mirror of
https://gitee.com/Vancouver2017/luban-lite.git
synced 2025-12-16 17:18:56 +00:00
310 lines
8.1 KiB
C
310 lines
8.1 KiB
C
/*
|
|
* Copyright (c) 2025, ArtInChip Technology Co., Ltd
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*
|
|
*/
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
#include <rtthread.h>
|
|
#include "rtdevice.h"
|
|
#include <aic_core.h>
|
|
#include "aic_hal_can.h"
|
|
#include "uds_def.h"
|
|
|
|
/*
|
|
* This program is used to test the sending and receiving of CAN.
|
|
* You must ensure that there are two CAN modules on the demo board.
|
|
* CAN0 sends data and CAN1 receives data.
|
|
* can_rx needs to be executed before can_tx.
|
|
*/
|
|
#define CAN_TX_DEV_NAME "can0"
|
|
#define CAN_RX_DEV_NAME "can1"
|
|
#define CAN_RX_FILTER_ENABLE 0
|
|
|
|
static struct rt_semaphore rx_sem = {0};
|
|
static rt_device_t can_rx_dev = RT_NULL;
|
|
uint8_t rxThreadInited = 0;
|
|
|
|
static rt_err_t can_rx_call(rt_device_t dev, rt_size_t size)
|
|
{
|
|
rt_sem_release(&rx_sem);
|
|
return RT_EOK;
|
|
}
|
|
|
|
static void can_rx_thread(void *parameter)
|
|
{
|
|
struct rt_can_msg rxmsg = {0};
|
|
size_t size;
|
|
|
|
while (1) {
|
|
rt_sem_take(&rx_sem, RT_WAITING_FOREVER);
|
|
|
|
rxmsg.hdr = -1;
|
|
size = rt_device_read(can_rx_dev, 0, &rxmsg, sizeof(rxmsg));
|
|
if (!size)
|
|
{
|
|
rt_kprintf("CAN read error\n");
|
|
break;
|
|
}
|
|
//print raw CAN frame for debug
|
|
rt_kprintf("[CAN] RX ID:0x%03X LEN:%d DATA: ", rxmsg.id, rxmsg.len);
|
|
for (int i = 0; i < rxmsg.len; i++)
|
|
rt_kprintf("%02X ", rxmsg.data[i]);
|
|
rt_kprintf("\n");
|
|
|
|
uds_recv_frame(rxmsg.id, rxmsg.data, 8);
|
|
|
|
if (rxmsg.id == UDS_RESPONSE_ID || rxmsg.id == (UDS_REQUEST_ID + 0x8) ||
|
|
(rxmsg.data[0] & 0xF0) == 0x40) {
|
|
print_uds_response(rxmsg.id, rxmsg.data, rxmsg.len);
|
|
}
|
|
}
|
|
}
|
|
|
|
int test_uds_can_rx(int argc, char *argv[])
|
|
{
|
|
rt_err_t ret = 0;
|
|
rt_thread_t thread;
|
|
rt_timer_t uds_timer = RT_NULL;
|
|
|
|
if (!rxThreadInited) {
|
|
/* can rx configuration */
|
|
can_rx_dev = rt_device_find(CAN_RX_DEV_NAME);
|
|
if (!can_rx_dev)
|
|
{
|
|
rt_kprintf("find %s failed!\n", CAN_RX_DEV_NAME);
|
|
return -RT_ERROR;
|
|
}
|
|
|
|
ret = rt_device_open(can_rx_dev,
|
|
RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
|
|
if (ret)
|
|
{
|
|
rt_kprintf("%s open failed!\n", CAN_RX_DEV_NAME);
|
|
return -RT_ERROR;
|
|
}
|
|
|
|
ret = rt_device_control(can_rx_dev, RT_CAN_CMD_SET_BAUD,
|
|
(void *)CAN1MBaud);
|
|
if (ret)
|
|
{
|
|
rt_kprintf("%s set baudrate failed!\n", CAN_RX_DEV_NAME);
|
|
ret = -RT_ERROR;
|
|
goto __exit;
|
|
}
|
|
|
|
//enable CAN RX interrupt
|
|
rt_device_control(can_rx_dev, RT_DEVICE_CTRL_SET_INT, NULL);
|
|
|
|
#if CAN_RX_FILTER_ENABLE
|
|
/* config can rx filter */
|
|
struct rt_can_filter_item items[2] =
|
|
{
|
|
//Only receive standard data frame with ID 0x100~0x1FF
|
|
RT_CAN_FILTER_ITEM_INIT(0x100, 0, 0, 0, 0x700, RT_NULL, RT_NULL),
|
|
//Only receive standard data frame with ID 0x345
|
|
RT_CAN_FILTER_ITEM_INIT(0x345, 0, 0, 0, 0x7FF, RT_NULL, RT_NULL),
|
|
};
|
|
|
|
struct rt_can_filter_config cfg = {2, 1, items};
|
|
|
|
ret = rt_device_control(can_rx_dev, RT_CAN_CMD_SET_FILTER, &cfg);
|
|
if (ret)
|
|
{
|
|
rt_kprintf("Setting can filter failed!\n");
|
|
return ret;
|
|
}
|
|
#endif
|
|
uds_init();
|
|
uds_timer = rt_timer_create("uds_timer", (void (*)(void*))uds_1ms_task, RT_NULL, 1,
|
|
RT_TIMER_FLAG_PERIODIC | RT_TIMER_FLAG_SOFT_TIMER);
|
|
if (uds_timer != RT_NULL)
|
|
rt_timer_start(uds_timer);
|
|
|
|
rt_device_set_rx_indicate(can_rx_dev, can_rx_call);
|
|
|
|
rt_sem_init(&rx_sem, "rx_sem", 0, RT_IPC_FLAG_PRIO);
|
|
|
|
thread = rt_thread_create("can_rx", can_rx_thread, RT_NULL,
|
|
2048, 15, 10);
|
|
if (thread != RT_NULL)
|
|
{
|
|
rt_thread_startup(thread);
|
|
}
|
|
else
|
|
{
|
|
rt_kprintf("create can_rx thread failed!\n");
|
|
ret = -RT_ERROR;
|
|
}
|
|
|
|
rxThreadInited = 1;
|
|
rt_kprintf("The "CAN_RX_DEV_NAME" received thread is ready...\n");
|
|
}
|
|
else
|
|
{
|
|
rt_kprintf("The "CAN_RX_DEV_NAME" received thread is running...\n");
|
|
}
|
|
|
|
return RT_EOK;
|
|
|
|
__exit:
|
|
rt_device_close(can_rx_dev);
|
|
return ret;
|
|
}
|
|
|
|
MSH_CMD_EXPORT_ALIAS(test_uds_can_rx, uds_can_rx, CAN rx sample. Usage: can_rx);
|
|
|
|
void test_uds_parse_msg_data(rt_can_msg_t msg, char * optarg)
|
|
{
|
|
char *token;
|
|
uint8_t i = 0, id_received = 0;
|
|
|
|
token = strtok(optarg, "#.");
|
|
|
|
while (token) {
|
|
if (!id_received) {
|
|
msg->id = strtoul(token, NULL, 16);
|
|
if (msg->id > 0x7FF) {
|
|
msg->ide = 1;
|
|
} else {
|
|
msg->ide = 0;
|
|
}
|
|
id_received = 1;
|
|
} else {
|
|
msg->rtr = CAN_FRAME_TYPE_DATA;
|
|
msg->data[i++] = strtoul(token, NULL, 16);
|
|
if (i >= 8)
|
|
break;
|
|
}
|
|
|
|
token = strtok(NULL, "#.");
|
|
}
|
|
|
|
msg->len = i;
|
|
}
|
|
|
|
static void usage_tx(char * program)
|
|
{
|
|
printf("\n");
|
|
printf("%s - test CAN0 send CAN-frame.\n\n", program);
|
|
printf("Usage: %s CAN_FRAME\n", program);
|
|
printf("\tCAN_FRAME format: frame_id#frame_data\n");
|
|
printf("For example:\n");
|
|
printf("\t%s 1a3#11.22.9a.88.ef.00\n", program);
|
|
printf("\n");
|
|
}
|
|
|
|
int test_uds_can_tx(int argc, char *argv[])
|
|
{
|
|
rt_err_t ret = 0;
|
|
rt_size_t size;
|
|
struct rt_can_msg msg = {0};
|
|
rt_device_t can_tx_dev = RT_NULL;
|
|
|
|
if (argc != 2)
|
|
{
|
|
usage_tx(argv[0]);
|
|
return -RT_EINVAL;
|
|
}
|
|
|
|
if (!rxThreadInited)
|
|
{
|
|
rt_kprintf("Please execute can_rx at first!\n");
|
|
return -RT_EINVAL;
|
|
}
|
|
|
|
test_uds_parse_msg_data(&msg, argv[1]);
|
|
|
|
/* can tx configuration */
|
|
can_tx_dev = rt_device_find(CAN_TX_DEV_NAME);
|
|
if (!can_tx_dev)
|
|
{
|
|
rt_kprintf("find %s failed!\n", CAN_TX_DEV_NAME);
|
|
return -RT_EINVAL;
|
|
}
|
|
|
|
ret = rt_device_open(can_tx_dev,
|
|
RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
|
|
if (ret)
|
|
{
|
|
rt_kprintf("%s open failed!\n", CAN_TX_DEV_NAME);
|
|
return -RT_ERROR;
|
|
}
|
|
|
|
ret = rt_device_control(can_tx_dev, RT_CAN_CMD_SET_BAUD, (void *)CAN1MBaud);
|
|
if (ret)
|
|
{
|
|
rt_kprintf("%s set baudrate failed!\n", CAN_TX_DEV_NAME);
|
|
ret = -RT_ERROR;
|
|
goto __exit;
|
|
}
|
|
|
|
//enable CAN TX interrupt
|
|
rt_device_control(can_tx_dev, RT_DEVICE_CTRL_SET_INT, NULL);
|
|
|
|
size = rt_device_write(can_tx_dev, 0, &msg, sizeof(msg));
|
|
if (size != sizeof(msg))
|
|
{
|
|
rt_kprintf("can dev write data failed!\n");
|
|
ret = -RT_EIO;
|
|
}
|
|
|
|
__exit:
|
|
rt_device_close(can_tx_dev);
|
|
return ret;
|
|
}
|
|
|
|
MSH_CMD_EXPORT_ALIAS(test_uds_can_tx, uds_can_tx, CAN tx sample);
|
|
|
|
|
|
void parse_uds_msg_data(rt_can_msg_t msg, char * optarg)
|
|
{
|
|
char *token;
|
|
uint8_t i = 0;
|
|
|
|
token = strtok(optarg, ".");
|
|
|
|
while (token) {
|
|
msg->data[i++] = strtoul(token, NULL, 16);
|
|
|
|
token = strtok(NULL, ".");
|
|
}
|
|
|
|
msg->len = i;
|
|
}
|
|
|
|
int test_uds_service(int argc, char *argv[])
|
|
{
|
|
struct rt_can_msg msg = {0};
|
|
if (argc < 2)
|
|
{
|
|
rt_kprintf("Usage: test_uds_service <service>\n");
|
|
rt_kprintf("Available services:\n");
|
|
rt_kprintf(" session - Test session control\n");
|
|
rt_kprintf(" send - Test send consecutive frame\n");
|
|
return -RT_ERROR;
|
|
}
|
|
|
|
if (strcmp(argv[1], "session") == 0) {
|
|
parse_uds_msg_data(&msg, argv[2]);
|
|
uds_send_frame(UDS_REQUEST_ID, msg.data, sizeof(msg.data[0]) * msg.len, 1);
|
|
}
|
|
|
|
if (strcmp(argv[1], "send") == 0) {
|
|
uint8_t ff_data[] = {0x10, 0x0A, 0x36, 0xBB, 0xCC, 0xDD, 0xEE, 0xFF};
|
|
uds_send_frame(UDS_REQUEST_ID, ff_data, 8, 0);
|
|
|
|
uint8_t cf1_data[] = {0x21, 0x11, 0x22, 0x00, 0x00, 0x00, 0x00, 0x00};
|
|
uds_send_frame(UDS_REQUEST_ID, cf1_data, 8, 0);
|
|
|
|
uint8_t cf2_data[] = {0x22, 0x33, 0x44, 0x00, 0x00, 0x00, 0x00, 0x00};
|
|
uds_send_frame(UDS_REQUEST_ID, cf2_data, 8, 0);
|
|
assemble_complete_frame();
|
|
}
|
|
return RT_EOK;
|
|
}
|
|
|
|
MSH_CMD_EXPORT(test_uds_service, UDS service test);
|