void ex1DefineDDDByID(void)
{
uint8 sduData[8];
PduInfoType pduinfo;
sduData[0] = ISO15765_TPCI_FF | 0;
sduData[1] = 8;
sduData[2] = 0x2c;
sduData[3] = 0x01;
sduData[4] = 0xF2; //Id
sduData[5] = 0x01;
sduData[6] = 0x09; // Src Id
sduData[7] = 0x99;
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 8;
/* Send FF */
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
WaitEvent(0x01); //Wait Flow Control
ClearEvent(0x01);
sduData[0] = ISO15765_TPCI_CF | 1;
sduData[1] = 1; //position
sduData[2] = 5; //size
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 3;
/* Send CF */
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
static void ex1RoutineControl(void)
{
uint8 sduData[8];
static uint8 callcnt = 0;
PduInfoType pduinfo;
sduData[0] = ISO15765_TPCI_SF | 4;
sduData[1] = 0x31;
callcnt++;
switch(callcnt)
{
case 1:
sduData[2] = 0x01; //start routine
break;
case 2:
sduData[2] = 0x02; //stop routine
break;
case 3:
sduData[2] = 0x03; //request routine result
break;
default:
callcnt = 3;
return;
break;
}
sduData[3] = 0x08; //id = 0x0888;
sduData[4] = 0x88;
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 5;
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
/* Dcm Example Main Function Routine.
* 这个API必须被周期性的调用，建议每 5ms 一次*/
void DcmEx1MainFunction(void)
{
CanTp_MainFunction();
Dcm_MainFunction();
}
#define ISO15765_TPCI_SF 0x00 /* Single Frame */
#define ISO15765_TPCI_FF 0x10 /* First Frame */
#define ISO15765_TPCI_CF 0x20 /* Consecutive Frame */
#define ISO15765_TPCI_FC 0x30 /* Flow Control */
#define ISO15765_TPCI_DL 0x7 /* Single frame data length mask */
#define ISO15765_TPCI_FS_MASK 0x0F /* Flowcontrol status mask */
static void ex1DiagnosticSessionControl(void)
{
static uint8 callcnt = 0;
uint8 sduData[8];
PduInfoType pduinfo;
sduData[0] = ISO15765_TPCI_SF | 2;
sduData[1] = 0x10;
callcnt++;
switch(callcnt)
{
case 1:
sduData[2] = 0x01; //default Session
break;
case 2:
sduData[2] = 0x02; //program Session
break;
case 3:
sduData[2] = 0x03; //extended Session
break;
case 4:
sduData[2] = 0x04; //safety system Session
break;
default:
callcnt = 0;
break;
}
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 3;
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
Inline void CanNm_Internal_TransmitMessage( const CanNm_ChannelType* ChannelConf, CanNm_Internal_ChannelType* ChannelInternal ) {
PduInfoType pdu;
Std_ReturnType status;
pdu.SduDataPtr = ChannelInternal->TxMessageSdu;
pdu.SduLength = ChannelConf->PduLength;
status = CanIf_Transmit(ChannelConf->CanIfPduId, &pdu);
(void)status;
// TODO: what to do if Transmit fails?
}
static void ex1TesterPresent(void)
{
uint8 sduData[8];
PduInfoType pduinfo;
sduData[0] = ISO15765_TPCI_SF | 2;
sduData[1] = 0x3e;
sduData[2] = 0x00;
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 3;
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
static void ex1SecurityAccess_RequestSeed(void)
{
uint8 sduData[8];
PduInfoType pduinfo;
sduData[0] = ISO15765_TPCI_SF|2;
sduData[1] = 0x27;
sduData[2] = 0x01|(1<<1); //requestSeed,want to set level 1
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 3;
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
static void ex1SendFC(void)
{
uint8 sduData[8];
PduInfoType pduinfo;
sduData[0] = 0x30; /* Flow Control */
sduData[1] = 3; //BS
sduData[2] = 10; //stmin
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 3;
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
static void ex1ReadScalingDataById(void)
{
uint8 sduData[8];
PduInfoType pduinfo;
sduData[0] = ISO15765_TPCI_SF | 3;
sduData[1] = 0x24;
sduData[2] = 0x09; //id = 0x0999;
sduData[3] = 0x99;
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 4;
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
static void ex1ReadDataById(uint16 id)
{
uint8 sduData[8];
PduInfoType pduinfo;
sduData[0] = ISO15765_TPCI_SF | 3;
sduData[1] = 0x22;
sduData[2] = (uint8)(id>>8)&0xFFU; //id = ;
sduData[3] = (uint8)(id)&0xFFU;
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 4;
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
static void ex1ReadDatabyIdPeriodStop(uint16 id)
{
uint8 sduData[8];
PduInfoType pduinfo;
sduData[0] = ISO15765_TPCI_SF | 3;
sduData[1] = 0x2A;
sduData[2] = DCM_PERIODICTRANSMIT_STOPSENDING_MODE;
sduData[3] = (uint8)(id)&0xFFU;
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 4;
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
static void ex1SecurityAccess_SendKey(void)
{
uint8 sduData[8];
PduInfoType pduinfo;
sduData[0] = ISO15765_TPCI_SF | 3;
sduData[1] = 0x27;
sduData[2] = 0x02; //sendKey,want to set level 1
sduData[3] = 0xEF;
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 4;
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
static void ex1ClearDefineDDDByID(void)
{
uint8 sduData[8];
PduInfoType pduinfo;
sduData[0] = ISO15765_TPCI_SF | 4;
sduData[1] = 0x2c;
sduData[2] = 0x03;
sduData[3] = 0xF2; //Id
sduData[4] = 0x01;
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 5;
/* Send SF */
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
static void ex1IoControl(void)
{
uint8 sduData[8];
PduInfoType pduinfo;
sduData[0] = ISO15765_TPCI_SF | 4;
sduData[1] = 0x2F;
sduData[2] = 0x09; //Id
sduData[3] = 0x99;
sduData[4] = 0x01; //option
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 5;
/* Send SF */
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
static void ex1WriteDataById(void)
{
uint8 sduData[8];
PduInfoType pduinfo;
sduData[0] = ISO15765_TPCI_SF | 7;
sduData[1] = 0x2E;
sduData[2] = 0x09; //id = 0x0999;
sduData[3] = 0x99;
sduData[4] = 0x11;
sduData[5] = 0x22;
sduData[6] = 0x33;
sduData[7] = 0x44;
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 8;
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
Std_ReturnType PduR_ARC_RouteTransmit(const PduRDestPdu_type * destination, const PduInfoType * pduInfo) {
Std_ReturnType retVal = E_NOT_OK;
switch (destination->DestModule) {
case ARC_PDUR_CANIF:
#if PDUR_CANIF_SUPPORT == STD_ON
retVal = CanIf_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_COM:
#if PDUR_COM_SUPPORT == STD_ON
Com_RxIndication(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_LINIF:
#if PDUR_LINIF_SUPPORT == STD_ON
retVal = LinIf_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_CANTP:
#if PDUR_CANTP_SUPPORT == STD_ON
retVal = CanTp_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_SOADIF:
#if PDUR_SOAD_SUPPORT == STD_ON
retVal = SoAdIf_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_SOADTP:
#if PDUR_SOAD_SUPPORT == STD_ON
retVal = SoAdTp_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_J1939TP:
#if PDUR_J1939TP_SUPPORT == STD_ON
retVal = J1939Tp_Transmit(destination->DestPduId, pduInfo);
#endif
break;
default:
retVal = E_NOT_OK;
break;
}
// TODO error reporting here.
return retVal;
}
static void ex1EcuReset(void)
{
uint8 sduData[8];
PduInfoType pduinfo;
static uint8 callcnt = 0;
sduData[0] = ISO15765_TPCI_SF | 2;
sduData[1] = 0x11;
callcnt++;
switch(callcnt)
{
case 1:
sduData[2] = 0x01; //hard reset,infact only this sub function was supported.
// But as Mcu was not integrated,So this API has no effect.
break;
case 2:
sduData[2] = 0x02; //key off on reset
break;
case 3:
sduData[2] = 0x03; //soft reset
break;
case 4:
sduData[2] = 0x04;
break;
case 5:
sduData[2] = 0x05;
break;
default:
callcnt = 5;
return;
break;
}
pduinfo.SduDataPtr = sduData;
pduinfo.SduLength = 3;
CanIf_Transmit(vCanIf_Channel_0, &pduinfo);
}
Std_ReturnType PduR_ARC_RouteTransmit(const PduRDestPdu_type * destination, const PduInfoType * pduInfo) {
/* @req PDUR160 */
/* @req PDUR629 */
/* @req PDUR0745 */
/* @req PDUR625 */
Std_ReturnType retVal = E_NOT_OK;
switch (destination->DestModule) {
case ARC_PDUR_CANIF:
#if PDUR_CANIF_SUPPORT == STD_ON
retVal = CanIf_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_COM:
#if PDUR_COM_SUPPORT == STD_ON
Com_RxIndication(destination->DestPduId, (PduInfoType *)pduInfo);
#endif
break;
case ARC_PDUR_LINIF:
#if PDUR_LINIF_SUPPORT == STD_ON
retVal = LinIf_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_CANTP:
#if PDUR_CANTP_SUPPORT == STD_ON
retVal = CanTp_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_SOADIF:
#if PDUR_SOAD_SUPPORT == STD_ON
retVal = SoAdIf_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_SOADTP:
#if PDUR_SOAD_SUPPORT == STD_ON
retVal = SoAdTp_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_J1939TP:
#if PDUR_J1939TP_SUPPORT == STD_ON
retVal = J1939Tp_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_IPDUM:
#if PDUR_IPDUM_SUPPORT == STD_ON
retVal = IpduM_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_FRIF:
#if PDUR_FRIF_SUPPORT == STD_ON
retVal = FrIf_Transmit(destination->DestPduId, pduInfo);
#endif
break;
case ARC_PDUR_FRTP:
#if PDUR_FRTP_SUPPORT == STD_ON
retVal = FrTp_Transmit(destination->DestPduId, pduInfo);
#endif
break;
default:
retVal = E_NOT_OK;
break;
}
return retVal;
}
void CAN_InterfaceTest(const char* driverName, int sendcountmax, int baud, int config) {
int cnt;
sendcount = 0;
recvcount = 0;
time_t t_start, t_end;
Std_ReturnType std_ret;
/* CanIf_ConfigTypeはAUTOSARの仕様に準拠したため、本バージョンでは未使用。NULLを指定する */
CanIf_Init(NULL);
/* AUTOSARの仕様に準拠し、各種設定は静的なデータとしてコンパイル時に確定させる。
本サンプルプログラムでは、テストのため内部設定を直接書き換える。
CanIfConfigurationsは、CanIf_Initの実行後に修正する必要がある */
/* ドライバ名の設定 */
CanIfConfigurations.initConfiguration[RECVCFG].ConfigSet.driverName = driverName;
CanIfConfigurations.initConfiguration[SENDCFG].ConfigSet.driverName = driverName;
/* ボーレートの設定 */
CanIfConfigurations.initConfiguration[RECVCFG].ConfigSet.baudRate = baud;
CanIfConfigurations.initConfiguration[SENDCFG].ConfigSet.baudRate = baud;
/* Acceptフィルタの設定 */
CanIfConfigurations.initConfiguration[RECVCFG].ConfigSet.acceptCode = 0x00000000;
CanIfConfigurations.initConfiguration[RECVCFG].ConfigSet.acceptMask = 0xffffffff;
CanIfConfigurations.initConfiguration[SENDCFG].ConfigSet.acceptCode = 0x00000000;
CanIfConfigurations.initConfiguration[SENDCFG].ConfigSet.acceptMask = 0xffffffff;
/* PDU-IDの登録 */
CanIfConfigurations.initConfiguration[RECVCFG].CanIfNumberOfCanRxPduIds = 1;
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfCanRxPduCanId = RECV_PDUID;
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfCanRxPduId = RECV_PDUID;
CanIfConfigurations.initConfiguration[RECVCFG].CanIfNumberOfCanTxPduIds = 0;
CanIfConfigurations.initConfiguration[RECVCFG].CanIfNumberOfDynamicCanTxPduIds = 0;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfNumberOfCanTxPduIds = 1;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfTxPduConfigList[0].CanIfTxPduIdCanId = SEND_PDUID;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfTxPduConfigList[0].CanIfCanTxPduId = SEND_PDUID;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfNumberOfCanRxPduIds = 0;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfNumberOfDynamicCanTxPduIds = 0;
/* 受信コールバックの設定 */
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfRxUserType = CANIF_CAN_NM;
if(config == 0) {
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfUserRxIndication = CanRxCallback;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfTxPduConfigList[0].CanIfUserTxConfirmtion = CanTxCallback;
} else {
CanIfConfigurations.initConfiguration[RECVCFG].CanIfRxPduConfigList[0].CanIfUserRxIndication = NULL;
CanIfConfigurations.initConfiguration[SENDCFG].CanIfTxPduConfigList[0].CanIfUserTxConfirmtion = NULL;
}
/* コントローラの初期化 */
CanIf_InitController(sendController, SENDCFG);
CanIf_InitController(recvController, RECVCFG);
if (CanIf_SetControllerMode(sendController, CANIF_CS_STARTED) != E_OK) {
printf("CanIf_SetControllerMode(0, CANIF_CS_STARTED) failed\n");
return;
}
if (CanIf_SetControllerMode(recvController, CANIF_CS_STARTED) != E_OK) {
printf("CanIf_SetControllerMode(1, CANIF_CS_STARTED) failed\n");
return;
}
time(&t_start);
for(cnt = 0; (cnt < (sendcountmax * 5) && recvcount < sendcountmax); ++cnt) {
Dem_Sleep(1000);
/* 送信テスト */
if(sub_loop_trg == 0 && sendcount < sendcountmax) {
PduInfoType pduInfo;
uint8 buf[8];
sprintf((char*)buf, "UU%4.4d*", cnt);
buf[7] = 0x00;
pduInfo.SduDataPtr = buf;
pduInfo.SduLength = 8;
do{ /* エラーの時はリトライして待つ */
std_ret = CanIf_Transmit(SEND_PDUID, &pduInfo);
printf("CanIf_Transmit std_ret = %d, cnt = %d\n",std_ret ,cnt);
}while(std_ret != E_OK);
printf("Transmit ch:%d to ch:%d: ID:%x '%8.8s'\n",
sendController, recvController, SEND_PDUID, pduInfo.SduDataPtr);
++sendcount;
}
// ヒステリシスを持った、送信の制御
if(sub_loop_trg == 0) {
if((sendcount - recvcount) >= sub_loop_limit) sub_loop_trg = 1;
} else {
if((sendcount - recvcount) < (sub_loop_limit / 4)) sub_loop_trg = 0;
}
if (config == 1) {
/* 受信テスト */
if (CanIf_ReadRxPduData(RECV_PDUID, &recvData) == E_OK) {
/* 受信データあり */
printf("Receive ch:%d ID:%x '%8.8s'\n",
recvController, RECV_PDUID, recvData.SduDataPtr);
++recvcount;
}
}
}
if (recvcount == sendcountmax) {
printf("All data received. (%d/%d)\n", recvcount, sendcountmax);
}
else {
printf("%d data lost.(%d/%d)\n", sendcountmax - recvcount, recvcount, sendcountmax);
}
time(&t_end);
printf("Total time: %d [Sec]\n", (t_end - t_start));
/* 終了処理の追加 */
CanIf_Deinit();
}