if!((message->payload[1] == 0x03) && (message->payload[2] == 0x02)) C语言这样写对吗
时间: 2024-03-09 12:47:11 浏览: 182
这段 C 语言代码有语法错误。应该写成:
```
if (!((message->payload[1] == 0x03) && (message->payload[2] == 0x02)))
```
该代码使用了逻辑非运算符 `!` ,表示如果括号内的条件不成立,则执行条件语句。条件语句中使用了逻辑与运算符 `&&` ,表示两个条件都必须成立才返回真。其中,`message` 是一个指向结构体的指针,`payload` 是结构体中的一个数组,`[1]` 和 `[2]` 分别表示数组中的第二个和第三个元素。
因此,该代码的意思是:如果 `message` 结构体中的 `payload` 数组的第二个元素是 `0x03`,且第三个元素是 `0x02`,则不执行条件语句,否则执行条件语句。
相关问题
S32K144-EVB开发板CAN实例代码
以下是S32K144-EVB开发板CAN实例代码:
```c
#include "S32K144.h"
#include "can.h"
#include "clocks_and_modes.h"
#include "gpio.h"
#include "interrupt_manager.h"
#define CAN0_TX_PIN 27U
#define CAN0_RX_PIN 26U
#define CAN0_TX_MUX 2U
#define CAN0_RX_MUX 2U
#define CAN0_RX_MSG_BUF_NUM (4U)
#define CAN0_BASE_ADDR (0x40024000U)
#define CAN0_RX_FIFO_ID (0x100U)
#define CAN0_RX_FIFO_NUM (8U)
static uint8_t can0RxMsgBuf[CAN0_RX_MSG_BUF_NUM][CAN_MESSAGE_BUFFER_MAX_PAYLOAD_SIZE];
void Can0_RxIsr(void);
void InitCan0(void)
{
/* Enable clock for PORTA */
PCC->PCCn[PCC_PORTA_INDEX] |= PCC_PCCn_CGC_MASK;
/* Configure CAN0_TX_PIN and CAN0_RX_PIN as alternative function (Alt2) */
PORTA->PCR[CAN0_TX_PIN] = PORT_PCR_MUX(CAN0_TX_MUX);
PORTA->PCR[CAN0_RX_PIN] = PORT_PCR_MUX(CAN0_RX_MUX);
/* Set the bit rate to 500 kbps with a 8 MHz clock */
const uint32_t can0ClkFreq = 8000000U;
const uint32_t baudRate = 500000U;
const uint32_t prescaler = (can0ClkFreq / (baudRate * 20U)) - 1U;
CAN0->CTRL1 &= ~CAN_CTRL1_CLKSRC_MASK;
CAN0->CTRL1 |= CAN_CTRL1_CLKSRC(1U);
CAN0->CTRL1 |= CAN_CTRL1_PRESDIV(prescaler);
/* Enable CAN0 */
PCC->PCCn[PCC_FlexCAN0_INDEX] |= PCC_PCCn_CGC_MASK;
/* Enable individual RX FIFO filters */
CAN0->MCR |= CAN_MCR_IRMQ_MASK;
/* Enable RX FIFO */
CAN0->MCR |= CAN_MCR_RFEN_MASK;
/* Configure RX FIFO ID filter */
CAN0->RXFIFO.IDTABLE[0] = 0x80000000U;
CAN0->RXFIFO.IDTABLE[1] = 0x80000000U;
/* Configure RX FIFO filter element */
CAN0->RXIMR[CAN0_RX_FIFO_NUM] = 0xFFFFFFFFU;
CAN0->RXMGMASK = 0x80000000U;
CAN0->RXFGMASK = 0x80000000U;
/* Enable RX FIFO interrupt */
CAN0->IMASK1 |= CAN_IMASK1_BUF5M_MASK;
/* Configure RX message buffers */
for (uint32_t msgBufIdx = 0U; msgBufIdx < CAN0_RX_MSG_BUF_NUM; msgBufIdx++)
{
/* Configure RX message buffer filter */
CAN0->RAMn[msgBufIdx].ID = (CAN_RAMn_ID_STD(0x7FFU) | CAN_RAMn_IDE_MASK);
/* Configure RX message buffer payload size */
CAN0->RAMn[msgBufIdx].CS = CAN_CS_DLC(CAN_MESSAGE_BUFFER_MAX_PAYLOAD_SIZE);
/* Configure RX message buffer for reception */
CAN0->RAMn[msgBufIdx].CS |= CAN_CS_CODE(CAN_CS_CODE_RX_INACTIVE);
}
/* Configure NVIC for RX FIFO interrupt */
const IRQn_Type can0RxIrqId = IRQ_CAN0_ORed_Message_buffer;
INT_SYS_EnableIRQ(can0RxIrqId);
INT_SYS_SetPriority(can0RxIrqId, 3U);
}
void Can0_RxIsr(void)
{
uint32_t msgBufIdx = 0U;
/* Read RX FIFO and dispatch messages */
while (CAN0->IFLAG1 & CAN_IFLAG1_BUF5I_MASK)
{
/* Clear RX FIFO interrupt flag */
CAN0->IFLAG1 |= CAN_IFLAG1_BUF5I_MASK;
/* Read RX FIFO element */
const uint32_t fifoElemIdx = 0U;
const uint32_t fifoElemAddr = (CAN0_BASE_ADDR + 0x00000C00U + (fifoElemIdx * 0x10U));
uint32_t fifoElemData[4] = {0U};
for (uint32_t i = 0U; i < 4U; i++)
{
fifoElemData[i] = (*(volatile uint32_t *)(fifoElemAddr + (i * 4U)));
}
/* Process RX FIFO element */
if ((fifoElemData[0] & CAN_RAMn_IDE_MASK) == CAN_RAMn_IDE_MASK)
{
/* Extended ID */
const uint32_t rxMsgId = (fifoElemData[0] & CAN_RAMn_ID_MASK_EXT);
const uint8_t rxMsgDlc = (fifoElemData[1] & CAN_RAMn_CS_DLC_MASK);
uint8_t rxMsgPayload[CAN_MESSAGE_BUFFER_MAX_PAYLOAD_SIZE] = {0U};
for (uint32_t i = 0U; i < (rxMsgDlc >> 2U); i++)
{
((uint32_t *)rxMsgPayload)[i] = fifoElemData[i + 2U];
}
/* Find free RX message buffer and configure it for reception */
for (msgBufIdx = 0U; msgBufIdx < CAN0_RX_MSG_BUF_NUM; msgBufIdx++)
{
if ((CAN0->RAMn[msgBufIdx].CS & CAN_CS_CODE_MASK) == CAN_CS_CODE_RX_INACTIVE)
{
break;
}
}
if (msgBufIdx < CAN0_RX_MSG_BUF_NUM)
{
/* Configure RX message buffer filter */
CAN0->RAMn[msgBufIdx].ID = (CAN_RAMn_ID_EXT(rxMsgId) | CAN_RAMn_IDE_MASK);
/* Configure RX message buffer payload size */
CAN0->RAMn[msgBufIdx].CS = CAN_CS_DLC(rxMsgDlc);
/* Configure RX message buffer for reception */
CAN0->RAMn[msgBufIdx].CS |= CAN_CS_CODE(CAN_CS_CODE_RX_FULL);
/* Copy RX message payload */
for (uint32_t i = 0U; i < CAN_MESSAGE_BUFFER_MAX_PAYLOAD_SIZE; i++)
{
can0RxMsgBuf[msgBufIdx][i] = rxMsgPayload[i];
}
}
else
{
/* RX message buffer not available */
}
}
else
{
/* Standard ID */
}
}
}
void SendCan0Msg(const uint32_t msgId, const uint8_t * const msgPayload, const uint32_t msgPayloadSize)
{
/* Find free TX message buffer and configure it for transmission */
uint32_t txMsgBufIdx = 0U;
for (txMsgBufIdx = 0U; txMsgBufIdx < CAN0_TX_MSG_BUF_NUM; txMsgBufIdx++)
{
if ((CAN0->RAMn[txMsgBufIdx].CS & CAN_CS_CODE_MASK) == CAN_CS_CODE_TX_INACTIVE)
{
break;
}
}
if (txMsgBufIdx < CAN0_TX_MSG_BUF_NUM)
{
/* Configure TX message buffer ID */
CAN0->RAMn[txMsgBufIdx].ID = (CAN_RAMn_ID_STD(msgId) | CAN_RAMn_IDE_MASK);
/* Configure TX message buffer payload size */
CAN0->RAMn[txMsgBufIdx].CS = CAN_CS_DLC(msgPayloadSize);
/* Copy TX message payload */
for (uint32_t i = 0U; i < msgPayloadSize; i++)
{
can0TxMsgBuf[txMsgBufIdx][i] = msgPayload[i];
}
/* Configure TX message buffer for transmission */
CAN0->RAMn[txMsgBufIdx].CS |= CAN_CS_CODE(CAN_CS_CODE_TX_INACTIVE);
}
else
{
/* TX message buffer not available */
}
}
int main(void)
{
/* Init board hardware */
InitClocksAndModes();
InitGpio();
InitCan0();
/* Send CAN message */
const uint32_t msgId = 0x123U;
const uint8_t msgPayload[] = {0x11U, 0x22U, 0x33U};
const uint32_t msgPayloadSize = sizeof(msgPayload);
SendCan0Msg(msgId, msgPayload, msgPayloadSize);
/* Main loop */
while (1U)
{
/* Do nothing */
}
}
```
这个例程中,我们使用了S32K144-EVB开发板上的CAN0模块,并且配置了一个接收FIFO和四个接收消息缓冲区。在初始化过程中,我们设置了CAN0的波特率为500 kbps,并且启用了CAN0模块和RX FIFO中断。在主函数中,我们发送了一个CAN消息,并且在接收中断处理函数Can0_RxIsr中读取并处理了接收到的CAN消息。
package main import ( "fmt" "log" "os" "time" "github.com/goburrow/modbus" "github.com/tarm/serial" MQTT "github.com/eclipse/paho.mqtt.golang" ) // 定义回调函数,处理订阅的消息 var f MQTT.MessageHandler = func(client MQTT.Client, msg MQTT.Message) { fmt.Printf("TOPIC: %s\n", msg.Topic()) fmt.Printf("MSG: %s\n", msg.Payload()) } func main() { // 创建新的客户端 opts := MQTT.NewClientOptions().AddBroker("tcp://localhost:1883") opts.SetClientID("golang-client") opts.SetDefaultPublishHandler(f) c := MQTT.NewClient(opts) if token := c.Connect(); token.Wait() && token.Error() != nil { panic(token.Error()) } // 订阅主题 if token := c.Subscribe("golang/topic", 0, nil); token.Wait() && token.Error() != nil { fmt.Println(token.Error()) os.Exit(1) } // 连接串口 c := &serial.Config{Name: "/dev/ttyS0", Baud: 115200} s, err := serial.OpenPort(c) if err != nil { log.Fatal(err) } // 创建 Modbus 从机实例 handler := modbus.NewRTUClientHandler(s) handler.BaudRate = 115200 handler.DataBits = 8 handler.Parity = "N" handler.StopBits = 1 handler.SlaveId = 1 handler.Timeout = 5 * time.Second defer handler.Close() client := modbus.NewClient(handler) // 读取寄存器 results, err := client.ReadHoldingRegisters(1, 2) if err != nil { log.Fatal(err) } fmt.Println(results) // 输出读取到的寄存器值 // 设置寄存器 err = client.WriteMultipleRegisters(1, 2, []byte{0x01, 0x02}) if err != nil { log.Fatal(err) } // 发布消息 for i := 0; i < 5; i++ { text := fmt.Sprintf("this is msg #%d!", i) token := c.Publish("golang/topic", 0, false, text) token.Wait() } time.Sleep(3 * time.Second) // 断开连接 if token := c.Unsubscribe("golang/topic"); token.Wait() && token.Error() != nil { fmt.Println(token.Error()) os.Exit(1) } c.Disconnect(250) }
这是一段 Go 语言程序,在这段程序中,包含了多个包的导入,包括 fmt、log、os、time、modbus 和 serial。它还引入了 paho.mqtt.golang 包,用于处理 MQTT 协议相关的功能。
在 main 函数中,定义了一个名为 f 的 MQTT.MessageHandler 类型的变量,这个变量是一个匿名函数,用于处理订阅的消息。
接下来,程序创建了一个新的 MQTT 客户端,并设置了客户端的 ID 和默认的发布处理函数。然后,程序尝试连接到本地的 MQTT 服务器,并在连接成功之后执行相关操作。