Some explanations of CAN byte order and bit numbering:
openxcplatform-bitnumbering
Mathworks-Side
CAN frame data is either in big endian or little endian byte format.
The bits are numbered by the file format either using MSB first (MSB0) or LSB first (LSB0).
With "consistent" format/numbering, bit numbering follows the byte format. MSB0 for big endian, LSB0 for little endian.
ietf-endianess
Usually the start bit referenced by the file formats reference the start of the signal data within the message independent of the endianess of the signal. With some formats (DBF), the startbit may always reference the LSB of the signal data.
Common formats:
KCD, SYM (consistent bit numbering)
little,LSB0
big,MSB0
DBC, ARXML (OSEK bit numbering)
little,LSB0
big,LSB0 (inconsistent)
DBF (startBit=LSB, startByte and startBit specified separately)
little,LSB0
big,LSB0,startBit=LSB (inconsistent)
Legacy canmatrix (yaml, json) (Note: internally canmatrix now uses consistent bit numbering)
little,LSB0
big,LSB0,startBit=LSB (inconsistent)
###First Example:
Frame with two 32-bit signals in motorola one can-frame
7 6 5 4 3 2 1 0
0>msb-----
1 signal1
2
3 ----lsb>
4>msb-----
5 signal2
6
7 ----lsb>
DBC:
BO_ 291 newFrameMotorola: 8 Vector__XXX
SG_ signal1 : 7|32@0- (1,0) [0|0] "" Vector__XXX (most significant bit)
SG_ signal2 : 39|32@0- (1,0) [0|0] "" Vector__XXX (most significant bit)
candb++ views:
signal1: 24 (least significant bit?)
signal2: 56 (least significant bit?)
Dbf:
byte 4 bit 0
byte 8 bit 0
###Second Example:
7 6 5 4 3 2 1 0
0 >msb---
1---------lsb>
2
3
4
5
6
7
DBC:
startbit 3
length 11
candb++ views:
Startbit 9 (least significant bit?)
dbf:
length 11
byte 2 (counting starts with byte 1)
bit 1
##found docs about kcd "Least significant bit offset of the signal relative to the least significant bit of the messages data payload." least significant bit?
estimation about dbf
least significant bit?
new formulars from dmahurin
Note the basic operations used.
convert from lsb0 bit numbering to msb0 bit numbering (or msb0 to lsb0)
b = b - (b % 8) + 7 - (b % 8)
convert from lsbit of signal data to msbit of signal data, when bit numbering is msb0
b = b + 1 - length
convert from msbit of signal data to lsbit of signal data, when bit numbering is msb0
b = b + length - 1
So conversion from msbit in lsb0 bit numbering to msbit in lsb0 bit numbering is:
b = b - (b % 8) + 7 - (b % 8)
b = b + length - 1
b = b - (b % 8) + 7 - (b % 8)
byte order names
little endian == Intel == MOST-SIGNIFICANT-BYTE-LAST
big endian == Motorola == MOST-SIGNIFICANT-BYTE-FIRST
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