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https://gitee.com/Vancouver2017/luban-lite.git
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123 lines
3.9 KiB
C
123 lines
3.9 KiB
C
/*
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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*/
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#include "uds_def.h"
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static rt_timer_t response_timer;
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void response_timeout(void *param)
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{
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rt_kprintf("\n[UDS] ERROR: Response timeout!\n");
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}
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void init_uds_timers()
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{
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response_timer = rt_timer_create("uds_tout", response_timeout, RT_NULL, 2000,
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RT_TIMER_FLAG_ONE_SHOT);
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}
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/******************************************************************************
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* 函数名称: void uds_recv_frame(uint32_t id, uint8_t* frame_buf, uint8_t frame_dlc)
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* 功能说明: 接收到一帧报文
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* 输入参数: uint32_t id --消息帧 ID
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uint8_t* frame_buf --接收报文帧数据首地址
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uint8_t frame_dlc --接收报文帧数据长度
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* 输出参数: 无
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* 函数返回: 无
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* 其它说明: frame_dlc 长度必须等于 FRAME_SIZE，否则会被判断为无效帧
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******************************************************************************/
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void uds_recv_frame(uint32_t id, uint8_t* frame_buf, uint8_t frame_dlc)
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{
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if(UDS_REQUEST_ID == id)
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uds_tp_recv_frame(0, frame_buf, frame_dlc);
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else if(UDS_FUNCTION_ID == id)
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uds_tp_recv_frame(1, frame_buf, frame_dlc);
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}
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/******************************************************************************
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* 函数名称: void uds_send_frame(uint32_t id, uint8_t* frame_buf, uint8_t frame_dlc)
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* 功能说明: 发送一帧报文
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* 输入参数: uint8_t response_id --应答 ID
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uint8_t* frame_buf --发送报文帧数据首地址
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uint8_t frame_dlc --发送报文帧数据长度
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* 输出参数: 无
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* 函数返回: 无
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* 其它说明: frame_dlc 长度应当等于 FRAME_SIZE
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******************************************************************************/
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void uds_send_frame(uint32_t id, uint8_t *data, uint8_t len, uint8_t expect_response)
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{
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rt_err_t ret = 0;
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rt_size_t size;
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struct rt_can_msg msg = {
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.id = id,
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.ide = (id > 0x7FF) ? 1 : 0,
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.rtr = 0,
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.len = len
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};
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memcpy(msg.data, data, len);
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rt_kprintf("[UDS] REQUEST: ID=0x%03X LEN=%d DATA: ", id, len);
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for(int i=0; i<len; i++)
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rt_kprintf("%02X ", data[i]);
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rt_kprintf("\n");
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rt_device_t can_tx_dev = rt_device_find(CAN_TX_DEV_NAME);
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if (can_tx_dev) {
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ret = rt_device_open(can_tx_dev,
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RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
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if (ret)
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{
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rt_kprintf("%s open failed!\n", CAN_TX_DEV_NAME);
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return;
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}
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ret = rt_device_control(can_tx_dev, RT_CAN_CMD_SET_BAUD, (void *)CAN1MBaud);
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if (ret)
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{
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rt_kprintf("%s set baudrate failed!\n", CAN_TX_DEV_NAME);
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return;
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}
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rt_device_control(can_tx_dev, RT_DEVICE_CTRL_SET_INT, NULL);
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size = rt_device_write(can_tx_dev, 0, &msg, sizeof(msg));
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if (size != sizeof(msg))
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{
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rt_kprintf("can dev write data failed!\n");
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return;
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}
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}
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if(expect_response) {
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rt_kprintf("[UDS] Waiting for response... (timeout=2000ms)\n");
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}
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}
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/******************************************************************************
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* 函数名称: void uds_init(void)
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* 功能说明: UDS 初始化
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* 输入参数: 无
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* 输出参数: 无
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* 函数返回: 无
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* 其它说明: 无
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******************************************************************************/
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void uds_init(void)
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{
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service_init();
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}
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/******************************************************************************
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* 函数名称: void uds_1ms_task(void)
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* 功能说明: UDS 周期任务
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* 输入参数: 无
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* 输出参数: 无
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* 函数返回: 无
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* 其它说明: 该函数需要被 1ms 周期调用
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******************************************************************************/
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void uds_1ms_task(void)
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{
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network_task();
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service_task();
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}
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