Hi folks,
Below are some code fragments from our project, showing extraction of 16-bit integer values, from the 8 received bytes. It allow extraction of value 0, 1, 2 or 3. You can adapt to extract byte values instead, by accessing instead the CAN_NODE_1_LMO_01_Config.mo_ptr->can_data_byte[8] array. Or just use that array as-is. Hope helps ! Oh and I'm afraid the forum system has un-indented the code.
Best regards,
David King
#define BYTE_SWAP( Value ) __builtin_bswap16( Value )
// Swap 16-bit integer byte order, uses rev16 instruction
int16_t CANValue( uint8_t Index )
{
int16_t Word = CAN_NODE_1_LMO_01_Config.mo_ptr->can_data_word[ Index ];
// Obtain word
return BYTE_SWAP( Word ); // Return byte-swapped
}
// Below, CAN_NODE_1 is the configured APP
// ID1/2 are constants for the CAN message IDs in which you are interested
// TYPE_UNUSED, TYPE1 and TYPE2 are constants, values 0, 1, 2
// Within the 8-byte CAN data, for type 1, the code is interested in the
// first 16-bit integer. And for type 2, in the second 16-bit integer.
void CANNodeInterrupt( void )
{
uint32_t Id; // CAN identifier
uint8_t Type; // Value type
int16_t Value; // Value
:
if ( CAN_NODE_GetStatus(&CAN_NODE_1) &
XMC_CAN_NODE_STATUS_LAST_ERROR_CODE ) // Node error
{
// No action as yet
}
else // No Node error
{
if ( CAN_NODE_MO_GetStatus(&CAN_NODE_1_LMO_01_Config) &
XMC_CAN_MO_STATUS_RX_PENDING ) // Received message object
{
CAN_NODE_MO_Receive ( &CAN_NODE_1_LMO_01_Config ); // Read object
Id = CAN_NODE_1_LMO_01_Config.mo_ptr -> can_identifier;
// CAN identifier
Type = TYPE_UNUSED; // Default
// Map CAN identifier to value type
if ( Id == ID1 ) Type = TYPE1;
if ( Id == ID2 ) Type = TYPE2;
:
if ( Type != TYPE_UNUSED ) // Used value
{
if ( Type == TYPE1 ) Value = CANValue(0);
else Value = CANValue(1);
// CAN data word 0 or 1, byte-swapped
:
