问在CAPL中从从节点读取LIN帧

EN

variables
{
 linFrame 0x03 ACT_CTRL_MT3  = {msgChannel=1}; // actuator control command
 linFrame 0x21 ACT_STA_MT3   = {msgChannel=1}; // actuator status response
 
 mstimer timer1;
}


// starts the fun
on key 'c'  
{
  ACT_CTRL_MT3.RTR = 1;  // RTR=1 means that you want to send entire message (header + data)
  ACT_CTRL_MT3.byte(0)=0x12;
  ACT_CTRL_MT3.byte(1)=0xE4;
  ACT_CTRL_MT3.byte(2)=0x14;
  ACT_CTRL_MT3.byte(3)=0xFE;
  ACT_CTRL_MT3.byte(4)=0xFF;
  ACT_CTRL_MT3.byte(5)=0x00;
  ACT_CTRL_MT3.byte(6)=0x00;
  ACT_CTRL_MT3.byte(7)=0x40;
  output(ACT_CTRL_MT3);  // this sends the message to the bus

  settimer(timer1, 20); // set timer to trigger actions in 20 ms
}


// sending LIN headers (ID 0x21) cyclically
on timer timer1 
{
  // sends a single LIN header - you can also try to do it this way:
  // ACT_STA_MT3.RTR=0;
  // output(ACT_STA_MT3);
  linTransmitHeader(ACT_STA_MT3);  // or linTransmitHeader(0x21);
  //set timer again to let LIN Slave respond if stalled later on
  settimer(timer1, 20); // reset to execute every 20 ms
}

// event on receiving entire frame (header + response data) from LIN Slave
on linFrame ACT_STA_MT3
{
  // not sure where is located your bit that is informing about stalling of the motor, but in this example I assumed it is on first position of byte 0
  if (this.byte(0) & 0x01)
  {
    // you can put some other instructions here
    write("Motor has stalled!");
  }
  // you can also log entire frame (I think your code was fine so I copied it):
  writelineex(1,1,"FrameId=%d Length=%d, 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X 0x%X;", this.ID, this.DLC, this.byte(0), this.byte(1), this.byte(2), this.byte(3), this.byte(4), this.byte(5), this.byte(6), this.byte(7));
}