671 lines
28 KiB
C
671 lines
28 KiB
C
//
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// Created by cfif on 20.01.2026.
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//
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#include "CanUds.h"
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#include "CanPorts.h"
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#include "StatusData.h"
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#include "memory.h"
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#include "TesterPresent_3e.h"
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#include "DiagnosticSessionControl_10.h"
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#include "StatusError.h"
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#define LOG_SIGN "CAN_UDS"
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#define LOGGER env->logger
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bool ReceivedCan_func(void *arg, can_rx_message_type *canFrame) {
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tCanUds *env = arg;
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return false;
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}
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void ReceivedTP_func(void *arg, tCanTP_data *data) {
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tCanUds *env = arg;
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tUdsServiceCommand *com = (tUdsServiceCommand *) data;
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if (com->service == UDS_TesterPresent) {
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tTesterPresent testerPresent;
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testerPresent.ServiceId = data->data[0] | 0b1000000;
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testerPresent.zeroSubFunction = data->data[1] & 0b1111111;
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CanSerialPortFrameTpTransmit(&env->canSerialPortFrameTp, (uint8_t *) &testerPresent,
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sizeof(tTesterPresent), PROTOCOL_CAN_ADR_UDS, WAIT_FRAME_WRITE);
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return;
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}
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osStatus_t status = osMessageQueuePut(env->queue, data, 0, 0U);
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if (status != osOK) {
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LoggerInfoStatic(LOGGER, LOG_SIGN, "Ошибка добавления в очередь addCommandQueue")
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}
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}
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uint16_t setResponseError(tCanUds *env, eUdsServices service, eUdsResponseError error) {
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env->dataResponse[0] = 0x7F;
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env->dataResponse[1] = service;
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env->dataResponse[2] = error;
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return 3;
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}
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// начало ----------------------------- Сессия -------------------------------------------------------------
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// начало ----------------------------- Сессия -------------------------------------------------------------
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// начало ----------------------------- Сессия -------------------------------------------------------------
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static uint16_t DiagnosticSessionControl_10(tCanUds *env) {
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tUdsServiceCommand *com = (tUdsServiceCommand *) env->data.data;
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if (com->service != 2) {
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return setResponseError(env, UDS_DiagnosticSessionControl, UDS_error_incorrectMessageLengthOrInvalidFormat);
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}
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if ((com->sub_function != UDS_session_defaultSession) &&
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(com->sub_function != UDS_session_programmingSession) &&
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(com->sub_function != UDS_session_extendedDiagnosticSession)) {
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return setResponseError(env, UDS_DiagnosticSessionControl, UDS_error_sub_functionNotSupported);
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}
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tDiagnosticSessionsType *diagnosticSessionsType = (tDiagnosticSessionsType *) env->dataResponse;
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diagnosticSessionsType->ServiceId = UDS_DiagnosticSessionControl | 0b1000000;
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diagnosticSessionsType->diagnosticSessionType = env->data.data[1];
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// Нормальный таймаут. Важно: Клиент может отправлять TesterPresent для поддержания сессии до истечения этого таймаута
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diagnosticSessionsType->sessionParameterRecord[0] = 0;
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diagnosticSessionsType->sessionParameterRecord[1] = 0x32;
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// Расширенный таймаут. Например, ECU может обрабатывать сложный запрос 2 секунды и отправлять NRC 0x78, затем ответ
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diagnosticSessionsType->sessionParameterRecord[2] = 0x01;
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diagnosticSessionsType->sessionParameterRecord[3] = 0xF4;
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return 4;
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}
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// конец ----------------------------- Сессия --------------------------------------------------------------
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// конец ----------------------------- Сессия --------------------------------------------------------------
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// конец ----------------------------- Сессия --------------------------------------------------------------
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// начало --------------------------- Чтение ---------------------------------------------------------
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// начало --------------------------- Чтение ---------------------------------------------------------
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// начало --------------------------- Чтение ---------------------------------------------------------
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static uint16_t ReadDataByIdentifier_22(tCanUds *env) {
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if (env->data.len != 3) {
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return setResponseError(env, UDS_ReadDataByIdentifier, UDS_error_incorrectMessageLengthOrInvalidFormat);
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}
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uint8_t dataIdentifier_hi = env->data.data[1];
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uint8_t dataIdentifier_lo = env->data.data[2];
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// uint16_t dataIdentifier = (dataIdentifier_hi << 8) | dataIdentifier_lo;
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if (dataIdentifier_hi == 0xCF) {
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if (uds_ReadDataByIdentifier_22_com_CF[dataIdentifier_lo].data != NULL) {
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uint16_t response_size = uds_ReadDataByIdentifier_22_com_CF[dataIdentifier_lo].size;
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env->dataResponse[0] = UDS_ReadDataByIdentifier | 0b1000000;
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env->dataResponse[1] = dataIdentifier_hi;
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env->dataResponse[2] = dataIdentifier_lo;
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memcpy(&env->dataResponse[3], uds_ReadDataByIdentifier_22_com_CF[dataIdentifier_lo].data, response_size);
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return response_size;
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}
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}
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if (dataIdentifier_hi == 0xF1) {
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if (uds_ReadDataByIdentifier_22_com_F1[dataIdentifier_lo].data != NULL) {
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uint16_t response_size = uds_ReadDataByIdentifier_22_com_F1[dataIdentifier_lo].size;
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env->dataResponse[0] = UDS_ReadDataByIdentifier | 0b1000000;
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env->dataResponse[1] = dataIdentifier_hi;
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env->dataResponse[2] = dataIdentifier_lo;
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memcpy(&env->dataResponse[3], uds_ReadDataByIdentifier_22_com_F1[dataIdentifier_lo].data, response_size);
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return response_size;
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}
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}
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return setResponseError(env, UDS_ReadDataByIdentifier, UDS_error_requestOutOfRange);
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}
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// конец --------------------------- Чтение ---------------------------------------------------------
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// конец --------------------------- Чтение ---------------------------------------------------------
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// конец --------------------------- Чтение ---------------------------------------------------------
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// начало --------------------------- Запись ---------------------------------------------------------
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// начало --------------------------- Запись ---------------------------------------------------------
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// начало --------------------------- Запись ---------------------------------------------------------
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static uint16_t WriteDataByIdentifier_2E(tCanUds *env) {
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}
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// конец --------------------------- Запись ---------------------------------------------------------
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// конец --------------------------- Запись ---------------------------------------------------------
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// конец --------------------------- Запись ---------------------------------------------------------
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// начало --------------------------- Управление ---------------------------------------------------------
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// начало --------------------------- Управление ---------------------------------------------------------
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// начало --------------------------- Управление ---------------------------------------------------------
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static uint16_t InputOutputControlByIdentifier_2F(tCanUds *env) {
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if (env->data.len < 5) {
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return setResponseError(env, UDS_InputOutputControlByIdentifier,
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UDS_error_incorrectMessageLengthOrInvalidFormat);
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}
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if ((env->data.data[3] != UDS_io_returnControlToECU) &&
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(env->data.data[3] != UDS_io_shortTermAdjustment)) {
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return setResponseError(env, UDS_InputOutputControlByIdentifier, UDS_error_conditionsNotCorrect);
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}
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uint8_t dataIdentifier_hi = env->data.data[1];
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uint8_t dataIdentifier_lo = env->data.data[2];
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return setResponseError(env, UDS_InputOutputControlByIdentifier, UDS_error_requestOutOfRange);
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}
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// конец --------------------------- Управление ---------------------------------------------------------
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// конец --------------------------- Управление ---------------------------------------------------------
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// конец --------------------------- Управление ---------------------------------------------------------
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// начало --------------------------- Перезагрузка ---------------------------------------------------------
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// начало --------------------------- Перезагрузка ---------------------------------------------------------
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// начало --------------------------- Перезагрузка ---------------------------------------------------------
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static uint16_t ECUReset_11(tCanUds *env) {
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tUdsServiceCommand *com = (tUdsServiceCommand *) env->data.data;
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if (env->data.len != 2) {
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return setResponseError(env, UDS_ECUResetService,
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UDS_error_incorrectMessageLengthOrInvalidFormat);
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}
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if ((com->sub_function != UDS_reset_hardReset) &&
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(com->sub_function != UDS_reset_softReset)) {
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return setResponseError(env, UDS_ECUResetService, UDS_error_sub_functionNotSupported);
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}
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env->dataResponse[0] = UDS_ECUResetService | 0b1000000;;
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env->dataResponse[1] = env->data.data[1];
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return 2;
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}
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// конец --------------------------- Перезагрузка ---------------------------------------------------------
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// конец --------------------------- Перезагрузка ---------------------------------------------------------
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// конец --------------------------- Перезагрузка ---------------------------------------------------------
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// начало --------------------------- Очистка ошибок ---------------------------------------------------------
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// начало --------------------------- Очистка ошибок ---------------------------------------------------------
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// начало --------------------------- Очистка ошибок ---------------------------------------------------------
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static uint16_t UDS_ClearDiagnosticInformation_14(tCanUds *env) {
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if (env->data.len != 4) {
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return setResponseError(env, UDS_ClearDiagnosticInformation,
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UDS_error_incorrectMessageLengthOrInvalidFormat);
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}
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setDiagnosticData(env->Diagnostic, DIAGNOSTIC_SET_UDS_ClearDiagnosticInformation_14);
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env->dataResponse[0] = UDS_ClearDiagnosticInformation | 0b1000000;
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return 1;
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}
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// конец --------------------------- Очистка ошибок ---------------------------------------------------------
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// конец --------------------------- Очистка ошибок ---------------------------------------------------------
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// конец --------------------------- Очистка ошибок ---------------------------------------------------------
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// начало --------------------------- Чтение ошибок ---------------------------------------------------------
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// начало --------------------------- Чтение ошибок ---------------------------------------------------------
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// начало --------------------------- Чтение ошибок ---------------------------------------------------------
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void SetUdsDTC_error(tCanUds *env, uint8_t mask, uint16_t *sizeResponse) {
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for (uint8_t i = 0; i < COUNT_DTC_CODE_ERROR; ++i) {
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if (dtc_state_error[i] & mask) {
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env->dataResponse[*sizeResponse] = dtc_codes[i].DTCHighByte;
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env->dataResponse[*sizeResponse + 1] = dtc_codes[i].DTCMiddleByte;
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env->dataResponse[*sizeResponse + 2] = dtc_codes[i].DTCLowByte;
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env->dataResponse[*sizeResponse + 3] = dtc_state_error[i] & mask;
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*sizeResponse += 4;
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}
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}
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}
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uint8_t GetCountUdsDTC_error(uint8_t mask) {
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uint8_t count = 0;
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for (uint8_t i = 0; i < COUNT_DTC_CODE_ERROR; ++i) {
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if (dtc_state_error[i] & mask) {
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++count;
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}
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}
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return count;
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}
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static uint16_t UDS_ReadDTCInformation_19(tCanUds *env) {
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tUdsServiceCommand *com = (tUdsServiceCommand *) env->data.data;
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if (env->data.len != 3) {
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return setResponseError(env, UDS_ReadDTCInformation, UDS_error_incorrectMessageLengthOrInvalidFormat);
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}
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if ((com->sub_function != UDS_dtc_reportNumberOfDTCByStatusMask) &&
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(com->sub_function != UDS_dtc_reportDTCByStatusMask)) {
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return setResponseError(env, UDS_ReadDTCInformation, UDS_error_sub_functionNotSupported);
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}
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uint16_t response_size = 0;
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env->dataResponse[0] = UDS_ReadDTCInformation | 0b1000000;
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if (com->sub_function == UDS_dtc_reportNumberOfDTCByStatusMask) {
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env->dataResponse[1] = env->data.data[1];
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// доступные биты статусов
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env->dataResponse[2] = 0xFF;
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// формат кодирования DTC
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env->dataResponse[3] = 1;
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// старший байт количества DTC
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env->dataResponse[4] = 0;
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// младший байт количества DTC
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env->dataResponse[5] = GetCountUdsDTC_error(env->data.data[2]);
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response_size = 6;
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}
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if (com->sub_function == UDS_dtc_reportDTCByStatusMask) {
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env->dataResponse[1] = env->data.data[1];
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// доступные биты статусов
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env->dataResponse[2] = 0xFF;
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response_size = 3;
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SetUdsDTC_error(env, env->data.data[2], &response_size);
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}
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return response_size;
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}
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// конец --------------------------- Чтение ошибок ---------------------------------------------------------
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// конец --------------------------- Чтение ошибок ---------------------------------------------------------
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// конец --------------------------- Чтение ошибок ---------------------------------------------------------
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const eUds_com uds_com[256] = {
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{DiagnosticSessionControl_10, "DiagnosticSessionControl_10"},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{ECUReset_11, "ECUReset_11"},
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{NULL, ""},
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{NULL, ""},
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{UDS_ClearDiagnosticInformation_14, "UDS_ClearDiagnosticInformation_14"},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{UDS_ReadDTCInformation_19, "UDS_ReadDTCInformation_19"},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{ReadDataByIdentifier_22, "ReadDataByIdentifier_22"},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{WriteDataByIdentifier_2E, "WriteDataByIdentifier_2E"},
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{InputOutputControlByIdentifier_2F, "InputOutputControlByIdentifier_2F"},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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{NULL, ""},
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|
{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, ""}
|
|
};
|
|
|
|
|
|
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,
|
|
tDiagnostic *Diagnostic,
|
|
tSerialPortFrameIO *CanIO,
|
|
tDeviceStorage *deviceStorage,
|
|
tLoggerInterface *logger) {
|
|
|
|
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);
|
|
|
|
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);
|
|
}; |