mplab pic16f1829lin lin通信 数据发送 经典校验和

/** LIN Slave Driver Company: Microchip Technology Inc. File Name: lin_slave.c Summary: LIN Slave Driver Description: This source file provides the driver for LIN slave nodes */ /* (c) 2016 Microchip Technology Inc. and its subsidiaries. You may use this software and any derivatives exclusively with Microchip products. THIS SOFTWARE IS SUPPLIED BY MICROCHIP "AS IS". NO WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, APPLY TO THIS SOFTWARE, INCLUDING ANY IMPLIED WARRANTIES OF NON-INFRINGEMENT, MERCHANTABILITY, AND FITNESS FOR A PARTICULAR PURPOSE, OR ITS INTERACTION WITH MICROCHIP PRODUCTS, COMBINATION WITH ANY OTHER PRODUCTS, OR USE IN ANY APPLICATION. IN NO EVENT WILL MICROCHIP BE LIABLE FOR ANY INDIRECT, SPECIAL, PUNITIVE, INCIDENTAL OR CONSEQUENTIAL LOSS, DAMAGE, COST OR EXPENSE OF ANY KIND WHATSOEVER RELATED TO THE SOFTWARE, HOWEVER CAUSED, EVEN IF MICROCHIP HAS BEEN ADVISED OF THE POSSIBILITY OR THE DAMAGES ARE FORESEEABLE. TO THE FULLEST EXTENT ALLOWED BY LAW, MICROCHIP'S TOTAL LIABILITY ON ALL CLAIMS IN ANY WAY RELATED TO THIS SOFTWARE WILL NOT EXCEED THE AMOUNT OF FEES, IF ANY, THAT YOU HAVE PAID DIRECTLY TO MICROCHIP FOR THIS SOFTWARE. MICROCHIP PROVIDES THIS SOFTWARE CONDITIONALLY UPON YOUR ACCEPTANCE OF THESE TERMS. */ #include "lin_slave.h" #include "../eusart.h" #include "../tmr0.h" #define READ_TIMEOUT 15 //ms static void (*LIN_processData)(void); lin_packet_t LIN_packet; bool LIN_rxInProgress = false; const lin_rx_cmd_t* LIN_rxCommand; uint8_t LIN_rxCommandLength; static uint8_t LIN_timeout = 10; //TODO: Make dependent on Baudrate static bool LIN_timerRunning = false; static volatile uint8_t CountCallBack = 0; void LIN_init(uint8_t tableLength, const lin_rx_cmd_t* const command, void (*processData)(void)){ LIN_rxCommand = command; LIN_rxCommandLength = tableLength; LIN_processData = processData; LIN_stopTimer(); LIN_enableRx(); LIN_setTimerHandler(); } void LIN_queuePacket(uint8_t cmd){ const lin_rx_cmd_t* tempSchedule = LIN_rxCommand; //copy table pointer so we can modify it cmd &= 0x3F; //clear possible parity bits for(uint8_t i = 0; i < LIN_rxCommandLength; i++){ if(cmd == tempSchedule->cmd){ break; } tempSchedule++; //go to next entry } LIN_packet.type = tempSchedule->type; LIN_packet.length = tempSchedule->length; //Build Packet - User defined data //add data memcpy(LIN_packet.data, tempSchedule->data, LIN_packet.length); //Add Checksum LIN_packet.checksum = LIN_getChecksum(LIN_packet.length, LIN_packet.data); LIN_sendPacket(LIN_packet.length, LIN_packet.data); } lin_rx_state_t LIN_handler(void){ static lin_rx_state_t LIN_rxState = LIN_RX_IDLE; static uint8_t rxDataIndex = 0; if(LIN_rxInProgress == true){ if(LIN_timerRunning == false){ //Timeout LIN_rxState = LIN_RX_ERROR; } } switch(LIN_rxState){ case LIN_RX_IDLE: if(EUSART_is_rx_ready() > 0){ //Start Timer LIN_startTimer(READ_TIMEOUT); LIN_rxInProgress = true; LIN_rxState = LIN_RX_BREAK; } break; case LIN_RX_BREAK: if(EUSART_is_rx_ready() > 0){ if(LIN_breakCheck() == true){ //Read Break LIN_rxState = LIN_RX_SYNC; } else { LIN_rxState = LIN_RX_ERROR; } } break; case LIN_RX_SYNC: if(EUSART_is_rx_ready() > 0){ if(EUSART_Read() == 0x55){ //Read sync - discard LIN_rxState = LIN_RX_PID; } else { LIN_rxState = LIN_RX_ERROR; } } break; case LIN_RX_PID: if(EUSART_is_rx_ready() > 0){ LIN_packet.PID = EUSART_Read(); //check LIN Parity bits if(LIN_checkPID(LIN_packet.PID) == false){ LIN_rxState = LIN_RX_ERROR; break; } LIN_packet.type = LIN_getFromTable(LIN_packet.PID, TYPE); if(LIN_packet.type == RECEIVE){ LIN_packet.length = LIN_getFromTable(LIN_packet.PID, LENGTH); LIN_rxState = LIN_RX_DATA; } else{ LIN_disableRx(); LIN_rxState = LIN_RX_TX_DATA; } } break; case LIN_RX_DATA: if(EUSART_is_rx_ready() > 0){ LIN_packet.data[rxDataIndex] = EUSART_Read(); if(++rxDataIndex >= LIN_packet.length){ //received all data bytes rxDataIndex = 0; LIN_rxState = LIN_RX_CHECKSUM; } } break; case LIN_RX_CHECKSUM: if(EUSART_is_rx_ready() > 0){ LIN_packet.checksum = EUSART_Read(); if(LIN_packet.checksum != LIN_getChecksum(LIN_packet.length, LIN_packet.data)) { LIN_rxState = LIN_RX_ERROR; } else { LIN_rxState = LIN_RX_RDY; } } break; case LIN_RX_TX_DATA: LIN_queuePacket(LIN_packet.PID); //Send response automatically LIN_rxState = LIN_RX_RDY; case LIN_RX_RDY: LIN_processData(); case LIN_RX_ERROR: LIN_stopTimer(); rxDataIndex = 0; LIN_rxInProgress = false; memset(LIN_packet.rawPacket, 0, sizeof(LIN_packet.rawPacket)); //clear receive data case LIN_RX_WAIT: if(TXSTAbits.TRMT){ LIN_enableRx(); LIN_rxState = LIN_RX_IDLE; } else { LIN_rxState = LIN_RX_WAIT; } break; } return LIN_rxState; } void LIN_sendPacket(uint8_t length, uint8_t* data){ //Write data for(uint8_t i = 0; i < length; i++){ EUSART_Write(*(data + i)); } //Add Checksum EUSART_Write(LIN_getChecksum(length, data)); } uint8_t LIN_getPacket(uint8_t* data){ uint8_t cmd = LIN_packet.PID & 0x3F; memcpy(data, LIN_packet.data, sizeof(LIN_packet.data)); memset(LIN_packet.rawPacket, 0, sizeof(LIN_packet.rawPacket)); return cmd; } uint8_t LIN_getFromTable(uint8_t cmd, lin_sch_param_t param){ const lin_rx_cmd_t* rxCommand = LIN_rxCommand; //copy table pointer so we can modify it cmd &= 0x3F; //clear possible parity bits //check table for(uint8_t length = 0; length < LIN_rxCommandLength; length++){ if(cmd == rxCommand->cmd){ break; } rxCommand++; //go to next entry if(length == (LIN_rxCommandLength-1)){ return ERROR; //command not in schedule table } } switch(param){ case CMD: return rxCommand->cmd; case TYPE: return rxCommand->type; case LENGTH: return rxCommand->length; default: break; } return ERROR; } bool LIN_checkPID(uint8_t pid){ if(LIN_getFromTable(pid, TYPE) == ERROR) return false; //PID not in schedule table if(pid == LIN_calcParity(pid & 0x3F)) return true; return false; //Parity Error } uint8_t LIN_calcParity(uint8_t CMD){ lin_pid_t PID; PID.rawPID = CMD; //Workaround for com