static extern int VCI_Transmit(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_OBJ pSend, UInt32 Len);
/*---------------------------------------------------------------------------------------------------*/
unsafe public void udsProcess(ref VCI_CAN_OBJ canObj)
{
int size, d;
byte tpType = (byte)(canObj.Data[0] >> 4);
if (tpType == FIRSTFRAME) //首帧
{
if (expectedReturnIsFirstFrame == false)
{
return;
}
//回应流量控制帧
usbCAN.arrSendBuf[0].ID = udsCaller.address;
usbCAN.arrSendBuf[0].ExternFlag = udsCaller.format;
usbCAN.arrSendBuf[0].RemoteFlag = 0;
usbCAN.arrSendBuf[0].SendType = 1;
usbCAN.arrSendBuf[0].DataLen = 3;
usbCAN.arrSendBuf[0].Data[0] = 0x30;
usbCAN.arrSendBuf[0].Data[1] = 0x00;
usbCAN.arrSendBuf[0].Data[2] = 0x7f;
usbCAN.sendFame(1);
//
responseListForMultiFrameExpected.respAddress = canObj.ID;
size = canObj.Data[0] & 0x0f;
size = (size << 8) + canObj.Data[1];
for (d = 2; d < 8; d++)
{
responseListForMultiFrameExpected.responseList.Add(canObj.Data[d]);
}
responseListForMultiFrameExpected.remainingReceivingLength = size - 6;
responseListForMultiFrameExpected.expectedIndex = 1;
expectedReturnIsFirstFrame = false;
expectedReturnIsConsecutiveFrame = true;
}
else if (tpType == CONSECUTIVEFRAME)
{
if (expectedReturnIsConsecutiveFrame == false)
{
return;
}
int seq = canObj.Data[0] & 0x0f;
if (seq != responseListForMultiFrameExpected.expectedIndex)
{
responseListForMultiFrameExpected.errorCode = UDSResponseList.ERRORCODE.EXPECTEDINDEX;
return;
}
size = responseListForMultiFrameExpected.remainingReceivingLength;
for (d = 1; d < 8 && size > 0; d++, size--)
{
responseListForMultiFrameExpected.responseList.Add(canObj.Data[d]);
}
responseListForMultiFrameExpected.remainingReceivingLength = size;
if (size == 0)
{
expectedReturnIsConsecutiveFrame = false;
}
else
{
responseListForMultiFrameExpected.expectedIndex = (responseListForMultiFrameExpected.expectedIndex + 1) % 16;
}
}
else if (tpType == SINGLEFRAME)
{
if (expectedReturnIsSingleFrame == false)
{
return;
}
responseListForSingleFrameExpected.respAddress = canObj.ID;
size = canObj.Data[0] & 0x0f;
for (d = 1; size > 0 && d < 8; size--, d++)
{
responseListForSingleFrameExpected.responseList.Add(canObj.Data[d]);
}
expectedReturnIsSingleFrame = false;
}
}
static extern int VCI_Receive(UInt32 DeviceType, UInt32 DeviceInd, UInt32 CANInd, ref VCI_CAN_OBJ pReceive, UInt32 Len, Int32 WaitTime);