HVAC_M7
/
HVAC_M7_CAN_UDS
2
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Обновление

This commit is contained in:
cfif 2026-02-25 13:04:19 +03:00
parent 4699b95f7b
commit 70ee887cab
2 changed files with 104 additions and 20 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

106
CanUds.c
View File

@ -117,7 +117,9 @@ void ReceivedTP_func(void *arg, tCanTP_data *data) {
// LoggerFormatInfo(LOGGER, LOG_SIGN, "Add queue (UDS): %d", data[0]) // LoggerFormatInfo(LOGGER, LOG_SIGN, "Add queue (UDS): %d", data[0])
if (status != osOK) { if (status != osOK) {
#if (LOG_UDS == 1)
LoggerInfoStatic(LOGGER, LOG_SIGN, "Error addCommandQueue") LoggerInfoStatic(LOGGER, LOG_SIGN, "Error addCommandQueue")
#endif
} }
} }
@ -153,6 +155,8 @@ static uint16_t TesterPresent_3E(tCanUds *env) {
testerPresent->ServiceId = UDS_TesterPresent | 0b1000000; testerPresent->ServiceId = UDS_TesterPresent | 0b1000000;
testerPresent->zeroSubFunction = 0; testerPresent->zeroSubFunction = 0;
env->currentSessionTesterPresentTimeout = SystemGetMs() + timeout_session_S3_Server;
return 2; return 2;
} }
// конец --------------------------- ПИНГ --------------------------------------------------------- // конец --------------------------- ПИНГ ---------------------------------------------------------
@ -176,8 +180,11 @@ static uint16_t DiagnosticSessionControl_10(tCanUds *env) {
} }
if (env->currentSession != com->sub_function) { if (env->currentSession != com->sub_function) {
env->currentSession = com->sub_function; env->currentSession = com->sub_function;
setDefaultSecurityAccess(env); setDefaultSecurityAccess(env);
statusData.Status_Active_Diagnostic_Session.Active_Diagnostic_Session = env->currentSession;
} }
tDiagnosticSessionsType *diagnosticSessionsType = (tDiagnosticSessionsType *) env->dataResponse; tDiagnosticSessionsType *diagnosticSessionsType = (tDiagnosticSessionsType *) env->dataResponse;
@ -507,6 +514,11 @@ static uint16_t CommunicationControl_28(tCanUds *env) {
return setResponseError(env, UDS_Communication_Control, UDS_error_sub_functionNotSupported); return setResponseError(env, UDS_Communication_Control, UDS_error_sub_functionNotSupported);
} }
if (com->sub_function == UDS_sub_enableRxAndTx) {
set_CCU_Mute(env->canSpamTransmitter, false);
} else {
set_CCU_Mute(env->canSpamTransmitter, true);
}
env->dataResponse[0] = UDS_Communication_Control | 0b1000000; env->dataResponse[0] = UDS_Communication_Control | 0b1000000;
env->dataResponse[1] = env->data.data[1] & 0b01111111; // sub-function env->dataResponse[1] = env->data.data[1] & 0b01111111; // sub-function
@ -517,30 +529,66 @@ static uint16_t CommunicationControl_28(tCanUds *env) {
// конец --------------------------- Молчание ------------------------------------------------------------- // конец --------------------------- Молчание -------------------------------------------------------------
// конец --------------------------- Молчание ------------------------------------------------------------- // конец --------------------------- Молчание -------------------------------------------------------------
// начало --------------------------- Запрет изменения DTC -------------------------------------------------------------
// начало --------------------------- Запрет изменения DTC -------------------------------------------------------------
// начало --------------------------- Запрет изменения DTC -------------------------------------------------------------
static uint16_t ControlDTCSetting_85(tCanUds *env) {
tUdsServiceCommand *com = (tUdsServiceCommand *) env->data.data;
if (env->data.len < 2) {
return setResponseError(env, UDS_ControlDTCSetting,
UDS_error_incorrectMessageLengthOrInvalidFormat);
}
if ((com->sub_function != UDS_sub_dtc_on) &&
(com->sub_function != UDS_sub_dtc_off)) {
return setResponseError(env, UDS_ControlDTCSetting, UDS_error_sub_functionNotSupported);
}
if (com->sub_function == UDS_sub_dtc_on) {
setNoBitsDTC(env->Diagnostic, false);
} else {
setNoBitsDTC(env->Diagnostic, true);
}
env->dataResponse[0] = UDS_ControlDTCSetting | 0b1000000;
env->dataResponse[1] = env->data.data[1] & 0b01111111; // sub-function
return 2;
}
// конец --------------------------- Запрет изменения DTC -------------------------------------------------------------
// конец --------------------------- Запрет изменения DTC -------------------------------------------------------------
// конец --------------------------- Запрет изменения DTC -------------------------------------------------------------
// начало --------------------------- Функции ------------------------------------------------------------- // начало --------------------------- Функции -------------------------------------------------------------
// начало --------------------------- Функции ------------------------------------------------------------- // начало --------------------------- Функции -------------------------------------------------------------
// начало --------------------------- Функции ------------------------------------------------------------- // начало --------------------------- Функции -------------------------------------------------------------
static uint16_t vUDS_check_Programming_Preconditions(tCanUds *env, eUdsRoutineControlType udsRoutineControlType) { static uint16_t vUDS_check_Programming_Preconditions(tCanUds *env, eUdsRoutineControlType udsRoutineControlType) {
eUdsRoutineStartStopRoutineResult udsStartStopRoutineResult = UDS_routine_RoutineStartStopSuccess; eUdsRoutineStartStopRoutineResult udsStartStopRoutineResult = UDS_routine_RoutineStartStopSuccess;
eUdsRequestRoutineResult udsRequestRoutineResult = UDS_routine_RoutineStop; eUdsRequestRoutineResult udsRequestRoutineResult = UDS_routine_RoutineFinishSuccess;
if ((udsRoutineControlType == UDS_routine_StartRoutine) || (udsRoutineControlType == UDS_routine_StopRoutine)) { if ((udsRoutineControlType == UDS_routine_StartRoutine) || (udsRoutineControlType == UDS_routine_StopRoutine)) {
env->dataResponse[4] = udsStartStopRoutineResult; env->dataResponse[4] = udsStartStopRoutineResult;
} }
if (udsRoutineControlType == UDS_routine_RequestRoutineResults) { if (udsRoutineControlType == UDS_routine_RequestRoutineResults) {
env->dataResponse[4] = udsRequestRoutineResult; env->dataResponse[4] = udsRequestRoutineResult;
} }
return 4 + 1; return 4 + 1;
} }
static uint16_t vUDS_routine_VIN_learn(tCanUds *env, eUdsRoutineControlType udsRoutineControlType) { static uint16_t vUDS_routine_VIN_learn(tCanUds *env, eUdsRoutineControlType udsRoutineControlType) {
eUdsRoutineStartStopRoutineResult udsStartStopRoutineResult = UDS_routine_RoutineStartStopSuccess; eUdsRoutineStartStopRoutineResult udsStartStopRoutineResult = UDS_routine_RoutineStartStopSuccess;
eUdsRequestRoutineResult udsRequestRoutineResult = UDS_routine_RoutineStop; eUdsRequestRoutineResult udsRequestRoutineResult = UDS_routine_RoutineFinishSuccess;
if ((udsRoutineControlType == UDS_routine_StartRoutine) || (udsRoutineControlType == UDS_routine_StopRoutine)) { if ((udsRoutineControlType == UDS_routine_StartRoutine) || (udsRoutineControlType == UDS_routine_StopRoutine)) {
env->dataResponse[4] = udsStartStopRoutineResult; env->dataResponse[4] = udsStartStopRoutineResult;
@ -557,7 +605,7 @@ static uint16_t vUDS_routine_VIN_learn(tCanUds *env, eUdsRoutineControlType udsR
static uint16_t vUDS_routine_Compare_Checksum(tCanUds *env, eUdsRoutineControlType udsRoutineControlType) { static uint16_t vUDS_routine_Compare_Checksum(tCanUds *env, eUdsRoutineControlType udsRoutineControlType) {
eUdsRoutineStartStopRoutineResult udsStartStopRoutineResult = UDS_routine_RoutineStartStopSuccess; eUdsRoutineStartStopRoutineResult udsStartStopRoutineResult = UDS_routine_RoutineStartStopSuccess;
eUdsRequestRoutineResult udsRequestRoutineResult = UDS_routine_RoutineStop; eUdsRequestRoutineResult udsRequestRoutineResult = UDS_routine_RoutineFinishSuccess;
if ((udsRoutineControlType == UDS_routine_StartRoutine) || (udsRoutineControlType == UDS_routine_StopRoutine)) { if ((udsRoutineControlType == UDS_routine_StartRoutine) || (udsRoutineControlType == UDS_routine_StopRoutine)) {
env->dataResponse[4] = udsStartStopRoutineResult; env->dataResponse[4] = udsStartStopRoutineResult;
@ -573,7 +621,7 @@ static uint16_t vUDS_routine_Compare_Checksum(tCanUds *env, eUdsRoutineControlTy
static uint16_t vUDS_routine_Erase_Memory(tCanUds *env, eUdsRoutineControlType udsRoutineControlType) { static uint16_t vUDS_routine_Erase_Memory(tCanUds *env, eUdsRoutineControlType udsRoutineControlType) {
eUdsRoutineStartStopRoutineResult udsStartStopRoutineResult = UDS_routine_RoutineStartStopSuccess; eUdsRoutineStartStopRoutineResult udsStartStopRoutineResult = UDS_routine_RoutineStartStopSuccess;
eUdsRequestRoutineResult udsRequestRoutineResult = UDS_routine_RoutineStop; eUdsRequestRoutineResult udsRequestRoutineResult = UDS_routine_RoutineFinishSuccess;
if ((udsRoutineControlType == UDS_routine_StartRoutine) || (udsRoutineControlType == UDS_routine_StopRoutine)) { if ((udsRoutineControlType == UDS_routine_StartRoutine) || (udsRoutineControlType == UDS_routine_StopRoutine)) {
env->dataResponse[4] = udsStartStopRoutineResult; env->dataResponse[4] = udsStartStopRoutineResult;
@ -590,7 +638,7 @@ static uint16_t
vUDS_routine_Check_Programming_Dependancies(tCanUds *env, eUdsRoutineControlType udsRoutineControlType) { vUDS_routine_Check_Programming_Dependancies(tCanUds *env, eUdsRoutineControlType udsRoutineControlType) {
eUdsRoutineStartStopRoutineResult udsStartStopRoutineResult = UDS_routine_RoutineStartStopSuccess; eUdsRoutineStartStopRoutineResult udsStartStopRoutineResult = UDS_routine_RoutineStartStopSuccess;
eUdsRequestRoutineResult udsRequestRoutineResult = UDS_routine_RoutineStop; eUdsRequestRoutineResult udsRequestRoutineResult = UDS_routine_RoutineFinishSuccess;
if ((udsRoutineControlType == UDS_routine_StartRoutine) || (udsRoutineControlType == UDS_routine_StopRoutine)) { if ((udsRoutineControlType == UDS_routine_StartRoutine) || (udsRoutineControlType == UDS_routine_StopRoutine)) {
env->dataResponse[4] = udsStartStopRoutineResult; env->dataResponse[4] = udsStartStopRoutineResult;
@ -606,7 +654,7 @@ vUDS_routine_Check_Programming_Dependancies(tCanUds *env, eUdsRoutineControlType
static uint16_t vUDS_routine_eComp_Initialize(tCanUds *env, eUdsRoutineControlType udsRoutineControlType) { static uint16_t vUDS_routine_eComp_Initialize(tCanUds *env, eUdsRoutineControlType udsRoutineControlType) {
eUdsRoutineStartStopRoutineResult udsStartStopRoutineResult = UDS_routine_RoutineStartStopSuccess; eUdsRoutineStartStopRoutineResult udsStartStopRoutineResult = UDS_routine_RoutineStartStopSuccess;
eUdsRequestRoutineResult udsRequestRoutineResult = UDS_routine_RoutineStop; eUdsRequestRoutineResult udsRequestRoutineResult = UDS_routine_RoutineFinishSuccess;
if ((udsRoutineControlType == UDS_routine_StartRoutine) || (udsRoutineControlType == UDS_routine_StopRoutine)) { if ((udsRoutineControlType == UDS_routine_StartRoutine) || (udsRoutineControlType == UDS_routine_StopRoutine)) {
env->dataResponse[4] = udsStartStopRoutineResult; env->dataResponse[4] = udsStartStopRoutineResult;
@ -899,7 +947,7 @@ const eUds_com uds_com[256] = {
{NULL, ""}, {NULL, ""},
{NULL, ""}, {NULL, ""},
{NULL, ""}, {NULL, ""},
{NULL, ""}, {ControlDTCSetting_85, "ControlDTCSetting_85"},
{NULL, ""}, {NULL, ""},
{NULL, ""}, {NULL, ""},
{NULL, ""}, {NULL, ""},
@ -1030,22 +1078,39 @@ void CanUds(tCanUds *env) {
for (;;) { for (;;) {
osStatus_t status = osMessageQueueGet(env->queue, &env->data, 0, 1000); osStatus_t status = osMessageQueueGet(env->queue, &env->data, 0, 1000);
// Контроль TesterPresent
if ((env->currentSessionTesterPresentTimeout > 0) &&
(env->currentSessionTesterPresentTimeout < SystemGetMs())) {
env->currentSessionTesterPresentTimeout = 0;
#if (LOG_UDS == 1)
LoggerFormatInfo(LOGGER, LOG_SIGN, "Resetting the session to default: %d", UDS_session_defaultSession)
#endif
setDefaultSecurityAccess(env);
set_CCU_Mute(env->canSpamTransmitter, false);
setNoBitsDTC(env->Diagnostic, false);
env->currentSession = UDS_session_defaultSession;
statusData.Status_Active_Diagnostic_Session.Active_Diagnostic_Session = env->currentSession;
}
if (status == osOK) { if (status == osOK) {
uint8_t com = env->data.data[0]; uint8_t com = env->data.data[0];
if (uds_com[com].func != NULL) { if (uds_com[com].func != NULL) {
#if (LOG_UDS == 1)
sendLogCanUdsHex(env, env->data.data, env->data.len); sendLogCanUdsHex(env, env->data.data, env->data.len);
LoggerFormatInfo(LOGGER, LOG_SIGN, "> %s [%d] %s", uds_com[com].desc, env->data.len, env->hexString) LoggerFormatInfo(LOGGER, LOG_SIGN, "> %s [%d] %s", uds_com[com].desc, env->data.len, env->hexString)
#endif
uint8_t response_size = uds_com[com].func(env); uint8_t response_size = uds_com[com].func(env);
if (response_size) { if (response_size) {
#if (LOG_UDS == 1)
sendLogCanUdsHex(env, env->dataResponse, response_size); sendLogCanUdsHex(env, env->dataResponse, response_size);
LoggerFormatInfo(LOGGER, LOG_SIGN, "< %s [%d] %s", uds_com[com].desc, response_size, env->hexString) LoggerFormatInfo(LOGGER, LOG_SIGN, "< %s [%d] %s", uds_com[com].desc, response_size, env->hexString)
#endif
CanSerialPortFrameTpTransmit(&env->canSerialPortFrameTp, env->dataResponse, CanSerialPortFrameTpTransmit(&env->canSerialPortFrameTp, env->dataResponse,
response_size, PROTOCOL_CAN_ADR_UDS, WAIT_FRAME_WRITE); response_size, PROTOCOL_CAN_ADR_UDS, WAIT_FRAME_WRITE);
} }
@ -1073,6 +1138,7 @@ void CanUds_Init(
tDiagnostic *Diagnostic, tDiagnostic *Diagnostic,
tSerialPortFrameIO *CanIO, tSerialPortFrameIO *CanIO,
tDeviceStorage *deviceStorage, tDeviceStorage *deviceStorage,
tCanSpamTransmitter *canSpamTransmitter,
tLoggerInterface *logger) { tLoggerInterface *logger) {
env->logger = logger; env->logger = logger;
@ -1080,9 +1146,11 @@ void CanUds_Init(
env->deviceStorage = deviceStorage; env->deviceStorage = deviceStorage;
env->Diagnostic = Diagnostic; env->Diagnostic = Diagnostic;
env->filterIdCount = 2; env->filterIdCount = 2;
env->canSpamTransmitter = canSpamTransmitter;
env->queue = osMessageQueueNew(CAN_US_QUEUE_SIZE, sizeof(tCanTP_data), NULL); env->queue = osMessageQueueNew(CAN_US_QUEUE_SIZE, sizeof(tCanTP_data), NULL);
setDefaultStatus();
env->filterReqId[0] = Diag_To_CCU_CANID; env->filterReqId[0] = Diag_To_CCU_CANID;
env->filterReqId[1] = Diag_Functional_CANID; env->filterReqId[1] = Diag_Functional_CANID;
env->filterReqId[2] = 0; env->filterReqId[2] = 0;

18
CanUds.h
View File

@ -8,12 +8,18 @@
#include "CanSerialPortFrameTP.h" #include "CanSerialPortFrameTP.h"
#include "DeviceStorage.h" #include "DeviceStorage.h"
#include "DiagnosticTask.h" #include "DiagnosticTask.h"
#include "CanSpamTransmitter.h"
#define LOG_UDS 1
#define CAN_US_QUEUE_SIZE 3 #define CAN_US_QUEUE_SIZE 3
#define MAX_ATTEMPTS_DEFAULT 3 #define MAX_ATTEMPTS_DEFAULT 3
#define BLOCK_TIME_DEFAULT 60000 #define BLOCK_TIME_DEFAULT 60000
#define timeout_session_S3_Server 5000
#define LEN_DEBUG_UDS_BUFF 128 #define LEN_DEBUG_UDS_BUFF 128
// Время (логарифмическая шкала) // Время (логарифмическая шкала)
@ -39,7 +45,8 @@ typedef enum {
UDS_ECUResetService = 0x11, UDS_ECUResetService = 0x11,
UDS_InputOutputControlByIdentifier = 0x2F, UDS_InputOutputControlByIdentifier = 0x2F,
UDS_SecurityAccess = 0x27, UDS_SecurityAccess = 0x27,
UDS_Communication_Control = 0x28 UDS_Communication_Control = 0x28,
UDS_ControlDTCSetting = 0x85
} eUdsServices; } eUdsServices;
typedef enum { typedef enum {
@ -82,6 +89,11 @@ typedef enum {
UDS_sub_enableRxAndDisableTx = 0x1 UDS_sub_enableRxAndDisableTx = 0x1
} eUdsCommunicationControl; } eUdsCommunicationControl;
typedef enum {
UDS_sub_dtc_on = 0x1,
UDS_sub_dtc_off = 0x2
} eUdsControlDTCSetting;
typedef enum { typedef enum {
UDS_sub_requestSeed = 0x1, UDS_sub_requestSeed = 0x1,
UDS_sub_sendKey = 0x2 UDS_sub_sendKey = 0x2
@ -141,6 +153,9 @@ typedef struct {
char hexString[LEN_DEBUG_UDS_BUFF]; char hexString[LEN_DEBUG_UDS_BUFF];
eUdsSession currentSession; eUdsSession currentSession;
uint32_t currentSessionTesterPresentTimeout;
tCanSpamTransmitter *canSpamTransmitter;
struct { struct {
bool requestSequenceRequestSeed; bool requestSequenceRequestSeed;
@ -164,6 +179,7 @@ void CanUds_Init(
tDiagnostic *Diagnostic, tDiagnostic *Diagnostic,
tSerialPortFrameIO *CanIO, tSerialPortFrameIO *CanIO,
tDeviceStorage *deviceStorage, tDeviceStorage *deviceStorage,
tCanSpamTransmitter *canSpamTransmitter,
tLoggerInterface *logger); tLoggerInterface *logger);
void CanSerialPortCanUds_Start(tCanUds *env); void CanSerialPortCanUds_Start(tCanUds *env);