1004 lines
25 KiB
C
1004 lines
25 KiB
C
/******************************************************************************
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| File Name : CanTp.c
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| Description: Manages segmenting of data in the send direction,
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| assembling of data in the receive direction,
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| and monitoring of the data stream.
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|------------------------------------------------------------------------------
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| (c) This software is the proprietary of Wenzhou Changjiang AutoMobile (DAMING)
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| All rights are reserved by DAMING.
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|------------------------------------------------------------------------------
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| Initials Name Company
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| -------- -------------------- ----------------------------------------
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| DAMING
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|------------------------------------------------------------------------------
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| R E V I S I O N H I S T O R Y
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|------------------------------------------------------------------------------
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| Date Version Author Description
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| ---------- -------- ------ ----------------------------------------
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| 2015-9-1 V1.0 LZY
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*****************************************************************************/
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/*
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TP层理论上 可以以 500us 以内的间隔接收连续帧 但是考虑到APP层其他进程的进行
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CAN中断太过频繁会造成时间片的偏移，所以流控帧 的 STmin定为5ms
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诊断报文接收丢弃策略：
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单帧 接收中 响应第一个单帧 响应超时前(1000 ms) 丢弃后来的所有帧
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多帧 接收中 可被 (单帧) (多帧首帧) 打断
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多帧 接受完毕后 响应超时前(1000 ms) 丢弃后来的所有帧
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上层响应报文后，TP层开始接收新的一帧
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上层通过TP层发送报文，则TP层认为已经响应当前报文。(除 负响应 78外，接收到78负响应 延长1个S3时间的响应时间 5S)
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S3 ： 接收到报文 至 反馈完毕（以调用发送函数为标志） 读接口为 ACTIVE 否则为 INACTIVE
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反馈响应时间：1S
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TP层占用10% APP层占用90% 即900ms APP层必须将反馈发送至 TP层 （无反馈发送DL = 0）
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APP层超时，TP层将中止该帧报文的响应流程 回到空闲状态 准备接受下一帧
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78负响应 延长1个S3时间的响应时间 5S
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*/
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/******************************************************************************
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* Description: : Include File Section
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******************************************************************************/
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//#include "global.h"
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#include "CanTp.h"
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/******************************************************************************
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* Description: : Global Variable Definition Section
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******************************************************************************/
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/******************************************************************************
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* Description: : Static Variable Definition Section
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******************************************************************************/
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#define DAMING_TRUE DCM_TRUE
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#define DAMING_FALSE DCM_FALSE
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#define DAMING_ACTIVE DCM_ACTIVE
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#define DAMING_INACTIVE DCM_INACTIVE
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static uint8 SaCanTp_u_RxSFBuffer[8]; /*单帧buffer*/
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static TeCanTp_e_TpSts SeCanTp_e_TpSts;/*TP层工作状态*/
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static uint8 SeCanTp_u_BS;
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static uint8 SeCanTp_u_STmin;
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static uint8 SaCanTp_u_RxMFBuffer[CANTP_MFLEN_MAX];/*多帧接收buffer*/
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static uint16 SeCanTp_u_RxLen;
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static TeCanTp_e_AddrMethod SeCanTp_e_AddrMethod;/*寻址方式*/
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static uint16 SeCanTp_u_RxMFDataCnt;
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static uint8 SeCanTp_u_LastSN;
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static uint16 SeCanTp_u_Timer;
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static TeCanTp_e_MFTimerSwitch SeCanTp_e_TimerSwitch;
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static TeCanTp_e_TxSts SeCanTp_e_TxSts;/*发送状态*/
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static uint8 SaCanTp_u_TxDataBuffer[CANTP_MFLEN_MAX];
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static uint8 SaCanTp_u_TxBuffer[8];
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static uint16 SeCanTp_u_TxLen;
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static uint16 SeCanTp_u_TxMFIndex;
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static TeCanTp_e_MFTxSts SeCanTp_e_MFTxSts;
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static uint8 SeCanTp_u_MFTxSN;
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static uint8 SeCanTp_u_MFTxSpacing;
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static uint16 SeCanTp_w_RespTimer; /*反馈计时器*/
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static uint8 SeCanTp_u_RespFlag;
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/******************************************************************************
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* Description: : Static Function Prototype Declaration
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*****************************************************************************/
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/******************************************************************************
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* Description: : Write User Function Code
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*****************************************************************************/
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/******************************************************************************
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*函数名称 :
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*参数 : TeCanTp_e_AddrMethod* LeCanTp_p_AddrMethod , Addressing Method
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uint16* LeCanTp_p_DL , Data Length
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uint8* LeCanTp_p_DataAddr array of data pointer
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*返回值 :
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*描述 : get frame data
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*编辑时间 :
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*备注 :
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*****************************************************************************/
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TeCanTp_e_RxBufferSts GetCanTp_e_RxBufferSts(uint8* LeCanTp_p_AddrMethod , uint16* LeCanTp_p_DL , uint8** LeCanTp_p_DataAddr)
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{
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TeCanTp_e_RxBufferSts LeCanTp_e_RxSts;
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if(SeCanTp_e_TpSts == CeCanTp_e_SF_Get)
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{
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SeCanTp_e_TpSts = CeCanTp_e_Answer;
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*LeCanTp_p_AddrMethod = SeCanTp_e_AddrMethod;
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*LeCanTp_p_DL = SeCanTp_u_RxLen;
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*LeCanTp_p_DataAddr = SaCanTp_u_RxSFBuffer;
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LeCanTp_e_RxSts = CeCanTp_e_Full;
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}
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else if(SeCanTp_e_TpSts == CeCanTp_e_MF_Get)
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{
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SeCanTp_e_TpSts = CeCanTp_e_Answer;
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*LeCanTp_p_AddrMethod = SeCanTp_e_AddrMethod;
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*LeCanTp_p_DL = SeCanTp_u_RxLen;
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*LeCanTp_p_DataAddr = SaCanTp_u_RxMFBuffer;
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LeCanTp_e_RxSts = CeCanTp_e_Full;
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}
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else
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{
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LeCanTp_e_RxSts = CeCanTp_e_Empty;
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}
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return LeCanTp_e_RxSts;
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}
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/******************************************************************************
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*函数名称 :
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*参数 :
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*返回值 :
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*描述 : CanIf调用 给TP数据函数 物理寻址
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*编辑时间 :
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*备注 :
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*****************************************************************************/
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void RxIndicationCanTP_AddrPhy_Message(CanIf_HwHandleType LeCanTp_e_Hrh,
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CanIf_CanIdType LeCanTp_e_CanId,
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CanIf_CanDlcType LeCanTp_e_CanDlc,
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const CanIf_CanDataType LeCanTp_e_CanSduPtr[])
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{
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uint8 LeCanTp_u_FrameInfo = 0;
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uint8 LeCanTp_u_DataIndex;
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(void)LeCanTp_e_Hrh;
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(void)LeCanTp_e_CanDlc;
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if(LeCanTp_e_CanId == CANTP_ADDR_PHY_REQ)
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{
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LeCanTp_u_FrameInfo = LeCanTp_e_CanSduPtr[0] >> 4;
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if((SeCanTp_e_TpSts == CeCanTp_e_SF_Get)/*已接收到单帧*/
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||(SeCanTp_e_TpSts == CeCanTp_e_MF_Get)/*已接收到多帧*/
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||(SeCanTp_e_TpSts == CeCanTp_e_Answer))/*当前正在响应*/
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{
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if((SeCanTp_e_TpSts == CeCanTp_e_Answer) && (SeCanTp_e_MFTxSts == CeCanTp_e_TX_FCWaiting))/*反馈阶段 发送多帧数据*/
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{
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if(LeCanTp_u_FrameInfo == 3)/*FC*/
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{
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if((LeCanTp_e_CanSduPtr[0]&0x0F) == 0x00)/*FS判断 正常*/
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{
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SeCanTp_e_MFTxSts = CeCanTp_e_TX_CFGaving;
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if(LeCanTp_e_CanSduPtr[1] == 0)
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{
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SeCanTp_u_BS = CANTP_MFLEN_MAX;
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}
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else
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{
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SeCanTp_u_BS = LeCanTp_e_CanSduPtr[1];
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}
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if(SeCanTp_u_STmin < 0x7FU)
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{
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SeCanTp_u_STmin = ((LeCanTp_e_CanSduPtr[2]-1)/CANTP_TASK)+1;
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}
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else
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{
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SeCanTp_u_STmin = 0;
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}
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SeCanTp_u_MFTxSpacing = 0;/*开始最小间隔计时*/
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SeCanTp_u_Timer = 0;
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}
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else if((LeCanTp_e_CanSduPtr[0]&0x0F) == 0x01)/*FS判断 等待*/
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{
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/*等待 清空计时器 再等一个 bs*/
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SeCanTp_u_Timer = 0;
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}
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else
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{
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/*过载丢帧*/
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SeCanTp_e_MFTxSts = CeCanTp_e_TX_Idel;
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SeCanTp_e_TpSts = CeCanTp_e_Idel;
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SeCanTp_e_TxSts = CeCanTp_e_Tx_Idle;
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}
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}
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}
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else{/*丢帧*/}
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}
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else
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{
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if(LeCanTp_u_FrameInfo == 0)/*SF*/
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{
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SeCanTp_u_RxLen = LeCanTp_e_CanSduPtr[0]&0x0f;
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if((SeCanTp_u_RxLen < 8) && (SeCanTp_u_RxLen > 0))
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{
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SeCanTp_e_TpSts = CeCanTp_e_SF_Get;/*单帧接收*/
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SeCanTp_e_AddrMethod = CeCanTp_e_Physical;
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for(LeCanTp_u_DataIndex = 0;LeCanTp_u_DataIndex < SeCanTp_u_RxLen;LeCanTp_u_DataIndex++)
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{
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SaCanTp_u_RxSFBuffer[LeCanTp_u_DataIndex] = LeCanTp_e_CanSduPtr[LeCanTp_u_DataIndex+1];
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}
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SeCanTp_u_RespFlag = DAMING_TRUE;
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SeCanTp_w_RespTimer = 1000U;
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}
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else
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{/*丢帧*/}
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}
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else if(LeCanTp_u_FrameInfo == 1)/*FF*/
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{
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SeCanTp_u_RxLen =(uint16)(((uint16)(LeCanTp_e_CanSduPtr[0] & 0x0f) << 8) + (uint16)LeCanTp_e_CanSduPtr[1]);
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if(SeCanTp_u_RxLen > CANTP_MFLEN_MAX) // add for 15765-2-6.5.2.2
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{
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/*丢帧*/
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/*直接回复过载流控帧*/
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SaCanTp_u_TxBuffer[0] = 0x30;
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SaCanTp_u_TxBuffer[1] = 2;
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SaCanTp_u_TxBuffer[2] = CANTP_RX_STMIN;
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TransmitCanIf_Buffer(CANTP_RESP_CANID,8,SaCanTp_u_TxBuffer);
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}
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else if(SeCanTp_u_RxLen > 7)
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{
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SeCanTp_e_AddrMethod = CeCanTp_e_Physical;
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/*获得多帧长度*/
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SeCanTp_u_RxMFDataCnt = 0;
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/*获得前6个数据*/
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for(LeCanTp_u_DataIndex = 2;LeCanTp_u_DataIndex < 8;LeCanTp_u_DataIndex++)
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{
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SaCanTp_u_RxMFBuffer[SeCanTp_u_RxMFDataCnt] = LeCanTp_e_CanSduPtr[LeCanTp_u_DataIndex];
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SeCanTp_u_RxMFDataCnt++;
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}
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SeCanTp_u_LastSN = 1;
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/*直接回复流控帧*/
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SaCanTp_u_TxBuffer[0] = 0x30;
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SaCanTp_u_TxBuffer[1] = 0;
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SaCanTp_u_TxBuffer[2] = CANTP_RX_STMIN;
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TransmitCanIf_Buffer(CANTP_RESP_CANID,8,SaCanTp_u_TxBuffer);
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SeCanTp_e_TpSts = CeCanTp_e_MF_CFTakein;/*等待接收后续帧*/
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SeCanTp_e_TimerSwitch = CeCanTp_e_Cr;
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SeCanTp_u_Timer = 0;
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}
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else
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{/*丢帧*/}
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}
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else if(LeCanTp_u_FrameInfo == 2)/*CF*/
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{
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if(SeCanTp_e_TpSts == CeCanTp_e_MF_CFTakein)
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{
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/*检验SN*/
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SeCanTp_u_Timer = 0;
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if((LeCanTp_e_CanSduPtr[0]&0x0F) == (SeCanTp_u_LastSN & 0x0F))
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{
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/*获得数据*/
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SeCanTp_u_LastSN++;
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if((LeCanTp_e_CanDlc < 8)&&(LeCanTp_e_CanDlc >0)&&(SeCanTp_u_RxMFDataCnt < (SeCanTp_u_RxLen - LeCanTp_e_CanDlc)))
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{
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SeCanTp_e_TpSts = CeCanTp_e_Idel; // 错误的DLC
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}
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else
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{
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for(LeCanTp_u_DataIndex = 1;LeCanTp_u_DataIndex < 8;LeCanTp_u_DataIndex++)
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{
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if(SeCanTp_u_RxMFDataCnt < SeCanTp_u_RxLen)
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{
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SaCanTp_u_RxMFBuffer[SeCanTp_u_RxMFDataCnt] = LeCanTp_e_CanSduPtr[LeCanTp_u_DataIndex];
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SeCanTp_u_RxMFDataCnt++;
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}
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else
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{
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/*数据接收完毕*/
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SeCanTp_e_TpSts = CeCanTp_e_MF_Get;
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SeCanTp_u_RespFlag = DAMING_TRUE;
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SeCanTp_w_RespTimer = 1000U;
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break;
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}
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if(SeCanTp_u_RxMFDataCnt == SeCanTp_u_RxLen)
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{
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/*数据接收完毕*/
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SeCanTp_e_TpSts = CeCanTp_e_MF_Get;
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SeCanTp_u_RespFlag = DAMING_TRUE;
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SeCanTp_w_RespTimer = 1000U;
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break;
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}
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}
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}
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}
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else
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{
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/*SN错误 丢帧*/
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SeCanTp_e_TpSts = CeCanTp_e_Idel;
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}
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}
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else
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{
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/*当前不是 多帧接受后续帧阶段 丢帧*/
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}
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}
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else
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{
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/*不接受 流控帧 与 其他状态帧*/
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}
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}
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}
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else
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{
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}
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}
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/******************************************************************************
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*函数名称 :
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*参数 :
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*返回值 :
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*描述 : CanIf调用 给TP数据函数 功能寻址
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*编辑时间 :
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*备注 :
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*****************************************************************************/
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#if (CANTP_ADDRFUNC_MF_FORBID == DAMING_TRUE)
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void RxIndicationCanTP_AddrFunc_Message(CanIf_HwHandleType LeCanTp_e_Hrh,
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CanIf_CanIdType LeCanTp_e_CanId,
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CanIf_CanDlcType LeCanTp_e_CanDlc,
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const CanIf_CanDataType LeCanTp_e_CanSduPtr[])
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{
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uint8 LeCanTp_u_FrameInfo = 0;
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uint8 LeCanTp_u_DataIndex;
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(void)LeCanTp_e_Hrh;
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(void)LeCanTp_e_CanDlc;
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if(LeCanTp_e_CanId == CANTP_ADDR_FUNC_REQ)
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{
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LeCanTp_u_FrameInfo = LeCanTp_e_CanSduPtr[0] >> 4;
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if((SeCanTp_e_TpSts == CeCanTp_e_SF_Get)/*已接收到单帧*/
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||(SeCanTp_e_TpSts == CeCanTp_e_MF_Get)/*已接收到多帧*/
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||(SeCanTp_e_TpSts == CeCanTp_e_Answer))/*当前正在响应*/
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{
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if((SeCanTp_e_TpSts == CeCanTp_e_Answer) && (SeCanTp_e_MFTxSts == CeCanTp_e_TX_FCWaiting))/*反馈阶段 发送多帧数据*/
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{
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if(LeCanTp_u_FrameInfo == 3)/*FC*/
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{
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if((LeCanTp_e_CanSduPtr[0]&0x0F) == 0x00)/*FS判断 正常*/
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{
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SeCanTp_e_MFTxSts = CeCanTp_e_TX_CFGaving;
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if(LeCanTp_e_CanSduPtr[1] == 0)
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{
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SeCanTp_u_BS = CANTP_MFLEN_MAX;
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}
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else
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{
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SeCanTp_u_BS = LeCanTp_e_CanSduPtr[1];
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}
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if(SeCanTp_u_STmin < 0x7FU)
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{
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SeCanTp_u_STmin = ((LeCanTp_e_CanSduPtr[2]-1)/CANTP_TASK)+1;
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}
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else
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{
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SeCanTp_u_STmin = 0;
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}
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SeCanTp_u_MFTxSpacing = 0;/*开始最小间隔计时*/
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}
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else if((LeCanTp_e_CanSduPtr[0]&0x0F) == 0x01)/*FS判断 等待*/
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{
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/*等待 清空计时器 再等一个 bs*/
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SeCanTp_u_Timer = 0;
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}
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else
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{
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/*过载丢帧*/
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SeCanTp_e_MFTxSts = CeCanTp_e_TX_Idel;
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SeCanTp_e_TpSts = CeCanTp_e_Idel;
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SeCanTp_e_TxSts = CeCanTp_e_Tx_Idle;
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}
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}
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}
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}
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else
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{
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if(LeCanTp_u_FrameInfo == 0)/*SF*/
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{
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SeCanTp_u_RxLen = LeCanTp_e_CanSduPtr[0]&0x0f;
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if((SeCanTp_u_RxLen < 8) && (SeCanTp_u_RxLen > 0))
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{
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SeCanTp_e_TpSts = CeCanTp_e_SF_Get;/*单帧接收*/
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SeCanTp_e_AddrMethod = CeCanTp_e_Functional;
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for(LeCanTp_u_DataIndex = 0;LeCanTp_u_DataIndex < SeCanTp_u_RxLen;LeCanTp_u_DataIndex++)
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{
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SaCanTp_u_RxSFBuffer[LeCanTp_u_DataIndex] = LeCanTp_e_CanSduPtr[LeCanTp_u_DataIndex+1];
|
||
}
|
||
|
||
SeCanTp_u_RespFlag = DAMING_TRUE;
|
||
SeCanTp_w_RespTimer = 1000U;
|
||
}
|
||
else
|
||
{/*丢帧*/}
|
||
}
|
||
|
||
else if(LeCanTp_u_FrameInfo == 1)/*FF*/
|
||
{
|
||
SeCanTp_u_RxLen =(uint16)(((uint16)(LeCanTp_e_CanSduPtr[0] & 0x0f) << 8) + (uint16)LeCanTp_e_CanSduPtr[1]);
|
||
|
||
if(SeCanTp_u_RxLen > 7)
|
||
{
|
||
SeCanTp_e_AddrMethod = CeCanTp_e_Functional;
|
||
|
||
/*获得多帧长度*/
|
||
//SeCanTp_u_RxLen =(uint16)(((uint16)(LeCanTp_e_CanSduPtr[0] & 0x0f) << 8) + (uint16)LeCanTp_e_CanSduPtr[1]);
|
||
SeCanTp_u_RxMFDataCnt = 0;
|
||
|
||
/*获得前6个数据*/
|
||
for(LeCanTp_u_DataIndex = 2;LeCanTp_u_DataIndex < 8;LeCanTp_u_DataIndex++)
|
||
{
|
||
SaCanTp_u_RxMFBuffer[SeCanTp_u_RxMFDataCnt] = LeCanTp_e_CanSduPtr[LeCanTp_u_DataIndex];
|
||
SeCanTp_u_RxMFDataCnt++;
|
||
}
|
||
SeCanTp_u_LastSN = 1;
|
||
|
||
/*直接回复流控帧*/
|
||
SaCanTp_u_TxBuffer[0] = 0x30;
|
||
SaCanTp_u_TxBuffer[1] = 0;
|
||
SaCanTp_u_TxBuffer[2] = CANTP_RX_STMIN;
|
||
|
||
TransmitCanIf_Buffer(CANTP_RESP_CANID,8,SaCanTp_u_TxBuffer);
|
||
|
||
SeCanTp_e_TpSts = CeCanTp_e_MF_CFTakein;/*等待接收后续帧*/
|
||
|
||
SeCanTp_e_TimerSwitch = CeCanTp_e_Cr;
|
||
SeCanTp_u_Timer = 0;
|
||
}
|
||
else
|
||
{/*丢帧*/}
|
||
}
|
||
else if(LeCanTp_u_FrameInfo == 2)/*CF*/
|
||
{
|
||
if(SeCanTp_e_TpSts == CeCanTp_e_MF_CFTakein)
|
||
{
|
||
/*检验SN*/
|
||
if((LeCanTp_e_CanSduPtr[0]&0x0F) == ((SeCanTp_u_LastSN+1)&0x0F))
|
||
{
|
||
/*获得数据*/
|
||
SeCanTp_u_LastSN++;
|
||
|
||
for(LeCanTp_u_DataIndex = 1;LeCanTp_u_DataIndex < 8;LeCanTp_u_DataIndex++)
|
||
{
|
||
if(SeCanTp_u_RxMFDataCnt < SeCanTp_u_RxLen)
|
||
{
|
||
SaCanTp_u_RxMFBuffer[SeCanTp_u_RxMFDataCnt] = LeCanTp_e_CanSduPtr[LeCanTp_u_DataIndex];
|
||
SeCanTp_u_RxMFDataCnt++;
|
||
}
|
||
else
|
||
{
|
||
/*数据接收完毕*/
|
||
SeCanTp_e_TpSts = CeCanTp_e_MF_Get;
|
||
|
||
SeCanTp_u_RespFlag = DAMING_TRUE;
|
||
SeCanTp_w_RespTimer = 1000U;
|
||
break;
|
||
}
|
||
|
||
if(SeCanTp_u_RxMFDataCnt == SeCanTp_u_RxLen)
|
||
{
|
||
/*数据接收完毕*/
|
||
SeCanTp_e_TpSts = CeCanTp_e_MF_Get;
|
||
|
||
SeCanTp_u_RespFlag = DAMING_TRUE;
|
||
SeCanTp_w_RespTimer = 1000U;
|
||
break;
|
||
}
|
||
}
|
||
}
|
||
else
|
||
{
|
||
/*SN错误 丢帧*/
|
||
SeCanTp_e_TpSts = CeCanTp_e_Idel;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
/*当前不是 多帧接受后续帧阶段 丢帧*/
|
||
}
|
||
}
|
||
else
|
||
{
|
||
/*不接受 流控帧 与 其他状态帧*/
|
||
}
|
||
}
|
||
}
|
||
else
|
||
{}
|
||
}
|
||
#else
|
||
void RxIndicationCanTP_AddrFunc_Message(CanIf_HwHandleType LeCanTp_e_Hrh,
|
||
CanIf_CanIdType LeCanTp_e_CanId,
|
||
CanIf_CanDlcType LeCanTp_e_CanDlc,
|
||
const CanIf_CanDataType LeCanTp_e_CanSduPtr[])
|
||
{
|
||
uint8 LeCanTp_u_FrameInfo = 0;
|
||
uint8 LeCanTp_u_DataIndex;
|
||
|
||
(void)LeCanTp_e_Hrh;
|
||
(void)LeCanTp_e_CanDlc;
|
||
|
||
if(LeCanTp_e_CanId == CANTP_ADDR_FUNC_REQ)
|
||
{
|
||
LeCanTp_u_FrameInfo = LeCanTp_e_CanSduPtr[0] >> 4;
|
||
|
||
if((SeCanTp_e_TpSts == CeCanTp_e_SF_Get)/*已接收到单帧*/
|
||
||(SeCanTp_e_TpSts == CeCanTp_e_MF_Get)/*已接收到多帧*/
|
||
||(SeCanTp_e_TpSts == CeCanTp_e_Answer))/*当前正在响应*/
|
||
{
|
||
/*丢帧*/
|
||
}
|
||
else
|
||
{
|
||
if(LeCanTp_u_FrameInfo == 0)/*SF*/
|
||
{
|
||
SeCanTp_u_RxLen = LeCanTp_e_CanSduPtr[0]&0x0f;
|
||
if(SeCanTp_u_RxLen < 8)
|
||
{
|
||
SeCanTp_e_TpSts = CeCanTp_e_SF_Get;/*单帧接收*/
|
||
|
||
SeCanTp_e_AddrMethod = CeCanTp_e_Functional;
|
||
for(LeCanTp_u_DataIndex = 0;LeCanTp_u_DataIndex < SeCanTp_u_RxLen;LeCanTp_u_DataIndex++)
|
||
{
|
||
SaCanTp_u_RxSFBuffer[LeCanTp_u_DataIndex] = LeCanTp_e_CanSduPtr[LeCanTp_u_DataIndex+1];
|
||
}
|
||
|
||
SeCanTp_u_RespFlag = DAMING_TRUE;
|
||
SeCanTp_w_RespTimer = 1000U;
|
||
}
|
||
else
|
||
{/*丢帧*/}
|
||
}
|
||
}
|
||
}
|
||
else
|
||
{}
|
||
}
|
||
#endif
|
||
|
||
/******************************************************************************
|
||
*函数名称 :
|
||
|
||
*参数 :
|
||
|
||
*返回值 :
|
||
|
||
*描述 : 发送
|
||
|
||
*编辑时间 :
|
||
|
||
*备注 :
|
||
*****************************************************************************/
|
||
TeCanTp_e_TxResult SetCanTp_TxBuffer(uint16 LeCanTp_p_DL , const uint8 LeCanTp_p_DataAddr[])
|
||
{
|
||
TeCanTp_e_TxResult LeCanTp_e_TxResult;
|
||
uint16 LeCanTp_s_Index;
|
||
|
||
/*只有在反馈阶段 可以发送数据*/
|
||
if ((SeCanTp_e_TpSts == CeCanTp_e_Answer) && (SeCanTp_e_TxSts == CeCanTp_e_Tx_Idle))
|
||
{
|
||
SeCanTp_u_RespFlag = DAMING_FALSE;
|
||
SeCanTp_w_RespTimer = 1000U;
|
||
|
||
if(LeCanTp_p_DL == 0)
|
||
{
|
||
/*该报文无反馈*/
|
||
SeCanTp_e_TpSts = CeCanTp_e_Idel;
|
||
}
|
||
else if(LeCanTp_p_DL < 8)
|
||
{
|
||
/*单帧 直接发送*/
|
||
SaCanTp_u_TxBuffer[0] = (uint8)LeCanTp_p_DL;
|
||
|
||
for(LeCanTp_s_Index = 1; LeCanTp_s_Index < 8; LeCanTp_s_Index++)
|
||
{
|
||
SaCanTp_u_TxBuffer[LeCanTp_s_Index] = 0x55;
|
||
}
|
||
|
||
for(LeCanTp_s_Index = 0; LeCanTp_s_Index < LeCanTp_p_DL; LeCanTp_s_Index++)
|
||
{
|
||
SaCanTp_u_TxBuffer[LeCanTp_s_Index + 1] = LeCanTp_p_DataAddr[LeCanTp_s_Index];
|
||
}
|
||
|
||
TransmitCanIf_Buffer(CANTP_RESP_CANID,8,SaCanTp_u_TxBuffer);
|
||
|
||
SeCanTp_e_TpSts = CeCanTp_e_Idel;
|
||
}
|
||
else
|
||
{
|
||
/*多帧报文*/
|
||
SeCanTp_e_TxSts = CeCanTp_e_Tx_Busy;
|
||
|
||
/*数据提取*/
|
||
for(LeCanTp_s_Index = 0; LeCanTp_s_Index < LeCanTp_p_DL; LeCanTp_s_Index++)
|
||
{
|
||
SaCanTp_u_TxDataBuffer[LeCanTp_s_Index] = LeCanTp_p_DataAddr[LeCanTp_s_Index];
|
||
}
|
||
|
||
SeCanTp_u_TxLen = LeCanTp_p_DL;
|
||
|
||
|
||
/*发送首帧*/
|
||
SaCanTp_u_TxBuffer[0] = 0x10 + (uint8)(LeCanTp_p_DL >> 8);
|
||
SaCanTp_u_TxBuffer[1] = (uint8)(LeCanTp_p_DL & 0x00ff);
|
||
|
||
|
||
for(SeCanTp_u_TxMFIndex = 0; SeCanTp_u_TxMFIndex < 6; SeCanTp_u_TxMFIndex++)
|
||
{
|
||
SaCanTp_u_TxBuffer[SeCanTp_u_TxMFIndex+2] = SaCanTp_u_TxDataBuffer[SeCanTp_u_TxMFIndex];
|
||
}
|
||
TransmitCanIf_Buffer(CANTP_RESP_CANID,8,SaCanTp_u_TxBuffer);
|
||
|
||
SeCanTp_e_TimerSwitch = CeCanTp_e_Bs;
|
||
SeCanTp_u_Timer = 0;
|
||
|
||
SeCanTp_u_MFTxSN = 1;
|
||
SeCanTp_e_MFTxSts = CeCanTp_e_TX_FCWaiting;
|
||
}
|
||
|
||
LeCanTp_e_TxResult = CeCanTp_e_Tx_Succeed;
|
||
}
|
||
else
|
||
{
|
||
LeCanTp_e_TxResult = CeCanTp_e_Tx_Wrong;
|
||
}
|
||
|
||
return LeCanTp_e_TxResult;
|
||
}
|
||
|
||
/******************************************************************************
|
||
*函数名称 :
|
||
|
||
*参数 :
|
||
|
||
*返回值 :
|
||
|
||
*描述 : 78负响应 发送响应后 不中断当前 反馈流程
|
||
|
||
*编辑时间 :
|
||
|
||
*备注 :
|
||
*****************************************************************************/
|
||
TeCanTp_e_TxResult SetCanTp_Tx_78Neg(uint16 LeCanTp_p_DL , const uint8 LeCanTp_p_DataAddr[])
|
||
{
|
||
TeCanTp_e_TxResult LeCanTp_e_TxResult;
|
||
uint8 LeCanTp_u_Index;
|
||
|
||
/*只有在反馈阶段 可以发送数据*/
|
||
if ((SeCanTp_e_TpSts == CeCanTp_e_Answer) && (SeCanTp_e_TxSts == CeCanTp_e_Tx_Idle))
|
||
{
|
||
if(LeCanTp_p_DL < 8)
|
||
{
|
||
/*单帧 直接发送*/
|
||
SaCanTp_u_TxBuffer[0] = (uint8)LeCanTp_p_DL;
|
||
|
||
for(LeCanTp_u_Index = 1; LeCanTp_u_Index < 8; LeCanTp_u_Index++)
|
||
{
|
||
SaCanTp_u_TxBuffer[LeCanTp_u_Index] = 0x55;
|
||
}
|
||
|
||
for(LeCanTp_u_Index = 0; LeCanTp_u_Index < LeCanTp_p_DL; LeCanTp_u_Index++)
|
||
{
|
||
SaCanTp_u_TxBuffer[LeCanTp_u_Index + 1] = LeCanTp_p_DataAddr[LeCanTp_u_Index];
|
||
}
|
||
|
||
TransmitCanIf_Buffer(CANTP_RESP_CANID,8,SaCanTp_u_TxBuffer);
|
||
|
||
LeCanTp_e_TxResult = CeCanTp_e_Tx_Succeed;
|
||
|
||
SeCanTp_w_RespTimer = 0u;
|
||
}
|
||
else
|
||
{
|
||
LeCanTp_e_TxResult = CeCanTp_e_Tx_Wrong;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
LeCanTp_e_TxResult = CeCanTp_e_Tx_Wrong;
|
||
}
|
||
|
||
return LeCanTp_e_TxResult;
|
||
}
|
||
|
||
|
||
/******************************************************************************
|
||
*函数名称 :
|
||
|
||
*参数 :
|
||
|
||
*返回值 :
|
||
|
||
*描述 :
|
||
|
||
*编辑时间 :
|
||
|
||
*备注 :
|
||
*****************************************************************************/
|
||
void InitCanTp_Parameter(void)
|
||
{
|
||
uint8 LeCanTp_u_InitIndex;
|
||
|
||
for(LeCanTp_u_InitIndex = 0; LeCanTp_u_InitIndex<8 ; LeCanTp_u_InitIndex++)
|
||
{
|
||
SaCanTp_u_RxSFBuffer[LeCanTp_u_InitIndex] = 0;/*单帧buffer*/
|
||
SaCanTp_u_TxBuffer[LeCanTp_u_InitIndex] = 0;
|
||
SaCanTp_u_TxDataBuffer[LeCanTp_u_InitIndex] = 0;
|
||
SaCanTp_u_RxMFBuffer[LeCanTp_u_InitIndex] = 0;/*多帧接收buffer*/
|
||
}
|
||
|
||
SeCanTp_e_TpSts = CeCanTp_e_Idel;/*TP层工作状态*/
|
||
|
||
SeCanTp_u_BS = 0;
|
||
SeCanTp_u_STmin = 10;
|
||
|
||
|
||
SeCanTp_u_RxLen = 0;
|
||
SeCanTp_e_AddrMethod = CeCanTp_e_Physical;/*寻址方式*/
|
||
|
||
SeCanTp_u_RxMFDataCnt = 0;
|
||
SeCanTp_u_LastSN = 0;
|
||
|
||
SeCanTp_u_Timer = 0;
|
||
SeCanTp_e_TimerSwitch = 0;
|
||
|
||
SeCanTp_e_TxSts = CeCanTp_e_Tx_Idle;/*发送状态*/
|
||
|
||
SeCanTp_u_TxLen = 0;
|
||
|
||
SeCanTp_u_TxMFIndex = 0;
|
||
SeCanTp_e_MFTxSts = CeCanTp_e_TX_Idel;
|
||
|
||
SeCanTp_u_MFTxSN = 0;
|
||
SeCanTp_u_MFTxSpacing = 0;
|
||
|
||
SeCanTp_w_RespTimer = 1000U; /*反馈计时器*/
|
||
SeCanTp_u_RespFlag = DAMING_FALSE;
|
||
}
|
||
|
||
|
||
|
||
|
||
/******************************************************************************
|
||
*函数名称 :
|
||
|
||
*参数 :
|
||
|
||
*返回值 :
|
||
|
||
*描述 : 主函数 用于发送 多帧 与 监控超时时间
|
||
|
||
*编辑时间 :
|
||
|
||
*备注 :
|
||
*****************************************************************************/
|
||
void MngCanTp_MainFunction(void)
|
||
{
|
||
uint8 LeCanTp_u_Index;
|
||
|
||
if(SeCanTp_e_TpSts == CeCanTp_e_MF_CFTakein)/*超时*/
|
||
{
|
||
if(SeCanTp_e_TimerSwitch == CeCanTp_e_Cr)
|
||
{
|
||
if(SeCanTp_u_Timer > CANTP_CR_TIMEOUT)
|
||
{
|
||
/*超时*/
|
||
SeCanTp_e_TpSts = CeCanTp_e_Idel;
|
||
}
|
||
else
|
||
{
|
||
SeCanTp_u_Timer++;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
SeCanTp_e_TimerSwitch = CeCanTp_e_Cr;
|
||
SeCanTp_u_Timer = 0;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
|
||
}
|
||
|
||
if(SeCanTp_u_RespFlag == DAMING_TRUE)/*APP反馈超时*/
|
||
{
|
||
if(SeCanTp_w_RespTimer > CANTP_APP_RESP_78NEG)
|
||
{
|
||
/*超时*/
|
||
SeCanTp_e_TpSts = CeCanTp_e_Idel;
|
||
|
||
SeCanTp_u_RespFlag = DAMING_FALSE;
|
||
|
||
SeCanTp_w_RespTimer = 1000U;
|
||
}
|
||
else
|
||
{
|
||
SeCanTp_w_RespTimer++;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
SeCanTp_w_RespTimer = 1000U;
|
||
}
|
||
|
||
if(SeCanTp_e_TpSts == CeCanTp_e_Answer)
|
||
{
|
||
if(SeCanTp_e_MFTxSts == CeCanTp_e_TX_FCWaiting)/*FC等待超时*/
|
||
{
|
||
if(SeCanTp_e_TimerSwitch == CeCanTp_e_Bs)
|
||
{
|
||
if(SeCanTp_u_Timer > CANTP_BS_TIMEOUT)
|
||
{
|
||
/*超时*/
|
||
SeCanTp_e_MFTxSts = CeCanTp_e_TX_Idel;
|
||
SeCanTp_e_TpSts = CeCanTp_e_Idel;
|
||
SeCanTp_e_TxSts = CeCanTp_e_Tx_Idle;
|
||
}
|
||
else
|
||
{
|
||
SeCanTp_u_Timer++;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
SeCanTp_e_TimerSwitch = CeCanTp_e_Bs;
|
||
SeCanTp_u_Timer = 0;
|
||
}
|
||
}
|
||
else
|
||
{}
|
||
|
||
if(SeCanTp_e_MFTxSts == CeCanTp_e_TX_CFGaving)/*发送*/
|
||
{
|
||
/*CF*/
|
||
SeCanTp_u_MFTxSpacing++;
|
||
|
||
if(SeCanTp_u_BS > 0)
|
||
{
|
||
if(SeCanTp_u_MFTxSpacing > SeCanTp_u_STmin)
|
||
{
|
||
SeCanTp_u_MFTxSpacing = 1;
|
||
if(SeCanTp_u_TxMFIndex < (SeCanTp_u_TxLen-7))
|
||
{
|
||
SaCanTp_u_TxBuffer[0] = 0x20 + SeCanTp_u_MFTxSN;
|
||
|
||
for(LeCanTp_u_Index = 0; LeCanTp_u_Index < 7; LeCanTp_u_Index++)
|
||
{
|
||
SaCanTp_u_TxBuffer[LeCanTp_u_Index + 1] = SaCanTp_u_TxDataBuffer[SeCanTp_u_TxMFIndex++];
|
||
}
|
||
TransmitCanIf_Buffer(CANTP_RESP_CANID,8,SaCanTp_u_TxBuffer);
|
||
|
||
SeCanTp_u_MFTxSN += 1;
|
||
SeCanTp_u_MFTxSN &= 0x0f;
|
||
|
||
if(SeCanTp_u_BS == 1u)
|
||
{
|
||
SeCanTp_e_MFTxSts = CeCanTp_e_TX_FCWaiting;/*等流控帧*/
|
||
SeCanTp_u_Timer = 0;
|
||
SeCanTp_e_TimerSwitch = CeCanTp_e_Bs;
|
||
}
|
||
else
|
||
{
|
||
SeCanTp_u_BS--;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
/*最后一帧*/
|
||
uint8 LeCanTp_u_Cnt = SeCanTp_u_TxLen - SeCanTp_u_TxMFIndex;
|
||
|
||
SaCanTp_u_TxBuffer[0] = 0x20 + SeCanTp_u_MFTxSN;
|
||
|
||
for(LeCanTp_u_Index = 1; LeCanTp_u_Index < 8; LeCanTp_u_Index++)
|
||
{
|
||
SaCanTp_u_TxBuffer[LeCanTp_u_Index] = 0x55;
|
||
}
|
||
|
||
for(LeCanTp_u_Index = 0; LeCanTp_u_Index < LeCanTp_u_Cnt; LeCanTp_u_Index++)
|
||
{
|
||
SaCanTp_u_TxBuffer[LeCanTp_u_Index + 1] = SaCanTp_u_TxDataBuffer[SeCanTp_u_TxMFIndex++];
|
||
}
|
||
TransmitCanIf_Buffer(CANTP_RESP_CANID,8,SaCanTp_u_TxBuffer);
|
||
|
||
SeCanTp_e_MFTxSts = CeCanTp_e_TX_Idel;
|
||
SeCanTp_e_TpSts = CeCanTp_e_Idel;
|
||
SeCanTp_e_TxSts = CeCanTp_e_Tx_Idle;
|
||
|
||
SeCanTp_u_BS = 0;
|
||
}
|
||
}
|
||
else
|
||
{}
|
||
}
|
||
else
|
||
{
|
||
SeCanTp_e_MFTxSts = CeCanTp_e_TX_FCWaiting;/*等流控帧*/
|
||
SeCanTp_u_Timer = 0;
|
||
SeCanTp_e_TimerSwitch = CeCanTp_e_Bs;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
|
||
}
|
||
}
|
||
else
|
||
{
|
||
|
||
}
|
||
}
|
||
|
||
/******************************************************************************
|
||
*函数名称 :
|
||
|
||
*参数 :
|
||
|
||
*返回值 :
|
||
|
||
*描述 : S3 状态函数
|
||
S3 ： 接收到报文 至 反馈完毕（以调用发送函数为标志） 读接口为 DAMING_ACTIVE 否则为 DAMING_INACTIVE
|
||
|
||
*编辑时间 :
|
||
|
||
*备注 :
|
||
*****************************************************************************/
|
||
uint8 GetCanTp_u_S3Sts(void)
|
||
{
|
||
uint8 LeCanTp_u_Ret;
|
||
|
||
if(SeCanTp_e_TpSts == CeCanTp_e_Idel)
|
||
{
|
||
LeCanTp_u_Ret = DAMING_ACTIVE;
|
||
}
|
||
else
|
||
{
|
||
LeCanTp_u_Ret = DAMING_INACTIVE;
|
||
}
|
||
|
||
return LeCanTp_u_Ret;
|
||
}
|