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app.cpp
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#include <Arduino.h>
#include "config.h"
#include "util.h"
#include "a_ble.h"
#include "a_led.h"
#include "a_uart.h"
#include "a_can.h"
#include "a_mqtt.h"
#include "a_wifi.h"
#include "app.h"
static void APP_Frame0(uint8_t *p_buff, uint16_t len, uint8_t channel);
static void APP_Frame1(uint8_t *p_buff, uint16_t len, uint8_t channel);
static void APP_Frame2(uint8_t *p_buff, uint16_t len, uint8_t channel);
static void APP_Frame3(uint8_t *p_buff, uint16_t len, uint8_t channel);
static void APP_Frame4(uint8_t *p_buff, uint16_t len, uint8_t channel);
static void APP_Frame5(uint8_t *p_buff, uint16_t len, uint8_t channel);
static void APP_SendRespToFrame(uint8_t respType, uint8_t APP_RESP_nackNo, uint8_t *p_buff, uint16_t dataLen, uint8_t channel, bool cache);
void (*cb_APP_FrameType[])(uint8_t *, uint16_t, uint8_t) =
{
APP_Frame0,
APP_Frame1,
APP_Frame2,
APP_Frame3,
APP_Frame4,
APP_Frame5};
void (*cb_APP_Send[])(uint8_t *, uint16_t) =
{
UART_Write,
MQTT_Write,
NULL,
WIFI_Soc_Write,
WIFI_WebSoc_Write};
uint8_t APP_RxBuff[4130] = {0};
uint8_t APP_TxBuff[4130] = {0};
uint16_t APP_BuffRxIndex;
uint16_t APP_BuffTxIndex;
uint16_t APP_DataLen;
bool APP_ProcDataBusyFlag;
bool APP_BuffDataRdyFlag;
uint8_t APP_BuffLockedBy;
uint8_t APP_Channel;
uint8_t APP_ISO_State;
uint8_t APP_SPRCOL;
CAN_speed_t APP_CAN_Baud;
uint32_t APP_CAN_TxId;
uint8_t APP_CAN_TxIdType;
uint32_t APP_CAN_FilterId;
uint8_t APP_CAN_FilterIdType;
uint8_t APP_CAN_TxMinTime;
uint32_t APP_CAN_TxMinTmr;
uint16_t APP_CAN_RqRspMaxTime;
bool APP_CAN_TransmitTstrMsg;
uint16_t APP_CAN_PaddingByte;
CAN_PROTOCOL_t APP_CAN_Protocol;
uint16_t APP_CAN_TxDataLen;
uint16_t APP_CAN_RxDataLen;
uint8_t APP_ISO_FC_RxBlockSize;
uint8_t APP_ISO_FC_RxFlag;
uint8_t APP_ISO_FC_RxSepTime;
uint8_t APP_ISO_FC_TxBlockSize;
uint8_t APP_ISO_FC_TxFlag;
uint8_t APP_ISO_TxSepTime;
uint32_t APP_ISO_TxSepTmr;
uint8_t APP_ISO_TxFrameCounter;
uint8_t APP_ISO_TxBlockCounter;
uint8_t APP_ISO_RxBlockCounter;
uint32_t APP_ISO_FC_WaitTmr;
uint32_t APP_RxResp_tmeOutTmr;
uint32_t APP_Frame01_TmeOutTmr;
uint32_t APP_SendToAppWaitTmr;
bool APP_ISO_SendToApp_FF_Flag;
bool APP_SecurityChk;
uint8_t APP_SecuityCode[] = {0x47, 0x56, 0x8A, 0xFE, 0x56, 0x21, 0x4E, 0x23, 0x80, 0x00};
uint32_t APP_AmberLedTmr;
uint32_t APP_YellowLedTmr;
uint32_t APP_GreenLedTmr;
uint32_t APP_DataPushTmeOutTmr;
uint8_t APP_YellowFlashCntr;
uint8_t APP_GreenFlashCntr;
bool APP_CAN_COMM_Flag;
bool APP_Client_COMM_Flag;
void APP_Init(void)
{
APP_CAN_Baud = CAN_SPEED_500KBPS;
APP_CAN_TxId = 0x7E0;
APP_CAN_TxIdType = CAN_MSG_FLAG_NONE;
APP_ISO_State = APP_ISO_STATE_IDLE;
APP_CAN_Protocol = APP_CAN_PROTOCOL_ISO15765;
APP_CAN_RqRspMaxTime = 500;
APP_Channel = APP_CHANNEL_NONE;
APP_BuffTxIndex = 0;
ResetTimer(APP_DataPushTmeOutTmr);
LED_SetLedState(SECURITY_LED, GPIO_STATE_TOGGLE, GPIO_TOGGLE_1HZ);
}
void APP_Task(void *pvParameters)
{
#define byte(x, y) ((uint8_t)(x >> (y * 8)))
UBaseType_t uxHighWaterMark;
CAN_frame_t rx_frame;
CAN_frame_t tx_frame;
uint16_t frameCount = 0;
uint8_t respType;
uint8_t respNo;
uint16_t respLen;
uint8_t respBuff[30];
uint16_t len;
bool canFrameSend;
uint8_t isoFrameType;
uint8_t delay;
uint16_t crc16;
respType = APP_RESP_ACK;
respNo = APP_RESP_ACK;
respLen = 0;
canFrameSend = false;
delay = 0;
ESP_LOGI("APP", "Task Started");
uxHighWaterMark = uxTaskGetStackHighWaterMark(NULL);
ESP_LOGI("APP", "uxHighWaterMark = %d", uxHighWaterMark);
APP_Init();
// CAN_ConfigFilterterMask(0x00000000, true);
while (1)
{
vTaskDelay(1 / portTICK_PERIOD_MS);
tx_frame.MsgID = APP_CAN_TxId;
tx_frame.FIR.B.FF = (CAN_frame_format_t)APP_CAN_TxIdType;
// tx_frame.FIR.B.DLC = 5 + 1;
// CAN_WriteFrame(&tx_frame, pdMS_TO_TICKS(10));
if (IsTimerElapsed(APP_DataPushTmeOutTmr))
{
cb_APP_Send[APP_Channel](APP_TxBuff, APP_BuffTxIndex);
APP_BuffTxIndex = 0;
ResetTimer(APP_DataPushTmeOutTmr);
}
if (IsTimerElapsed(APP_Frame01_TmeOutTmr) || IsTimerElapsed(APP_RxResp_tmeOutTmr))
{
APP_BuffLockedBy = APP_BUFF_LOCKED_BY_NONE;
APP_BuffRxIndex = 0;
if (APP_Frame01_TmeOutTmr)
{
ResetTimer(APP_Frame01_TmeOutTmr);
}
else
{
ResetTimer(APP_RxResp_tmeOutTmr);
respLen = 0;
respBuff[respLen++] = 0x40;
respBuff[respLen++] = 2;
if (((APP_Channel > APP_CHANNEL_NONE) && (APP_Channel < APP_CHANNEL_MAX)) && (cb_APP_Send[APP_Channel] != NULL))
{
crc16 = UTIL_CRC16_CCITT(0xFFFF, respBuff, 0);
respBuff[respLen++] = crc16 >> 8;
respBuff[respLen++] = crc16;
cb_APP_Send[APP_Channel](respBuff, respLen);
}
}
APP_BuffDataRdyFlag = false;
}
if ((APP_Client_COMM_Flag || APP_YellowFlashCntr) && IsTimerElapsed(APP_YellowLedTmr))
{
if (APP_Client_COMM_Flag)
{
APP_Client_COMM_Flag = 0;
APP_YellowFlashCntr = 4;
}
APP_YellowFlashCntr--;
LED_SetLedState(COMM_LED, GPIO_STATE_TOGGLE, GPIO_TOGGLE_1HZ);
SetTimer(APP_YellowLedTmr, 100);
}
else if (APP_YellowFlashCntr == 0)
{
LED_SetLedState(COMM_LED, GPIO_STATE_LOW, GPIO_TOGGLE_NONE);
}
if ((APP_CAN_COMM_Flag || APP_GreenFlashCntr) && IsTimerElapsed(APP_GreenLedTmr))
{
if (APP_CAN_COMM_Flag)
{
APP_CAN_COMM_Flag = 0;
APP_GreenFlashCntr = 4;
}
APP_GreenFlashCntr--;
// CAN_IND_Toggle();
SetTimer(APP_GreenLedTmr, 100);
}
else if (APP_GreenFlashCntr == 0)
{
// CAN_IND_SetLow();
}
if (true)
{
tx_frame.MsgID = APP_CAN_TxId;
tx_frame.FIR.B.FF = (CAN_frame_format_t)APP_CAN_TxIdType;
switch (APP_CAN_Protocol)
{
case APP_CAN_PROTOCOL_NONE:
break;
case APP_CAN_PROTOCOL_NORMAL:
if (((APP_Channel > APP_CHANNEL_NONE) && (APP_Channel < APP_CHANNEL_MAX)) &&
(CAN_ReadFrame(&rx_frame, pdMS_TO_TICKS(0)) == ESP_OK) &&
(rx_frame.FIR.B.RTR == CAN_no_RTR))
{
APP_TxBuff[APP_BuffTxIndex++] = 0x60;
APP_TxBuff[APP_BuffTxIndex++] = byte(rx_frame.MsgID, 0);
APP_TxBuff[APP_BuffTxIndex++] = byte(rx_frame.MsgID, 1);
;
APP_TxBuff[APP_BuffTxIndex++] = byte(rx_frame.MsgID, 2);
;
APP_TxBuff[APP_BuffTxIndex++] = byte(rx_frame.MsgID, 3);
;
APP_TxBuff[APP_BuffTxIndex++] = rx_frame.FIR.B.DLC;
memcpy((uint8_t *)&APP_TxBuff[APP_BuffTxIndex], &rx_frame.data.u8[0], rx_frame.FIR.B.DLC);
APP_BuffTxIndex = APP_BuffTxIndex + rx_frame.FIR.B.DLC;
SetTimer(APP_DataPushTmeOutTmr, 20);
Serial.println("CAN: Message Received");
if (APP_BuffTxIndex > 3000)
{
SetTimer(APP_DataPushTmeOutTmr, (-1));
}
}
break;
case APP_CAN_PROTOCOL_ISO15765:
// if (APP_CAN_Baud != 0)
// {
// if (APP_BuffDataRdyFlag == true)
// {
// switch (APP_ISO_State)
// {
// case APP_ISO_STATE_SINGLE:
// tx_frame.FIR.B.DLC = APP_CAN_TxDataLen + 1;
// tx_frame.data.u8[0] = 0x0F & (tx_frame.FIR.B.DLC - 1);
// memcpy((uint8_t *)&tx_frame.data.u8[1], &APP_RxBuff[0], (tx_frame.FIR.B.DLC - 1));
// if ((tx_frame.FIR.B.DLC < 8) && (APP_CAN_PaddingByte & 0x0100))
// {
// memset(((uint8_t *)&tx_frame.data.u8[0] + tx_frame.FIR.B.DLC),
// (uint8_t)APP_CAN_PaddingByte,
// (8 - tx_frame.FIR.B.DLC));
// tx_frame.FIR.B.DLC = 8;
// }
// canFrameSend = true;
// APP_BuffTxIndex = 0;
// APP_CAN_TxDataLen = 0;
// APP_BuffDataRdyFlag = false;
// APP_BuffLockedBy = APP_BUFF_LOCKED_BY_NONE;
// APP_ISO_State = APP_ISO_STATE_IDLE;
// break;
// case APP_ISO_STATE_FIRST:
// tx_frame.FIR.B.DLC = 8;
// tx_frame.data.u8[0] = (0x0F & (uint8_t)(APP_CAN_TxDataLen >> 8)) | 0x10;
// tx_frame.data.u8[1] = (uint8_t)APP_CAN_TxDataLen;
// memcpy((uint8_t *)&tx_frame.data.u8[2], &APP_RxBuff[APP_BuffTxIndex], (tx_frame.FIR.B.DLC - 2));
// APP_BuffTxIndex = APP_BuffTxIndex + (tx_frame.FIR.B.DLC - 2);
// APP_CAN_TxDataLen = APP_CAN_TxDataLen - (tx_frame.FIR.B.DLC - 2);
// SetTimer(APP_ISO_FC_WaitTmr, APP_ISO_FC_WAIT_TIME);
// canFrameSend = true;
// APP_ISO_TxBlockCounter = 0;
// APP_ISO_TxFrameCounter = 1;
// APP_ISO_State = APP_ISO_STATE_FC_WAIT_TIME;
// break;
// case APP_ISO_STATE_CONSECUTIVE:
// if (APP_ISO_FC_TxFlag == 0)
// {
// if (APP_CAN_TxDataLen >= 7)
// {
// tx_frame.FIR.B.DLC = 8;
// }
// else
// {
// tx_frame.FIR.B.DLC = APP_CAN_TxDataLen + 1;
// }
// tx_frame.data.u8[0] = (0x0F & APP_ISO_TxFrameCounter) | 0x20;
// memcpy((uint8_t *)&tx_frame.data.u8[1], &APP_RxBuff[APP_BuffTxIndex], (tx_frame.FIR.B.DLC - 1));
// APP_BuffTxIndex = APP_BuffTxIndex + (tx_frame.FIR.B.DLC - 1);
// APP_CAN_TxDataLen = APP_CAN_TxDataLen - (tx_frame.FIR.B.DLC - 1);
// APP_ISO_TxFrameCounter++;
// APP_ISO_TxBlockCounter++;
// canFrameSend = true;
// if ((APP_ISO_FC_TxBlockSize) && (APP_ISO_TxBlockCounter == APP_ISO_FC_TxBlockSize))
// {
// SetTimer(APP_ISO_FC_WaitTmr, APP_ISO_FC_WAIT_TIME);
// APP_ISO_State = APP_ISO_STATE_FC_WAIT_TIME;
// APP_ISO_TxBlockCounter = 0;
// }
// else if (APP_ISO_TxSepTime)
// {
// SetTimer(APP_ISO_TxSepTmr, APP_ISO_TxSepTime);
// APP_ISO_State = APP_ISO_STATE_SEP_TIME;
// }
// if (APP_CAN_TxDataLen == 0)
// {
// if ((tx_frame.FIR.B.DLC < 8) && (APP_CAN_PaddingByte & 0x0100))
// {
// memset(((uint8_t *)&tx_frame.data.u8[0] + tx_frame.FIR.B.DLC),
// (uint8_t)APP_CAN_PaddingByte,
// (8 - tx_frame.FIR.B.DLC));
// tx_frame.FIR.B.DLC = 8;
// }
// APP_BuffTxIndex = 0;
// APP_BuffDataRdyFlag = false;
// APP_BuffLockedBy = APP_BUFF_LOCKED_BY_NONE;
// ResetTimer(APP_ISO_FC_WaitTmr);
// ResetTimer(APP_ISO_TxSepTmr);
// APP_ISO_State = APP_ISO_STATE_IDLE;
// }
// delay = 1;
// }
// else if (APP_ISO_FC_TxFlag == 1)
// {
// SetTimer(APP_ISO_FC_WaitTmr, 100);
// APP_ISO_State = APP_ISO_STATE_FC_WAIT_TIME;
// }
// else if (APP_ISO_FC_TxFlag == 2)
// {
// APP_BuffTxIndex = 0;
// APP_CAN_TxDataLen = 0;
// APP_BuffDataRdyFlag = false;
// APP_BuffLockedBy = APP_BUFF_LOCKED_BY_NONE;
// ResetTimer(APP_ISO_FC_WaitTmr);
// ResetTimer(APP_ISO_TxSepTmr);
// APP_ISO_State = APP_ISO_STATE_IDLE;
// }
// break;
// case APP_ISO_STATE_SEP_TIME:
// if IsTimerElapsed(APP_ISO_TxSepTmr)
// {
// ResetTimer(APP_ISO_TxSepTmr);
// APP_ISO_State = APP_ISO_STATE_CONSECUTIVE;
// }
// break;
// case APP_ISO_STATE_FC_WAIT_TIME:
// if IsTimerElapsed(APP_ISO_FC_WaitTmr)
// {
// ResetTimer(APP_ISO_FC_WaitTmr);
// APP_BuffTxIndex = 0;
// APP_CAN_TxDataLen = 0;
// APP_BuffDataRdyFlag = false;
// APP_BuffLockedBy = APP_BUFF_LOCKED_BY_NONE;
// APP_ISO_State = APP_ISO_STATE_IDLE;
// }
// break;
// case APP_ISO_STATE_SEND_TO_APP:
// // if ((APP_Channel == APP_CHANNEL_MQTT) || (APP_Channel == APP_CHANNEL_UART))
// // {
// APP_CAN_COMM_Flag = true;
// respLen = 0;
// if (((APP_Channel > APP_CHANNEL_NONE) && (APP_Channel < APP_CHANNEL_MAX)) && (cb_APP_Send[APP_Channel] != NULL))
// {
// crc16 = UTIL_CRC16_CCITT(0xFFFF, APP_RxBuff, APP_CAN_RxDataLen);
// APP_TxBuff[respLen++] = 0x40 | (((APP_CAN_RxDataLen + 2) >> 8) & 0x0F);
// APP_TxBuff[respLen++] = (APP_CAN_RxDataLen + 2);
// memcpy(&APP_TxBuff[respLen], APP_RxBuff, APP_CAN_RxDataLen);
// respLen = respLen + APP_CAN_RxDataLen;
// APP_TxBuff[respLen++] = crc16 >> 8;
// APP_TxBuff[respLen++] = crc16;
// cb_APP_Send[APP_Channel](APP_TxBuff, respLen);
// }
// APP_CAN_RxDataLen = 0;
// APP_ISO_State = APP_ISO_STATE_IDLE;
// APP_BuffRxIndex = 0;
// APP_BuffDataRdyFlag = false;
// APP_BuffLockedBy = APP_BUFF_LOCKED_BY_NONE;
// ResetTimer(APP_SendToAppWaitTmr);
// // }
// break;
// case APP_ISO_STATE_IDLE:
// break;
// default:
// break;
// }
// }
// if ((((APP_Channel > APP_CHANNEL_NONE) && (APP_Channel < APP_CHANNEL_MAX)) || (APP_ISO_State == APP_ISO_STATE_FC_WAIT_TIME)) &&
// ((CAN_ReadFrame(&rx_frame, pdMS_TO_TICKS(0)) == ESP_OK) &&
// // (rx_frame.identifier == APP_CAN_FilterId) &&
// // (rx_frame.flags == APP_CAN_FilterIdType) &&
// (rx_frame.FIR.B.RTR == CAN_no_RTR)))
// {
// APP_CAN_COMM_Flag = true;
// isoFrameType = rx_frame.data.u8[0] >> 4;
// switch (isoFrameType)
// {
// case APP_ISO_TYPE_SINGLE:
// respLen = 0;
// respBuff[respLen++] = 0x40;
// respBuff[respLen++] = ((rx_frame.data.u8[0] & 0x0F) + 2);
// memcpy(&respBuff[respLen], &rx_frame.data.u8[1], (rx_frame.data.u8[0] & 0x0F));
// respLen += (rx_frame.data.u8[0] & 0x0F);
// if (cb_APP_Send[APP_Channel] != NULL)
// {
// crc16 = UTIL_CRC16_CCITT(0xFFFF, &respBuff[2], (respLen - 2));
// respBuff[respLen++] = crc16 >> 8;
// respBuff[respLen++] = crc16;
// cb_APP_Send[APP_Channel](respBuff, respLen);
// }
// ResetTimer(APP_RxResp_tmeOutTmr);
// break;
// case APP_ISO_TYPE_FIRST:
// if ((APP_BuffLockedBy == APP_BUFF_LOCKED_BY_NONE) && (APP_BuffDataRdyFlag == false))
// {
// APP_BuffLockedBy = APP_BUFF_LOCKED_BY_ISO_TP_RX_FF;
// APP_CAN_RxDataLen = ((uint16_t)(0x0F & rx_frame.data.u8[0]) << 8) | (uint16_t)rx_frame.data.u8[1];
// APP_BuffRxIndex = 0;
// memcpy(&APP_RxBuff[APP_BuffRxIndex], &rx_frame.data.u8[2], 6);
// APP_BuffRxIndex = APP_BuffRxIndex + 6;
// SetTimer(APP_RxResp_tmeOutTmr, APP_CAN_RqRspMaxTime);
// tx_frame.data.u8[0] = 0x30;
// }
// else
// {
// // wait buffer is busy
// tx_frame.data.u8[0] = 0x31;
// }
// tx_frame.MsgID = APP_CAN_TxId;
// tx_frame.FIR.B.FF = (CAN_frame_format_t)APP_CAN_TxIdType;
// tx_frame.FIR.B.DLC = 3;
// tx_frame.data.u8[1] = APP_ISO_FC_RxBlockSize;
// tx_frame.data.u8[2] = APP_ISO_FC_RxSepTime;
// if ((tx_frame.FIR.B.DLC < 8) && (APP_CAN_PaddingByte & 0x0100))
// {
// memset(((uint8_t *)&tx_frame.data.u8[0] + tx_frame.FIR.B.DLC),
// (uint8_t)APP_CAN_PaddingByte,
// (8 - tx_frame.FIR.B.DLC));
// tx_frame.FIR.B.DLC = 8;
// }
// canFrameSend = true;
// break;
// case APP_ISO_TYPE_CONSECUTIVE:
// if (APP_BuffLockedBy == APP_BUFF_LOCKED_BY_ISO_TP_RX_FF)
// {
// SetTimer(APP_RxResp_tmeOutTmr, APP_CAN_RqRspMaxTime);
// memcpy(&APP_RxBuff[APP_BuffRxIndex], &rx_frame.data.u8[1], rx_frame.FIR.B.DLC - 1);
// APP_BuffRxIndex = APP_BuffRxIndex + (rx_frame.FIR.B.DLC - 1);
// APP_ISO_RxBlockCounter++;
// if (APP_BuffRxIndex >= APP_CAN_RxDataLen)
// {
// APP_ISO_SendToApp_FF_Flag = false;
// ResetTimer(APP_RxResp_tmeOutTmr);
// APP_BuffDataRdyFlag = true;
// APP_ISO_State = APP_ISO_STATE_SEND_TO_APP;
// }
// else if ((APP_ISO_FC_RxBlockSize) && (APP_ISO_RxBlockCounter == APP_ISO_FC_RxBlockSize))
// {
// APP_ISO_RxBlockCounter = 0;
// tx_frame.MsgID = APP_CAN_TxId;
// tx_frame.FIR.B.FF = (CAN_frame_format_t)APP_CAN_TxIdType;
// tx_frame.FIR.B.DLC = 3;
// tx_frame.data.u8[0] = 0x30;
// tx_frame.data.u8[1] = APP_ISO_FC_RxBlockSize;
// tx_frame.data.u8[2] = APP_ISO_FC_RxSepTime;
// canFrameSend = true;
// }
// }
// break;
// case APP_ISO_TYPE_FLOWCONTROL:
// APP_ISO_FC_TxFlag = rx_frame.data.u8[0] & 0x0F;
// APP_ISO_FC_TxBlockSize = rx_frame.data.u8[1];
// if (rx_frame.data.u8[2] <= 127)
// {
// // if(rx_frame.data.u8[2] == 0)
// // {
// // APP_ISO_TxSepTime = 1;
// // }
// // else
// {
// APP_ISO_TxSepTime = rx_frame.data.u8[2];
// }
// }
// else
// {
// APP_ISO_TxSepTime = 1;
// }
// APP_ISO_State = APP_ISO_STATE_CONSECUTIVE;
// ResetTimer(APP_ISO_FC_WaitTmr);
// SetTimer(APP_RxResp_tmeOutTmr, APP_CAN_RqRspMaxTime);
// break;
// default:
// break;
// }
// }
// if (canFrameSend == true)
// {
// APP_CAN_COMM_Flag = true;
// CAN_WriteFrame(&tx_frame, pdMS_TO_TICKS(0));
// if (delay)
// {
// // ~300.25us
// // _DELAY(22000);
// }
// canFrameSend = false;
// }
// }
break;
}
}
}
}
void APP_ProcessData(uint8_t *p_buff, uint16_t len, APP_CHANNEL_t channel)
{
uint8_t frameType;
uint16_t frameLen;
uint8_t respType;
uint8_t respNo;
uint16_t crc16Act;
uint16_t crc16Calc;
uint16_t respLen;
uint8_t respBuff[50];
APP_Client_COMM_Flag = true;
respLen = 0;
respType = APP_RESP_ACK;
respNo = APP_RESP_ACK;
// Serial.println(String("Data Received from channel ") + String(channel));
if (APP_ProcDataBusyFlag == false)
{
APP_Channel = channel;
APP_ProcDataBusyFlag = true;
frameType = p_buff[0] >> 4;
frameLen = ((uint16_t)(p_buff[0] & 0x0F) << 8) | (uint16_t)p_buff[1];
if (frameLen == (len - 2))
{
crc16Act = ((uint16_t)p_buff[len - 2] << 8) | (uint16_t)p_buff[len - 1];
crc16Calc = UTIL_CRC16_CCITT(0xFFFF, &p_buff[2], (frameLen - 2));
if (crc16Act == crc16Calc)
{
if (frameType < (sizeof(cb_APP_FrameType) / sizeof(cb_APP_FrameType[0])))
{
// if (APP_SecurityChk == true)
if (true)
{
if (cb_APP_FrameType[frameType] != NULL)
{
cb_APP_FrameType[frameType](&p_buff[2], (frameLen - 2), (uint8_t)channel);
}
}
else
{
if (frameType == 5)
{
if (cb_APP_FrameType[frameType] != NULL)
{
cb_APP_FrameType[frameType](&p_buff[2], (frameLen - 2), (uint8_t)channel);
}
}
else
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_33;
}
}
}
else
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_10;
}
}
else
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_15;
respBuff[respLen++] = crc16Act >> 8;
respBuff[respLen++] = crc16Act;
respBuff[respLen++] = crc16Calc >> 8;
respBuff[respLen++] = crc16Calc;
}
}
else
{
respType = APP_RESP_NACK;
// Invalid format or incorrect message length of input
respNo = APP_RESP_NACK_13;
}
APP_ProcDataBusyFlag = false;
}
else
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_14;
}
if (respType != APP_RESP_ACK)
{
APP_SendRespToFrame(respType, respNo, respBuff, respLen, (uint8_t)channel, false);
}
}
/**
* First Frame
* @param p_buff
* @param len
*/
void APP_Frame0(uint8_t *p_buff, uint16_t len, uint8_t channel)
{
uint8_t respType;
uint8_t respNo;
uint16_t respLen;
uint8_t respBuff[50];
respType = APP_RESP_ACK;
respNo = APP_RESP_ACK;
respLen = 0;
if ((APP_BuffLockedBy == APP_BUFF_LOCKED_BY_NONE) && (APP_BuffDataRdyFlag == false))
{
APP_BuffLockedBy = APP_BUFF_LOCKED_BY_FRAME0;
APP_CAN_TxDataLen = ((uint16_t)p_buff[0] << 8) | (uint16_t)p_buff[1];
APP_BuffRxIndex = 0;
if (APP_CAN_TxDataLen > 4095)
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_13;
APP_BuffLockedBy = APP_BUFF_LOCKED_BY_NONE;
}
else
{
memcpy(&APP_RxBuff[APP_BuffRxIndex], &p_buff[2], (len - 2));
APP_BuffRxIndex += (len - 2);
SetTimer(APP_Frame01_TmeOutTmr, 10000);
}
}
else
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_14;
}
respBuff[respLen++] = APP_BuffRxIndex >> 8;
respBuff[respLen++] = APP_BuffRxIndex;
APP_SendRespToFrame(respType, respNo, respBuff, respLen, channel, false);
}
/**
* Consecutive Frame
* @param p_buff
* @param len
*/
void APP_Frame1(uint8_t *p_buff, uint16_t len, uint8_t channel)
{
uint8_t respType;
uint8_t respNo;
uint16_t respLen;
uint8_t respBuff[50];
respType = APP_RESP_ACK;
respNo = APP_RESP_ACK;
respLen = 0;
if ((APP_BuffLockedBy == APP_BUFF_LOCKED_BY_FRAME0) && (APP_BuffDataRdyFlag == false))
{
if (APP_CAN_TxDataLen && ((APP_BuffRxIndex + len) <= 4095))
{
SetTimer(APP_Frame01_TmeOutTmr, 10000);
memcpy(&APP_RxBuff[APP_BuffRxIndex], p_buff, len);
APP_BuffRxIndex += len;
if (APP_BuffRxIndex >= APP_CAN_TxDataLen)
{
APP_BuffRxIndex = 0;
APP_BuffTxIndex = 0;
APP_BuffDataRdyFlag = true;
APP_BuffLockedBy = APP_BUFF_LOCKED_BY_FRAME1;
ResetTimer(APP_Frame01_TmeOutTmr);
if (APP_CAN_Protocol == APP_CAN_PROTOCOL_ISO15765)
{
if (APP_CAN_TxDataLen < 8)
{
APP_ISO_State = APP_ISO_STATE_SINGLE;
}
else
{
APP_ISO_State = APP_ISO_STATE_FIRST;
}
}
else if (APP_CAN_Protocol == APP_CAN_PROTOCOL_NORMAL)
{
SetTimer(APP_CAN_TxMinTmr, APP_CAN_TxMinTime);
}
SetTimer(APP_RxResp_tmeOutTmr, APP_CAN_RqRspMaxTime);
}
}
else
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_13;
APP_BuffRxIndex = 0;
APP_BuffLockedBy = APP_BUFF_LOCKED_BY_NONE;
}
}
else
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_14;
APP_BuffRxIndex = 0;
APP_BuffLockedBy = APP_BUFF_LOCKED_BY_NONE;
}
respBuff[respLen++] = APP_BuffRxIndex >> 8;
respBuff[respLen++] = APP_BuffRxIndex;
APP_SendRespToFrame(respType, respNo, respBuff, respLen, channel, false);
}
/**
* Command Frame
* @param p_buff
* @param len
*/
void APP_Frame2(uint8_t *p_buff, uint16_t len, uint8_t channel)
{
uint8_t offset;
uint8_t respType;
uint8_t respNo;
uint16_t respLen;
uint8_t respBuff[20];
bool canFilterMask;
canFilterMask = true;
respType = APP_RESP_ACK;
respNo = APP_RESP_ACK;
respLen = 0;
offset = 0;
if (len)
{
switch (p_buff[0])
{
case APP_REQ_CMD_RSTVC:
if (len != 1)
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_13;
break;
}
APP_CAN_Baud = CAN_SPEED_500KBPS;
APP_CAN_Protocol = APP_CAN_PROTOCOL_NONE;
// Reset or disable CAN
CAN_DeInit();
break;
case APP_REQ_CMD_SPRCOL:
if (len != 2)
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_13;
break;
}
APP_SPRCOL = p_buff[1];
if (p_buff[1] < 6)
{
offset = 0;
APP_CAN_Protocol = APP_CAN_PROTOCOL_ISO15765;
}
else if (p_buff[1] < 0x0C)
{
offset = 6;
APP_CAN_Protocol = APP_CAN_PROTOCOL_NORMAL;
// Accept all messages from any CAN ID
canFilterMask = false;
}
else if (p_buff[1] < 0x12)
{
offset = 0x0C;
APP_CAN_Protocol = APP_CAN_PROTOCOL_OE_IVN;
// Accept all messages from any CAN ID
canFilterMask = false;
}
else
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_12;
}
if ((p_buff[1] - offset) < 2)
{
APP_CAN_Baud = CAN_SPEED_250KBPS;
}
else if ((p_buff[1] - offset) < 4)
{
APP_CAN_Baud = CAN_SPEED_500KBPS;
}
else if ((p_buff[1] - offset) < 6)
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_12;
}
else
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_12;
}
if ((p_buff[1] - offset) % 2)
{
APP_CAN_TxIdType = CAN_MSG_FLAG_EXTD;
}
else
{
APP_CAN_TxIdType = CAN_MSG_FLAG_NONE; // Standard frame;
}
if (respType == APP_RESP_ACK)
{
APP_CAN_RqRspMaxTime = 500;
APP_CAN_TxMinTime = 10;
ResetTimer(APP_ISO_TxSepTmr);
ResetTimer(APP_ISO_FC_WaitTmr);
ResetTimer(APP_Frame01_TmeOutTmr);
ResetTimer(APP_RxResp_tmeOutTmr);
APP_BuffTxIndex = 0;
APP_BuffRxIndex = 0;
APP_CAN_TxDataLen = 0;
APP_CAN_RxDataLen = 0;
APP_BuffDataRdyFlag = false;
APP_BuffLockedBy = APP_BUFF_LOCKED_BY_NONE;
CAN_SetBaud(APP_CAN_Baud);
CAN_ConfigFilterterMask(0xFFFFFFFF, true);
// CAN_SendCmd(3, APP_CAN_Baud);
// CAN_SendCmd(2, 0xFFFFFFFF);
}
break;
case APP_REQ_CMD_GPRCOL:
if (len != 1)
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_13;
break;
}
respBuff[0] = APP_SPRCOL;
respLen = 1;
break;
case APP_REQ_CMD_STXHDR:
if (len == 3)
{
APP_CAN_TxIdType = (uint8_t)CAN_frame_std; // Standard frame
APP_CAN_TxId = ((uint32_t)p_buff[1] << 8) | (uint32_t)p_buff[2];
}
else if (len == 5)
{
APP_CAN_TxIdType = (uint8_t)CAN_frame_ext;
APP_CAN_TxId = ((uint32_t)p_buff[1] << 24) | ((uint32_t)p_buff[2] << 16) | ((uint32_t)p_buff[3] << 8) | (uint32_t)p_buff[4];
}
else
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_13;
}
break;
case APP_REQ_CMD_GTXHDR:
if (len != 1)
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_13;
break;
}
// Standard frame
if (APP_CAN_TxIdType == CAN_MSG_FLAG_NONE)
{
respBuff[0] = (uint8_t)(APP_CAN_TxId >> 8);
respBuff[1] = (uint8_t)APP_CAN_TxId;
respLen = 2;
}
else
{
respBuff[0] = (uint8_t)(APP_CAN_TxId >> 24);
respBuff[1] = (uint8_t)(APP_CAN_TxId >> 16);
respBuff[2] = (uint8_t)(APP_CAN_TxId >> 8);
respBuff[3] = (uint8_t)APP_CAN_TxId;
respLen = 4;
}
break;
case APP_REQ_CMD_SRXHDRMSK:
if (len == 3)
{
APP_CAN_FilterIdType = CAN_frame_std; // Standard frame
APP_CAN_FilterId = ((uint32_t)p_buff[1] << 8) | (uint32_t)p_buff[2];
}
else if (len == 5)
{
APP_CAN_FilterIdType = CAN_frame_ext;
APP_CAN_FilterId = ((uint32_t)p_buff[1] << 24) | ((uint32_t)p_buff[2] << 16) | ((uint32_t)p_buff[3] << 8) | (uint32_t)p_buff[4];
}
else
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_13;
break;
}
CAN_ConfigFilterterMask(APP_CAN_FilterId, (bool)APP_CAN_FilterIdType);
// APP_CAN_FilterId = APP_CAN_FilterIdType? APP_CAN_FilterId | 0x80000000: APP_CAN_FilterId;
// CAN_SendCmd(2, APP_CAN_FilterId);
break;
case APP_REQ_CMD_GRXHDRMSK:
if (len != 1)
{
respType = APP_RESP_NACK;
respNo = APP_RESP_NACK_13;
break;
}
// Standard frame