amt630hv160-sdk-release/amt630hv160-mcu/amt630hv160-mcu-iram/src/App/can_demo.c

#include <stdio.h>
#include "amt630hv160_lib.h"
#include "can_uds.h"
#include "fs/ff.h"
#include "fs/diskio.h"
#include <string.h>

#include "mailbox_message.h"
#include "update.h"

extern int UsbHostInit(void);
extern void WDT_McuReboot(void);

CanPort_t *ecu_cap = NULL;
CanPort_t *host_cap = NULL;
static u8 reboot_flg = 0;

static void can_ecudemo_thread(void *pvParameters)
{
	for (;;) {
		CanMsg rxmsg[8] = {0};
		int revlen;
		int i;

		if ((revlen = iCanRead(ecu_cap, rxmsg, 8, pdMS_TO_TICKS(10))) > 0) {
			for (i = 0; i < revlen; i++) {
				if (rxmsg[i].StdId == PHY_ADDR_ID) {
					CAN_UDS_Process(rxmsg[i].Data, rxmsg[i].DLC);
				}
			}
		}
	}
}

static void can_hostdemo_thread(FIL *fp,u32 filetype,u32 upfileSize)
{
	uint8_t param[16];
	uint32_t plen;
	uint8_t *rspData;
	uint32_t rspLen;
	uint32_t packetSize;
	uint8_t *pPacketData = NULL;
	uint32_t leftsize;
	uint32_t sendsize;
	uint32_t bsc = 1;
	uint32_t checksum = 0xffffffff;
	UINT size;
	FRESULT  fret;
	//0x10: 会话控制
	//0x03: 切换到扩展会话
	param[0] = 0x03;
	plen = 1;
	if (!CAN_UDS_RequestService(0x10, param, plen, &rspData, &rspLen))
		goto exit;

	//0x31: 例程控制
	//0x01: 启动例程
	//0x02 0x03: 例程RID:检查刷写条件
	param[0] = 0x01;
	param[1] = 0x02;
	param[2] = 0x03;
	plen = 3;
	if (!CAN_UDS_RequestService(0x31, param, plen, &rspData, &rspLen))
		goto exit;

	//0x85: 故障码控制设置
	//0x02: 停止故障码存储
	param[0] = 0x02;
	plen = 1;
	if (!CAN_UDS_RequestService(0x85, param, plen, &rspData, &rspLen))
		goto exit;

	//0x28: 通讯控制
	//0x03: 停止发送报文、接收报文
	//0x03: 应用与网络报文
	param[0] = 0x03;
	param[1] = 0x03;
	plen = 2;
	if (!CAN_UDS_RequestService(0x28, param, plen, &rspData, &rspLen))
		goto exit;

	//0x10: 会话控制
	//0x02: 切换到编程会话
	param[0] = 0x02;
	plen = 1;
	if (!CAN_UDS_RequestService(0x10, param, plen, &rspData, &rspLen))
		goto exit;

	//0x27: 安全访问
	//0x01: 请求种子
	param[0] = 0x01;
	plen = 1;
	if (!CAN_UDS_RequestService(0x27, param, plen, &rspData, &rspLen))
		goto exit;

	//0x27: 安全访问
	//0x02: 发送与验证key
	//4字节key由上面获取到的种子计算生成
	param[0] = 0x02;
	param[1] = ~rspData[2];
	param[2] = ~rspData[3];
	param[3] = ~rspData[4];
	param[4] = ~rspData[5];
	plen = 5;
	if (!CAN_UDS_RequestService(0x27, param, plen, &rspData, &rspLen))
		goto exit;

	//0x31: 例程控制
	//0x01: 启动例程
	//0xFF 0x00: 例程RID:擦除代码存储区数据
	param[0] = 0x01;
	param[1] = 0xFF;
	param[2] = 0x00;
	plen = 3;
	if (!CAN_UDS_RequestService(0x31, param, plen, &rspData, &rspLen))
		goto exit;


	//0x34: 请求下载
	//0x00: 不采用压缩算法和加密算法
	//0x04: 地址为0个字节，长度为4个字节
	//4个字节长度
	param[0] = 0x00;
	param[1] = 0x04;
	param[2] = (upfileSize >> 24) & 0xff;
	param[3] = (upfileSize >> 16) & 0xff;
	param[4] = (upfileSize >> 8) & 0xff;
	param[5] = upfileSize & 0xff;
	param[6] = filetype;
	plen = 7;
	if (!CAN_UDS_RequestService(0x34, param, plen, &rspData, &rspLen))
		goto exit;
	if ((rspData[1] >> 4) == 2 && rspLen >= 4)
		packetSize = (rspData[2] << 8) | rspData[3];
	else if ((rspData[1] >> 4) == 4 && rspLen >= 6)
		packetSize = (rspData[2] << 24) | (rspData[3] << 16)
					| (rspData[4] << 8) | rspData[5];
	printf("Respond packet_size is %d.\n", packetSize);

	pPacketData = pvPortMalloc(packetSize);

	if (!pPacketData) {
		printf("No enough memory to alloc for pPacketData.\n");
		goto exit;
	}

	//0x36: 传输数据
	//0xXX: 块序号
	//packetSize - 2字节的数据
	leftsize = upfileSize;
	packetSize -= 2; //除去SID,BSC和filetype
	while (leftsize) {
		sendsize = leftsize > packetSize ? packetSize : leftsize;
		pPacketData[0] = bsc++;

		fret = f_read(fp, &pPacketData[1], sendsize, &size);
		if(fret != FR_OK) {
			printf("Read file fail! fret=%d\n", fret);
			break;
		}
		printf("bsc=%d \n", bsc-1);
		checksum = xcrc32(&pPacketData[1], sendsize, checksum, HARD_CALC_CRC);

		//printf("bsc=%d,checksum = 0x%x \n", bsc-1, checksum);
		if(!CAN_UDS_RequestService(0x36, pPacketData, sendsize + 1, &rspData, &rspLen))
			break;

		leftsize -= sendsize;
	}


	//0x37: 请求传输退出
	if (!CAN_UDS_RequestService(0x37, param, 0, &rspData, &rspLen))
		goto exit;

	if (rspLen >= 1 && rspData[0]) {
		reboot_flg = 1;
	}
	//0x31: 例程控制
	//0x01: 启动例程
	//0x02 0x02: 例程RID: 检查APP存储区所有数据是否正确
	param[0] = 0x01;
	param[1] = 0x02;
	param[2] = 0x02;
	param[3] = (checksum >> 24) & 0xff;
	param[4] = (checksum >> 16) & 0xff;
	param[5] = (checksum >> 8) & 0xff;
	param[6] = checksum & 0xff;
	plen = 7;
	if (!CAN_UDS_RequestService(0x31, param, plen, &rspData, &rspLen))
		goto exit;
	if (filetype == UPFILE_TYPE_MCU_IMAGE || filetype == UPFILE_TYPE_MCU_FB) {
		if (rspLen >= 4 && !rspData[4]) {
			printf("Checksum ok\r\n");
		} else {
			printf("Checksum fail\r\n");
			goto exit;
		}
	}

	//0x31: 例程控制
	//0x01: 启动例程
	//0xFF 0x01: 例程RID: 检查编程依赖性
	param[0] = 0x01;
	param[1] = 0xFF;
	param[2] = 0x01;
	plen = 3;
	if (!CAN_UDS_RequestService(0x31, param, plen, &rspData, &rspLen))
		goto exit;
	if (filetype == UPFILE_TYPE_MCU_IMAGE || filetype == UPFILE_TYPE_MCU_FB) {
		if (rspLen >= 4 && rspData[4]) {
			reboot_flg = 1;
			printf("Check Programming Dependencies response ok\r\n");
		} else {
			printf("Check Programming Dependencies response fail\r\n");
			goto exit;
		}
	}

	//0x11: ECU复位
	//0x01: 硬件复位
	param[0] = 0x01;
	plen = 1;
	if (!CAN_UDS_RequestService(0x11, param, plen, &rspData, &rspLen))
		goto exit;

	vTaskDelay(pdMS_TO_TICKS(3000));

	//0x10: 会话控制
	//0x03: 扩展会话
	param[0] = 0x03;
	plen = 1;
	if (!CAN_UDS_RequestService(0x10, param, plen, &rspData, &rspLen))
		goto exit;

	//0x28: 通讯控制
	//0x00: 允许发送报文、接收报文
	//0x03: 应用与网络报文
	param[0] = 0x00;
	param[1] = 0x03;
	plen = 2;
	if (!CAN_UDS_RequestService(0x28, param, plen, &rspData, &rspLen))
		goto exit;

	//0x85: 故障码控制设置
	//0x01: 启用故障码存储
	param[0] = 0x01;
	plen = 1;
	if (!CAN_UDS_RequestService(0x85, param, plen, &rspData, &rspLen))
		goto exit;

	//0x10: 会话控制
	//0x01: 默认会话
	param[0] = 0x01;
	plen = 1;
	if (!CAN_UDS_RequestService(0x10, param, plen, &rspData, &rspLen))
		goto exit;

exit:
	if (pPacketData)
		vPortFree(pPacketData);

	f_close(fp);
}

static void update_from_can(void *pvParameters)
{
	FRESULT  fret;
	FILINFO fileinfo = {0};
	FATFS fs;
	uint32_t upfileSize;
	FIL fp = {0};
	char filename[32];

	if (UsbHostInit() < 0) {
		printf("UsbHostInit fail\n");
 		goto exit;
	}

	fret = f_mount(&fs, DRVPATH(DRV_USB), 0);
	if(fret == FR_OK) {
	 	printf("Mount file ok\n");
	} else {
	 	printf("Mount file fail\n");
	 	goto exit;
	}

	for(int i = UPFILE_TYPE_LDR; i < UPFILE_TYPE_NUM; i++){
		sprintf(filename, "%s%s", DRVPATH(DRV_USB), g_upfilename[i]);
		fret = f_open(&fp, filename, FA_OPEN_EXISTING | FA_READ);
		if(fret != FR_OK) {
			//printf("Open file fail %s\n", filename);
			continue;
		}

		fret = f_stat(filename, &fileinfo);
		if (fret != FR_OK) {
			printf("Get file info fail\n");
			goto exit;
		}

		upfileSize = fileinfo.fsize;
		can_hostdemo_thread(&fp,i,upfileSize);
	}

	if (reboot_flg)
		WDT_McuReboot();
	exit:
		printf("udate from can finish! \n");
		vTaskDelay(portMAX_DELAY);
}

int can_ecu_demo(void)
{
	CanPort_t *cap = xCanOpen(CAN_ID0);
	CanTimInit_t CanTimInit;

	if (!cap) {
		printf("open can %d fail.\n", CAN_ID0);
		vTaskDelete(NULL);
		return -1;
	}

	CanTimInit.Bps = CANFD500kBaud;
	CanTimInit.DatBps = CANFD1MBaud;
	CanTimInit.tdc_en = 0;
	CanTimInit.sspoff = 0;
	vCanInit(cap, &CanTimInit, CAN_MODE_NORMAL);

	CAN_FilterInitTypeDef canfilter;
	canfilter.IDE_M = STD_OR_EXT;
	canfilter.ID = PHY_ADDR_ID;
	canfilter.IDMASK = 0x0;
	canfilter.FILTERx = 0;
	vCanSetFilter(cap, canfilter);

	ecu_cap = cap;

	/* 创建ECU工作线程 */
	if (xTaskCreate(can_ecudemo_thread, "canecu", 1024, NULL,
		(tskIDLE_PRIORITY + 1) | portPRIVILEGE_BIT, NULL) != pdPASS) {
		printf("create can hostdemo task fail.\n");
		return -1;
	}

	return 0;
}

int can_host_demo(void)
{
	CanPort_t *cap = xCanOpen(CAN_ID1);
	CanTimInit_t CanTimInit;

	if (!cap) {
		printf("open can %d fail.\n", CAN_ID1);
		vTaskDelete(NULL);
		return -1;
	}

	CanTimInit.Bps = CANFD500kBaud;
	CanTimInit.DatBps = CANFD1MBaud;
	CanTimInit.tdc_en = 0;
	CanTimInit.sspoff = 0;
	vCanInit(cap, &CanTimInit, CAN_MODE_NORMAL);

	CAN_FilterInitTypeDef canfilter;
	canfilter.IDE_M = STD_OR_EXT;
	canfilter.ID = RSP_ADDR_ID;
	canfilter.IDMASK = 0x0;
	canfilter.FILTERx = 0;
	vCanSetFilter(cap, canfilter);

	host_cap = cap;

	//vTaskDelay(1000*20);
	 /*创建上位机工作线程 */
	if (xTaskCreate(update_from_can, "canhost", 1024, NULL,
		(tskIDLE_PRIORITY + 1) | portPRIVILEGE_BIT, NULL) != pdPASS) {
		printf("create can hostdemo task fail.\n");
		return -1;
	}

	return 0;
}