關於摩托羅拉的can協議（處理器為大端，協議為小端）

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/* * mss_CanYanyin.c * *  Created on: 2018年1月2日 *     *//* * Can_Trans.c * *  Created on: 2017年6月28日 *     *//************************************************************************** *************************** Include Files ******************************** **************************************************************************//* Standard Include Files. */#include <stdint.h>#include <stdlib.h>#include <stddef.h>#include <string.h>#include <stdio.h>#include <math.h>/* BIOS/XDC Include Files. */#include <xdc/std.h>#include <xdc/cfg/global.h>#include <xdc/runtime/IHeap.h>#include <xdc/runtime/System.h>#include <xdc/runtime/Error.h>#include <xdc/runtime/Memory.h>#include <ti/sysbios/BIOS.h>#include <ti/sysbios/knl/Task.h>#include <ti/sysbios/knl/Event.h>#include <ti/sysbios/knl/Semaphore.h>#include <ti/sysbios/knl/Clock.h>#include <ti/sysbios/heaps/HeapBuf.h>#include <ti/sysbios/heaps/HeapMem.h>#include <ti/sysbios/knl/Event.h>#include <ti/sysbios/family/arm/v7a/Pmu.h>/* Can Drivers Files: */#include <ti/common/sys_common.h>#include <ti/drivers/soc/soc.h>#include <ti/drivers/canfd/canfd.h>#include <ti/drivers/pinmux/pinmux.h>#include <ti/drivers/esm/esm.h>#include <ti/utils/testlogger/logger.h>#include <ti/drivers/osal/HwiP.h>#include "mss_Candriver.h"#include "mss_qspiflash.h"//#include "mss_alarm.h"//**************************************************************************// CAN 目標輸出//**************************************************************************void CANTargetOutput(TargetInfo* TargetImfomation,uint16_t DSPdoutlen){    uint16_t i , j;    uint32_t CAN_id1;    CAN_id1 = TARGETOUTTXID1;                //500    uint16_t indextempidinfo[32];    uint16_t targetnumber = 0;    memset(&indextempidinfo[0] , 0 , sizeof(uint16_t)*32);    targetnumber = DSPdoutlen;    for(i = 0 ; i < targetnumber ; i++) indextempidinfo[i] = TargetImfomation[i].Id;    for(i = 0 ; i < 32 ; i++){        if(TargetTrackingMcb[i].FullEnptyFlag != 0){            TargetTrackingMcb[i].FullEnptyFlag = 0;            for(j = 0 ; j < targetnumber; j++){                if(TargetTrackingMcb[i].TargetId == TargetImfomation[j].Id){                    TargetTrackingMcb[i].FullEnptyFlag = 1;                    TargetTrackingMcb[i].TargetPtr = &TargetImfomation[j];                    indextempidinfo[j] = 0;                }            }            if(TargetTrackingMcb[i].FullEnptyFlag == 0) memset(&TargetTrackingMcb[i] , 0 , sizeof(TargetTrackingMcb_t));        }        else{            TargetTrackingMcb[i].TargetPtr = (TargetInfo*)&enptytargetinfo[0];        }    }    i = 0 ; j = 0;    for(i = 0 ; i < targetnumber ; i++){        if(indextempidinfo[i] != 0){            j = 0;            while(TargetTrackingMcb[j].FullEnptyFlag == 1){ j++;}            TargetTrackingMcb[j].FullEnptyFlag = 1;            TargetTrackingMcb[j].TargetId = TargetImfomation[i].Id;            TargetTrackingMcb[j].TargetPtr = &TargetImfomation[i];        }    }    for(i = 0; i < 32; i++)    {        memset(&ucTXMsgData[0] , 0 , sizeof(unsigned char)*8);        //------------------------------------------------------------------------------------------------------------------------//ID1        //SG_ MMR_TARGET_RANGE_RATE : 53|[email protected]+ (0.02,-163.84) [-163.84|163.82] "m/s" Vector__XXX        tempdata = TargetTrackingMcb[i].TargetPtr->Velocity*5;        Htempdata = (tempdata >> 8);        Ltempdata = tempdata;        ucTXMsgData[6] = (Htempdata & 0x3F);        ucTXMsgData[7] = Ltempdata;        //bit 54 for reserve        //SG_ MMR_TARGET_PITCH_ANGLE : 47|[email protected]+ (0.1,-25.6) [-25.6|25.5] "deg" Vector__XXX        tempdata = 0;        Htempdata = (tempdata >> 8);        Ltempdata = tempdata;        ucTXMsgData[5] = (Htempdata & 0x01);        ucTXMsgData[5] = ucTXMsgData[5] << 7;        ucTXMsgData[5] = ucTXMsgData[5] | (Ltempdata >> 1);        ucTXMsgData[6] = ucTXMsgData[6] | ((Ltempdata&0x01)<<7);        //SG_ MMR_TARGET_RANGE : 28|[email protected]+ (0.05,0) [0|300] "m" Vector__XXX        tempdata = TargetTrackingMcb[i].TargetPtr->Distance*2;        Htempdata = (tempdata >> 8);        Ltempdata = tempdata;        ucTXMsgData[3] = (Htempdata & 0x1F);        ucTXMsgData[4] = Ltempdata;        //SG_ MMR_TARGET_ANGLE : 23|[email protected]+ (0.1,-102.4) [-102.4|102.3] "deg" Vector__XXX        tempdata = TargetTrackingMcb[i].TargetPtr->Angle;        Htempdata = (tempdata >> 8);        Ltempdata = tempdata;        ucTXMsgData[2] = Htempdata & (0X07);        ucTXMsgData[2] = ucTXMsgData[2] << 5;        ucTXMsgData[2] = ucTXMsgData[2] | (Ltempdata >> 3);        ucTXMsgData[3] = ucTXMsgData[3] | ((Ltempdata & (0X07)) << 5);        //SG_ MMR_TARGET_RADARMODE : 15|[email protected]+ (1,0) [0|1] "" Vector__XXX        ucTXMsgData[1] = ucTXMsgData[1] | SLMODEFLAG;        //SG_ MMR_TARGET_CONFIDENCE : 14|[email protected]+ (1,0) [0|100] "%" Vector__XXX        tempdata = 0;        Htempdata = (tempdata >> 8);        Ltempdata = tempdata;        ucTXMsgData[1] = ucTXMsgData[1] | (Ltempdata >> 1);        //SG_ MMR_TARGET_FRAME_INDEX : 7|[email protected]+ (1,0) [0|0] "count" Vector__XXX        tempdata = framecnt & 0x0F;        Htempdata = (tempdata >> 8);        Ltempdata = tempdata;        ucTXMsgData[0] = Ltempdata;        ucTXMsgData[0] = ucTXMsgData[0] << 4;        //SG_ MMR_TARGET_STATUS : 3|[email protected]+ (1,0) [0|15] "count" Vector__XXX        tempdata = 0;        Htempdata = (tempdata >> 8);        Ltempdata = tempdata;        ucTXMsgData[0] = ucTXMsgData[0] | (Ltempdata & 0x0F);        retVal = CANFD_transmitData (txMsgObjHandle[i], CAN_id1+i , CANFD_MCANFrameType_CLASSIC, 8U, &ucTXMsgData[0], &errCode);    }    framecnt++;}

 

關於摩托羅拉的can協議（處理器為大端，協議為小端）