c_cpp 上行报文解析

Posted 2021-05-14

/************************************************************
*  功能：上行报文解析（仅作测试，发送APP）
*  注意：仅选择其中个ID作为测试
************************************************************/
struct down_APPframe frame_up_app_process(struct can_frame r_frame){
	struct down_APPframe r_send_frame;

	//-------------------------------------------------------------------
	//ID:0x518
	//-------------------------------------------------------------------
	r_send_frame.head = 1;											//头部
	r_send_frame.MessageIdentification = 1;							//报文识别
	r_send_frame.RemoteIdentification = 1;							//远程识别
	r_send_frame.ElementLength = 1;									//报文长度
	r_send_frame.PositionTime = 1;									//地址时间
	r_send_frame.VehicleID = r_frame.data[7];						//控制车辆ID
	r_send_frame.Left = (r_frame.data[6] & 0x01);					//左	
	r_send_frame.Right = ((r_frame.data[6] & 0x02)>>1);				//右
	r_send_frame.Brake =(r_frame.data[6] & 0x04)>>2;				//刹车
	r_send_frame.Accelerator = ((r_frame.data[6] & 0x08)>>3);		//加速				
	r_send_frame.LFWindowsStatus =((((r_frame.data[6] & 0xf0)>>4) + ((r_frame.data[5] & 0x07)<<4)));	r_send_frame.RFWindowsStatus =((((r_frame.data[5] & 0xf8)>>3) + ((r_frame.data[4] & 0x03)<<5)));//右前窗户状态	
	r_send_frame.LRWindowsStatus =((((r_frame.data[4] & 0xfc)>>2) + ((r_frame.data[3] & 0x01)<<6)));//左后窗户状态
	r_send_frame.RRWindowsStatus =((r_frame.data[3] & 0xfe)>>1);	//右后窗户状态
	r_send_frame.EmergencyBrakingStatus =((r_frame.data[2] & 0x01));//紧急刹车状态
	r_send_frame.LockingStatus =((r_frame.data[2] & 0x02)>>1);		//车锁状态
	r_send_frame.FlameoutStatus =((r_frame.data[2] & 0x04)>>2);		//序列状态
	r_send_frame.GearStatus =((r_frame.data[2] & 0x30>>4));			//门状态	

	return r_send_frame;
}

/************************************************************
*  功能：上行报文解析（仅作测试，发送模拟器）
*  注意：修改时注意函数返回值类型
************************************************************/
struct down_SIMframe frame_up_sim_process(struct can_frame r_frame){
	struct down_SIMframe r_send_frame;

	//-------------------------------------------------------------------
	//ID:0x517
	//-------------------------------------------------------------------
	int angle1;
	short angle2;
	unsigned int speed1, speed2;
	float angle, speed;
	r_send_frame.head = 1;
	r_send_frame.MessageIdentification = 1;
	//r_send_frame.RemoteIdentification = 1;
	r_send_frame.ElementLength = 1;
	r_send_frame.PositionTime = 1;
	r_send_frame.VehicleID = 0x000A;
	speed1 = r_frame.data[3] + (r_frame.data[2]<<8);
	//speed2 = r_frame.data[2] + (r_frame.data[3] << 8);
	//angle1 = r_frame.data[0] + (r_frame.data[1] << 8);
	angle2= r_frame.data[1] + (r_frame.data[0] << 8);
	//angle = angle1*0.1;
	//printf("Angle1:%f\n",angle);
	speed = speed1*0.05625;
	printf("Speed:%f\n", speed);
//	speed = speed2*0.05625;
//	printf("Speed2:%f/n", speed);
	r_send_frame.Con_Speed = speed * 100;
	angle = angle2*0.1;
	printf("Angle:%f\n", angle);
	r_send_frame.Con_Angle = angle * 100;
//	printf("Speed:%d\n", speed);
//	printf("%x %x %x %x %x %x %x %x\n", r_frame.data[7], r_frame.data[6], r_frame.data[5], r_frame.data[4], r_frame.data[3], r_frame.data[2], r_frame.data[1], r_frame.data[0] );
	r_send_frame.Hand_Brake = 0;
	r_send_frame.Vehicle_Start = 0;
	r_send_frame.Vehicle_Stop = 0;
	r_send_frame.Vehicle_Gear = 0;

/*	r_send_frame.Hand_Brake = r_frame.data[4] & 0x01;
	r_send_frame.Vehicle_Start = (r_frame.data[4] & 0x02)>>1;
	r_send_frame.Vehicle_Stop = (r_frame.data[4] & 0x04)>>2;
	r_send_frame.Vehicle_Gear = (r_frame.data[4] & 0x18)>>3;
	*/
	return r_send_frame;
}