linprot.c

基于FREESCALE单片机9S08DZ60的LIN从节点的应用层源代码.LIN是通过UART串口来实现的.开发环境为CODEWARRIOR FOR HC08

#define LINPROT_C
/******************************************************************************
*                                                       
*       Copyright (C) 2005 Freescale Semiconductor, Inc.
*       All Rights Reserved								              
*														                            
* Filename:     linprot.c                
*														                            
* Revision:      										                    
*														                            
* Functions:    LIN Protocol module.  Master and Slave State Machines
*												                            
* Description:  
*
* Notes:        
*
******************************************************************************/

#include <linbase.h>

#define LIN_SYNC_FIELD                  0x55    /* Sync byte */
#define LIN_REQUEST_COMMAND_FRAME       0x3C    /* Master Request Command Frame ID */
#define LIN_RESPONSE_COMMAND_FRAME      0x3D    /* Slave Response Command Frame ID */
#define LIN_COMMAND_SLEEP               0x00    /* Command code for Go to Sleep Mode */

#pragma MESSAGE DISABLE C4200 /* WARNING C4200: other segment than in previous declaration */

/****************************************************************************
 * All common-purpose RAM variables shall be declared here.
 ***************************************************************************/
/****************************************************************************
 * Some of the variables (more often used) can be declared using LIN_ZPAGE
 * modifier.
 * It require to perform zero page RAM placement optimisation.
 ***************************************************************************/
#if defined(S08) && defined(CW08)
#pragma DATA_SEG SHORT ZeroSeg
#endif /* defined(S08) && defined(CW08) */

LIN_ZPAGE LIN_BYTE      LIN_StateFlags;             /* State machine status  */

LIN_ZPAGE LIN_BYTE      LIN_ProtBuf[LIN_PROT_BUF_LEN];   /* Protocol buffer */
LIN_ZPAGE LIN_BYTE      LIN_TmpSCIByte;             /* byte to receive byte from SCI                   */
                                                    /* it shoud be used only under disabled interrupts */
LIN_ZPAGE LIN_BYTE      LIN_ChkSum;                 /* byte to calculate checksum                      */
LIN_ZPAGE LIN_BYTE      LIN_MsgLength;              /* Message length [2, 4, 8]   */

LIN_ZPAGE LIN_BYTE      LIN_SaveIdx;                /* Current processed message index */

LIN_ZPAGE LIN_BYTE      LIN_BufCounter;             /* ProtBuf counter point to sended byte for FLAG_DATA_SEND         */
                                                    /* or to first free byte for FLAG_DATA_RECEIVE or FLAG_DATA_IGNORE */
#if defined(MASTER)
LIN_ZPAGE LINMsgIdType  LIN_SaveIdentifier;         /* Message identifier */
#endif /* defined(MASTER) */

#if defined(S08) && defined(CW08)
#pragma DATA_SEG DEFAULT
#endif /* defined(S08) && defined(CW08) */

/****************************************************************************
 * Functions 
 ***************************************************************************/

 /***************************************************************************
 * Function :   LIN_CopyToBuf
 *
 * Description: Copy data from src to LIN_ProtBuf
 *
 * Returns:     none
 *
 * Notes:       OPTIM
 **************************************************************************/
void LIN_CopyToBuf( LIN_BYTE * src )
{
    LIN_BYTE i;

#if defined(LINAPI_1_0)

    /* reverse copy for LIN API */
        
    for( i = 0; i < LIN_MsgLength; i++ )
    {
        LIN_ProtBuf[i] = src[LIN_MsgLength - i - 1];
    }

#else /* !defined(LINAPI_1_0) */

    /* normal copy for Freescale API */
        
    for( i = 0; i < LIN_MsgLength; i++ )
    {
        LIN_ProtBuf[i] = src[i];
    }

#endif
}


/***************************************************************************
 * Function :   LIN_CopyFromBuf
 *
 * Description: Copy data from LIN_ProtBuf to dst 
 *
 * Returns:     none
 *
 * Notes:       OPTIM
 **************************************************************************/
void LIN_CopyFromBuf( LIN_BYTE * dst )
{
    LIN_BYTE i;

#if defined(LINAPI_1_0)

    /* reverse copy for LIN API */
        
    for( i = 0; i < LIN_MsgLength; i++ )
    {
        dst[i] = LIN_ProtBuf[LIN_MsgLength - i - 1];
    }

#else /* !defined(LINAPI_1_0) */

    /* normal copy for Freescale API */
        
    for( i = 0; i < LIN_MsgLength; i++ )
    {
        dst[i] = LIN_ProtBuf[i];
    }

#endif
}


/***************************************************************************
 * Function :   LIN_ChkAddByte
 *
 * Description: Add byte with carry to LIN_ChkSum variable 
 *                       
 * Returns:     none
 *
 * Notes:       
 *
 **************************************************************************/
#if defined(S08) && defined(CW08)
#pragma OPTION ADD handle_register "-Or"
#endif /* defined(S08) && defined(CW08) */

void LIN_ChkAddByte(LIN_BYTE byte)
{
#if defined(S08) && defined(CW08)
    asm 
    {   
        ADD   LIN_ChkSum;
        ADC   #0;
        STA   LIN_ChkSum;
    }   
#endif /* defined(S08) && defined(CW08) */


}

#if defined(S08) && defined(CW08)
#pragma OPTION DEL handle_register 
#endif /* defined(S08) && defined(CW08) */


/***************************************************************************
 * Function :   LIN_Error
 *
 * Description: Set error and go to LIN_FLAG_IGNORE state
 * 
 * Returns:     none
 *
 * Notes:       Can be called only from states:
 *              MASTER: LIN_FLAG_SEND_HEADER,
 *                      LIN_FLAG_SEND_DATA,
 *                      LIN_FLAG_IGNORE_DATA,
 *                      LIN_FLAG_RECEIVE_DATA
 *              SLAVE:  LIN_FLAG_RECEIVE_SYNC,
 *                      LIN_FLAG_RECEIVE_ID,
 *                      LIN_FLAG_SEND_DATA,
 *                      LIN_FLAG_RECEIVE_DATA
 *
 **************************************************************************/
void LIN_Error( void )
{
#if defined(MASTER)
    LIN_CancelTimeout();        /* Cancel MaxFrame timeout */
#endif /* defined(MASTER) */

    /* Check what type of the error occure -- Tx or Rx */

#if defined(MASTER)
    if ( LIN_StateFlags & ( LIN_FLAG_SEND_HEADER | LIN_FLAG_SEND_DATA ))
#endif /* defined(MASTER) */
#if defined(SLAVE)
    if ( LIN_StateFlags & LIN_FLAG_SEND_DATA )
#endif /* defined(SLAVE) */
    {
        LIN_SetTxErr();
    }
    else
    {
        LIN_SetRxErr();
    }

    LIN_StateFlags = LIN_FLAG_IGNORE;
}


/***************************************************************************
 * Function :   LIN_EndOfFrame
 *
 * Description: Non-error end of frame
 * 
 * Returns:     none
 *
 * Notes:       Can be called only from states:
 *              MASTER: 
 *                      LIN_FLAG_SEND_DATA,
 *                      LIN_FLAG_IGNORE_DATA,
 *                      LIN_FLAG_RECEIVE_DATA
 *              SLAVE:  
 *                      LIN_FLAG_RECEIVE_ID,
 *                      LIN_FLAG_SEND_DATA,
 *                      LIN_FLAG_RECEIVE_DATA
 *
 **************************************************************************/
void LIN_EndOfFrame( void )
{
#if defined(MASTER)
    LIN_CancelTimeout();        /* Cancel MaxFrame timeout */
#endif /* defined(MASTER) */

    /* Check what type of frame ended -- Tx or Rx */
    if ( LIN_StateFlags & LIN_FLAG_SEND_DATA )
    {
        LIN_ShiftTxErr();
    }
    else
    {
        LIN_ShiftRxErr();
    }

#if !defined(LINAPI_1_0)

    /* Check Command Frame -- only for Freescale API -- OPTIM */

    if ( 
            /* We process Command Frame only if node configured to Receive or send data for it */        
            ( LIN_StateFlags & (LIN_FLAG_SEND_DATA | LIN_FLAG_RECEIVE_DATA) ) &&
        
            /* AND check frame's ID that we have just processed */

#if defined(MASTER)
            /* For Master: LIN_SaveIdentifier -- just processed frame's identifier */
            ( LIN_SaveIdentifier == LIN_REQUEST_COMMAND_FRAME ) 
#endif /* defined(MASTER) */

#if defined(SLAVE)
        /* For Slave: LinMsgId[LIN_SaveIdx] & LIN_MSG_INDEX_MASK -- just processed frame's identifier */
        /* NB: LIN_SaveIdx exists becouse we already check that we are not ignore this message */
            ( (LinMsgId[LIN_SaveIdx] & LIN_MSG_INDEX_MASK) == LIN_REQUEST_COMMAND_FRAME )
#endif /* defined(SLAVE) */
       )
    {
        /* yes, we have just processed Master Command Request Frame */

        /* Check Command code */
        if ( LIN_ProtBuf[0] == LIN_COMMAND_SLEEP )
        {
            /* Go to Sleep Mode command */

            LIN_StateFlags = LIN_FLAG_IGNORE | LIN_FLAG_SLEEP;
        }

        /* ... any other commands ... */

        else
        {
            /* not specific command */
            LIN_StateFlags = LIN_FLAG_IGNORE;
        }

        LIN_Command();        /* user hook after any Command */
    }
    else

#endif /* !defined(LINAPI_1_0) */

    {   /* no any commands */

        LIN_StateFlags = LIN_FLAG_IGNORE;
    }
}


/***************************************************************************
 * Function :   LIN_RxCompleted
 *
 * Description: Rx interrupt 
 *              LIN_TmpSCIByte   = SCI Data Register 
 * 
 * Returns:     none
 *
 * Notes:       cases are in order of frequency of occuring
 *
 **************************************************************************/

void LIN_RxCompleted( void )
{
	LIN_BYTE        tmp;      /* temporary variable: counter or message direction flags */

    /**********************************************************************/
    /***       MASTER & SLAVE : LIN_FLAG_RECEIVE_DATA                   ***/
    /**********************************************************************/
    if (LIN_StateFlags & LIN_FLAG_RECEIVE_DATA )
    {   
        if (LIN_BufCounter < LIN_MsgLength)        /* NB: LIN_MsgLength = 1..8 */
        {   
            /* not all bytes received */

            /* receive message data */ 
            LIN_ProtBuf[LIN_BufCounter] = LIN_TmpSCIByte;

            ++LIN_BufCounter;

            /* calculate checksum from received byte */
            LIN_ChkAddByte(LIN_TmpSCIByte);
        }
        else
        {   /* all data and checksum has been received */
            
            if ( (LIN_ChkSum + LIN_TmpSCIByte) != 0xff )
            {   
                /* Checksum error  */
                LIN_Error();	        /* Rx error */
            }
            else
            {   /* no error */
                
                /* Message received succesfuly so copy it to proper place and update flags */

                LIN_CopyFromBuf(LinMsgBuf[LIN_SaveIdx]);

#if defined(LINAPI_1_0)
                /* set flags for all signals placed into received message */

            	for( tmp = LinFlagLookup[LIN_SaveIdx]; tmp < LinFlagLookup[LIN_SaveIdx + 1]; tmp++ )
	            {
		            LinSigFlags[tmp] = 0xFFu;
	            }

#else /* defined(LINAPI_1_0) */
                /* set appropriate status for received message */

                if (( LinMsgStatus[LIN_SaveIdx] & ((LIN_BYTE)LIN_MSG_OK | (LIN_BYTE)LIN_MSG_OVERRUN )) != 0 )
                {
                    LinMsgStatus[LIN_SaveIdx] = LIN_MSG_OVERRUN; 
                }
                else  
                {
                    LinMsgStatus[LIN_SaveIdx] = LIN_MSG_OK; 
                } 
#endif /* defined(LINAPI_1_0) */

                LIN_EndOfFrame();
            }
        }     
    }

    /**********************************************************************/
    /***       MASTER & SLAVE:   LIN_FLAG_SEND_DATA                     ***/
    /**********************************************************************/
    else if (LIN_StateFlags & LIN_FLAG_SEND_DATA)
    {
        if (LIN_BufCounter < LIN_MsgLength)
        {   
            /* not all bytes sended */

            if (LIN_ProtBuf[LIN_BufCounter] != LIN_TmpSCIByte )
            { 
                /* bit error in data */
                LIN_Error();		        /* Tx error */
            }
            else
            {   /* send next byte */

                ++LIN_BufCounter;

                if (LIN_BufCounter == LIN_MsgLength)
                {   
                    /* send check sum */
                    LIN_ChkSum = ~LIN_ChkSum;

                    LIN_SCDRPut(LIN_ChkSum);
                }
                else
                {
                    LIN_ChkAddByte(LIN_ProtBuf[LIN_BufCounter]);    /* OPTIM */

                    LIN_SCDRPut(LIN_ProtBuf[LIN_BufCounter]);
                }
            }
        }
        else
        {   /* all data has been transfered so check biterror in checksum  */