HVAC_M7
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HVAC_M7_CAN_UDS
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Обновление

This commit is contained in:
cfif 2026-01-23 14:33:17 +03:00
parent 13d0f023c6
commit 00e0875547
2 changed files with 141 additions and 47 deletions
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148
CanUds.c
View File

@ -7,7 +7,7 @@
#include "memory.h"
#include "TesterPresent_3e.h"
#include "DiagnosticSessionControl_10.h"
#include "StatusError.h"
#define LOG_SIGN "CAN_UDS"
#define LOGGER env->logger
@ -22,7 +22,9 @@ bool ReceivedCan_func(void *arg, can_rx_message_type *canFrame) {
void ReceivedTP_func(void *arg, tCanTP_data *data) {
tCanUds *env = arg;
if (data->data[0] == UDS_TesterPresent) {
tUdsServiceCommand *com = (tUdsServiceCommand *) data;
if (com->service == UDS_TesterPresent) {
tTesterPresent testerPresent;
testerPresent.ServiceId = data->data[0] | 0b1000000;
@ -42,7 +44,7 @@ void ReceivedTP_func(void *arg, tCanTP_data *data) {
}
uint8_t setResponseError(tCanUds *env, eUdsServices service, eUdsResponseError error) {
uint16_t setResponseError(tCanUds *env, eUdsServices service, eUdsResponseError error) {
env->dataResponse[0] = 0x7F;
env->dataResponse[1] = service;
env->dataResponse[2] = error;
@ -53,21 +55,23 @@ uint8_t setResponseError(tCanUds *env, eUdsServices service, eUdsResponseError e
// начало ----------------------------- Сессия -------------------------------------------------------------
// начало ----------------------------- Сессия -------------------------------------------------------------
// начало ----------------------------- Сессия -------------------------------------------------------------
static uint8_t DiagnosticSessionControl_10(tCanUds *env) {
if ((env->data.len != 2) ||
(env->data.data[1] != UDS_session_defaultSession) ||
(env->data.data[1] != UDS_session_programmingSession) ||
(env->data.data[1] != UDS_session_extendedDiagnosticSession)) {
static uint16_t DiagnosticSessionControl_10(tCanUds *env) {
tUdsServiceCommand *com = (tUdsServiceCommand *) env->data.data;
if (com->service != 2) {
return setResponseError(env, UDS_DiagnosticSessionControl, UDS_error_incorrectMessageLengthOrInvalidFormat);
}
if ((com->sub_function != UDS_session_defaultSession) &&
(com->sub_function != UDS_session_programmingSession) &&
(com->sub_function != UDS_session_extendedDiagnosticSession)) {
return setResponseError(env, UDS_DiagnosticSessionControl, UDS_error_sub_functionNotSupported);
}
tDiagnosticSessionsType *diagnosticSessionsType = (tDiagnosticSessionsType *) env->dataResponse;
diagnosticSessionsType->ServiceId = UDS_DiagnosticSessionControl | 0b1000000;
diagnosticSessionsType->diagnosticSessionType = env->data.data[1];
// Нормальный таймаут. Важно: Клиент может отправлять TesterPresent для поддержания сессии до истечения этого таймаута
diagnosticSessionsType->sessionParameterRecord[0] = 0;
diagnosticSessionsType->sessionParameterRecord[1] = 0x32;
@ -76,7 +80,7 @@ static uint8_t DiagnosticSessionControl_10(tCanUds *env) {
diagnosticSessionsType->sessionParameterRecord[2] = 0x01;
diagnosticSessionsType->sessionParameterRecord[3] = 0xF4;
return sizeof(tDiagnosticSessionsType);
return 4;
}
// конец ----------------------------- Сессия --------------------------------------------------------------
// конец ----------------------------- Сессия --------------------------------------------------------------
@ -86,7 +90,7 @@ static uint8_t DiagnosticSessionControl_10(tCanUds *env) {
// начало --------------------------- Чтение ---------------------------------------------------------
// начало --------------------------- Чтение ---------------------------------------------------------
// начало --------------------------- Чтение ---------------------------------------------------------
static uint8_t ReadDataByIdentifier_22(tCanUds *env) {
static uint16_t ReadDataByIdentifier_22(tCanUds *env) {
if (env->data.len != 3) {
return setResponseError(env, UDS_ReadDataByIdentifier, UDS_error_incorrectMessageLengthOrInvalidFormat);
@ -99,7 +103,7 @@ static uint8_t ReadDataByIdentifier_22(tCanUds *env) {
if (dataIdentifier_hi == 0xCF) {
if (uds_ReadDataByIdentifier_22_com_CF[dataIdentifier_lo].data != NULL) {
uint8_t response_size = uds_ReadDataByIdentifier_22_com_CF[dataIdentifier_lo].size;
uint16_t response_size = uds_ReadDataByIdentifier_22_com_CF[dataIdentifier_lo].size;
env->dataResponse[0] = UDS_ReadDataByIdentifier | 0b1000000;
env->dataResponse[1] = dataIdentifier_hi;
@ -114,7 +118,7 @@ static uint8_t ReadDataByIdentifier_22(tCanUds *env) {
if (dataIdentifier_hi == 0xF1) {
if (uds_ReadDataByIdentifier_22_com_F1[dataIdentifier_lo].data != NULL) {
uint8_t response_size = uds_ReadDataByIdentifier_22_com_F1[dataIdentifier_lo].size;
uint16_t response_size = uds_ReadDataByIdentifier_22_com_F1[dataIdentifier_lo].size;
env->dataResponse[0] = UDS_ReadDataByIdentifier | 0b1000000;
env->dataResponse[1] = dataIdentifier_hi;
@ -136,7 +140,7 @@ static uint8_t ReadDataByIdentifier_22(tCanUds *env) {
// начало --------------------------- Запись ---------------------------------------------------------
// начало --------------------------- Запись ---------------------------------------------------------
static uint8_t WriteDataByIdentifier_2E(tCanUds *env) {
static uint16_t WriteDataByIdentifier_2E(tCanUds *env) {
}
@ -150,17 +154,18 @@ static uint8_t WriteDataByIdentifier_2E(tCanUds *env) {
// начало --------------------------- Управление ---------------------------------------------------------
// начало --------------------------- Управление ---------------------------------------------------------
static uint8_t InputOutputControlByIdentifier_2F(tCanUds *env) {
if ((env->data.len < 4) ||
(env->data.data[3] != UDS_io_returnControlToECU) ||
(env->data.data[3] != UDS_io_resetToDefault) ||
(env->data.data[3] != UDS_io_shortTermAdjustment)) {
static uint16_t InputOutputControlByIdentifier_2F(tCanUds *env) {
if (env->data.len < 5) {
return setResponseError(env, UDS_InputOutputControlByIdentifier,
UDS_error_incorrectMessageLengthOrInvalidFormat);
}
if ((env->data.data[3] != UDS_io_returnControlToECU) &&
(env->data.data[3] != UDS_io_shortTermAdjustment)) {
return setResponseError(env, UDS_InputOutputControlByIdentifier, UDS_error_conditionsNotCorrect);
}
uint8_t dataIdentifier_hi = env->data.data[1];
uint8_t dataIdentifier_lo = env->data.data[2];
@ -175,22 +180,23 @@ static uint8_t InputOutputControlByIdentifier_2F(tCanUds *env) {
// начало --------------------------- Перезагрузка ---------------------------------------------------------
// начало --------------------------- Перезагрузка ---------------------------------------------------------
static uint8_t ECUReset_11(tCanUds *env) {
static uint16_t ECUReset_11(tCanUds *env) {
tUdsServiceCommand *com = (tUdsServiceCommand *) env->data.data;
if (env->data.len != 2) {
return setResponseError(env, UDS_ECUResetService,
UDS_error_incorrectMessageLengthOrInvalidFormat);
}
if ((env->data.data[1] == 1) || (env->data.data[1] == 3)) {
env->dataResponse[0] = UDS_ECUResetService | 0b1000000;;
env->dataResponse[1] = env->data.data[1];
return 2;
if ((com->sub_function != UDS_reset_hardReset) &&
(com->sub_function != UDS_reset_softReset)) {
return setResponseError(env, UDS_ECUResetService, UDS_error_sub_functionNotSupported);
}
return setResponseError(env, UDS_ECUResetService, UDS_error_sub_functionNotSupported);
env->dataResponse[0] = UDS_ECUResetService | 0b1000000;;
env->dataResponse[1] = env->data.data[1];
return 2;
}
// конец --------------------------- Перезагрузка ---------------------------------------------------------
// конец --------------------------- Перезагрузка ---------------------------------------------------------
@ -201,15 +207,18 @@ static uint8_t ECUReset_11(tCanUds *env) {
// начало --------------------------- Очистка ошибок ---------------------------------------------------------
// начало --------------------------- Очистка ошибок ---------------------------------------------------------
static uint8_t UDS_ClearDiagnosticInformation_14(tCanUds *env) {
static uint16_t UDS_ClearDiagnosticInformation_14(tCanUds *env) {
if (env->data.len != 4) {
return setResponseError(env, UDS_ClearDiagnosticInformation,
UDS_error_incorrectMessageLengthOrInvalidFormat);
}
setDiagnosticData(env->Diagnostic, DIAGNOSTIC_SET_UDS_ClearDiagnosticInformation_14);
return setResponseError(env, UDS_ClearDiagnosticInformation, UDS_error_requestOutOfRange);
env->dataResponse[0] = UDS_ClearDiagnosticInformation | 0b1000000;
return 1;
}
// конец --------------------------- Очистка ошибок ---------------------------------------------------------
// конец --------------------------- Очистка ошибок ---------------------------------------------------------
@ -219,15 +228,80 @@ static uint8_t UDS_ClearDiagnosticInformation_14(tCanUds *env) {
// начало --------------------------- Чтение ошибок ---------------------------------------------------------
// начало --------------------------- Чтение ошибок ---------------------------------------------------------
static uint8_t UDS_ReadDTCInformation_19(tCanUds *env) {
void SetUdsDTC_error(tCanUds *env, uint8_t mask, uint16_t *sizeResponse) {
if (env->data.len != 3) {
return setResponseError(env, UDS_ReadDTCInformation,
UDS_error_incorrectMessageLengthOrInvalidFormat);
for (uint8_t i = 0; i < COUNT_DTC_CODE_ERROR; ++i) {
if (dtc_state_error[i] & mask) {
env->dataResponse[*sizeResponse] = dtc_codes[i].DTCHighByte;
env->dataResponse[*sizeResponse + 1] = dtc_codes[i].DTCMiddleByte;
env->dataResponse[*sizeResponse + 2] = dtc_codes[i].DTCLowByte;
env->dataResponse[*sizeResponse + 3] = dtc_state_error[i] & mask;
*sizeResponse += 4;
}
}
}
uint8_t GetCountUdsDTC_error(uint8_t mask) {
uint8_t count = 0;
for (uint8_t i = 0; i < COUNT_DTC_CODE_ERROR; ++i) {
if (dtc_state_error[i] & mask) {
++count;
}
}
return count;
}
return setResponseError(env, UDS_ReadDTCInformation, UDS_error_sub_functionNotSupported);
static uint16_t UDS_ReadDTCInformation_19(tCanUds *env) {
tUdsServiceCommand *com = (tUdsServiceCommand *) env->data.data;
if (env->data.len != 3) {
return setResponseError(env, UDS_ReadDTCInformation, UDS_error_incorrectMessageLengthOrInvalidFormat);
}
if ((com->sub_function != UDS_dtc_reportNumberOfDTCByStatusMask) &&
(com->sub_function != UDS_dtc_reportDTCByStatusMask)) {
return setResponseError(env, UDS_ReadDTCInformation, UDS_error_sub_functionNotSupported);
}
uint16_t response_size = 0;
env->dataResponse[0] = UDS_ReadDTCInformation | 0b1000000;
if (com->sub_function == UDS_dtc_reportNumberOfDTCByStatusMask) {
env->dataResponse[1] = env->data.data[1];
// доступные биты статусов
env->dataResponse[2] = 0xFF;
// формат кодирования DTC
env->dataResponse[3] = 1;
// старший байт количества DTC
env->dataResponse[4] = 0;
// младший байт количества DTC
env->dataResponse[5] = GetCountUdsDTC_error(env->data.data[2]);
response_size = 6;
}
if (com->sub_function == UDS_dtc_reportDTCByStatusMask) {
env->dataResponse[1] = env->data.data[1];
// доступные биты статусов
env->dataResponse[2] = 0xFF;
response_size = 3;
SetUdsDTC_error(env, env->data.data[2], &response_size);
}
return response_size;
}
// конец --------------------------- Чтение ошибок ---------------------------------------------------------
// конец --------------------------- Чтение ошибок ---------------------------------------------------------
@ -533,6 +607,7 @@ void CanSerialPortCanUds_Start(tCanUds *env) {
void CanUds_Init(
tCanUds *env,
tDiagnostic *Diagnostic,
tSerialPortFrameIO *CanIO,
tDeviceStorage *deviceStorage,
tLoggerInterface *logger) {
@ -540,6 +615,7 @@ void CanUds_Init(
env->logger = logger;
env->CanIO = CanIO;
env->deviceStorage = deviceStorage;
env->Diagnostic = Diagnostic;
env->filterIdCount = 0;
env->queue = osMessageQueueNew(CAN_US_QUEUE_SIZE, sizeof(tCanTP_data), NULL);

40
CanUds.h
View File

@ -7,6 +7,7 @@
#include "CanSerialPortFrameTP.h"
#include "DeviceStorage.h"
#include "DiagnosticTask.h"
#define CAN_US_QUEUE_SIZE 3
@ -37,38 +38,54 @@ typedef enum {
typedef enum {
UDS_error_incorrectMessageLengthOrInvalidFormat = 0x13,
UDS_error_responseTooLong= 0x14,
UDS_error_requestOutOfRange= 0x31,
UDS_error_securityAccessDenied= 0x33,
UDS_error_sub_functionNotSupported = 0x12
UDS_error_responseTooLong = 0x14,
UDS_error_requestOutOfRange = 0x31,
UDS_error_securityAccessDenied = 0x33,
UDS_error_sub_functionNotSupported = 0x12,
UDS_error_conditionsNotCorrect = 0x22
} eUdsResponseError;
typedef enum {
UDS_session_defaultSession = 0x1,
UDS_session_programmingSession= 0x2,
UDS_session_extendedDiagnosticSession= 0x3
UDS_session_programmingSession = 0x2,
UDS_session_extendedDiagnosticSession = 0x3
} eUdsSession;
typedef enum {
UDS_io_returnControlToECU = 0x0,
UDS_io_resetToDefault= 0x1,
UDS_io_shortTermAdjustment= 0x3
UDS_io_shortTermAdjustment = 0x3
} eUdsIO;
typedef enum {
UDS_dtc_reportNumberOfDTCByStatusMask = 0x1,
UDS_dtc_reportDTCByStatusMask = 0x2
} eUdsDtc;
typedef enum {
UDS_reset_hardReset = 0x1,
UDS_reset_softReset = 0x3
} eUdsReset;
typedef struct {
eUdsServices service;
uint8_t sub_function;
uint8_t *data;
} tUdsServiceCommand;
typedef struct {
tCanSerialPortFrameTp canSerialPortFrameTp;
tLoggerInterface *logger;
tSerialPortFrameIO *CanIO;
tDeviceStorage *deviceStorage;
tDiagnostic *Diagnostic;
tCanTP_Ext_data canTP_Ext_data;
osMessageQueueId_t queue;
tCanTP_data data;
uint8_t dataResponse[256];
uint8_t dataResponse[1024];
uint8_t filterIdCount;
uint32_t filterReqId[16];
@ -78,7 +95,7 @@ typedef struct {
tStaticThreadBlock(512) T_can_Uds;
} tCanUds;
typedef uint8_t (*uds_func_ptr)(tCanUds *env);
typedef uint16_t (*uds_func_ptr)(tCanUds *env);
typedef struct {
uds_func_ptr func;
@ -87,6 +104,7 @@ typedef struct {
void CanUds_Init(
tCanUds *env,
tDiagnostic *Diagnostic,
tSerialPortFrameIO *CanIO,
tDeviceStorage *deviceStorage,
tLoggerInterface *logger);