Обновление
This commit is contained in:
cfif
commit
cc2a93c099
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//
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// Created by cfif on 16.03.2024.
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//
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#ifndef CAN_MODULE_CAN_FRAME_XCP_H
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#define CAN_MODULE_CAN_FRAME_XCP_H
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#include "SerialPortFrameIO.h"
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#include "CanSerialPortFrame.h"
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#include "LoggerToSerialPort.h"
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#include "CmsisRtosThreadUtils.h"
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#include "SystemMutexCmsis.h"
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#define MAX_CTO 8
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#define MAX_DTO 8
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typedef enum {
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XCP_ERR_CMD_SYNCH = 0x00,
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XCP_ERR_CMD_BUSY = 0x10,
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XCP_ERR_DAQ_ACTIVE = 0x11,
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XCP_ERR_PGM_ACTIVE = 0x12,
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XCP_ERR_CMD_UNKNOWN = 0x20,
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XCP_ERR_CMD_SYNTAX = 0x21,
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XCP_ERR_OUT_OF_RANGE = 0x22,
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XCP_ERR_WRITE_PROTECTED = 0x23,
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XCP_ERR_ACCESS_DENIED = 0x24,
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XCP_ERR_ACCESS_LOCKED = 0x25,
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XCP_ERR_PAGE_NOT_VALID = 0x26,
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XCP_ERR_MODE_NOT_VALID = 0x27,
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XCP_ERR_SEGMENT_NOT_VALID = 0x28,
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XCP_ERR_SEQUENCE = 0x29,
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XCP_ERR_DAQ_CONFIG = 0x2A,
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XCP_ERR_MEMORY_OVERFLOW = 0x30,
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XCP_ERR_GENERIC = 0x31,
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XCP_ERR_VERIFY = 0x32,
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XCP_ERR_RESOURCE_TEMPORARY_NOT_ACCESSIBLE = 0x33,
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XCP_ERR_SUBCMD_UNKNOWN = 0x34
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} eXcpError;
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typedef enum {
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XCP_COMMAND_CONNECT = 0xFF,
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XCP_COMMAND_DISCONNECT = 0xFE,
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XCP_COMMAND_GET_STATUS = 0xFD,
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XCP_COMMAND_SYNCH = 0xFC,
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XCP_COMMAND_UPLOAD = 0xF5,
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XCP_COMMAND_SHORT_UPLOAD = 0xF4,
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XCP_COMMAND_SET_MTA = 0xF6,
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XCP_COMMAND_DOWNLOAD = 0xF0,
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XCP_COMMAND_DOWNLOAD_NEXT = 0xEF
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} eXcpTypeCommand;
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typedef enum {
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XCP_STANDBY = 0
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} eXcpResult;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t CAL_PAG: 1; // CALibration and PAGing
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uint8_t reserve1: 1;
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uint8_t DAQ: 1; // DAQ lists supported
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uint8_t STIM: 1; // STIMulation
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uint8_t PGM: 1; // Flash programming
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uint8_t reserve2: 1;
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uint8_t reserve3: 1;
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uint8_t reserve4: 1;
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uint8_t BYTE__ORDER: 1; // 0 - Intel
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uint8_t ADDRESS_GRANULARITY_0: 1;
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uint8_t ADDRESS_GRANULARITY_1: 1;
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uint8_t reserve5: 1;
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uint8_t reserve6: 1;
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uint8_t reserve7: 1;
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uint8_t SLAVE_BLOCK_MODE: 1;
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uint8_t OPTIONAL: 1;
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uint8_t MAX_CTO_;
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uint16_t MAX_DTO_;
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uint8_t XCP_PROTOCOL_VER;
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uint8_t XCP_TRANSPORT_VER;
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} eXcpCommand_CONNECT;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t STORE_CAL_REQ: 1;
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uint8_t reserve1: 1;
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uint8_t STORE_DAQ_REQ: 1;
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uint8_t CLEAR_DAQ_REQ: 1;
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uint8_t reserve2: 1;
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uint8_t reserve3: 1;
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uint8_t DAQ_RUNNING: 1;
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uint8_t RESUME: 1;
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uint8_t CAL_PAG: 1;
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uint8_t reserve5: 1;
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uint8_t DAQ: 1;
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uint8_t STIM: 1;
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uint8_t PGM: 1;
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uint8_t reserve6: 1;
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uint8_t reserve7: 1;
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uint8_t reserve8: 1;
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uint8_t STATE_NUMBER;
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uint32_t SESSION_CONFIGURATION_ID;
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} eXcpCommand_GET_STATUS;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t COUNT;
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} eXcpCommand_Upload;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t COUNT;
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uint8_t RESERVED;
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uint8_t ADR_EX;
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uint32_t ADR;
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} eXcpCommand_SHORT_UPLOAD;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint16_t RESERVED;
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uint8_t ADR_EX;
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uint32_t ADR;
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} eXcpCommand_SET_MTA;
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typedef struct __attribute__ ((packed)) {
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eXcpTypeCommand COM;
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uint8_t COUNT;
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} eXcpCommand_Download;
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typedef struct {
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tSerialPortFrameIO *ioCanFrame;
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tLoggerToSerialPort *slog;
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SystemMutexCmsis txAccessQueue;
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uint8_t ADR_EXT;
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uint32_t ADR_MTA;
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can_rx_message_type canFrame;
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bool isTransmitResponse;
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bool isTransmitResponseError;
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uint8_t downloadSize;
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uint8_t response[8];
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uint8_t responseSize;
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tStaticThreadBlock(1024) T_can_Listener_XCP;
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} tCanSerialPortFrameXCP;
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void CanSerialPortFrameXcpInit(
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tCanSerialPortFrameXCP *env,
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SystemMutexCmsis txAccessQueue,
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tSerialPortFrameIO *ioCanFrame,
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tLoggerToSerialPort *slog
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);
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#endif //CAN_MODULE_CAN_FRAME_XCP_H
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@ -0,0 +1,272 @@
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//
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// Created by cfif on 16.03.2024.
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//
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#include <SystemDelayInterface.h>
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#include "CanSerialPortFrameXCP.h"
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#include "memory.h"
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#include "AsciiStringAssmeblingUtils.h"
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#include "SystemMutexCmsis.h"
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#include "CanPorts.h"
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#define LOG_SIGN "CAN_XCP"
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#define LOGGER &env->slog->logger
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void CanSerialPortFrameXcpInit(
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tCanSerialPortFrameXCP *env,
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SystemMutexCmsis txAccessQueue,
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tSerialPortFrameIO *ioCanFrame,
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tLoggerToSerialPort *slog
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) {
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env->ioCanFrame = ioCanFrame;
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env->txAccessQueue = txAccessQueue;
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env->slog = slog;
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InitThreadBlock(env->T_can_Listener_XCP, "CanListenerXCP", osPriorityNormal);
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}
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eXcpResult vCanSerialPortFrameXcpReceive(tCanSerialPortFrameXCP *env, uint32 timeout) {
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uint16_t recv = env->ioCanFrame->receive(env->ioCanFrame->env, PROTOCOL_XCP, (uint8_t *) &env->canFrame, 1,
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timeout);
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if (recv == 0)
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return XCP_STANDBY;
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env->isTransmitResponse = true;
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env->isTransmitResponseError = false;
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eXcpTypeCommand com = env->canFrame.data[0];
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switch (com) {
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XCP_COMMAND_CONNECT:
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{
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eXcpCommand_CONNECT *xcpCommand_CONNECT = (eXcpCommand_CONNECT *) env->response;
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xcpCommand_CONNECT->CAL_PAG = 0; // Калибровка и пагинация
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xcpCommand_CONNECT->reserve1 = 0;
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xcpCommand_CONNECT->DAQ = 1; // Поддержка DAQ
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xcpCommand_CONNECT->STIM = 1; // Стимуляция (формирование инициативных запросов)
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xcpCommand_CONNECT->PGM = 1; // Программирование FLASH
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xcpCommand_CONNECT->reserve2 = 0;
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xcpCommand_CONNECT->reserve3 = 0;
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xcpCommand_CONNECT->reserve4 = 0;
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xcpCommand_CONNECT->BYTE__ORDER = 0; // 0 - Intel 1 - Motorola
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xcpCommand_CONNECT->ADDRESS_GRANULARITY_0 = 0;
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xcpCommand_CONNECT->ADDRESS_GRANULARITY_1 = 0;
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xcpCommand_CONNECT->reserve5 = 1;
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xcpCommand_CONNECT->reserve6 = 1;
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xcpCommand_CONNECT->reserve7 = 1;
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xcpCommand_CONNECT->SLAVE_BLOCK_MODE = 0;
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xcpCommand_CONNECT->OPTIONAL = 1; // Поддержка команды XCP_COMMAND_GET_STATUS
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xcpCommand_CONNECT->MAX_CTO_ = MAX_CTO;
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xcpCommand_CONNECT->MAX_DTO_ = MAX_DTO;
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xcpCommand_CONNECT->XCP_PROTOCOL_VER = 1;
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xcpCommand_CONNECT->XCP_TRANSPORT_VER = 1;
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xcpCommand_CONNECT->COM = XCP_COMMAND_CONNECT;
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env->responseSize = 8;
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break;
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}
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XCP_COMMAND_DISCONNECT:
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{
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break;
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};
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XCP_COMMAND_GET_STATUS:
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{
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eXcpCommand_GET_STATUS *xcpCommand_GET_STATUS = (eXcpCommand_GET_STATUS *) env->response;
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xcpCommand_GET_STATUS->STORE_CAL_REQ = 0;
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xcpCommand_GET_STATUS->reserve1 = 0;
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xcpCommand_GET_STATUS->STORE_DAQ_REQ = 0;
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xcpCommand_GET_STATUS->CLEAR_DAQ_REQ = 0;
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xcpCommand_GET_STATUS->reserve2 = 0;
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xcpCommand_GET_STATUS->reserve3 = 0;
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xcpCommand_GET_STATUS->DAQ_RUNNING = 0;
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xcpCommand_GET_STATUS->RESUME = 0;
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xcpCommand_GET_STATUS->CAL_PAG = 0;
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xcpCommand_GET_STATUS->reserve5 = 0;
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xcpCommand_GET_STATUS->DAQ = 0;
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xcpCommand_GET_STATUS->STIM = 0;
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xcpCommand_GET_STATUS->PGM = 0;
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xcpCommand_GET_STATUS->reserve6 = 0;
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xcpCommand_GET_STATUS->reserve7 = 0;
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xcpCommand_GET_STATUS->reserve8 = 0;
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xcpCommand_GET_STATUS->STATE_NUMBER = 0;
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xcpCommand_GET_STATUS->SESSION_CONFIGURATION_ID = 0;
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xcpCommand_GET_STATUS->COM = XCP_COMMAND_CONNECT;
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env->responseSize = 8;
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break;
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};
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XCP_COMMAND_SYNCH:
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{
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env->response[0] = XCP_COMMAND_DISCONNECT;
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env->response[1] = XCP_ERR_CMD_SYNCH;
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env->responseSize = 2;
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break;
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};
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XCP_COMMAND_SET_MTA:
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{
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eXcpCommand_SET_MTA *request = (eXcpCommand_SET_MTA *) env->canFrame.data;
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env->ADR_EXT = request->ADR_EX;
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env->ADR_MTA = request->ADR;
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env->response[0] = XCP_COMMAND_CONNECT;
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env->responseSize = 1;
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break;
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};
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XCP_COMMAND_UPLOAD:
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{
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eXcpCommand_Upload *request = (eXcpCommand_Upload *) env->canFrame.data;
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env->isTransmitResponse = false;
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env->response[0] = XCP_COMMAND_CONNECT;
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uint8_t fullBlock = request->COUNT / 7;
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uint8_t tailBlock = request->COUNT % 7;
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for (uint8_t i = 0; i < fullBlock; ++i) {
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memcpy(&env->response[1], (uint8_t *) (env->ADR_MTA), request->COUNT);
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env->ADR_MTA += 7;
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env->ioCanFrame->transmit(env->ioCanFrame->env, env->response, 7, timeout);
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}
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if (tailBlock > 0) {
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memcpy(&env->response[1], (uint8_t *) (env->ADR_MTA), tailBlock);
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env->ADR_MTA += tailBlock;
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env->ioCanFrame->transmit(env->ioCanFrame->env, env->response, tailBlock, timeout);
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}
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break;
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};
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XCP_COMMAND_SHORT_UPLOAD:
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{
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eXcpCommand_SHORT_UPLOAD *request = (eXcpCommand_SHORT_UPLOAD *) env->canFrame.data;
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if (request->COUNT > (MAX_CTO - 1)) {
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env->response[0] = XCP_COMMAND_DISCONNECT;
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env->response[1] = XCP_ERR_OUT_OF_RANGE;
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break;
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}
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env->response[0] = XCP_COMMAND_CONNECT;
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memcpy(&env->response[1], (uint8_t *) request->ADR, request->COUNT);
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env->responseSize = request->COUNT + 1;
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break;
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};
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XCP_COMMAND_DOWNLOAD:
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{
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eXcpCommand_Download *request = (eXcpCommand_Download *) env->canFrame.data;
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uint8_t COUNT = env->canFrame.dlc - 2;
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memcpy((uint8_t *) (env->ADR_MTA), &env->response[1], COUNT);
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env->ADR_MTA += COUNT;
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env->response[0] = XCP_COMMAND_CONNECT;
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env->responseSize = 1;
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env->downloadSize = request->COUNT - COUNT;
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break;
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};
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XCP_COMMAND_DOWNLOAD_NEXT:
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{
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eXcpCommand_Download *request = (eXcpCommand_Download *) env->canFrame.data;
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uint8_t COUNT = env->canFrame.dlc - 2;
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memcpy((uint8_t *) (env->ADR_MTA), &env->response[1], COUNT);
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env->ADR_MTA += COUNT;
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if (request->COUNT != env->downloadSize) {
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env->response[0] = XCP_COMMAND_DISCONNECT;
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env->response[1] = XCP_ERR_SEQUENCE;
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break;
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}
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env->downloadSize -= COUNT;
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env->isTransmitResponse = false;
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if (env->downloadSize == 0) {
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env->isTransmitResponse = true;
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env->response[0] = XCP_COMMAND_CONNECT;
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env->responseSize = 1;
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}
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break;
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};
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XCP_COMMAND_DOWNLOAD_MAX:
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{
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eXcpCommand_Download *request = (eXcpCommand_Download *) env->canFrame.data;
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uint8_t fullBlock = request->COUNT / 7;
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uint8_t tailBlock = request->COUNT % 7;
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for (uint8_t i = 0; i < fullBlock; ++i) {
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memcpy((uint8_t *) (env->ADR_MTA), &env->response[1], request->COUNT);
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env->ADR_MTA += 7;
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}
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if (tailBlock > 0) {
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memcpy((uint8_t *) (env->ADR_MTA), &env->response[1], tailBlock);
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env->ADR_MTA += tailBlock;
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}
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env->response[0] = XCP_COMMAND_CONNECT;
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env->responseSize = 1;
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break;
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};
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default:
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break;
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}
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if (env->isTransmitResponse) {
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env->ioCanFrame->transmit(env->ioCanFrame->env, env->response, env->responseSize, timeout);
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}
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}
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_Noreturn void CanXcpProcessing_ListenerTask(tCanSerialPortFrameXCP *env) {
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while (1) {
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vCanSerialPortFrameXcpReceive(env, 1000);
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}
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}
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void CanSerialPortFrameTp_Start(tCanSerialPortFrameXCP *env, uint8_t numBuf) {
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ThreadBlock_Start(env->T_can_Listener_XCP, env, CanXcpProcessing_ListenerTask);
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}
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@ -0,0 +1,10 @@
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{
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"cmake": {
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"inc_dirs": [
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"Inc"
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],
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"srcs": [
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"Src/**.c"
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]
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}
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}
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