual_fourth, <span class="keyword">sizeof</span>(uint16_t));</div> | ||
| <div class="line"><span class="lineno"> 38</span> </div> | ||
| <div class="line"><span class="lineno"> 39</span> <span class="keywordflow">return</span> can_msg;</div> | ||
| <div class="line"><span class="lineno"> 40</span> </div> | ||
| <div class="line"><span class="lineno"> 41</span>}</div> | ||
| </div><!-- fragment --> | ||
| </div> | ||
| </div> | ||
| <a id="a6fba3a2adf43c1fdccee66f528383a87" name="a6fba3a2adf43c1fdccee66f528383a87"></a> | ||
| <h2 class="memtitle"><span class="permalink"><a href="#a6fba3a2adf43c1fdccee66f528383a87">◆ </a></span>generate_can_msg_from_uint_32s()</h2> | ||
|
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||
| <div class="memitem"> | ||
| <div class="memproto"> | ||
| <table class="mlabels"> | ||
| <tr> | ||
| <td class="mlabels-left"> | ||
| <table class="memname"> | ||
| <tr> | ||
| <td class="memname">CAN_message_t generate_can_msg_from_uint_32s </td> | ||
| <td>(</td> | ||
| <td class="paramtype">uint32_t </td> | ||
| <td class="paramname"><em>first</em>, </td> | ||
| </tr> | ||
| <tr> | ||
| <td class="paramkey"></td> | ||
| <td></td> | ||
| <td class="paramtype">uint32_t </td> | ||
| <td class="paramname"><em>second</em>, </td> | ||
| </tr> | ||
| <tr> | ||
| <td class="paramkey"></td> | ||
| <td></td> | ||
| <td class="paramtype">bool </td> | ||
| <td class="paramname"><em>use_little_endian</em> </td> | ||
| </tr> | ||
| <tr> | ||
| <td></td> | ||
| <td>)</td> | ||
| <td></td><td></td> | ||
| </tr> | ||
| </table> | ||
| </td> | ||
| <td class="mlabels-right"> | ||
| <span class="mlabels"><span class="mlabel">inline</span></span> </td> | ||
| </tr> | ||
| </table> | ||
| </div><div class="memdoc"> | ||
| <p >Generates a CAN message containing the given data. This handles the byte-swapping (because of big-endian) automatically.</p> | ||
| <dl class="params"><dt>Parameters</dt><dd> | ||
| <table class="params"> | ||
| <tr><td class="paramname">first</td><td>The leftmost 32 bits of this CAN message's 64 bits. </td></tr> | ||
| <tr><td class="paramname">second</td><td>The second-leftmost 32 bits of this CAN message's 64 bits. </td></tr> | ||
| <tr><td class="paramname">use_little_endian</td><td>True if the bytes will be READ OFF OF THE CAN LINE using little-endian. If the unpack function expects the number 00000013 (hex) to be on the CAN line as 00 00 00 13, then set this to true. If the unpack function expects the number 00000013 to be on the CAN line as 13 00 00 00, then set this to false.</td></tr> | ||
| </table> | ||
| </dd> | ||
| </dl> | ||
| <dl class="section return"><dt>Returns</dt><dd>A CAN_message_t with ONLY its data set (not the ID or any other bits) </dd></dl> | ||
|
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||
| <p class="definition">Definition at line <a class="el" href="CAN__testing__utilities_8h_source.html#l00054">54</a> of file <a class="el" href="CAN__testing__utilities_8h_source.html">CAN_testing_utilities.h</a>.</p> | ||
| <div class="fragment"><div class="line"><span class="lineno"> 55</span>{</div> | ||
| <div class="line"><span class="lineno"> 56</span> </div> | ||
| <div class="line"><span class="lineno"> 57</span> CAN_message_t can_msg;</div> | ||
| <div class="line"><span class="lineno"> 58</span> </div> | ||
| <div class="line"><span class="lineno"> 59</span> uint32_t actual_first = first, actual_second = second;</div> | ||
| <div class="line"><span class="lineno"> 60</span> </div> | ||
| <div class="line"><span class="lineno"> 61</span> <span class="comment">// Expected values in CAN message. These are BIG-ENDIAN, by BYTE. The number 19 in hex</span></div> | ||
| <div class="line"><span class="lineno"> 62</span> <span class="comment">// is 0013, but we must declare it as 0x1300U with the least-sig byte and most-sig byte switched.</span></div> | ||
| <div class="line"><span class="lineno"> 63</span> <span class="keywordflow">if</span> (use_little_endian) {</div> | ||
| <div class="line"><span class="lineno"> 64</span> actual_first = (uint32_t) ( (0x000000FFU & first) << 24U | (0x0000FF00U & first) << 8U | (0x00FF0000U & first) >> 8U | (0xFF000000U & first) >> 24U);</div> | ||
| <div class="line"><span class="lineno"> 65</span> actual_second = (uint32_t) ( (0x000000FFU & second) << 24U | (0x0000FF00U & second) << 8U | (0x00FF0000U & second) >> 8U | (0xFF000000U & second) >> 24U);</div> | ||
| <div class="line"><span class="lineno"> 66</span> }</div> | ||
| <div class="line"><span class="lineno"> 67</span> </div> | ||
| <div class="line"><span class="lineno"> 68</span> <span class="comment">// Places expected values into buffer</span></div> | ||
| <div class="line"><span class="lineno"> 69</span> memcpy(&can_msg.buf, &actual_first, <span class="keyword">sizeof</span>(uint32_t));</div> | ||
| <div class="line"><span class="lineno"> 70</span> memcpy(&can_msg.buf[4], &actual_second, <span class="keyword">sizeof</span>(uint32_t));</div> | ||
| <div class="line"><span class="lineno"> 71</span> </div> | ||
| <div class="line"><span class="lineno"> 72</span> <span class="keywordflow">return</span> can_msg;</div> | ||
| <div class="line"><span class="lineno"> 73</span> </div> | ||
| <div class="line"><span class="lineno"> 74</span>}</div> | ||
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