330 lines
9.8 KiB
C
330 lines
9.8 KiB
C
//
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// Created by cfif on 20.01.2026.
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//
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#ifndef HVAC_M7_CANUDS_H
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#define HVAC_M7_CANUDS_H
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#include "CanSerialPortFrameTP.h"
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#include "DeviceStorage.h"
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#include "DiagnosticTask.h"
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#include "CanSpamTransmitter.h"
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#include "CanSpamDebugTransmitter.h"
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#include "AdcTasks.h"
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#include "StatusData.h"
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#define LOG_UDS 0
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//#define CAN_US_QUEUE_SIZE 1
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#define MAX_ATTEMPTS_DEFAULT 3
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#define BLOCK_TIME_DEFAULT 60000
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#define timeout_session_S3_Server 7000
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#define ADR_HEX_BlockBoot 0x01000000
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#define ADR_HEX_BlockMain 0x01010000
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#define ADR_HEX_BlockCalib 0x010C0000
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#define ADR_HEX_Mapped_BlockBoot 0x01100000
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#define ADR_HEX_Mapped_BlockMain 0x01110000
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#define ADR_HEX_Mapped_BlockCalib 0x011C0000
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#define SIZE_HEX_BlockBoot (64 * 1024)
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#define SIZE_HEX_BlockMain (704 * 1024)
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#define SIZE_HEX_BlockCalib (256 * 1024)
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#define LEN_DEBUG_UDS_BUFF 128
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typedef enum {
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UDS_Firmware_Step_None = 0,
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UDS_Firmware_Step_Preconditions = 1,
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UDS_Firmware_Step_EraseMemory = 2,
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UDS_Firmware_Step_Dependancies = 3
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} eUdsFirmwareSteps;
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// Время (логарифмическая шкала)
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// │
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// ├── StMin (0.1-127 мс) ← Между КАДРАМИ
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// │ │
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// ├── N_As, N_Bs (до 1000 мс) ← Транспортные таймауты
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// │ │
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// ├── P2Server (до 50 мс) ← Между СООБЩЕНИЯМИ (UDS)
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// │ │
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// ├── P2*Server (до 5000 мс) ← Ожидание при ResponsePending
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// │ │
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// └── S3_Server (до 5000 мс) ← ТАЙМЕР ВСЕЙ СЕССИИ
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typedef enum {
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UDS_DiagnosticSessionControl = 0x10,
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UDS_ReadDTCInformation = 0x19,
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UDS_ClearDiagnosticInformation = 0x14,
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UDS_TesterPresent = 0x3E,
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UDS_ReadDataByIdentifier = 0x22,
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UDS_WriteDataByIdentifier = 0x2E,
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UDS_RoutineControl = 0x31,
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UDS_ECUResetService = 0x11,
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UDS_InputOutputControlByIdentifier = 0x2F,
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UDS_SecurityAccess = 0x27,
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UDS_Communication_Control = 0x28,
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UDS_ControlDTCSetting = 0x85,
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UDS_RequestDownload = 0x34,
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UDS_TransferData = 0x36,
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UDS_RequestTransferExit = 0x37
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} eUdsServices;
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typedef enum {
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UDS_error_incorrectMessageLengthOrInvalidFormat = 0x13,
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UDS_error_responseTooLong = 0x14,
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UDS_error_requestOutOfRange = 0x31,
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UDS_error_securityAccessDenied = 0x33,
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UDS_error_invalidKey = 0x35,
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UDS_error_sub_functionNotSupported = 0x12,
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UDS_error_conditionsNotCorrect = 0x22,
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UDS_error_requestSequenceError = 0x24,
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UDS_error_exceededNumberOfAttempts = 0x36,
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UDS_error_requiredTimeDelayNotExpired = 0x37,
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UDS_error_generalProgrammingFailure = 0x72,
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UDS_error_requestCorrectlyReceived_ResponsePending = 0x78
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} eUdsResponseError;
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typedef enum {
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UDS_session_defaultSession = 0x1,
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UDS_session_programmingSession = 0x2,
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UDS_session_extendedDiagnosticSession = 0x3
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} eUdsSession;
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typedef enum {
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UDS_io_returnControlToECU = 0x0,
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UDS_io_shortTermAdjustment = 0x3
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} eUdsIO;
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typedef enum {
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UDS_dtc_reportNumberOfDTCByStatusMask = 0x01,
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UDS_dtc_reportDTCByStatusMask = 0x02,
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UDS_dtc_reportDTCBySupport = 0x0A
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} eUdsDtc;
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typedef enum {
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UDS_reset_hardReset = 0x1,
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UDS_reset_softReset = 0x3,
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UDS_reset_rapidReset = 0x4
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} eUdsReset;
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typedef enum {
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UDS_sub_enableRxAndTx = 0x0,
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UDS_sub_enableRxAndDisableTx = 0x1
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} eUdsCommunicationControl;
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typedef enum {
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UDS_sub_dtc_on = 0x1,
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UDS_sub_dtc_off = 0x2
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} eUdsControlDTCSetting;
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typedef enum {
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UDS_sub_requestSeed = 0x1,
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UDS_sub_sendKey = 0x2
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} eUdsSecurityAccess;
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typedef enum {
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UDS_routine_StartRoutine = 1,
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UDS_routine_StopRoutine = 2,
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UDS_routine_RequestRoutineResults = 3
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} eUdsRoutineControlType;
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typedef enum {
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Check_Programming_Preconditions = 0x0203,
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UDS_routine_VIN_learn = 0x1300,
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UDS_routine_Compare_Checksum = 0x0202,
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UDS_routine_Erase_Memory = 0xFF00,
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UDS_routine_Check_Programming_Dependancies = 0xFF01,
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UDS_routine_eComp_Initialize = 0xCF01
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} eUdsRoutineModes;
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typedef enum {
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UDS_routine_RoutineStartStopSuccess = 0x00,
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UDS_routine_RoutineStartStopFailure = 0x01
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} eUdsRoutineStartStopRoutineResult;
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typedef enum {
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UDS_routine_RoutineStop = 0,
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UDS_routine_RoutineRun = 1,
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UDS_routine_RoutineFinishError = 2,
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UDS_routine_RoutineFinishSuccess = 3
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} eUdsRequestRoutineResult;
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typedef enum {
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// UDS_BlockBoot = 0,
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UDS_BlockMain = 1,
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UDS_BlockCalib = 2,
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UDS_BlockInit = 0xff
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} eUdsBlock;
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typedef struct {
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eUdsServices service;
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uint8_t sub_function;
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uint8_t *data;
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} tUdsServiceCommand;
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typedef bool (uds_clear_flash_func)(uint32_t firstPageAddr, uint32_t totalSize, void *wdTriggerFct,
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void *wdTriggerFct_env);
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typedef bool (uds_write_flash_func)(uint32_t beginPageAddr, void *sourceRamAddr, uint32_t size);
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typedef struct {
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tCanSerialPortFrameTp canSerialPortFrameTp;
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tLoggerInterface *logger;
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tSerialPortFrameIO *CanIO;
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tDeviceStorage *deviceStorage;
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tDiagnostic *Diagnostic;
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tCanTP_data canTP_Ext_data;
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osMutexId_t access;
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tAdc0Task *adcTask0;
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tCanTP_data *data;
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uint8_t dataResponse[1024];
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uint8_t dataResponsePending[4];
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uint8_t filterIdCount;
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uint32_t filterReqId[16];
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uint32_t filterRespId[16];
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uint8_t filterDirReq[16];
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char hexString[LEN_DEBUG_UDS_BUFF];
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eUdsSession currentSession;
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uint32_t currentSessionTesterPresentTimeout;
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tCanSpamTransmitter *canSpamTransmitter;
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// tCanSpamSlowTransmitter *canSpamSlowTransmitter;
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tCanSpamDebugTransmitter *canSpamDebugTransmitter;
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uint32_t randomSecuritySeed;
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struct {
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bool requestSequenceRequestSeed;
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bool stateSecurityAccess;
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uint32_t counter_max_attempts_default;
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uint32_t time_counter_max_attempts_default;
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} SA;
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uds_clear_flash_func *clear_flash_func;
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uds_write_flash_func *write_flash_func;
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uint32_t AdrFlash;
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uint32_t SizeWriteFlash;
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uint8_t blockSequenceCounter;
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uint32_t DownloadFirmwareSize;
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eUdsBlock udsBlock;
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eUdsFirmwareSteps udsFirmwareStepsMain;
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eUdsFirmwareSteps udsFirmwareStepsCalib;
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uint32_t CurrentBlockAdr;
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uint32_t CurrentBlockSize;
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bool isEcuReset;
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uint32_t timeoutPendingClear;
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eUdsServices stateDownload;
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tStatus_Sensor_For_Model Status_Sensor_For_Model_input;
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tStatus_Actuator_For_Model Status_Actuator_DoorsActuator_For_Model_input;
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tStatus_Duct_Tgt_For_Model Status_Duct_Tgt_For_Model_input;
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tStatus_Eva_Tgt_For_Model Status_Eva_Tgt_For_Model_input;
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tStatus_IO_For_Model Status_IO_For_Model_input;
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tStatus_Pwm_For_Model Status_Pwm_For_Model_input;
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tStatus_eComp_For_Model Status_eComp_For_Model_input;
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tStatus_External_For_Model Status_External_For_Model_input;
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tStatus_EMS_For_Model Status_EMS_For_Model_input;
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tStatus_Ionizer_Aroma_For_Model Status_Ionizer_Aroma_For_Model_input;
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tStatus_Duct_Select_For_Model Status_Duct_Select_For_Model_input;
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osMessageQueueId_t queue_input_get_Status_Sensor;
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osMessageQueueId_t queue_input_get_Status_Actuator_DoorsActuator;
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osMessageQueueId_t queue_input_get_Status_Duct_Tgt;
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osMessageQueueId_t queue_input_get_Status_Eva_Tgt;
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osMessageQueueId_t queue_input_get_Status_IO;
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osMessageQueueId_t queue_input_get_Status_Pwm;
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osMessageQueueId_t queue_input_get_Status_eComp;
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osMessageQueueId_t queue_input_get_Status_External;
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osMessageQueueId_t queue_input_get_Status_EMS;
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osMessageQueueId_t queue_input_get_Status_Ionizer_Aroma;
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osMessageQueueId_t queue_input_get_Status_Duct_Select;
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tStatus_Set_For_Model Status_Set_For_Model_output;
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tStatus_Actuator_For_Model Status_Actuator_DoorsActuator_For_Model_output;
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tStatus_Duct_Tgt_For_Model Status_Duct_Tgt_For_Model_output;
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tStatus_Eva_Tgt_For_Model Status_Eva_Tgt_For_Model_output;
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tStatus_IO_For_Model Status_IO_For_Model_output;
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tStatus_Pwm_For_Model Status_Pwm_For_Model_output;
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tStatus_eComp_For_Model Status_eComp_For_Model_output;
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tStatus_External_For_Model Status_External_For_Model_output;
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tStatus_EMS_For_Model Status_EMS_For_Model_output;
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tStatus_Ionizer_Aroma_For_Model Status_Ionizer_Aroma_For_Model_output;
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tStatus_Duct_Select_For_Model Status_Duct_Select_For_Model_output;
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osMessageQueueId_t queue_output_set_Status_Set;
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osMessageQueueId_t queue_output_set_Status_Actuator_DoorsActuator;
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osMessageQueueId_t queue_output_set_Status_Duct_Tgt;
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osMessageQueueId_t queue_output_set_Status_Eva_Tgt;
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osMessageQueueId_t queue_output_set_Status_IO;
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osMessageQueueId_t queue_output_set_Status_Pwm;
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osMessageQueueId_t queue_output_set_Status_eComp;
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osMessageQueueId_t queue_output_set_Status_External;
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osMessageQueueId_t queue_output_set_Status_EMS;
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osMessageQueueId_t queue_output_set_Status_Ionizer_Aroma;
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osMessageQueueId_t queue_output_set_Status_Duct_Select;
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struct {
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osThreadId_t id;
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uint32_t stack[384];
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StaticTask_t controlBlock;
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osThreadAttr_t attr;
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} thread_Uds;
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// tStaticThreadBlock(384) T_can_Uds;
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} tCanUds;
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typedef uint16_t (*uds_func_ptr)(tCanUds *env);
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typedef struct {
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uds_func_ptr func;
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char *desc;
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bool hasSPRMIB;
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} eUds_com;
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void CanUds_Init(
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tCanUds *env,
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tDiagnostic *Diagnostic,
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tSerialPortFrameIO *CanIO,
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tDeviceStorage *deviceStorage,
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tCanSpamTransmitter *canSpamTransmitter,
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tCanSpamDebugTransmitter *canSpamDebugTransmitter,
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tAdc0Task *adcTask0,
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uds_clear_flash_func *clear_flash_func,
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uds_write_flash_func *write_flash_func,
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tLoggerInterface *logger);
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void CanSerialPortCanUds_Start(tCanUds *env);
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// Тут данные должны быть с модели &env->Status_Sensor_For_Model_input и т.д.
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void CanUdsInput_Set_Model(tCanUds *env);
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// Это на вход модели
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void CanUdsOutput_Get_Model(tCanUds *env);
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#endif //HVAC_M7_CANUDS_H
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