1489 lines
52 KiB
C
1489 lines
52 KiB
C
//
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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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#include <stdio.h>
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#define LOG_SIGN "CAN_XCP"
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#define LOGGER env->logger
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SECT_SRAM_XCP tXCP_DAQ DAQ[MAX_DAO];
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char strPrintfDebug[80];
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void PrintfDebug(uint8_t *data, uint8_t dlc) {
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switch (dlc) {
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case 0:
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sprintf(strPrintfDebug, " ");
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break;
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case 1:
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sprintf(strPrintfDebug, "0x%02X", data[0]);
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break;
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case 2:
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sprintf(strPrintfDebug, "0x%02X:0x%02X", data[0], data[1]);
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break;
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case 3:
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sprintf(strPrintfDebug, "0x%02X:0x%02X:0x%02X", data[0], data[1], data[2]);
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break;
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case 4:
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sprintf(strPrintfDebug, "0x%02X:0x%02X:0x%02X:0x%02X", data[0], data[1], data[2], data[3]);
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break;
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case 5:
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sprintf(strPrintfDebug, "0x%02X:0x%02X:0x%02X:0x%02X:0x%02X", data[0], data[1], data[2], data[3], data[4]);
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break;
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case 6:
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sprintf(strPrintfDebug, "0x%02X:0x%02X:0x%02X:0x%02X:0x%02X:0x%02X", data[0], data[1], data[2], data[3],
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data[4], data[5]);
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break;
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case 7:
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sprintf(strPrintfDebug, "0x%02X:0x%02X:0x%02X:0x%02X:0x%02X:0x%02X:0x%02X", data[0], data[1], data[2],
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data[3], data[4],
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data[5], data[6]);
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break;
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case 8:
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sprintf(strPrintfDebug, "0x%02X:0x%02X:0x%02X:0x%02X:0x%02X:0x%02X:0x%02X:0x%02X", data[0], data[1],
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data[2], data[3], data[4],
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data[5], data[6], data[7]);
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break;
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default:
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sprintf(strPrintfDebug, " ");
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}
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}
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static unsigned long SeedToKeyHVAC_NAMI(unsigned char rnd, unsigned long dwSeedInfo) {
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#define Mask 0x55F388A6UL
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unsigned char i;
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unsigned long key = dwSeedInfo;
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rnd += 35;
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if (rnd < 35) rnd = 255;
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for (i = 0; i < rnd; i++) {
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if (key & 0x80000000UL)
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key = (key << 1) ^ Mask;
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else
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key <<= 1;
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}
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return key;
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}
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void CanSerialPortFrameXcpInit(
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tCanSerialPortFrameXCP *env,
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tSerialPortFrameIO *ioCanFrame,
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tRtcIO *rtcIO,
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uint32_t startRamAdr,
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uint32_t endRamAdr,
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uint32_t startFlashAdr,
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uint32_t endFlashAdr,
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xcp_clear_flash_func *clear_flash_func,
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xcp_write_flash_func *write_flash_func,
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tVarsTabDumpObserver *varsTabDumpObserver,
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tLoggerInterface *logger
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) {
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env->DAQ = DAQ;
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env->varsTabDumpObserver = varsTabDumpObserver;
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env->ioCanFrame = ioCanFrame;
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env->rtcIO = rtcIO;
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env->logger = logger;
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env->startRamAdr = startRamAdr;
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env->endRamAdr = endRamAdr;
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env->startFlashAdr = startFlashAdr;
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env->endFlashAdr = endFlashAdr;
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env->clear_flash_func = clear_flash_func;
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env->write_flash_func = write_flash_func;
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env->access = osMutexNew(NULL);
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InitThreadBlock(env->T_can_Listener_XCP, "CanListenerXCP", osPriorityNormal);
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}
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static void FREE_DAQ(tCanSerialPortFrameXCP *env) {
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memset(&env->STATE, 0, sizeof(env->STATE));
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memset(&env->SETUP, 0, sizeof(env->SETUP));
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memset(env->DAQ, 0, sizeof(DAQ));
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}
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static uint8_t XCP_COMMAND_CONNECT_FF(tCanSerialPortFrameXCP *env) {
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FREE_DAQ(env);
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eXcpCommand_CONNECT *xcpCommand_CONNECT = (eXcpCommand_CONNECT *) env->response;
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xcpCommand_CONNECT->COM = XCP_COMMAND_CONNECT;
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xcpCommand_CONNECT->CAL_PAG = 1; // 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 = 0;
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xcpCommand_CONNECT->reserve6 = 0;
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xcpCommand_CONNECT->reserve7 = 0;
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xcpCommand_CONNECT->_SLAVE_BLOCK_MODE = SLAVE_BLOCK_MODE; // Блочный режим не поддерживается
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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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return 8;
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}
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static uint8_t XCP_COMMAND_DISCONNECT_FE(tCanSerialPortFrameXCP *env) {
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FREE_DAQ(env);
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env->response[0] = XCP_COMMAND_CONNECT;
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return 1;
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}
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static void update_STATE(tCanSerialPortFrameXCP *env) {
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env->STATE.STORE_CAL_REQ = 0; // ожидает сохранения в энергонезависимую память
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env->STATE.STORE_DAQ_REQ = 0; // требуется сохранить DAQ-листы (не загрузить, а сохранить)
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env->STATE.CLEAR_DAQ_REQ = 0; // требуется очистить все DAQ-листы
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env->STATE.DAQ_RUNNING = 0; // минимум один DAQ-лист запущен и работает
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for (uint16 i = 0; i < env->SETUP.DAQ_COUNT; ++i) {
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if (env->DAQ[i].RUNNING) {
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env->STATE.DAQ_RUNNING = 1; // минимум один DAQ-лист запущен и работает
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break;
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}
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}
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env->STATE.RESUME = 0; // устройство в режиме RESUME
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}
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static uint8_t XCP_COMMAND_GET_STATUS_FD(tCanSerialPortFrameXCP *env) {
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update_STATE(env);
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eXcpCommand_GET_STATUS *xcpCommand_GET_STATUS = (eXcpCommand_GET_STATUS *) env->response;
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xcpCommand_GET_STATUS->COM = XCP_COMMAND_CONNECT;
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// Статус состояний
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xcpCommand_GET_STATUS->STORE_CAL_REQ = env->STATE.STORE_CAL_REQ;
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xcpCommand_GET_STATUS->reserve1 = 0;
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xcpCommand_GET_STATUS->STORE_DAQ_REQ = env->STATE.STORE_DAQ_REQ;
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xcpCommand_GET_STATUS->CLEAR_DAQ_REQ = env->STATE.CLEAR_DAQ_REQ;
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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 = env->STATE.DAQ_RUNNING;
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xcpCommand_GET_STATUS->RESUME = env->STATE.RESUME; // устройство не в режиме RESUME
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// Статус защиты ресурсов
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xcpCommand_GET_STATUS->CAL_PAG = 1; // защита команд калибровки/пагинации
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xcpCommand_GET_STATUS->reserve5 = 0;
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xcpCommand_GET_STATUS->DAQ = 1; // защита DAQ-команд
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xcpCommand_GET_STATUS->STIM = 1; // защита STIM-команд
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xcpCommand_GET_STATUS->PGM = 1; // защита команд программирования
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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 = 2; // номер состояния ECU
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xcpCommand_GET_STATUS->SESSION_CONFIGURATION_ID = 0; // ID конфигурации сессии
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return 6;
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}
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static uint8_t XCP_COMMAND_SYNCH_FC(tCanSerialPortFrameXCP *env) {
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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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return 2;
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}
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static uint8_t XCP_GET_COMM_MODE_INFO_FB(tCanSerialPortFrameXCP *env) {
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eXcpCommand_GET_COMM_MODE_INFO *xcpCommand_GET_COMM_MODE_INFO = (eXcpCommand_GET_COMM_MODE_INFO *) env->response;
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xcpCommand_GET_COMM_MODE_INFO->RESERVED1 = 0;
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xcpCommand_GET_COMM_MODE_INFO->_MASTER_BLOCK_MODE = MASTER_BLOCK_MODE;
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xcpCommand_GET_COMM_MODE_INFO->INTERLEAVED_MODE = 0;
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xcpCommand_GET_COMM_MODE_INFO->RESERVED2 = 0;
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xcpCommand_GET_COMM_MODE_INFO->RESERVED3 = 0;
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xcpCommand_GET_COMM_MODE_INFO->MAX_BS = 255;
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xcpCommand_GET_COMM_MODE_INFO->MIN_ST = 0;
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xcpCommand_GET_COMM_MODE_INFO->QUEUE_SIZE = 0;
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xcpCommand_GET_COMM_MODE_INFO->VERSION = 1;
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return 8;
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}
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static uint8_t XCP_GET_SEED_F8(tCanSerialPortFrameXCP *env) {
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eXcpCommand_REQ_GET_SEED *request = (eXcpCommand_REQ_GET_SEED *) env->canFrame.data;
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eXcpCommand_GET_SEED *xcpCommand_GET_SEED = (eXcpCommand_GET_SEED *) env->response;
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xcpCommand_GET_SEED->COM = XCP_COMMAND_CONNECT;
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xcpCommand_GET_SEED->LEN = 4;
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xcpCommand_GET_SEED->KEY = 0x11223344;
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env->RESOURCE = request->RESOURCE;
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return 6;
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}
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static uint8_t XCP_UNLOCK_F7(tCanSerialPortFrameXCP *env) {
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eXcpCommand_REQ_UNLOCK *request = (eXcpCommand_REQ_UNLOCK *) env->canFrame.data;
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uint32_t securitySeedMy = SeedToKeyHVAC_NAMI(0, 0x11223344);
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if (securitySeedMy != request->KEY) {
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env->response[0] = XCP_COMMAND_DISCONNECT;
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env->response[1] = XCP_ERR_ACCESS_LOCKED;
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} else {
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env->response[0] = XCP_COMMAND_CONNECT;
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env->response[1] = 0;
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}
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return 2;
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}
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static uint8_t XCP_COMMAND_SET_MTA_F6(tCanSerialPortFrameXCP *env) {
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eXcpCommand_SET_MTA *request = (eXcpCommand_SET_MTA *) env->canFrame.data;
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/*
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if (((request->ADR < env->startRamAdr) || (request->ADR > env->endRamAdr)) &&
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((request->ADR < env->startFlashAdr) || (request->ADR > env->endFlashAdr))) {
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env->response[0] = XCP_COMMAND_DISCONNECT;
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env->response[1] = XCP_ERR_ACCESS_DENIED;
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env->bufWriteFlashCount = 0;
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return 2;
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}
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*/
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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->bufWriteFlashAdr = env->ADR_MTA;
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return 1;
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}
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static uint8_t XCP_COMMAND_UPLOAD_F5(tCanSerialPortFrameXCP *env) {
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eXcpCommand_Upload *request = (eXcpCommand_Upload *) env->canFrame.data;
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env->response[0] = XCP_COMMAND_CONNECT;
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if (SLAVE_BLOCK_MODE) {
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if (request->COUNT == 0) {
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#if (LOG_XCP == 1)
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PrintfDebug(env->response, 1);
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LoggerFormatInfo(LOGGER, LOG_SIGN, "< [%d] %s", 1, strPrintfDebug)
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#endif
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env->ioCanFrame->transmit(env->ioCanFrame->env, env->response, 1, PROTOCOL_CAN_ADR_XCP,
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PROTOCOL_CAN_TYPE_XCP,
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1000);
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return 0;
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}
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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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#if (LOG_XCP == 1)
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PrintfDebug(env->response, 7 + 1);
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LoggerFormatInfo(LOGGER, LOG_SIGN, "< [%d] %s", 7 + 1, strPrintfDebug)
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#endif
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env->ioCanFrame->transmit(env->ioCanFrame->env, env->response, 7 + 1, PROTOCOL_CAN_ADR_XCP,
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PROTOCOL_CAN_TYPE_XCP,
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1000);
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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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#if (LOG_XCP == 1)
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PrintfDebug(env->response, tailBlock + 1);
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LoggerFormatInfo(LOGGER, LOG_SIGN, "< [%d] %s", tailBlock + 1, strPrintfDebug)
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#endif
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env->ioCanFrame->transmit(env->ioCanFrame->env, env->response, tailBlock + 1, PROTOCOL_CAN_ADR_XCP,
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PROTOCOL_CAN_TYPE_XCP, 1000);
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}
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return 0;
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} else {
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memcpy(&env->response[1], (uint8_t *) (env->ADR_MTA), request->COUNT);
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env->ADR_MTA += request->COUNT;
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return request->COUNT + 1;
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}
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}
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static uint8_t XCP_COMMAND_SHORT_UPLOAD_F4(tCanSerialPortFrameXCP *env) {
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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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return 2;
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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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return request->COUNT + 1;
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}
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static uint8_t XCP_COMMAND_DOWNLOAD_F0(tCanSerialPortFrameXCP *env) {
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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[2], COUNT);
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env->ADR_MTA += COUNT;
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env->response[0] = XCP_COMMAND_CONNECT;
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env->downloadRemaining = request->COUNT - COUNT;
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return 1;
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}
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|
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static uint8_t XCP_COMMAND_DOWNLOAD_NEXT_EF(tCanSerialPortFrameXCP *env) {
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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[2], COUNT);
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env->ADR_MTA += COUNT;
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|
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if (request->COUNT != env->downloadRemaining) {
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env->response[0] = XCP_COMMAND_DISCONNECT;
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env->response[1] = XCP_ERR_SEQUENCE;
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env->response[2] = env->downloadRemaining;
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return 3;
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}
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env->downloadRemaining -= COUNT;
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if (env->downloadRemaining == 0) {
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env->response[0] = XCP_COMMAND_CONNECT;
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return 1;
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}
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|
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return 0;
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}
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static uint8_t XCP_COMMAND_DOWNLOAD_MAX_EE(tCanSerialPortFrameXCP *env) {
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uint8_t COUNT = env->canFrame.dlc - 1;
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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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return 1;
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}
|
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|
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static uint8_t XCP_CLEAR_DAQ_LIST_E3(tCanSerialPortFrameXCP *env) {
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env->response[0] = XCP_COMMAND_CONNECT;
|
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|
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return 1;
|
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}
|
||
|
||
|
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static uint8_t XCP_GET_DAQ_LIST_INFO_D8(tCanSerialPortFrameXCP *env) {
|
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eXcpCommand_Get_DAQ_List_Info_Request *request = (eXcpCommand_Get_DAQ_List_Info_Request *) env->canFrame.data;
|
||
|
||
if (request->DAQ_LIST_NUMBER > MAX_DAO) {
|
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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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return 2;
|
||
}
|
||
|
||
eXcpCommand_Get_DAQ_List_Info *xcpCommand_Get_DAQ_List_Info = (eXcpCommand_Get_DAQ_List_Info *) env->response;
|
||
|
||
xcpCommand_Get_DAQ_List_Info->COM = XCP_COMMAND_CONNECT;
|
||
|
||
xcpCommand_Get_DAQ_List_Info->PREDEFINED = 0;
|
||
xcpCommand_Get_DAQ_List_Info->EVENT_FIXED = 0;
|
||
xcpCommand_Get_DAQ_List_Info->DAQ = 1;
|
||
xcpCommand_Get_DAQ_List_Info->STIM = 1;
|
||
xcpCommand_Get_DAQ_List_Info->RESERVER = 0;
|
||
|
||
xcpCommand_Get_DAQ_List_Info->MAX_ODT_ = MAX_ODT;
|
||
xcpCommand_Get_DAQ_List_Info->MAX_ODT_ENTRIES_ = MAX_ODT_ENTRIES_SIZE_DAQ;
|
||
xcpCommand_Get_DAQ_List_Info->FIXED_EVENT = 0;
|
||
|
||
return 6;
|
||
}
|
||
|
||
static uint8_t XCP_ALLOC_DAQ_D5(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_ALLOC_DAQ *request = (eXcpCommand_ALLOC_DAQ *) env->canFrame.data;
|
||
|
||
env->SETUP.DAQ_COUNT = request->DAQ_COUNT;
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 1;
|
||
}
|
||
|
||
static uint8_t XCP_FREE_DAQ_D6(tCanSerialPortFrameXCP *env) {
|
||
FREE_DAQ(env);
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 1;
|
||
}
|
||
|
||
static uint8_t XCP_ALLOC_ODT_D4(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_ALLOC_ODT *request = (eXcpCommand_ALLOC_ODT *) env->canFrame.data;
|
||
|
||
env->DAQ[request->DAQ_LIST_NUMBER].ODT_COUNT = request->ODT_COUNT;
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 1;
|
||
}
|
||
|
||
|
||
static uint8_t XCP_ALLOC_ODT_ENTRY_D3(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_ALLOC_ODT_ENTRY *request = (eXcpCommand_ALLOC_ODT_ENTRY *) env->canFrame.data;
|
||
|
||
env->DAQ[request->DAQ_LIST_NUMBER].ODT_NUMBER[request->ODT_NUMBER].ODT_ENTRIES_COUNT = request->ODT_ENTRIES_COUNT;
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 1;
|
||
}
|
||
|
||
|
||
static uint8_t XCP_SET_DAQ_PTR_E2(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_SET_DAQ_PTR *request = (eXcpCommand_SET_DAQ_PTR *) env->canFrame.data;
|
||
|
||
if ((request->DAQ_LIST_NUMBER > MAX_DAO) ||
|
||
(request->ODT_NUMBER > MAX_ODT) ||
|
||
(request->ODT_ENTRY_NUMBER > MAX_ODT_ENTRIES_SIZE_DAQ)) {
|
||
|
||
env->response[0] = XCP_COMMAND_DISCONNECT;
|
||
env->response[1] = XCP_ERR_OUT_OF_RANGE;
|
||
|
||
return 2;
|
||
}
|
||
|
||
env->SETUP.DAQ_LIST_NUMBER = request->DAQ_LIST_NUMBER;
|
||
env->SETUP.ODT_NUMBER = request->ODT_NUMBER;
|
||
env->SETUP.ODT_ENTRY_NUMBER = request->ODT_ENTRY_NUMBER;
|
||
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 1;
|
||
}
|
||
|
||
static uint8_t XCP_WRITE_DAQ_E1(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_WRITE_DAQ *request = (eXcpCommand_WRITE_DAQ *) env->canFrame.data;
|
||
|
||
if (env->SETUP.ODT_ENTRY_NUMBER > MAX_ODT_ENTRIES_SIZE_DAQ) {
|
||
|
||
env->response[0] = XCP_COMMAND_DISCONNECT;
|
||
env->response[1] = XCP_ERR_OUT_OF_RANGE;
|
||
|
||
return 2;
|
||
}
|
||
|
||
env->DAQ[env->SETUP.DAQ_LIST_NUMBER].ODT_NUMBER[env->SETUP.ODT_NUMBER].BIT_OFFSET[env->SETUP.ODT_ENTRY_NUMBER] = request->BIT_OFFSET;
|
||
env->DAQ[env->SETUP.DAQ_LIST_NUMBER].ODT_NUMBER[env->SETUP.ODT_NUMBER].ADR_EXT[env->SETUP.ODT_ENTRY_NUMBER] = request->ADR_EXT;
|
||
env->DAQ[env->SETUP.DAQ_LIST_NUMBER].ODT_NUMBER[env->SETUP.ODT_NUMBER].ODT_ENTRIES_ADR[env->SETUP.ODT_ENTRY_NUMBER] = request->ADR;
|
||
env->DAQ[env->SETUP.DAQ_LIST_NUMBER].ODT_NUMBER[env->SETUP.ODT_NUMBER].ODT_ENTRIES_SIZE[env->SETUP.ODT_ENTRY_NUMBER] = request->ODT_ENTRY_SIZE;
|
||
|
||
++env->SETUP.ODT_ENTRY_NUMBER;
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 1;
|
||
}
|
||
|
||
static uint8_t XCP_SET_DAQ_LIST_MODE_E0(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_SET_DAQ_LIST_MODE *request = (eXcpCommand_SET_DAQ_LIST_MODE *) env->canFrame.data;
|
||
|
||
if ((request->DAQ_LIST_NUMBER > MAX_DAO) || (request->EVENT_CHANNEL_NUMBER > MAX_EVENT_CHANNEL)) {
|
||
env->response[0] = XCP_COMMAND_DISCONNECT;
|
||
env->response[1] = XCP_ERR_OUT_OF_RANGE;
|
||
|
||
return 2;
|
||
}
|
||
|
||
env->DAQ[request->DAQ_LIST_NUMBER].EVENT_CHANNEL = request->EVENT_CHANNEL_NUMBER;
|
||
|
||
env->DAQ[request->DAQ_LIST_NUMBER].ALTERNATING = request->ALTERNATING;
|
||
env->DAQ[request->DAQ_LIST_NUMBER].DIRECTION = request->DIRECTION;
|
||
env->DAQ[request->DAQ_LIST_NUMBER].DTO_CTR = request->DTO_CTR;
|
||
env->DAQ[request->DAQ_LIST_NUMBER].TIMESTAMP = request->TIMESTAMP;
|
||
env->DAQ[request->DAQ_LIST_NUMBER].PID_OFF = request->PID_OFF;
|
||
|
||
env->DAQ[request->DAQ_LIST_NUMBER].TRANSMISSION_RATE_PRESCALER = request->TRANSMISSION_RATE_PRESCALER - 1;
|
||
env->DAQ[request->DAQ_LIST_NUMBER].DAQ_LIST_PRIORITY = request->DAQ_LIST_PRIORITY;
|
||
|
||
env->DAQ[request->DAQ_LIST_NUMBER].PRESCALER_COUNTER = request->TRANSMISSION_RATE_PRESCALER - 1;
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 1;
|
||
}
|
||
|
||
static uint8_t XCP_START_STOP_DAQ_LIST_DE(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_START_STOP_DAQ_LIST *request = (eXcpCommand_START_STOP_DAQ_LIST *) env->canFrame.data;
|
||
|
||
if (request->DAQ_LIST_NUMBER > MAX_DAO) {
|
||
env->response[0] = XCP_COMMAND_DISCONNECT;
|
||
env->response[1] = XCP_ERR_OUT_OF_RANGE;
|
||
|
||
return 2;
|
||
}
|
||
|
||
if (request->MODE == XCP_STOP) {
|
||
env->DAQ[request->DAQ_LIST_NUMBER].RUNNING = 0;
|
||
}
|
||
|
||
if (request->MODE == XCP_START) {
|
||
env->DAQ[request->DAQ_LIST_NUMBER].RUNNING = 1;
|
||
}
|
||
|
||
if (request->MODE == XCP_SELECT) {
|
||
env->DAQ[request->DAQ_LIST_NUMBER].SELECTED = 1;
|
||
}
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 1;
|
||
}
|
||
|
||
static uint8_t XCP_START_STOP_SYNCH_DD(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_START_STOP_SYNCH *request = (eXcpCommand_START_STOP_SYNCH *) env->canFrame.data;
|
||
|
||
if (request->MODE == XCP_SYNC_START_SEL) {
|
||
for (uint16 i = 0; i < MAX_DAO; ++i) {
|
||
if (env->DAQ[i].SELECTED) {
|
||
env->DAQ[i].RUNNING = 1;
|
||
}
|
||
}
|
||
}
|
||
|
||
if (request->MODE == XCP_SYNC_STOP_ALL) {
|
||
|
||
for (uint16 i = 0; i < MAX_DAO; ++i) {
|
||
env->DAQ[i].RUNNING = 0;
|
||
}
|
||
|
||
FREE_DAQ(env);
|
||
}
|
||
|
||
if (request->MODE == XCP_SYNC_STOP_SEL) {
|
||
for (uint16 i = 0; i < MAX_DAO; ++i) {
|
||
if (env->DAQ[i].SELECTED) {
|
||
env->DAQ[i].RUNNING = 1;
|
||
}
|
||
}
|
||
}
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 2;
|
||
}
|
||
|
||
static uint8_t XCP_READ_DAQ_DB(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_WRITE_DAQ *response = (eXcpCommand_WRITE_DAQ *) env->response;
|
||
|
||
response->COM = XCP_COMMAND_CONNECT;
|
||
response->BIT_OFFSET = env->DAQ[env->SETUP.DAQ_LIST_NUMBER].ODT_NUMBER[env->SETUP.ODT_NUMBER].BIT_OFFSET[env->SETUP.ODT_ENTRY_NUMBER];
|
||
response->ADR_EXT = env->DAQ[env->SETUP.DAQ_LIST_NUMBER].ODT_NUMBER[env->SETUP.ODT_NUMBER].ADR_EXT[env->SETUP.ODT_ENTRY_NUMBER];
|
||
response->ADR = env->DAQ[env->SETUP.DAQ_LIST_NUMBER].ODT_NUMBER[env->SETUP.ODT_NUMBER].ODT_ENTRIES_ADR[env->SETUP.ODT_ENTRY_NUMBER];
|
||
response->ODT_ENTRY_SIZE = env->DAQ[env->SETUP.DAQ_LIST_NUMBER].ODT_NUMBER[env->SETUP.ODT_NUMBER].ODT_ENTRIES_SIZE[env->SETUP.ODT_ENTRY_NUMBER];
|
||
|
||
++env->SETUP.ODT_ENTRY_NUMBER;
|
||
|
||
return 8;
|
||
}
|
||
|
||
static uint8_t XCP_GET_DAQ_PROCESSOR_INFO_DA(tCanSerialPortFrameXCP *env) {
|
||
|
||
eXcpCommand_GET_DAQ_PROCESSOR_INFO *response = (eXcpCommand_GET_DAQ_PROCESSOR_INFO *) env->response;
|
||
|
||
response->COM = XCP_COMMAND_CONNECT;
|
||
|
||
response->DAQ_CONFIG_TYPE = 1; // dynamic DAQ list configuration
|
||
response->PRESCALER_SUPPORTED = 1; // prescaler supported
|
||
response->RESUME_SUPPORTED = 0; // DAQ lists can not be set to RESUME mode
|
||
response->BIT_STIM_SUPPORTED = 0; // bitwise data stimulation not supported
|
||
response->TIMESTAMP_SUPPORTED = 0; // time-stamped mode not supported
|
||
response->PID_OFF_SUPPORTED = 0; // Identification field can not be switched off
|
||
response->OVERLOAD_MSB = 0; // No overload indication
|
||
response->OVERLOAD_EVENT = 0; // No overload indication
|
||
|
||
response->MAX_DAQ = MAX_DAO;
|
||
response->MAX_EVENT_CHANNEL_ = MAX_EVENT_CHANNEL;
|
||
response->MIN_DAQ = 0;
|
||
|
||
response->Optimisation_Type_0 = 0;
|
||
response->Optimisation_Type_1 = 1;
|
||
response->Optimisation_Type_2 = 0;
|
||
response->Optimisation_Type_3 = 1;
|
||
response->Address_Extension_ODT = 0;
|
||
response->Address_Extension_DAQ = 0;
|
||
response->Identification_Field_Type_0 = 1; // Relative ODT number, absolute DAQ list number (BYTE)
|
||
response->Identification_Field_Type_1 = 0; // Relative ODT number, absolute DAQ list number (BYTE)
|
||
|
||
|
||
return 8;
|
||
}
|
||
|
||
static uint8_t XCP_GET_DAQ_RESOLUTION_INFO_D9(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_GET_DAQ_RESOLUTION_INFO *response = (eXcpCommand_GET_DAQ_RESOLUTION_INFO *) env->response;
|
||
|
||
response->COM = XCP_COMMAND_CONNECT;
|
||
|
||
response->GRANULARITY_ODT_ENTRY_SIZE_DAQ = 1;
|
||
response->MAX_ODT_ENTRY_SIZE_DAQ = MAX_ODT_ENTRIES_SIZE_DAQ;
|
||
response->GRANULARITY_ODT_ENTRY_SIZE_STIM = 1;
|
||
response->MAX_ODT_ENTRY_SIZE_STIM = MAX_ODT_ENTRIES_SIZE_DAQ;
|
||
response->TIMESTAMP_MODE = 0;
|
||
response->TIMESTAMP_TICKS = 0;
|
||
|
||
return 8;
|
||
}
|
||
|
||
|
||
static uint8_t XCP_GET_DAQ_LIST_MODE_DF(tCanSerialPortFrameXCP *env) {
|
||
|
||
eXcpCommand_GET_DAQ_LIST_MODE_GET *request = (eXcpCommand_GET_DAQ_LIST_MODE_GET *) env->canFrame.data;
|
||
|
||
if (request->DAQ_LIST_NUMBER > MAX_DAO) {
|
||
env->response[0] = XCP_COMMAND_DISCONNECT;
|
||
env->response[1] = XCP_ERR_OUT_OF_RANGE;
|
||
|
||
return 2;
|
||
}
|
||
|
||
eXcpCommand_GET_DAQ_LIST_MODE *response = (eXcpCommand_GET_DAQ_LIST_MODE *) env->response;
|
||
|
||
response->COM = XCP_COMMAND_CONNECT;
|
||
|
||
response->SELECTED = env->DAQ[request->DAQ_LIST_NUMBER].SELECTED;
|
||
response->DIRECTION = env->DAQ[request->DAQ_LIST_NUMBER].DIRECTION;
|
||
response->RESERVED1 = 0;
|
||
response->DTO_CTR = env->DAQ[request->DAQ_LIST_NUMBER].DTO_CTR;
|
||
response->TIMESTAMP = env->DAQ[request->DAQ_LIST_NUMBER].TIMESTAMP;
|
||
response->PID_OFF = env->DAQ[request->DAQ_LIST_NUMBER].PID_OFF;
|
||
response->RUNNING = env->DAQ[request->DAQ_LIST_NUMBER].RUNNING;
|
||
response->RESUME = 0;
|
||
|
||
response->RESERVED2 = 0;
|
||
response->CURRENT_EVENT_CHANNEL_NUMBER = env->DAQ[request->DAQ_LIST_NUMBER].EVENT_CHANNEL;
|
||
response->CURRENT_PRESCALER = env->DAQ[request->DAQ_LIST_NUMBER].TRANSMISSION_RATE_PRESCALER;
|
||
response->CURRENT_DAQ_LIST_PRIORITY = env->DAQ[request->DAQ_LIST_NUMBER].DAQ_LIST_PRIORITY;
|
||
|
||
return 8;
|
||
}
|
||
|
||
|
||
static uint8_t XCP_GET_DAQ_EVENT_INFO_D7(tCanSerialPortFrameXCP *env) {
|
||
|
||
eXcpCommand_GET_DAQ_EVENT_INFO_GET *request = (eXcpCommand_GET_DAQ_EVENT_INFO_GET *) env->canFrame.data;
|
||
|
||
if (request->EVENT_CHANNEL_NUMBER > MAX_EVENT_CHANNEL) {
|
||
env->response[0] = XCP_COMMAND_DISCONNECT;
|
||
env->response[1] = XCP_ERR_OUT_OF_RANGE;
|
||
|
||
return 2;
|
||
}
|
||
|
||
eXcpCommand_GET_DAQ_EVENT_INFO *response = (eXcpCommand_GET_DAQ_EVENT_INFO *) env->response;
|
||
|
||
response->COM = XCP_COMMAND_CONNECT;
|
||
|
||
response->RESERVED1 = 0;
|
||
response->RESERVED2 = 0;
|
||
|
||
if (request->EVENT_CHANNEL_NUMBER == 0) { // DTO-STIM
|
||
response->DAQ = 1;
|
||
response->STM = 0;
|
||
} else { // DTO-DAQ
|
||
response->DAQ = 0;
|
||
response->STM = 1;
|
||
}
|
||
|
||
response->RESERVED3 = 0;
|
||
response->RESERVED4 = 0;
|
||
response->CONSISTENCY_DAQ = 0;
|
||
response->CONSISTENCY_EVENT = 0;
|
||
|
||
response->MAX_DAQ_LIST = 255;
|
||
response->EVENT_CHANNEL_NAME_LENGTH = 0;
|
||
response->EVENT_CHANNEL_TIME_CYCLE = 1;
|
||
response->EVENT_CHANNEL_TIME_UNIT = 7; // EVENT_CHANNEL _TIME_UNIT_10MS
|
||
response->EVENT_CHANNEL_PRIORITY = 255;
|
||
|
||
return 7;
|
||
}
|
||
|
||
static uint8_t XCP_GET_DAQ_STM(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_GET_DAQ_STM *response = (eXcpCommand_GET_DAQ_STM *) env->canFrame.data;
|
||
|
||
uint8_t *COUNTER = &env->DAQ[response->DAQ].ODT_NUMBER[response->ODT].DATA_STM_COUNTER;
|
||
|
||
memcpy(env->DAQ[response->DAQ].ODT_NUMBER[response->ODT].DATA_STM[*COUNTER].DATA, &env->canFrame.data[3],
|
||
env->canFrame.dlc - 2);
|
||
|
||
++env->DAQ[response->DAQ].ODT_NUMBER[response->ODT].DATA_STM_COUNTER;
|
||
|
||
if (*COUNTER == env->DAQ[response->DAQ].ODT_COUNT) {
|
||
*COUNTER = 0;
|
||
env->DAQ[response->DAQ].IS_STIM_RECEIVED = 1;
|
||
}
|
||
|
||
return 0;
|
||
}
|
||
|
||
static uint8_t XCP_PROGRAM_START_D2(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_PROGRAM_START *response = (eXcpCommand_PROGRAM_START *) env->response;
|
||
|
||
response->COM = XCP_COMMAND_CONNECT;
|
||
response->RESERVED1 = 0;
|
||
|
||
response->_MASTER_BLOCK_MODE = PROGRAM_MASTER_BLOCK_MODE;
|
||
response->INTERLEAVED_MODE = 0;
|
||
response->RESERVED2 = 0;
|
||
response->RESERVED3 = 0;
|
||
response->RESERVED4 = 0;
|
||
response->RESERVED5 = 0;
|
||
response->_SLAVE_BLOCK_MODE = SLAVE_BLOCK_MODE;
|
||
response->RESERVED6 = 0;
|
||
|
||
response->MAX_CTO_PGM = 8;
|
||
response->MAX_BS_PGM = 255; // Максимальный размер блока в режиме программирования. Определяет, сколько пакетов можно отправить подряд в блочном режиме
|
||
response->MIN_ST_PGM = 1; // Минимальное время шага (Minimum Separation Time). Определяет минимальную паузу (в миллисекундах)
|
||
response->QUEUE_SIZE_PGM = 10; // Размер очереди. Указывает, сколько пакетов типа CTO мастер может отправить "подряд"
|
||
|
||
return 8;
|
||
}
|
||
|
||
static uint8_t XCP_PROGRAM_CLEAR_D1(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_XCP_PROGRAM_CLEAR_D1 *request = (eXcpCommand_XCP_PROGRAM_CLEAR_D1 *) env->canFrame.data;
|
||
|
||
if (request->MODE == 0) {
|
||
|
||
if ((env->ADR_MTA < env->startFlashAdr) || ((env->ADR_MTA + request->CLEAR_RANGE) > env->endFlashAdr)) {
|
||
|
||
env->response[0] = XCP_COMMAND_DISCONNECT;
|
||
env->response[1] = XCP_ERR_ACCESS_DENIED;
|
||
|
||
return 2;
|
||
}
|
||
|
||
env->clear_flash_func(env->ADR_MTA, request->CLEAR_RANGE);
|
||
} else {
|
||
|
||
env->response[0] = XCP_COMMAND_DISCONNECT;
|
||
env->response[1] = XCP_ERR_OUT_OF_RANGE;
|
||
|
||
return 2;
|
||
}
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 1;
|
||
}
|
||
|
||
static uint8_t XCP_PROGRAM_D0(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_Program_ProgramNext_D0_CA *request = (eXcpCommand_Program_ProgramNext_D0_CA *) env->canFrame.data;
|
||
|
||
uint8_t COUNT = env->canFrame.dlc - 2;
|
||
|
||
for (uint8_t i = 0; i < COUNT; ++i) {
|
||
|
||
env->bufWriteFlash[env->bufWriteFlashCount] = env->canFrame.data[2 + i];
|
||
|
||
++env->bufWriteFlashCount;
|
||
|
||
if (env->bufWriteFlashCount >= PROGRAM_MAX_BUF) {
|
||
bool result = env->write_flash_func(env->bufWriteFlashAdr, env->bufWriteFlash, PROGRAM_MAX_BUF);
|
||
env->bufWriteFlashAdr += PROGRAM_MAX_BUF;
|
||
env->bufWriteFlashCount = 0;
|
||
}
|
||
|
||
|
||
}
|
||
|
||
env->ADR_MTA += request->COUNT;
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 1;
|
||
}
|
||
|
||
|
||
|
||
static uint8_t PROGRAM_VERIFY_C8(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_Program_Verify_C8 *request = (eXcpCommand_Program_Verify_C8 *) env->canFrame.data;
|
||
|
||
if (env->bufWriteFlashCount > 0) {
|
||
bool result = env->write_flash_func(env->bufWriteFlashAdr, env->bufWriteFlash, env->bufWriteFlashCount);
|
||
env->bufWriteFlashCount = 0;
|
||
}
|
||
|
||
VarsTabDumpObserverCalib_Load(env->varsTabDumpObserver);
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 1;
|
||
}
|
||
|
||
static uint8_t XCP_PROGRAM_NEXT_CA(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_Program_ProgramNext_D0_CA *request = (eXcpCommand_Program_ProgramNext_D0_CA *) env->canFrame.data;
|
||
|
||
uint8_t COUNT = env->canFrame.dlc - 2;
|
||
|
||
env->write_flash_func(env->ADR_MTA, &env->canFrame.data[2], request->COUNT);
|
||
|
||
env->ADR_MTA += request->COUNT;
|
||
|
||
return 0;
|
||
}
|
||
|
||
static uint8_t XCP_PROGRAM_RESET_CF(tCanSerialPortFrameXCP *env) {
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
|
||
if (env->bufWriteFlashCount > 0) {
|
||
bool result = env->write_flash_func(env->bufWriteFlashAdr, env->bufWriteFlash, env->bufWriteFlashCount);
|
||
env->bufWriteFlashCount = 0;
|
||
}
|
||
|
||
return 1;
|
||
}
|
||
|
||
static uint8_t XCP_GET_PGM_PROCESSOR_INFO_CE(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_PGM_PROCESSOR_INFO_CE *response = (eXcpCommand_PGM_PROCESSOR_INFO_CE *) env->response;
|
||
|
||
response->COM = XCP_COMMAND_CONNECT;
|
||
|
||
response->ABSOLUTE_MODE = 1;
|
||
response->FUNCTIONAL_MODE = 0;
|
||
response->COMPRESSION_SUPPORTED = 0;
|
||
response->COMPRESSION_REQUIRED = 0;
|
||
response->ENCRYPTION_SUPPORTED = 0;
|
||
response->ENCRYPTION_REQUIRED = 0;
|
||
response->NON_SEQ_PGM_SUPPORTED = 0;
|
||
response->NON_SEQ_PGM_REQUIRED = 0;
|
||
|
||
response->MAX_SECTOR = PROGRAM_MAX_SECTOR;
|
||
|
||
return 3;
|
||
}
|
||
|
||
static uint8_t XCP_GET_SECTOR_INFO_CD(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_REQ_GET_SECTOR_INFO_CD *request = (eXcpCommand_REQ_GET_SECTOR_INFO_CD *) env->canFrame.data;
|
||
|
||
if (request->SECTOR_NUMBER > PROGRAM_MAX_SECTOR) {
|
||
env->response[0] = XCP_COMMAND_DISCONNECT;
|
||
env->response[1] = XCP_ERR_OUT_OF_RANGE;
|
||
|
||
return 2;
|
||
}
|
||
|
||
eXcpCommand_RESP_GET_SECTOR_INFO_CD *response = (eXcpCommand_RESP_GET_SECTOR_INFO_CD *) env->response;
|
||
response->COM = XCP_COMMAND_CONNECT;
|
||
response->CLEAR_SEQUENCE_NUMBER = request->SECTOR_NUMBER;
|
||
response->PROGRAM_SEQUENCE_NUMBER = request->SECTOR_NUMBER;
|
||
|
||
response->ABSOLUTE_MODE = 1;
|
||
response->FUNCTIONAL_MODE = 0;
|
||
response->PAGED_MODE = 0;
|
||
response->SEQUENTIAL_ONLY = 1;
|
||
response->ERASE_BEFORE_WRITE = 1;
|
||
response->VERIFY_AFTER_WRITE = 0;
|
||
response->RESERVED1 = 0;
|
||
response->RESERVED2 = 0;
|
||
|
||
if (request->MODE == 0) {
|
||
response->SECTOR_INFO = request->SECTOR_NUMBER * FLASH_PAGE_SIZE + env->startFlashAdr;
|
||
} else if (request->MODE == 1) {
|
||
response->SECTOR_INFO = FLASH_PAGE_SIZE;
|
||
} else if (request->MODE == 2) {
|
||
env->response[1] = 0;
|
||
return 2;
|
||
} else {
|
||
env->response[0] = XCP_COMMAND_DISCONNECT;
|
||
env->response[1] = XCP_ERR_CMD_SYNTAX;
|
||
return 2;
|
||
}
|
||
|
||
return 8;
|
||
}
|
||
|
||
static uint8_t XCP_SET_CALIBRATION_PAGE_EB(tCanSerialPortFrameXCP *env) {
|
||
eXcpCommand_SET_CALIBRATION_PAGE_EB *request = (eXcpCommand_SET_CALIBRATION_PAGE_EB *) env->canFrame.data;
|
||
|
||
env->response[0] = XCP_COMMAND_CONNECT;
|
||
return 1;
|
||
}
|
||
|
||
|
||
const eXcp_com xcp_com[256] = {
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{PROGRAM_VERIFY_C8, "PROGRAM_VERIFY_C8"},
|
||
{NULL, ""},
|
||
{XCP_PROGRAM_NEXT_CA, "XCP_PROGRAM_NEXT_CA"},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{XCP_GET_SECTOR_INFO_CD, "XCP_GET_SECTOR_INFO_CD"},
|
||
{XCP_GET_PGM_PROCESSOR_INFO_CE, "XCP_GET_PGM_PROCESSOR_INFO_CE"},
|
||
{XCP_PROGRAM_RESET_CF, "XCP_PROGRAM_RESET_CF"},
|
||
{XCP_PROGRAM_D0, "XCP_PROGRAM_D0"},
|
||
{XCP_PROGRAM_CLEAR_D1, "XCP_PROGRAM_CLEAR_D1"},
|
||
{XCP_PROGRAM_START_D2, "XCP_PROGRAM_START_D2"},
|
||
{XCP_ALLOC_ODT_ENTRY_D3, "XCP_ALLOC_ODT_ENTRY_D3"},
|
||
{XCP_ALLOC_ODT_D4, "XCP_ALLOC_ODT_D4"},
|
||
{XCP_ALLOC_DAQ_D5, "XCP_ALLOC_DAQ_D5"},
|
||
{XCP_FREE_DAQ_D6, "XCP_FREE_DAQ_D6"},
|
||
{XCP_GET_DAQ_EVENT_INFO_D7, "XCP_GET_DAQ_EVENT_INFO_D7"},
|
||
{XCP_GET_DAQ_LIST_INFO_D8, "XCP_GET_DAQ_LIST_INFO_D8"},
|
||
{XCP_GET_DAQ_RESOLUTION_INFO_D9, "XCP_GET_DAQ_RESOLUTION_INFO_D9"},
|
||
{XCP_GET_DAQ_PROCESSOR_INFO_DA, "XCP_GET_DAQ_PROCESSOR_INFO_DA"},
|
||
{XCP_READ_DAQ_DB, "XCP_READ_DAQ_DB"},
|
||
{NULL, ""},
|
||
{XCP_START_STOP_SYNCH_DD, "XCP_START_STOP_SYNCH_DD"},
|
||
{XCP_START_STOP_DAQ_LIST_DE, "XCP_START_STOP_DAQ_LIST_DE"},
|
||
{XCP_GET_DAQ_LIST_MODE_DF, "XCP_GET_DAQ_LIST_MODE_DF"},
|
||
{XCP_SET_DAQ_LIST_MODE_E0, "XCP_SET_DAQ_LIST_MODE_E0"},
|
||
{XCP_WRITE_DAQ_E1, "XCP_WRITE_DAQ_E1"},
|
||
{XCP_SET_DAQ_PTR_E2, "XCP_SET_DAQ_PTR_E2"},
|
||
{XCP_CLEAR_DAQ_LIST_E3, "XCP_CLEAR_DAQ_LIST_E3"},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{XCP_SET_CALIBRATION_PAGE_EB, "XCP_SET_CALIBRATION_PAGE_EB"},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{XCP_COMMAND_DOWNLOAD_MAX_EE, "XCP_COMMAND_DOWNLOAD_MAX_EE"},
|
||
{XCP_COMMAND_DOWNLOAD_NEXT_EF, "XCP_COMMAND_DOWNLOAD_NEXT_EF"},
|
||
{XCP_COMMAND_DOWNLOAD_F0, "XCP_COMMAND_DOWNLOAD_F0"},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{XCP_COMMAND_SHORT_UPLOAD_F4, "XCP_COMMAND_SHORT_UPLOAD_F4"},
|
||
{XCP_COMMAND_UPLOAD_F5, "XCP_COMMAND_UPLOAD_F5"},
|
||
{XCP_COMMAND_SET_MTA_F6, "XCP_COMMAND_SET_MTA_F6"},
|
||
{XCP_UNLOCK_F7, "XCP_UNLOCK_F7"},
|
||
{XCP_GET_SEED_F8, "XCP_GET_SEED_F8"},
|
||
{NULL, ""},
|
||
{NULL, ""},
|
||
{XCP_GET_COMM_MODE_INFO_FB, "XCP_GET_COMM_MODE_INFO_FB"},
|
||
{XCP_COMMAND_SYNCH_FC, "XCP_COMMAND_SYNCH_FC"},
|
||
{XCP_COMMAND_GET_STATUS_FD, "XCP_COMMAND_GET_STATUS_FD"},
|
||
{XCP_COMMAND_DISCONNECT_FE, "XCP_COMMAND_DISCONNECT_FE"},
|
||
{XCP_COMMAND_CONNECT_FF, "XCP_COMMAND_CONNECT_FF"}
|
||
};
|
||
|
||
uint8_t vCanSerialPortFrameXcpReceive(tCanSerialPortFrameXCP *env, uint32 timeout) {
|
||
uint8_t response_size = 0;
|
||
|
||
uint16_t recv = env->ioCanFrame->receive(env->ioCanFrame->env, PROTOCOL_CAN_XCP, (uint8_t *) &env->canFrame,
|
||
1,
|
||
timeout);
|
||
|
||
if (recv == 0)
|
||
return 0;
|
||
|
||
if (osMutexAcquire(env->access, 100) == osOK) {
|
||
|
||
eXcpTypeCommand com = env->canFrame.data[0];
|
||
|
||
if (com > 0xBF) { // CMD
|
||
|
||
#if (LOG_XCP == 1)
|
||
if ((com != 0xD0) && (com != 0xF5)) {
|
||
PrintfDebug(env->canFrame.data, env->canFrame.dlc);
|
||
LoggerFormatInfo(LOGGER, LOG_SIGN, "> %s [%d] %s", xcp_com[com].desc, env->canFrame.dlc, strPrintfDebug)
|
||
}
|
||
#endif
|
||
if (xcp_com[com].func != NULL) {
|
||
|
||
response_size = xcp_com[com].func(env);
|
||
|
||
if (response_size) {
|
||
|
||
#if (LOG_XCP == 1)
|
||
if ((com != 0xD0) && (com != 0xF5)) {
|
||
PrintfDebug(env->response, response_size);
|
||
LoggerFormatInfo(LOGGER, LOG_SIGN, "< [%d] %s", response_size, strPrintfDebug)
|
||
}
|
||
#endif
|
||
|
||
env->ioCanFrame->transmit(env->ioCanFrame->env, env->response, response_size,
|
||
PROTOCOL_CAN_ADR_XCP,
|
||
PROTOCOL_CAN_TYPE_XCP, timeout);
|
||
}
|
||
|
||
} else {
|
||
asm("nop");
|
||
}
|
||
|
||
} else { // ODT
|
||
XCP_GET_DAQ_STM(env);
|
||
}
|
||
|
||
osMutexRelease(env->access);
|
||
}
|
||
|
||
return response_size;
|
||
}
|
||
|
||
_Noreturn void CanXcpProcessing_Service_Dto_Stim_Task(tCanSerialPortFrameXCP *env) {
|
||
uint8_t size;
|
||
|
||
while (1) {
|
||
|
||
if (osMutexAcquire(env->access, 1000) == osOK) {
|
||
|
||
for (uint16 i = 0; i < env->SETUP.DAQ_COUNT; ++i) {
|
||
|
||
if ((env->DAQ[i].DIRECTION == 1) &&
|
||
(env->DAQ[i].EVENT_CHANNEL == 0) &&
|
||
(env->DAQ[i].RUNNING)) { // STIM - DTO
|
||
|
||
if (env->DAQ[i].PRESCALER_COUNTER == 0) {
|
||
|
||
env->DAQ[i].PRESCALER_COUNTER = env->DAQ[i].TRANSMISSION_RATE_PRESCALER;
|
||
|
||
if (env->DAQ[i].IS_STIM_RECEIVED) {
|
||
|
||
for (uint8_t j = 0; j < env->DAQ[i].ODT_COUNT; ++j) {
|
||
|
||
size = 0;
|
||
|
||
for (uint8_t k = 0; k < MAX_ODT_ENTRIES_SIZE_DAQ; ++k) {
|
||
|
||
uint8_t ODT_ENTRIES_SIZE = env->DAQ[i].ODT_NUMBER[j].ODT_ENTRIES_SIZE[k];
|
||
|
||
if (ODT_ENTRIES_SIZE) {
|
||
|
||
memcpy(&env->DATA[size],
|
||
env->DAQ[i].ODT_NUMBER[j].DATA_STM[k].DATA,
|
||
ODT_ENTRIES_SIZE);
|
||
|
||
size += ODT_ENTRIES_SIZE;
|
||
|
||
}
|
||
|
||
}
|
||
|
||
uint8_t size_stim = 0;
|
||
|
||
for (uint8_t k = 0; k < MAX_ODT_ENTRIES_SIZE_DAQ; ++k) {
|
||
|
||
|
||
uint8_t ODT_ENTRIES_SIZE = env->DAQ[i].ODT_NUMBER[j].ODT_ENTRIES_SIZE[k];
|
||
|
||
if (ODT_ENTRIES_SIZE) {
|
||
|
||
if ((size_stim + ODT_ENTRIES_SIZE) <= size) {
|
||
memcpy((uint8_t *) env->DAQ[i].ODT_NUMBER[j].ODT_ENTRIES_ADR[k],
|
||
&env->DAQ[i].ODT_NUMBER[j].DATA_STM[k].DATA[size_stim],
|
||
ODT_ENTRIES_SIZE);
|
||
|
||
size_stim += ODT_ENTRIES_SIZE;
|
||
} else {
|
||
asm("nop");
|
||
}
|
||
|
||
}
|
||
|
||
|
||
}
|
||
|
||
|
||
}
|
||
|
||
env->DAQ[i].IS_STIM_RECEIVED = 0;
|
||
|
||
} else {
|
||
asm("nop");
|
||
}
|
||
|
||
|
||
} else {
|
||
--env->DAQ[i].PRESCALER_COUNTER;
|
||
}
|
||
|
||
|
||
}
|
||
|
||
|
||
}
|
||
|
||
osMutexRelease(env->access);
|
||
}
|
||
|
||
SystemDelayMs(10);
|
||
}
|
||
|
||
|
||
}
|
||
|
||
|
||
void Dto_Daq(tCanSerialPortFrameXCP *env, uint16_t channel, uint32_t timeout) {
|
||
|
||
uint8_t size;
|
||
|
||
if (osMutexAcquire(env->access, 1000) == osOK) {
|
||
|
||
for (uint16 i = 0; i < env->SETUP.DAQ_COUNT; ++i) {
|
||
|
||
if ((env->DAQ[i].DIRECTION == 0) &&
|
||
(env->DAQ[i].EVENT_CHANNEL == channel) &&
|
||
(env->DAQ[i].RUNNING)) { // DAQ - DTO
|
||
|
||
if (env->DAQ[i].PRESCALER_COUNTER == 0) {
|
||
|
||
env->DAQ[i].PRESCALER_COUNTER = env->DAQ[i].TRANSMISSION_RATE_PRESCALER;
|
||
|
||
for (uint8_t j = 0; j < env->DAQ[i].ODT_COUNT; ++j) {
|
||
|
||
env->response[0] = j; // ODT
|
||
env->response[1] = i; // DAQ
|
||
size = 0;
|
||
|
||
for (uint8_t k = 0; k < MAX_ODT_ENTRIES_SIZE_DAQ; ++k) {
|
||
|
||
uint8_t ODT_ENTRIES_SIZE = env->DAQ[i].ODT_NUMBER[j].ODT_ENTRIES_SIZE[k];
|
||
|
||
if (ODT_ENTRIES_SIZE) {
|
||
|
||
memcpy(&env->DATA[size],
|
||
(uint8_t *) env->DAQ[i].ODT_NUMBER[j].ODT_ENTRIES_ADR[k],
|
||
ODT_ENTRIES_SIZE);
|
||
|
||
size += ODT_ENTRIES_SIZE;
|
||
|
||
}
|
||
|
||
}
|
||
|
||
uint8_t count_size = size / BODY_MAX_LEN;
|
||
uint8_t count_size_tail = size % BODY_MAX_LEN;
|
||
|
||
size = 0;
|
||
|
||
for (uint8_t k = 0; k < count_size; ++k) {
|
||
memcpy(&env->response[2], &env->DATA[size], BODY_MAX_LEN);
|
||
env->ioCanFrame->transmit(env->ioCanFrame->env, env->response, MAX_DTO,
|
||
PROTOCOL_CAN_ADR_XCP, PROTOCOL_CAN_TYPE_XCP,
|
||
1000);
|
||
size += BODY_MAX_LEN;
|
||
}
|
||
|
||
if (count_size_tail) {
|
||
memcpy(&env->response[2], &env->DATA[size], count_size_tail);
|
||
env->ioCanFrame->transmit(env->ioCanFrame->env, env->response,
|
||
count_size_tail + 2,
|
||
PROTOCOL_CAN_ADR_XCP, PROTOCOL_CAN_TYPE_XCP,
|
||
1000);
|
||
}
|
||
|
||
|
||
}
|
||
|
||
|
||
} else {
|
||
--env->DAQ[i].PRESCALER_COUNTER;
|
||
}
|
||
|
||
|
||
}
|
||
|
||
|
||
}
|
||
|
||
osMutexRelease(env->access);
|
||
}
|
||
|
||
SystemDelayMs(timeout);
|
||
}
|
||
|
||
|
||
_Noreturn void CanXcpProcessing_Service_Dto_Daq_10_Task(tCanSerialPortFrameXCP *env) {
|
||
while (1) {
|
||
Dto_Daq(env, 1, 10);
|
||
}
|
||
}
|
||
|
||
_Noreturn void CanXcpProcessing_Service_Dto_Daq_100_Task(tCanSerialPortFrameXCP *env) {
|
||
while (1) {
|
||
Dto_Daq(env, 2, 100);
|
||
}
|
||
}
|
||
|
||
_Noreturn void CanXcpProcessing_Service_Dto_Daq_1000_Task(tCanSerialPortFrameXCP *env) {
|
||
while (1) {
|
||
Dto_Daq(env, 3, 1000);
|
||
}
|
||
}
|
||
|
||
void CanXcpProcessing_Service_Start(tCanSerialPortFrameXCP *env) {
|
||
InitThreadBlock(env->T_can_Listener_Dto_Stim_XCP, "DtoStim_XCP", osPriorityNormal);
|
||
ThreadBlock_Start(env->T_can_Listener_Dto_Stim_XCP, env, CanXcpProcessing_Service_Dto_Stim_Task);
|
||
|
||
InitThreadBlock(env->T_can_Listener_Dto_Daq_10_XCP, "DtoDaq_10_XCP", osPriorityNormal);
|
||
ThreadBlock_Start(env->T_can_Listener_Dto_Daq_10_XCP, env, CanXcpProcessing_Service_Dto_Daq_10_Task);
|
||
|
||
InitThreadBlock(env->T_can_Listener_Dto_Daq_100_XCP, "DtoDaq_100_XCP", osPriorityNormal);
|
||
ThreadBlock_Start(env->T_can_Listener_Dto_Daq_100_XCP, env, CanXcpProcessing_Service_Dto_Daq_100_Task);
|
||
|
||
InitThreadBlock(env->T_can_Listener_Dto_Daq_1000_XCP, "DtoDaq_1000_XCP", osPriorityNormal);
|
||
ThreadBlock_Start(env->T_can_Listener_Dto_Daq_1000_XCP, env, CanXcpProcessing_Service_Dto_Daq_1000_Task);
|
||
|
||
}
|
||
|
||
_Noreturn void CanXcpProcessing_ListenerTask(tCanSerialPortFrameXCP *env) {
|
||
while (1) {
|
||
vCanSerialPortFrameXcpReceive(env, 1000);
|
||
}
|
||
}
|
||
|
||
void CanXcpProcessing_Listener_Start(tCanSerialPortFrameXCP *env) {
|
||
ThreadBlock_Start(env->T_can_Listener_XCP, env, CanXcpProcessing_ListenerTask);
|
||
CanXcpProcessing_Service_Start(env);
|
||
}
|