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HVAC_M7_CAN_UDS
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cfif 2026-01-20 17:40:50 +03:00
commit dee734d1da
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470
CanUds.c Normal file
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//
// Created by cfif on 20.01.2026.
//
#include "CanUds.h"
#include "CanPorts.h"
#include "StatusData.h"
#include "memory.h"
#include "TesterPresent_3e.h"
#include "DiagnosticSessionControl_10.h"
#define LOG_SIGN "CAN_UDS"
#define LOGGER env->logger
bool ReceivedCan_func(void *arg, can_rx_message_type *canFrame) {
tCanUds *env = arg;
return false;
}
void ReceivedTP_func(void *arg, tCanTP_data *data) {
tCanUds *env = arg;
if (data->data[0] == UDS_TesterPresent) {
tTesterPresent testerPresent;
testerPresent.ServiceId = data->data[0] | 0b1000000;
testerPresent.zeroSubFunction = data->data[1] & 0b1111111;
CanSerialPortFrameTpTransmit(&env->canSerialPortFrameTp, (uint8_t *) &testerPresent,
sizeof(tTesterPresent), PROTOCOL_CAN_ADR_UDS, WAIT_FRAME_WRITE);
return;
}
osStatus_t status = osMessageQueuePut(env->queue, data, 0, 0U);
if (status != osOK) {
LoggerInfoStatic(LOGGER, LOG_SIGN, "Ошибка добавления в очередь addCommandQueue")
}
}
// начало ----------------------------- Сессия -------------------------------------------------------------
// начало ----------------------------- Сессия -------------------------------------------------------------
// начало ----------------------------- Сессия -------------------------------------------------------------
static uint8_t DiagnosticSessionControl_10(tCanUds *env) {
tDiagnosticSessionsType *diagnosticSessionsType = (tDiagnosticSessionsType *) env->dataResponse;
diagnosticSessionsType->ServiceId = env->data.data[0] | 0b1000000;
diagnosticSessionsType->diagnosticSessionType = env->data.data[1] & 0b1111111;
diagnosticSessionsType->sessionParameterRecord[0] = 0;
diagnosticSessionsType->sessionParameterRecord[1] = 0x32;
diagnosticSessionsType->sessionParameterRecord[2] = 0x01;
diagnosticSessionsType->sessionParameterRecord[3] = 0xF4;
return sizeof(tDiagnosticSessionsType);
}
// конец ----------------------------- Сессия --------------------------------------------------------------
// конец ----------------------------- Сессия --------------------------------------------------------------
// конец ----------------------------- Сессия --------------------------------------------------------------
// начало --------------------------- Чтение ---------------------------------------------------------
// начало --------------------------- Чтение ---------------------------------------------------------
// начало --------------------------- Чтение ---------------------------------------------------------
static uint8_t ReadDataByIdentifier_22(tCanUds *env) {
uint8_t dataIdentifier_hi = env->data.data[1];
uint8_t dataIdentifier_lo = env->data.data[2];
uint16_t dataIdentifier = (dataIdentifier_hi << 8) | dataIdentifier_lo;
if (dataIdentifier_hi == 0xCF) {
if (uds_ReadDataByIdentifier_22_com[dataIdentifier_lo].data != NULL) {
uint8_t response_size = uds_ReadDataByIdentifier_22_com[dataIdentifier_lo].size;
env->dataResponse[0] = env->data.data[0] | 0b1000000;
env->dataResponse[1] = dataIdentifier_hi;
env->dataResponse[2] = dataIdentifier_lo;
memcpy(&env->dataResponse[3], uds_ReadDataByIdentifier_22_com[dataIdentifier_lo].data, response_size);
return response_size;
}
if (dataIdentifier_lo == 0xFF) {
env->dataResponse[0] = env->data.data[0] | 0b1000000;
env->dataResponse[1] = dataIdentifier_hi;
env->dataResponse[2] = dataIdentifier_lo;
memcpy(&env->dataResponse[3], uds_ReadDataByIdentifier_22_com[dataIdentifier_lo].data, response_size);
}
}
}
// конец --------------------------- Чтение ---------------------------------------------------------
// конец --------------------------- Чтение ---------------------------------------------------------
// конец --------------------------- Чтение ---------------------------------------------------------
// начало --------------------------- Запись ---------------------------------------------------------
// начало --------------------------- Запись ---------------------------------------------------------
// начало --------------------------- Запись ---------------------------------------------------------
static uint8_t WriteDataByIdentifier_2E(tCanUds *env) {
}
// конец --------------------------- Запись ---------------------------------------------------------
// конец --------------------------- Запись ---------------------------------------------------------
// конец --------------------------- Запись ---------------------------------------------------------
const eUds_com uds_com[256] = {
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{DiagnosticSessionControl_10, "DiagnosticSessionControl_10"},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
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{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{ReadDataByIdentifier_22, "ReadDataByIdentifier_22"},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{WriteDataByIdentifier_2E, "WriteDataByIdentifier_2E"},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
{NULL, ""},
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};
void CanUds(tCanUds *env) {
for (;;) {
osStatus_t status = osMessageQueueGet(env->queue, &env->data, 0, 1000);
if (status == osOK) {
uint8_t com = env->data.data[0];
if (uds_com[com].func != NULL) {
uint8_t response_size = uds_com[com].func(env);
if (response_size) {
CanSerialPortFrameTpTransmit(&env->canSerialPortFrameTp, env->dataResponse,
response_size, PROTOCOL_CAN_ADR_UDS, WAIT_FRAME_WRITE);
}
} else {
asm("nop");
}
}
}
}
void CanSerialPortCanUds_Start(tCanUds *env) {
ThreadBlock_Start(env->T_can_Uds, env, CanUds);
CanSerialPortFrameTp_Start(&env->canSerialPortFrameTp);
}
void CanUds_Init(
tCanUds *env,
tSerialPortFrameIO *CanIO,
tLoggerInterface *logger) {
env->logger = logger;
env->CanIO = CanIO;
env->filterIdCount = 0;
env->queue = osMessageQueueNew(CAN_US_QUEUE_SIZE, sizeof(tCanTP_data), NULL);
env->filterReqId[0] = 0;
env->filterReqId[1] = 0;
env->filterReqId[2] = 0;
env->filterReqId[3] = 0;
env->filterReqId[4] = 0;
env->filterReqId[5] = 0;
env->filterReqId[6] = 0;
env->filterRespId[0] = 0;
env->filterRespId[1] = 0;
env->filterRespId[2] = 0;
env->filterRespId[3] = 0;
env->filterRespId[4] = 0;
env->filterRespId[5] = 0;
env->filterRespId[6] = 0;
env->filterDirReq[0] = 0;
env->filterDirReq[1] = 0;
env->filterDirReq[2] = 0;
env->filterDirReq[3] = 0;
env->filterDirReq[4] = 0;
env->filterDirReq[5] = 1;
env->filterDirReq[6] = 0;
CanSerialPortFrameTpInit(
&env->canSerialPortFrameTp,
ReceivedCan_func,
env,
ReceivedTP_func,
env,
env->CanIO,
(tCanTP_data *) &env->canTP_Ext_data,
sizeof(env->canTP_Ext_data.data),
env->logger,
env->filterIdCount,
env->filterReqId,
env->filterRespId,
env->filterDirReq
);
InitThreadBlock(env->T_can_Uds, "CanUds", osPriorityNormal);
};

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CanUds.h Normal file
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//
// Created by cfif on 20.01.2026.
//
#ifndef HVAC_M7_CANUDS_H
#define HVAC_M7_CANUDS_H
#include "CanSerialPortFrameTP.h"
#define CAN_US_QUEUE_SIZE 3
typedef enum {
UDS_DiagnosticSessionControl = 0x10,
UDS_ReadDTCInformation = 0x19,
UDS_ClearDiagnosticInformation = 0x14,
UDS_TesterPresent = 0x3E,
UDS_ReadDataByIdentifier = 0x22,
UDS_WriteDataByIdentifier = 0x2E,
UDS_RoutineControl = 0x31,
UDS_ECUResetService = 0x11,
UDS_SecurityAccess = 0x27
} eUdsServices;
typedef struct {
tCanSerialPortFrameTp canSerialPortFrameTp;
tLoggerInterface *logger;
tSerialPortFrameIO *CanIO;
tCanTP_Ext_data canTP_Ext_data;
osMessageQueueId_t queue;
tCanTP_data data;
uint8_t dataResponse[256];
uint8_t filterIdCount;
uint32_t filterReqId[16];
uint32_t filterRespId[16];
uint8_t filterDirReq[16];
tStaticThreadBlock(512) T_can_Uds;
} tCanUds;
typedef uint8_t (*uds_func_ptr)(tCanUds *env);
typedef struct {
uds_func_ptr func;
char *desc;
} eUds_com;
void CanUds_Init(
tCanUds *env,
tSerialPortFrameIO *CanIO,
tLoggerInterface *logger);
void CanSerialPortCanUds_Start(tCanUds *env);
#endif //HVAC_M7_CANUDS_H

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DiagnosticSessionControl_10.h Normal file
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//
// Created by cfif on 06.08.2024.
//
#ifndef SMART_COMPONENTS_UPDATE_DIAGNOSTICSESSIONCONTROL_10_H
#define SMART_COMPONENTS_UPDATE_DIAGNOSTICSESSIONCONTROL_10_H
#include "stdint.h"
// Для готовности загрузки модема
typedef struct __attribute__ ((packed)) {
uint8_t ServiceId;
uint8_t diagnosticSessionType;
uint8_t sessionParameterRecord[4];
} tDiagnosticSessionsType;
// Для запроса сессии
typedef struct __attribute__ ((packed)) {
uint8_t ServiceId;
uint8_t diagnosticSessionType;
} tDiagnosticSessionControlRequest;
#endif //SMART_COMPONENTS_UPDATE_DIAGNOSTICSESSIONCONTROL_10_H

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TesterPresent_3e.h Normal file
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//
// Created by cfif on 06.08.2024.
//
#ifndef SMART_COMPONENTS_UPDATE_TESTERPRESENT_3E_H
#define SMART_COMPONENTS_UPDATE_TESTERPRESENT_3E_H
#include "stdint.h"
// Для готовности загрузки модема
typedef struct __attribute__ ((packed)) {
uint8_t ServiceId;
uint8_t zeroSubFunction;
} tTesterPresent;
#endif //SMART_COMPONENTS_UPDATE_TESTERPRESENT_3E_H

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modular.json Normal file
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{
"cmake": {
"inc_dirs": [
"./"
],
"srcs": [
"./**.c"
]
}
}