1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
/******************************************************************************
文 件 名：DoCAN_ISO15765.c
功能描述：ISO 15765 规范规定的诊断服务函数库文件
作 者：张暄
版 本：V1.0
日 期：2016.7.18
******************************************************************************/
#include "DoCAN_ISO15765.h"
#include "can.h"
LinkRxFIFOStruct LinkRxFIFO;
LinkTxCtrlStruct LinkTxCtrl;
volatile TransportDataUnion TransportRxData;
volatile TransportDataUnion TransportTxData;
N_USDataRxStruct N_USDataRxBuffer;
N_USDataTxStruct N_USDataTxBuffer;
TransportControlStruct TpCtrl;
TransportTimingControlStruct TpTimingCtrl;
uint8_t DiagnosticReceived;
extern void UDS_N_USData_Confirm(uint16_t N_TAtype, uint8_t N_Result);
extern void UDS_N_USData_FF_Indication(uint16_t N_TAtype, uint16_t Length);
extern void UDS_N_USData_Indication(uint16_t N_TAtype, uint8_t *MessageData, uint16_t Length, uint8_t N_Result);
/******************************************************************************
后台服务
******************************************************************************/
/******************************************************************************
函数名：DoCAN_Communication_Service
功 能：基于CAN总线的诊断通信服务后台控制函数
参 数：无
返回值：无
*******************************************************************************
注 意：该服务函数必须被实时调用
******************************************************************************/
void DoCAN_Communication_Service(void)
{
DoCAN_Update_Timer( );
DoCAN_Handle_Time_Out( );
UDS_Server_Application_Service( );
DoCAN_Receive_And_Assemble_N_USData( );
DoCAN_Disassemble_And_Transmit_N_USData( );
}
/******************************************************************************
函数名：DoCAN_Timer_Update
功 能：更新定时器数值,用于时序控制以及STmin计时
参 数：Interval：定时器两次更新的时间间隔,单位us
返回值：无
*******************************************************************************
注 意：该服务函数必须被嵌入到定时中断中
******************************************************************************/
void DoCAN_Timer_Update(uint16_t Interval)
{
TpTimingCtrl.Cnt += Interval;
}
/******************************************************************************
Services provided by network layer to higher layers
******************************************************************************/
/******************************************************************************
函数名：DoCAN_N_USData_Request
功 能：该服务函数用于请求传输数据
This service is used to request the transfer of data. If necessary, the
network layer segments the data.
参 数：N_TAtype ：目标地址类型,发送数据请使用 DIAG_ID_Tx
MessageData ：请求传输的数据
Length ：数据长度
返回值：无
******************************************************************************/
void DoCAN_N_USData_Request(uint16_t N_TAtype, uint8_t *MessageData, uint16_t Length)
{
uint8_t i;
// 非空闲状态下不允许发送
if ( TpCtrl.Process != TP_IDLE )
{
DoCAN_N_USData_Confirm(N_TAtype, N_ERROR);
return;
}
if ( (Length == 0) || (Length > N_USDATA_TX_BUFFER_SIZE) ) // 非法的长度
{
DoCAN_N_USData_Confirm(N_TAtype, N_ERROR);
return;
}
// 将数据缓存到发送Buffer中
N_USDataTxBuffer.N_TAtype = N_TAtype;
N_USDataTxBuffer.Length = Length;
for ( i = 0; i < Length; i++ )
{
N_USDataTxBuffer.MsgData [ i ] = *MessageData;
MessageData++;
}
// 更新传输层状态
TpCtrl.NonStopMode = 0;
TpCtrl.TotalLen = Length; // 记录字节总数
TpCtrl.BSMax = 0xFF; // 初始化BSMax数值
TpCtrl.STmin = 0x7F;
// 拆分为N_PDU
if ( TpCtrl.TotalLen < 8 ) // 数据总长度小于8,采用单帧发送
{
TpCtrl.BlockSize = 1; // 单帧,Block总数为1
TpCtrl.Len = TpCtrl.TotalLen; // 单帧发出全部的数据
TpCtrl.BlockCnt = 1; // 记录已发送Block数
TransportTxData.N_PDU_SF.N_TAtype = N_USDataTxBuffer.N_TAtype;
TransportTxData.N_PDU_SF.N_PCI.Type = SINGLE_FRAME;
TransportTxData.N_PDU_SF.N_PCI.SF_DL = ( uint8_t )(TpCtrl.TotalLen);
TransportTxData.N_PDU_SF.DLC = ( uint8_t )(TpCtrl.TotalLen) + 1;
for ( i = 0; i < TpCtrl.TotalLen; i++ )
TransportTxData.N_PDU_SF.N_Data [ i ] = N_USDataTxBuffer.MsgData [ i ];
}
else // 数据总长度大于等于8,采用多帧发送,首先发送首帧
{
if ( (Length + 1) % 7 ) // 计算BlockSize
TpCtrl.BlockSize = (Length + 8) / 7; // 等效于(Length + 1) / 7 + 1
else
TpCtrl.BlockSize = (Length + 1) / 7;
TpCtrl.Len = 6; // 首帧发出数据长度为6
TpCtrl.BlockCnt = 1; // 记录已发送Block数
TransportTxData.N_PDU_FF.N_TAtype = N_USDataTxBuffer.N_TAtype;
TransportTxData.N_PDU_FF.N_PCI.Type = FIRST_FRAME;
TransportTxData.N_PDU_FF.N_PCI.FF_DL_H = ( uint8_t )((TpCtrl.TotalLen >> 8) & 0x000F);
TransportTxData.N_PDU_FF.N_PCI.FF_DL_L = ( uint8_t )(TpCtrl.TotalLen & 0x00FF);
TransportTxData.N_PDU_FF.DLC = 8;
for ( i = 0; i < 6; i++ )
TransportTxData.N_PDU_FF.N_Data [ i ] = N_USDataTxBuffer.MsgData [ i ];
}
DoCAN_Start_Timer(TIMING_PARA_N_As); // 启动N_As计时
DoCAN_L_Data_Request(TransportTxData.Frame.Identifier, TransportTxData.Frame.DLC, ( uint8_t * )TransportTxData.Frame.Data);
TpCtrl.Process = TP_TX_INIT; // 数据帧已发出,等待发送完成
DoCAN_L_Data_Confirm(TransportTxData.Frame.Identifier, COMPLETE);
}
/******************************************************************************
函数名：DoCAN_N_USData_Confirm
功 能：该服务函数由网络层发起,用于确认前一次使用N_USData.request服务向
N_TAtype地址发送的数据是否发送完成
The N_USData.confirm service is issued by the network layer. The service
primitive confirms the completion of an N_USData.request service
identified by the address information in N_TAtype.
参 数：N_TAtype ：N_USData.confirm服务请求的发送地址
N_Result ：N_USData.request服务的传输状态
返回值：无
******************************************************************************/
void DoCAN_N_USData_Confirm(uint16_t N_TAtype, N_ResultEnum N_Result)
{
UDS_N_USData_Confirm(N_TAtype, N_Result);
}
/******************************************************************************
函数名：DoCAN_N_USData_FF_Indication
功 能：该服务函数由网络层发起,用于向上层指示地址为N_TAtype的一组多帧数据的首帧
的到来
The N_USData_FF.indication service is issued by the network layer. The
service primitive indicates to the adjacent upper layer the arrival of
a FirstFrame (FF) of a segmented message received from a peer protocol
entity, identified by the address information N_TAtype.
参 数：N_TAtype ：新到的多帧数据首帧的地址信息
Length ：新到的多帧数据的总长度
返回值：无
******************************************************************************/
void DoCAN_N_USData_FF_Indication(uint16_t N_TAtype, uint16_t Length)
{
UDS_N_USData_FF_Indication(N_TAtype, Length);
}
/******************************************************************************
函数名：DoCAN_N_USData_Indication
功 能：该服务函数由网络层发起,用于向上层指出由N_TAtype地址发送来的长度为Length
的MessageData数据的传送结果N_Result,并同时传递这一数据
The N_USData.indication service is issued by the network layer. The
service primitive indicates <N_Result> events and delivers
<MessageData> with <Length> bytes received from a peer protocol entity
identified by the address information in N_TAtype to the adjacent upper
layer.
参 数：N_TAtype ：接收到的数据地址信息
MessageData ：接收到的数据 (仅在N_Result为N_OK时有效)
Length ：接收到的数据长度 (仅在N_Result为N_OK时有效)
N_Result ：数据的接收结果
返回值：无
******************************************************************************/
void DoCAN_N_USData_Indication(uint16_t N_TAtype, uint8_t *MessageData, uint16_t Length, N_ResultEnum N_Result)
{
UDS_N_USData_Indication(N_TAtype, MessageData, Length, N_Result);
}
/******************************************************************************
下层接口函数
******************************************************************************/
/******************************************************************************
函数名：DoCAN_L_Data_Request
功 能：该服务原语请求向<Identifier>传输特定格式的<Data>数据
The service primitive requests transmission of <Data> that shall be
mapped within specific attributes of the data link protocol data unit
selected by means of <Identifier>.
参 数：Identifier ：报文ID
dlc ：数据长度
Data ：数据<Data>于数据链路层的存放地址
返回值：无
******************************************************************************/
void DoCAN_L_Data_Request(uint16_t Identifier, uint8_t dlc, uint8_t *Data)
{
uint8_t i;
CanTxRxMsg msg_diag_tx;
LinkTxCtrl.Identifier = Identifier;
for (i = 0; i < dlc; i++)
{
LinkTxCtrl.Data[i] = *Data;
Data++;
}
for (i = dlc; i < 8; i++)
{
LinkTxCtrl.Data[i] = FILLER_BYTE;
}
msg_diag_tx.Id = LinkTxCtrl.Identifier;
msg_diag_tx.DLC = 8;
msg_diag_tx.RTR = 0;
msg_diag_tx.IDE = 0;
msg_diag_tx.CacheType = CAN_CacheType_Tx;
for (i = 0; i < 8; i++)
{
msg_diag_tx.Data[i] = LinkTxCtrl.Data[i];
}
CAN_Transmit(CAN0MSG00, &msg_diag_tx);
// Can_Write(&msg);
// CANFD_Ch1_L_Data_Request(LinkTxCtrl.Identifier,8,LinkTxCtrl.Data);
LinkTxCtrl.Busy = 1;
}
/******************************************************************************
函数名：DoCAN_L_Data_Confirm
功 能：该服务原语用于确认具有特定<Identifier>的报文是否发送完成。
<TransferStatus>参数用于传递发送完成与否的状态。
The service primitive confirms the completion of an L_Data.request
service for a specific <Identifier>.The parameter <TransferStatus>
provides the status of the service request.
参 数：Identifier ：报文ID
TransferStatus ：Not_Complete - 未完成
Complete - 已发送完成
返回值：无
******************************************************************************/
void DoCAN_L_Data_Confirm(uint16_t Identifier, uint8_t TransferStatus)
{
// 如果数据发送成功,收发状态相应改变
if ( (LinkTxCtrl.Identifier == Identifier) && (TransferStatus == COMPLETE) )
{
switch ( TpCtrl.Process )
{
case TP_TX_INIT:
if ( TpCtrl.BlockSize == 1 ) // BlockSize为1,单帧发送成功
{
TpCtrl.Process = TP_IDLE; // 所有数据发送完毕,回到空闲状态
DoCAN_Stop_Timer( ); // 停止计时
DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_OK);
}
else // BlockSize不为1,首帧发送成功
{
DoCAN_Start_Timer(TIMING_PARA_N_Bs); // 启动N_Bs计时
TpCtrl.Process = TP_TX_RTS; // 等待接收机许可多帧发送
}
break;
case TP_TX_CTS:
if ( TpCtrl.BlockCnt == TpCtrl.BlockSize ) // 最后一帧发送完成
{
TpCtrl.Process = TP_IDLE; // 所有数据发送完毕,回到空闲状态
DoCAN_Stop_Timer( ); // 停止计时
// DoCAN_Start_Timer(TIMING_PARA_N_Bs);
DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_OK);
}
else
{
// DoCAN_Start_Timer ( TIMING_PARA_N_Bs ); //启动/重启N_Bs计时
if ( TpCtrl.BSMax ) // 还可以继续发送数据帧,则启动STmin计时
{
DoCAN_Stop_Timer( );
DoCAN_Start_STmin_Timer(TpCtrl.STmin);
}
else
{
DoCAN_Start_Timer(TIMING_PARA_N_Bs);
}
}
break;
case TP_RX_RTS:
DoCAN_Start_Timer(TIMING_PARA_N_Cr); // 启动N_Cr计时
TpCtrl.Process = TP_RX_CTS;
break;
case TP_RX_WAIT:
DoCAN_Start_Timer(TIMING_PARA_N_Cr); // 启动N_Cr计时
TpCtrl.Process = TP_RX_CTS;
break;
case TP_RX_OVFL:
TpCtrl.Process = TP_IDLE; // 停止接收过程
DoCAN_Stop_Timer( ); // 停止计时
DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
N_USDataRxBuffer.Length, N_ERROR);
break;
default:
break;
}
}
}
/******************************************************************************
函数名：DoCAN_L_Data_Indication
功 能：该服务原语标示一个数据链路层事件到相邻上层并根据<Identifier>传送<Data>
The service primitive indicates a data link layer event to the adjacent
upper layer and delivers <Data> identified by <Identifier>
参 数：Identifier ：报文ID
dlc ：数据长度
pData ：数据<Data>于数据链路层的存放地址
返回值：无
******************************************************************************/
void DoCAN_L_Data_Indication(uint16_t Identifier, uint32_t dlc, uint8_t *pData)
{
uint8_t i;
if ( LinkRxFIFO.Depth >= LINK_RX_FIFO_MAX_DEPTH ) // FIFO未满时装入报文,否则抛弃报文
{
#if DOCAN_DEBUG_EN
LINK_RX_FIFO_OVERFLOW_INDICATOR( );
#endif
return;
}
LinkRxFIFO.LinkData [ LinkRxFIFO.IPtr ].Identifier = Identifier; // 装入报文ID
for ( i = 0; i < dlc; i++ ) // 拷贝报文
LinkRxFIFO.LinkData [ LinkRxFIFO.IPtr ].Data [ i ] = *(pData + i);
LinkRxFIFO.LinkData [ LinkRxFIFO.IPtr ].DLC = dlc; // 保存报文长度
LinkRxFIFO.Depth++; // 新报文装入,深度+1
LinkRxFIFO.IPtr++; // 输入指针+1
if ( LinkRxFIFO.IPtr >= LINK_RX_FIFO_MAX_DEPTH )
LinkRxFIFO.IPtr = 0;
}
/******************************************************************************
传输层协议解析
******************************************************************************/
/******************************************************************************
函数名：DoCAN_Receive_And_Assemble_N_USData();
功 能：接收N_PDU并重组数据
参 数：无
返回值：无
******************************************************************************/
void DoCAN_Receive_And_Assemble_N_USData(void)
{
DoCAN_Get_N_PDU( );
if ( TransportRxData.N_PDU.New )
{
switch ( TransportRxData.N_PDU.N_PCI.Type )
{
case SINGLE_FRAME:
DoCAN_Receive_Single_Frame_N_Data( );
break;
case FIRST_FRAME:
DoCAN_Receive_First_Frame_N_Data( );
DoCAN_Transmit_Flow_Control( ); // 首帧发送完毕后必须发送流控帧
break;
case CONSECUTIVE_FRAME:
DoCAN_Receive_Consecutive_Frame_N_Data( );
DoCAN_Transmit_Flow_Control( ); // 当接收满一个BlockSize时,需要发送流控帧
break;
case FLOW_CONTROL:
DoCAN_Receive_Flow_Control( );
break;
default:
DoCAN_Handle_Unknown_N_PDU( );
break;
}
TransportRxData.N_PDU_FC.New = 0;
}
}
/******************************************************************************
函数名：DoCAN_Get_N_PDU
功 能：从数据链路层获取N_PDU(network protocol data unit)
参 数：无
返回值：无
******************************************************************************/
void DoCAN_Get_N_PDU(void)
{
uint8_t i;
if ( LinkRxFIFO.Depth ) // FIFO中有数据
{
TransportRxData.Frame.Identifier = LinkRxFIFO.LinkData [ LinkRxFIFO.OPtr ].Identifier; // 取出ID
for ( i = 0; i < 8; i++ ) // 拷贝报文
TransportRxData.Frame.Data [ i ] = LinkRxFIFO.LinkData [ LinkRxFIFO.OPtr ].Data [ i ];
TransportRxData.Frame.DLC = LinkRxFIFO.LinkData [ LinkRxFIFO.OPtr ].DLC; // 取出报文长度
TransportRxData.Frame.New = 1;
LinkRxFIFO.Depth--; // 报文已取出,深度-1
LinkRxFIFO.OPtr++; // 输出指针+1
if ( LinkRxFIFO.OPtr >= LINK_RX_FIFO_MAX_DEPTH )
LinkRxFIFO.OPtr = 0;
}
}
/******************************************************************************
函数名：DoCAN_Receive_Single_Frame_N_Data
功 能：单帧数据接收
参 数：无
返回值：无
******************************************************************************/
void DoCAN_Receive_Single_Frame_N_Data(void)
{
uint8_t i;
if ( (TpCtrl.Process & TP_DIR_MASK) == TP_TX ) // 发送中不接收
return;
/*---------------------------------------------------------------------------
Whether the interleaving Tester Present messages would lead to a loss of CF
or termination of the reception of an ongoing multiple frame request
2018.11.29
---------------------------------------------------------------------------*/
if ( (TpCtrl.Process != TP_IDLE) && (TransportRxData.N_PDU_SF.N_TAtype != DIAG_ID_Rx_PHY) )
return;
/*---------------------------------------------------------------------------
Tester sends a Single frame with a CAN-DLC shorter and equal to the transport
protocol data length field. ECU must not send a response.
2018.11.28添加长度还要等于8
---------------------------------------------------------------------------*/
if ( (TransportRxData.N_PDU_SF.DLC <= TransportRxData.N_PDU_SF.N_PCI.SF_DL) || (TransportRxData.N_PDU_SF.DLC != 8) )
return;
/*---------------------------------------------------------------------------
Tester sends a Single frame with a data length that is not allowed by the
protocol. ECU must not send a response.
---------------------------------------------------------------------------*/
if ( (TransportRxData.N_PDU_SF.N_PCI.SF_DL == 0) || (TransportRxData.N_PDU_SF.N_PCI.SF_DL > 7) )
return;
N_USDataRxBuffer.N_TAtype = TransportRxData.N_PDU_SF.N_TAtype;
N_USDataRxBuffer.Length = TransportRxData.N_PDU_SF.N_PCI.SF_DL;
for ( i = 0; i < N_USDataRxBuffer.Length; i++ )
N_USDataRxBuffer.MsgData [ i ] = TransportRxData.N_PDU_SF.N_Data [ i ];
TpCtrl.Process = TP_IDLE; // 接收完成,回到IDLE状态
DoCAN_Stop_Timer( );
DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
N_USDataRxBuffer.Length, N_OK);
}
/******************************************************************************
函数名：DoCAN_Receive_First_Frame_N_Data
功 能：接收首帧数据并初始化多帧数据接收
参 数：无
返回值：无
******************************************************************************/
void DoCAN_Receive_First_Frame_N_Data(void)
{
uint8_t i;
uint16_t Len;
if ( (TpCtrl.Process & TP_DIR_MASK) == TP_TX ) // 发送中不接收
return;
/*-----------------------------------------------------------------------------
Tester sends a functional addressed First frame. ECU must not send a response.
-----------------------------------------------------------------------------*/
if ( TransportRxData.N_PDU_FF.N_TAtype != DIAG_ID_Rx_PHY )
return;
/*---------------------------------------------------------------------------
(8.3) A FirstFrame protocol data unit (FF N_PDU), containing the first six
data bytes
---------------------------------------------------------------------------*/
if ( TransportRxData.N_PDU_FF.DLC != 8 ) // 首帧总长(N_PCI + N_Data)应为8
return;
/*---------------------------------------------------------------------------
Tester sends a First frame with Data length set to 0. ECU must not send a
response.
-----------------------------------------------------------------------------
(8.5.3.3) If the network layer receives an FF with an FF_DL that is less than
eight when using normal addressing, then the network layer shall ignore the
received FF N_PDU and not transmit an FC N_PDU.
---------------------------------------------------------------------------*/
Len = ( uint16_t )(TransportRxData.N_PDU_FF.N_PCI.FF_DL_H);
Len <<= 8;
Len |= ( uint16_t )(TransportRxData.N_PDU_FF.N_PCI.FF_DL_L);
if ( Len < 8 )
return;
/*---------------------------------------------------------------------------
Tester sends a First frame of a segmented request. After the receipt of the
ECU Flow Control the Tester sends another segmented request. The ECU must
send a response for the second request.
---------------------------------------------------------------------------*/
#if ( N_MAX_BS )
TpCtrl.NonStopMode = 0;
#else
TpCtrl.NonStopMode = 1;
#endif
TpCtrl.Len = 6; // 首帧接收6字节
TpCtrl.TotalLen = Len; // 记录字节总数
TpCtrl.BlockCnt = 1; // 首帧接收1个block
TpCtrl.BSMax = N_MAX_BS; // 装入最大的BS数
TpCtrl.WFTCnt = N_WFTmax; // 装入最大等待次数
// 首帧含6字节数据,连续帧含7字节数据,根据字节数计算Block总数
if ( (TpCtrl.TotalLen + 1) % 7 )
TpCtrl.BlockSize = (TpCtrl.TotalLen + 8) / 7; // 等效于(TpCtrl.TotalLen + 1) / 7 + 1
else
TpCtrl.BlockSize = (TpCtrl.TotalLen + 1) / 7;
// 开始接收首帧数据
N_USDataRxBuffer.N_TAtype = TransportRxData.N_PDU_FF.N_TAtype;
N_USDataRxBuffer.Length = Len;
for ( i = 0; i < 6; i++ )
N_USDataRxBuffer.MsgData [ i ] = TransportRxData.N_PDU_FF.N_Data [ i ];
DoCAN_Start_Timer(TIMING_PARA_N_Br); // 启动N_Br计时
TpCtrl.Process = TP_RX_INIT;
DoCAN_N_USData_FF_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.Length);
}
/******************************************************************************
函数名：DoCAN_Receive_Consecutive_Frame_N_Data
功 能：接收连接帧数据
参 数：无
返回值：无
******************************************************************************/
void DoCAN_Receive_Consecutive_Frame_N_Data(void)
{
uint8_t i;
/*---------------------------------------------------------------------------
Tester sends a request with a response that is longer than one frame. After
the Flow control the Tester sends a Consecutive frame. ECU must send a
diagnostic response for the first request. ECU must not send a response
for the Consecutive frame.
-----------------------------------------------------------------------------
Tester sends a single Consecutive frame. The ECU must not send a response.
---------------------------------------------------------------------------*/
if ( TpCtrl.Process != TP_RX_CTS )
return;
if ( TransportRxData.N_PDU_CF.N_TAtype != DIAG_ID_Rx_PHY )
return;
/*---------------------------------------------------------------------------
Send a request which requires more than 4 frames. Drop the third consecutive
frame (CF). The ECU should not respond.
-----------------------------------------------------------------------------
Send a multi frame message to the ECU. Send the first consecutive frame (CF)
twice. No response is expected.
---------------------------------------------------------------------------*/
if ( TransportRxData.N_PDU_CF.N_PCI.SN != ( uint8_t )(TpCtrl.BlockCnt & 0x000F) )
{
TpCtrl.Process = TP_IDLE; // 停止接收过程
DoCAN_Stop_Timer( ); // 停止计时
DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
N_USDataRxBuffer.Length, N_WRONG_SN);
return;
}
TpCtrl.BlockCnt++; // 接收到1个Block
TpCtrl.BSMax--;
if ( TpCtrl.BlockCnt < TpCtrl.BlockSize ) // 此次接收不是最后一帧
{
if ( TransportRxData.N_PDU_CF.DLC != 8 ) // 此时连续帧总长(N_PCI + N_Data)应为8
return;
for ( i = 0; i < 7; i++ )
{
N_USDataRxBuffer.MsgData [ TpCtrl.Len ] = TransportRxData.N_PDU_CF.N_Data [ i ];
TpCtrl.Len++;
}
DoCAN_Start_Timer(TIMING_PARA_N_Cr); // 重启N_Cr计时
}
else // 此次接收是最后一帧
{
/*-------------------------------------------------------------------------
In a segmented request the Tester sends a Consecutive frame with a CAN-DLC
shorter or equal to transport protocol data length field. ECU must not send
a response.
-------------------------------------------------------------------------*/
if ( (TransportRxData.N_PDU_CF.DLC <= TpCtrl.TotalLen - TpCtrl.Len) || (TransportRxData.N_PDU_CF.DLC != 8) ) // 此时连续帧总长应不小于剩余数据长度
return;
i = 0;
while ( TpCtrl.Len < TpCtrl.TotalLen )
{
N_USDataRxBuffer.MsgData [ TpCtrl.Len ] = TransportRxData.N_PDU_CF.N_Data [ i ];
i++;
TpCtrl.Len++;
}
TpCtrl.Process = TP_IDLE; // 接收完成,回到IDLE状态
DoCAN_Stop_Timer( );
DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
N_USDataRxBuffer.Length, N_OK);
}
}
/******************************************************************************
函数名：DoCAN_Receive_Flow_Control
功 能：接收流控帧数据
参 数：无
返回值：无
******************************************************************************/
void DoCAN_Receive_Flow_Control(void)
{
/*--------------------------------------------------------------------------
Tester sends a segmented request interrupted by a Flow control after the ECU
Flow control. After that the Tester sends the remaining consecutive frames.
ECU should send a diagnostic response for the request.
-----------------------------------------------------------------------------
Tester sends a single Flow Control. The ECU must not send a response.
---------------------------------------------------------------------------*/
if ( (TpCtrl.Process != TP_TX_RTS) && (TpCtrl.Process != TP_TX_CTS) && (TpCtrl.Process != TP_TX_WAIT) )
return;
/*---------------------------------------------------------------------------
Tester sends a request with a response that is longer than one frame. After
the First frame is received the Tester sends a functional addressed Flow
control. ECU must abort sending of the response.
---------------------------------------------------------------------------*/
if ( TransportRxData.N_PDU_FC.N_TAtype != DIAG_ID_Rx_PHY )
{
DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_ERROR);
DoCAN_Stop_Timer( ); // 停止计时
TpCtrl.Process = TP_IDLE; // 中止数据发送,回到空闲状态
return;
}
/*---------------------------------------------------------------------------
Tester sends a Flow control with a too short CAN-DLC for a response that is
longer than one frame. ECU must not send Consecutive frames. After that the
tester sends a new request. ECU must send a response for the last request.
---------------------------------------------------------------------------*/
if ( TransportRxData.N_PDU_FC.DLC != 8 )
{
DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_ERROR);
DoCAN_Stop_Timer( ); // 停止计时
TpCtrl.Process = TP_IDLE; // 中止数据发送,回到空闲状态
return;
}
switch ( TransportRxData.N_PDU_FC.N_PCI.FS )
{
case FC_FS_CTS:
if ( TpCtrl.NonStopMode )
break;
/*-------------------------------------------------------
Tester sends a Flow control with Blocksize 0 for a
response that is longer than one frame. ECU must send the
complete response.
---------------------------------------------------------
Tester sends a Flow control with Blocksize 0 for a
response that is longer than one frame. ECU must send the
complete response without waiting for another Flow
control. Tester verifies that every Consecutive frame is
received within TimeoutCr.
-------------------------------------------------------*/
if ( TransportRxData.N_PDU_FC.N_PCI.BS == 0 )
TpCtrl.NonStopMode = 1;
/*-------------------------------------------------------
Tester sends a Flow control with a special Blocksize for
a response that is longer than one frame. ECU must send
the number of Consecutive frames that matches the
blocksize. Blocksize 1, 8 and 20 is checked if the
response is long enough.
-------------------------------------------------------*/
else
TpCtrl.BSMax = TransportRxData.N_PDU_FC.N_PCI.BS;
/*-------------------------------------------------------
Tester sends a Flow control for a response that is longer
than one frame. ECU must send the complete response.
Tester verifies that the time between the Consecutive
Frames is not below STMin time. This is tested for STMin
values 1,10,20,30,40,50 and 60.
-------------------------------------------------------*/
if ( TpCtrl.Process != TP_TX_CTS )
{
if(TransportRxData.N_PDU_FC.N_PCI.STmin == 0)
{
TpCtrl.STmin = 1;
}
else
{
TpCtrl.STmin = TransportRxData.N_PDU_FC.N_PCI.STmin;
}
}
/*-------------------------------------------------------
Request a service where the response requires more than
one response frame. Tester sends two Flow Controls (FC)
instead of one. A response from the ECU is expected.
-------------------------------------------------------*/
TpCtrl.Process = TP_TX_CTS; // 发送机被许可发送
DoCAN_Stop_Timer( );
DoCAN_Start_STmin_Timer(TpCtrl.STmin); // 启动STmin计时
break;
case FC_FS_WAIT:
if ( TpCtrl.NonStopMode )
break;
/*-------------------------------------------------------
Tester sends a Flow control with Status value wait (WT)
for a response that is longer than one frame. ECU must
not send Consecutive frames. After the N_Bs Timeout the
Tester sends another Flow control with status continue to
send (CTS). Then the tester sends a new request. ECU must
send a response for the last request.
-------------------------------------------------------*/
TpCtrl.Process = TP_TX_WAIT; // 接收机请求发送机等待
DoCAN_Start_Timer(TIMING_PARA_N_Bs); // 启动/重启N_Bs计时
break;
case FC_FS_OVFL:
if ( TpCtrl.NonStopMode )
break;
/*-------------------------------------------------------
Tester sends a Flow control with status overflow for a
response that is longer than one frame. ECU must not send
Consecutive frame(s).
---------------------------------------------------------
Tester sends a request with a response that is longer
than one frame. After sending the Flow control the Tester
receives the first Consecutive frame and sends another
Flow control with status overflow (OVFLW). ECU must send
a diagnostic response for the first request. ECU must not
send a response for the Flow control.
-------------------------------------------------------*/
if ( TpCtrl.Process == TP_TX_RTS )
{
DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_BUFFER_OVFLW);
DoCAN_Stop_Timer( ); // 停止计时
TpCtrl.Process = TP_IDLE; // 中止数据发送,回到空闲状态
}
break;
default: /*-------------------------------------------------------
Tester sends a Flow control with an invalid Status value
(3-15) for a response that is longer than one frame. ECU
must not send a response.
-------------------------------------------------------*/
DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_INVALID_FS);
DoCAN_Stop_Timer( ); // 停止计时
TpCtrl.Process = TP_IDLE; // 中止数据发送,回到空闲状态
break;
}
}
/******************************************************************************
函数名：DoCAN_Transmit_Flow_Control
功 能：根据当前的接收机状态发送流控帧
参 数：无
返回值：无
******************************************************************************/
void DoCAN_Transmit_Flow_Control(void)
{
if ( TpCtrl.Process == TP_RX_INIT )
{
/*-------------------------------------------------------------------------
(8.5.3.3) If the network layer receives an FF with an FF_DL that is greater
than the available receiver buffer size, then this shall be considered as
an error condition. The network layer shall abort the message reception and
send an FC N_PDU with the parameter FlowStatus = Overflow.
-------------------------------------------------------------------------*/
if ( N_USDataRxBuffer.Length > N_USDATA_RX_BUFFER_SIZE )
{
TransportTxData.N_PDU_FC.N_PCI.FS = FC_FS_OVFL;
TpCtrl.Process = TP_RX_OVFL;
}
else
{
TransportTxData.N_PDU_FC.N_PCI.FS = FC_FS_CTS;
TpCtrl.Process = TP_RX_RTS;
}
}
else if ( TpCtrl.Process == TP_RX_CTS )
{
if ( TpCtrl.BSMax ) // 仍然没有接收满一个BS的N_PDU
return;
if ( TpCtrl.NonStopMode ) // 如果是连续接收模式(BS本来就是0)
return;
/*
if (0) //如果满足等待条件,则发送等待FC帧
{
if(TpCtrl.WFTCnt == 0)
{
TpCtrl.Process = TP_IDLE;
DoCAN_Stop_Timer();
DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData, \
N_USDataRxBuffer.Length, N_WFT_OVRN);
return;
}
TpCtrl.WFTCnt--;
TransportTxData.N_PDU_FC.N_PCI.FS = FC_FS_WAIT;
}*/
TpCtrl.BSMax = N_MAX_BS; // 重新装入最大的BS数
TransportTxData.N_PDU_FC.N_PCI.FS = FC_FS_CTS;
TpCtrl.Process = TP_RX_RTS; // 等待RTS发送完成
}
else
return;
TransportTxData.N_PDU_FC.N_TAtype = DIAG_ID_Tx;
TransportTxData.N_PDU_FC.N_PCI.Type = FLOW_CONTROL;
TransportTxData.N_PDU_FC.N_PCI.BS = 0;
/*---------------------------------------------------------------------------
Tester sends a segmented request to check for a valid STMin time in the ECU
Flow control. The STMin time value must be within 0x01-0x7F or 0xF1-0xF9.
---------------------------------------------------------------------------*/
TransportTxData.N_PDU_FC.N_PCI.STmin = N_STmin;
TransportTxData.N_PDU_FC.DLC = 3;
DoCAN_Start_Timer(TIMING_PARA_N_Ar); // 启动N_Ar计时
DoCAN_L_Data_Request(TransportTxData.Frame.Identifier, TransportTxData.Frame.DLC, ( uint8_t * )TransportTxData.Frame.Data);
DoCAN_L_Data_Confirm(TransportTxData.Frame.Identifier, COMPLETE);
}
/******************************************************************************
函数名：DoCAN_Handle_Unknown_N_PDU
功 能：处理接收到的未知类型的N_PDU
参 数：无
返回值：无
******************************************************************************/
void DoCAN_Handle_Unknown_N_PDU(void)
{
}
/******************************************************************************
函数名：DoCAN_Disassemble_And_Transmit_N_USData
功 能：将数据拆分为连续帧(CF)并发送出去
参 数：无
返回值：无
******************************************************************************/
void DoCAN_Disassemble_And_Transmit_N_USData(void)
{
uint8_t i;
uint8_t Len;
if ( TpCtrl.Process != TP_TX_CTS ) // 未被许可时不可以发送连续帧
return;
// 仅在STmin计时时间到后发送一次
if ( DoCAN_Get_STmin_Timer_Status( ) == STmin_TIME_UP )
{
TransportTxData.N_PDU_CF.N_TAtype = N_USDataTxBuffer.N_TAtype;
TransportTxData.N_PDU_CF.N_PCI.Type = CONSECUTIVE_FRAME;
TransportTxData.N_PDU_CF.N_PCI.SN = ( uint8_t )(TpCtrl.BlockCnt & 0x000F);
// 当BSMax减小到0时,链路层数据发送完毕后,将不会再启动STmin计数器(详情见DoCAN_L_Data_Confirm函数）
// 因此STmin_TIME_UP状态将不会再出现,从而停止了连续帧的发送
// 直到有新的CF帧到来给BSMax赋予新值,或N_Bs计时超时
TpCtrl.BSMax--;
TpCtrl.BlockCnt++;
if ( TpCtrl.BlockCnt < TpCtrl.BlockSize ) // 将要发送的不是最后一帧
{
TransportTxData.N_PDU_CF.DLC = 8;
for ( i = 0; i < 7; i++ )
{
TransportTxData.N_PDU_CF.N_Data [ i ] = N_USDataTxBuffer.MsgData [ TpCtrl.Len ];
TpCtrl.Len++;
}
}
else if ( TpCtrl.BlockCnt == TpCtrl.BlockSize ) // 将要发送最后一帧
{
Len = ( uint8_t )(TpCtrl.TotalLen - TpCtrl.Len);
TransportTxData.N_PDU_CF.DLC = Len + 1;
for ( i = 0; i < Len; i++ )
{
TransportTxData.N_PDU_CF.N_Data [ i ] = N_USDataTxBuffer.MsgData [ TpCtrl.Len ];
TpCtrl.Len++;
}
}
else // 已发送帧数不可能大于帧总数,除非有错误发生
{
DoCAN_Stop_Timer( ); // 停止计时
TpCtrl.Process = TP_IDLE; // 中止数据发送,回到空闲状态
DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_ERROR);
return;
}
DoCAN_Start_Timer(TIMING_PARA_N_As); // 启动N_As计时
DoCAN_L_Data_Request(TransportTxData.Frame.Identifier, TransportTxData.Frame.DLC, ( uint8_t * )TransportTxData.Frame.Data);
DoCAN_L_Data_Confirm(TransportTxData.Frame.Identifier, COMPLETE);
}
}
/******************************************************************************
传输层时序管理
******************************************************************************/
/******************************************************************************
函数名：DoCAN_Update_Timer
功 能：定时器更新函数
参 数：无
返回值：无
******************************************************************************/
void DoCAN_Update_Timer(void)
{
uint16_t CurrentCnt;
uint16_t Dec;
CurrentCnt = TpTimingCtrl.Cnt;
if ( CurrentCnt != TpTimingCtrl.LastCnt ) // 定时器计数值有更新
{
if ( CurrentCnt > TpTimingCtrl.LastCnt )
Dec = CurrentCnt - TpTimingCtrl.LastCnt;
else
Dec = 65535 - TpTimingCtrl.LastCnt + 1 + CurrentCnt;
TpTimingCtrl.LastCnt = CurrentCnt;
if ( TpTimingCtrl.Type != TIMING_PARA_NONE )
{
if ( TpTimingCtrl.NTimer )
{
if ( TpTimingCtrl.NTimer > ( uint32_t )Dec )
TpTimingCtrl.NTimer -= Dec;
else
TpTimingCtrl.NTimer = 0;
}
}
if ( TpTimingCtrl.STminStatus == STmin_TIMING )
{
if ( TpTimingCtrl.STimer )
{
if ( TpTimingCtrl.STimer > ( uint32_t )Dec )
TpTimingCtrl.STimer -= Dec;
else
TpTimingCtrl.STimer = 0;
}
if ( TpTimingCtrl.STimer == 0 )
TpTimingCtrl.STminStatus = STmin_TIME_UP;
}
}
}
/******************************************************************************
函数名：DoCAN_Handle_Time_Out
功 能：超时处理
参 数：无
返回值：无
******************************************************************************/
void DoCAN_Handle_Time_Out(void)
{
if ( TpTimingCtrl.NTimer == 0 ) // 计时超时
{
switch ( TpTimingCtrl.Type )
{
case TIMING_PARA_N_As:
if ( TpCtrl.Process != TP_IDLE )
{
TpCtrl.Process = TP_IDLE; // 中止数据收发,回到空闲状态
DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_TIMEOUT_A);
}
break;
case TIMING_PARA_N_Ar:
if ( TpCtrl.Process != TP_IDLE )
{
TpCtrl.Process = TP_IDLE; // 中止数据收发,回到空闲状态
DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
N_USDataRxBuffer.Length, N_TIMEOUT_A);
}
break;
case TIMING_PARA_N_Bs:
if ( TpCtrl.Process != TP_IDLE )
{
TpCtrl.Process = TP_IDLE; // 中止数据发送,回到空闲状态
DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_TIMEOUT_Bs);
}
break;
case TIMING_PARA_N_Br:
if ( TpCtrl.Process != TP_IDLE )
{
TpCtrl.Process = TP_IDLE; // 中止数据收发,回到空闲状态
DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
N_USDataRxBuffer.Length, N_ERROR);
}
break;
case TIMING_PARA_N_Cs:
if ( TpCtrl.Process != TP_IDLE )
{
TpCtrl.Process = TP_IDLE; // 中止数据收发,回到空闲状态
DoCAN_N_USData_Confirm(N_USDataTxBuffer.N_TAtype, N_ERROR);
}
break;
case TIMING_PARA_N_Cr:
if ( TpCtrl.Process != TP_IDLE )
{
TpCtrl.Process = TP_IDLE; // 中止数据接收,回到空闲状态
DoCAN_N_USData_Indication(N_USDataRxBuffer.N_TAtype, N_USDataRxBuffer.MsgData,
N_USDataRxBuffer.Length, N_TIMEOUT_Cr);
}
break;
default:
break;
}
DoCAN_Stop_Timer( ); // 停止计时
}
}
/******************************************************************************
函数名：DoCAN_Start_Timer
功 能：启动时序定时器
参 数：TimingParameter ：时序参数,可以是下列参数中的一种
TIMING_PARA_N_As
TIMING_PARA_N_Ar
TIMING_PARA_N_Bs
TIMING_PARA_N_Br
TIMING_PARA_N_Cs
TIMING_PARA_N_Cr
返回值：无
******************************************************************************/
void DoCAN_Start_Timer(uint8_t TimingParameter)
{
switch ( TimingParameter )
{
case TIMING_PARA_N_As:
TpTimingCtrl.Type = TIMING_PARA_N_As;
TpTimingCtrl.NTimer = N_As * 1000;
break;
case TIMING_PARA_N_Ar:
TpTimingCtrl.Type = TIMING_PARA_N_Ar;
TpTimingCtrl.NTimer = N_Ar * 1000;
break;
case TIMING_PARA_N_Bs:
TpTimingCtrl.Type = TIMING_PARA_N_Bs;
TpTimingCtrl.NTimer = N_Bs * 1000;
break;
case TIMING_PARA_N_Br:
TpTimingCtrl.Type = TIMING_PARA_N_Br;
TpTimingCtrl.NTimer = N_Br * 1000;
break;
case TIMING_PARA_N_Cs:
TpTimingCtrl.Type = TIMING_PARA_N_Cs;
TpTimingCtrl.NTimer = N_Cs * 1000;
break;
case TIMING_PARA_N_Cr:
TpTimingCtrl.Type = TIMING_PARA_N_Cr;
TpTimingCtrl.NTimer = N_Cr * 1000;
break;
default:
TpTimingCtrl.Type = TIMING_PARA_NONE;
TpTimingCtrl.NTimer = 0;
break;
}
}
/******************************************************************************
函数名：DoCAN_Stop_Timer
功 能：停止时序定时器
参 数：无
返回值：无
******************************************************************************/
void DoCAN_Stop_Timer(void)
{
TpTimingCtrl.Type = TIMING_PARA_NONE;
}
/******************************************************************************
函数名：DoCAN_Start_STmin_Timer
功 能：启动STmin定时器
参 数：STminTime：STmin时间
返回值：无
******************************************************************************/
void DoCAN_Start_STmin_Timer(uint8_t STminTime)
{
if ( STminTime <= 0x7F ) // 0x00 - 0x7F：0ms - 127ms
TpTimingCtrl.STimer = ( uint32_t )STminTime * 1000;
else if ( (STminTime >= 0xF1) && (STminTime <= 0xF9) ) // 0xF1 - 0xF9：100us - 900us
TpTimingCtrl.STimer = ( uint32_t )(STminTime & 0x0F) * 100;
else // Reserved ：127ms
TpTimingCtrl.STimer = 127000;
TpTimingCtrl.STminStatus = STmin_TIMING; // STmin开始计时
}
/******************************************************************************
函数名：DoCAN_Get_STmin_Timer_Status
功 能：获取当前STmin定时器的状态
参 数：无
返回值：STmin_TIMER_IDLE：STmin定时器空闲
STmin_TIME_UP ：STmin定时时间到
STmin_TIMING ：STmin定时器计时中
******************************************************************************/
uint8_t DoCAN_Get_STmin_Timer_Status(void)
{
uint8_t Status;
Status = TpTimingCtrl.STminStatus;
if ( Status == STmin_TIME_UP )
TpTimingCtrl.STminStatus = STmin_TIMER_IDLE;
return Status;
}