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Add full automotive RTOS project

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Add kernel (Cortex-M0/M3/M4, Tricore, S32K, RISC-V ports), drivers,
middleware (CAN stack, diagnostics, safety), applications, board
support, build/test tooling, and documentation.
This commit is contained in:
root
2026-08-23 03:35:29 -04:00
parent f113bf0a05
commit ca13734bf0
151 changed files with 23945 additions and 0 deletions
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middleware/can_stack/include/can_nm.h
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/**
* @file can_nm.h
* @brief CAN Network Management (AUTOSAR-like) implementation
*/
#ifndef CAN_NM_H
#define CAN_NM_H
#include <stdint.h>
#include <stdbool.h>
#include "kernel.h"
#include "can_driver.h"
/* CAN NM Configuration */
#define CAN_NM_MAX_NODES 16
#define CAN_NM_MAX_NETWORKS 4
#define CAN_NM_MESSAGE_ID_BASE 0x400 /* Base ID for NM messages */
#define CAN_NM_DEFAULT_TIMEOUT_MS 2000
/* CAN NM States */
typedef enum {
CAN_NM_BUS_SLEEP = 0,
CAN_NM_PREPARE_BUS_SLEEP = 1,
CAN_NM_READY_SLEEP = 2,
CAN_NM_NORMAL_OPERATION = 3,
CAN_NM_REPEAT_MESSAGE = 4,
CAN_NM_SYNCHRONIZE = 5,
CAN_NM_OFFLINE = 6
} CanNmState_t;
/* CAN NM Message Types */
typedef enum {
CAN_NM_MSG_ALIVE = 0,
CAN_NM_MSG_RING = 1,
CAN_NM_MSG_LIMPHOME = 2,
CAN_NM_MSG_SLEEP_ACK = 3,
CAN_NM_MSG_SLEEP_CONF = 4
} CanNmMessageType_t;
/* CAN NM Configuration */
typedef struct {
uint8_t node_id;
uint8_t network_id;
uint32_t message_id;
uint32_t timeout_ms;
uint32_t repeat_message_time_ms;
bool is_coordinator;
uint8_t sleep_ack_timeout_ms;
} CanNmConfig_t;
/* CAN NM Node Information */
typedef struct {
uint8_t node_id;
bool is_present;
bool is_awake;
uint32_t last_message_time;
CanNmState_t state;
} CanNmNodeInfo_t;
/* CAN NM Callbacks */
typedef void (*CanNmNetworkStateChangedCallback_t)(CanNmState_t new_state);
typedef void (*CanNmNodeStateChangedCallback_t)(uint8_t node_id, bool is_awake);
typedef void (*CanNmBusSleepRequestCallback_t)(void);
typedef void (*CanNmWakeupIndicationCallback_t)(void);
/* CAN NM Functions */
KernelStatus_t can_nm_init(const CanNmConfig_t* config);
KernelStatus_t can_nm_deinit(void);
KernelStatus_t can_nm_start(void);
KernelStatus_t can_nm_stop(void);
KernelStatus_t can_nm_request_bus_sleep(void);
KernelStatus_t can_nm_network_release(void);
KernelStatus_t can_nm_network_request(void);
CanNmState_t can_nm_get_state(void);
KernelStatus_t can_nm_get_node_info(uint8_t node_id, CanNmNodeInfo_t* info);
KernelStatus_t can_nm_register_callbacks(
CanNmNetworkStateChangedCallback_t network_callback,
CanNmNodeStateChangedCallback_t node_callback,
CanNmBusSleepRequestCallback_t sleep_callback,
CanNmWakeupIndicationCallback_t wakeup_callback);
void can_nm_process_rx_message(const CanMessage_t* message);
void can_nm_main_function(void); /* Periodic processing */
bool can_nm_is_bus_awake(void);
#endif /* CAN_NM_H */
middleware/can_stack/include/can_tp.h
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/**
* @file can_tp.h
* @brief CAN Transport Protocol (ISO 15765-2) implementation
*/
#ifndef CAN_TP_H
#define CAN_TP_H
#include <stdint.h>
#include <stdbool.h>
#include "kernel.h"
#include "can_driver.h"
/* CAN TP Configuration */
#define CAN_TP_MAX_CONNECTIONS 8
#define CAN_TP_MAX_PAYLOAD_SIZE 4096
#define CAN_TP_DEFAULT_TIMEOUT_MS 1000
#define CAN_TP_STMIN_DEFAULT 10 /* Minimum separation time in ms */
#define CAN_TP_BS_DEFAULT 8 /* Block size */
/* CAN TP Addressing Formats */
typedef enum {
CAN_TP_ADDRESSING_NORMAL = 0, /* Standard 11-bit or 29-bit */
CAN_TP_ADDRESSING_NORMAL_FIXED = 1, /* Fixed addressing */
CAN_TP_ADDRESSING_EXTENDED = 2, /* Extended addressing */
CAN_TP_ADDRESSING_MIXED = 3 /* Mixed addressing */
} CanTpAddressingFormat_t;
/* CAN TP Frame Types */
typedef enum {
CAN_TP_FRAME_SINGLE = 0, /* Single Frame */
CAN_TP_FRAME_FIRST = 1, /* First Frame */
CAN_TP_FRAME_CONSECUTIVE = 2, /* Consecutive Frame */
CAN_TP_FRAME_FLOW_CONTROL = 3 /* Flow Control */
} CanTpFrameType_t;
/* CAN TP Flow Control Status */
typedef enum {
CAN_TP_FC_CONTINUE = 0, /* Continue to send */
CAN_TP_FC_WAIT = 1, /* Wait */
CAN_TP_FC_OVERFLOW = 2 /* Overflow/Abort */
} CanTpFlowControlStatus_t;
/* CAN TP States */
typedef enum {
CAN_TP_IDLE = 0,
CAN_TP_SEND_IN_PROGRESS = 1,
CAN_TP_RECEIVE_IN_PROGRESS = 2,
CAN_TP_WAIT_FLOW_CONTROL = 3,
CAN_TP_WAIT_CONSECUTIVE = 4,
CAN_TP_TIMEOUT = 5,
CAN_TP_ERROR = 6
} CanTpState_t;
/* CAN TP Message Structure */
typedef struct {
uint32_t message_id;
uint8_t* data;
uint16_t length;
uint8_t addressing_format;
uint32_t source_address;
uint32_t target_address;
} CanTpMessage_t;
/* CAN TP Connection */
typedef struct {
uint8_t connection_id;
CanTpState_t state;
CanTpMessage_t current_message;
uint16_t current_index;
uint8_t sequence_number;
uint8_t block_counter;
uint32_t timeout_timer;
uint8_t stmin;
uint8_t block_size;
bool is_sender;
Semaphore_t flow_control_semaphore;
Semaphore_t complete_semaphore;
Mutex_t connection_mutex;
} CanTpConnection_t;
/* CAN TP Configuration */
typedef struct {
CanTpAddressingFormat_t addressing_format;
uint32_t source_address;
uint32_t target_address;
uint32_t timeout_ms;
uint8_t stmin;
uint8_t block_size;
bool padding_enabled;
uint8_t padding_byte;
} CanTpConfig_t;
/* CAN TP Callbacks */
typedef void (*CanTpMessageReceivedCallback_t)(const CanTpMessage_t* message);
typedef void (*CanTpMessageSentCallback_t)(uint8_t connection_id, bool success);
typedef void (*CanTpErrorCallback_t)(uint8_t connection_id, uint32_t error_code);
/* CAN TP Functions */
KernelStatus_t can_tp_init(const CanTpConfig_t* config);
KernelStatus_t can_tp_deinit(void);
KernelStatus_t can_tp_send_message(const CanTpMessage_t* message,
uint32_t timeout_ms);
KernelStatus_t can_tp_receive_message(CanTpMessage_t* message,
uint32_t timeout_ms);
KernelStatus_t can_tp_register_callbacks(
CanTpMessageReceivedCallback_t rx_callback,
CanTpMessageSentCallback_t tx_callback,
CanTpErrorCallback_t error_callback);
void can_tp_process_rx_indication(const CanMessage_t* can_message);
void can_tp_process_tx_confirmation(uint8_t mailbox);
void can_tp_main_function(void); /* Periodic processing */
CanTpState_t can_tp_get_state(uint8_t connection_id);
#endif /* CAN_TP_H */
middleware/can_stack/include/uds.h
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/**
* @file uds.h
* @brief Unified Diagnostic Services (ISO 14229) implementation
*/
#ifndef UDS_H
#define UDS_H
#include <stdint.h>
#include <stdbool.h>
#include "kernel.h"
#include "can_tp.h"
/* UDS Configuration */
#define UDS_MAX_SESSIONS 8
#define UDS_MAX_SECURITY_LEVELS 5
#define UDS_MAX_DTCS 50
#define UDS_MAX_DATA_SIZE 4096
/* UDS Service IDs */
typedef enum {
UDS_SID_DIAGNOSTIC_SESSION_CONTROL = 0x10,
UDS_SID_ECU_RESET = 0x11,
UDS_SID_SECURITY_ACCESS = 0x27,
UDS_SID_COMMUNICATION_CONTROL = 0x28,
UDS_SID_READ_DATA_BY_IDENTIFIER = 0x22,
UDS_SID_WRITE_DATA_BY_IDENTIFIER = 0x2E,
UDS_SID_IO_CONTROL_BY_IDENTIFIER = 0x2F,
UDS_SID_ROUTINE_CONTROL = 0x31,
UDS_SID_REQUEST_DOWNLOAD = 0x34,
UDS_SID_REQUEST_UPLOAD = 0x35,
UDS_SID_TRANSFER_DATA = 0x36,
UDS_SID_REQUEST_TRANSFER_EXIT = 0x37,
UDS_SID_READ_DTC_INFORMATION = 0x19,
UDS_SID_CLEAR_DTC_INFORMATION = 0x14,
UDS_SID_READ_DATA_BY_PERIODIC_IDENTIFIER = 0x2A,
UDS_SID_DYNAMICALLY_DEFINE_DATA_IDENTIFIER = 0x2C,
UDS_SID_TESTER_PRESENT = 0x3E,
UDS_SID_CONTROL_DTC_SETTING = 0x85
} UdsServiceId_t;
/* UDS Response Codes */
typedef enum {
UDS_RESPONSE_POSITIVE = 0x00,
UDS_RESPONSE_GENERAL_REJECT = 0x10,
UDS_RESPONSE_SERVICE_NOT_SUPPORTED = 0x11,
UDS_RESPONSE_SUBFUNCTION_NOT_SUPPORTED = 0x12,
UDS_RESPONSE_INCORRECT_MESSAGE_LENGTH = 0x13,
UDS_RESPONSE_CONDITIONS_NOT_CORRECT = 0x22,
UDS_RESPONSE_REQUEST_SEQUENCE_ERROR = 0x24,
UDS_RESPONSE_REQUEST_OUT_OF_RANGE = 0x31,
UDS_RESPONSE_SECURITY_ACCESS_DENIED = 0x33,
UDS_RESPONSE_INVALID_KEY = 0x35,
UDS_RESPONSE_EXCEED_NUMBER_OF_ATTEMPTS = 0x36,
UDS_RESPONSE_REQUIRED_TIME_DELAY_NOT_EXPIRED = 0x37,
UDS_RESPONSE_UPLOAD_DOWNLOAD_NOT_ACCEPTED = 0x70,
UDS_RESPONSE_TRANSFER_DATA_SUSPENDED = 0x71,
UDS_RESPONSE_GENERAL_PROGRAMMING_FAILURE = 0x72,
UDS_RESPONSE_WRONG_BLOCK_SEQUENCE_COUNTER = 0x73,
UDS_RESPONSE_RESPONSE_PENDING = 0x78,
UDS_RESPONSE_SUBFUNCTION_NOT_SUPPORTED_IN_ACTIVE_SESSION = 0x7E,
UDS_RESPONSE_SERVICE_NOT_SUPPORTED_IN_ACTIVE_SESSION = 0x7F
} UdsResponseCode_t;
/* UDS Sessions */
typedef enum {
UDS_SESSION_DEFAULT = 0x01,
UDS_SESSION_PROGRAMMING = 0x02,
UDS_SESSION_EXTENDED = 0x03,
UDS_SESSION_SAFETY_SYSTEM = 0x04
} UdsSessionType_t;
/* UDS Security Levels */
typedef enum {
UDS_SECURITY_LOCKED = 0x00,
UDS_SECURITY_LEVEL_1 = 0x01,
UDS_SECURITY_LEVEL_2 = 0x02,
UDS_SECURITY_LEVEL_3 = 0x03,
UDS_SECURITY_LEVEL_4 = 0x04,
UDS_SECURITY_LEVEL_5 = 0x05
} UdsSecurityLevel_t;
/* UDS Message Structure */
typedef struct {
uint8_t service_id;
uint8_t sub_function;
uint8_t* data;
uint16_t length;
uint32_t data_identifier;
UdsSessionType_t session_type;
UdsSecurityLevel_t security_level;
} UdsMessage_t;
/* UDS Configuration */
typedef struct {
uint32_t source_address;
uint32_t target_address;
uint32_t timeout_ms;
UdsSessionType_t current_session;
UdsSecurityLevel_t current_security_level;
bool security_access_enabled;
uint32_t p2_server_max_ms;
uint32_t p2_star_server_max_ms;
} UdsConfig_t;
/* UDS Callbacks */
typedef void (*UdsServiceCallback_t)(const UdsMessage_t* request,
UdsMessage_t* response);
typedef void (*UdsSecurityAccessCallback_t)(uint8_t security_level,
const uint8_t* seed,
uint8_t* key,
uint8_t length,
bool* access_granted);
typedef void (*UdsSessionChangedCallback_t)(UdsSessionType_t old_session,
UdsSessionType_t new_session);
/* UDS Functions */
KernelStatus_t uds_init(const UdsConfig_t* config);
KernelStatus_t uds_deinit(void);
KernelStatus_t uds_process_message(const UdsMessage_t* request,
UdsMessage_t* response);
KernelStatus_t uds_register_service_callback(UdsServiceId_t service_id,
UdsServiceCallback_t callback);
KernelStatus_t uds_register_security_callback(
UdsSecurityAccessCallback_t callback);
KernelStatus_t uds_register_session_callback(
UdsSessionChangedCallback_t callback);
KernelStatus_t uds_set_session(UdsSessionType_t session);
UdsSessionType_t uds_get_session(void);
KernelStatus_t uds_set_security_level(UdsSecurityLevel_t level);
UdsSecurityLevel_t uds_get_security_level(void);
void uds_main_function(void); /* Periodic processing */
#endif /* UDS_H */
middleware/can_stack/src/can_nm.c
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/**
* @file can_nm.c
* @brief CAN Network Management implementation
*/
#include "can_nm.h"
#include <string.h>
/* CAN NM State */
typedef struct {
bool initialized;
CanNmConfig_t config;
CanNmState_t current_state;
CanNmNodeInfo_t nodes[CAN_NM_MAX_NODES];
CanNmNetworkStateChangedCallback_t network_callback;
CanNmNodeStateChangedCallback_t node_callback;
CanNmBusSleepRequestCallback_t sleep_callback;
CanNmWakeupIndicationCallback_t wakeup_callback;
uint32_t state_timer;
uint32_t repeat_message_timer;
uint8_t repeat_message_count;
Mutex_t mutex;
} CanNmState_t;
static CanNmState_t can_nm_state;
/* Initialize CAN NM */
KernelStatus_t can_nm_init(const CanNmConfig_t* config) {
if (config == NULL || can_nm_state.initialized) {
return KERNEL_ERROR;
}
/* Copy configuration */
memcpy(&can_nm_state.config, config, sizeof(CanNmConfig_t));
/* Initialize state */
can_nm_state.current_state = CAN_NM_OFFLINE;
can_nm_state.state_timer = 0;
can_nm_state.repeat_message_timer = 0;
can_nm_state.repeat_message_count = 0;
/* Initialize nodes */
for (int i = 0; i < CAN_NM_MAX_NODES; i++) {
can_nm_state.nodes[i].node_id = i;
can_nm_state.nodes[i].is_present = false;
can_nm_state.nodes[i].is_awake = false;
can_nm_state.nodes[i].last_message_time = 0;
can_nm_state.nodes[i].state = CAN_NM_OFFLINE;
}
/* Create mutex */
mutex_create(&can_nm_state.mutex, false);
can_nm_state.initialized = true;
return KERNEL_OK;
}
/* Start CAN NM */
KernelStatus_t can_nm_start(void) {
if (!can_nm_state.initialized) {
return KERNEL_ERROR;
}
mutex_lock(&can_nm_state.mutex, 100);
can_nm_state.current_state = CAN_NM_REPEAT_MESSAGE;
can_nm_state.repeat_message_count = 0;
can_nm_state.repeat_message_timer = kernel_get_tick_count();
mutex_unlock(&can_nm_state.mutex);
/* Send first alive message */
can_nm_send_message(CAN_NM_MSG_ALIVE);
return KERNEL_OK;
}
/* Stop CAN NM */
KernelStatus_t can_nm_stop(void) {
if (!can_nm_state.initialized) {
return KERNEL_ERROR;
}
mutex_lock(&can_nm_state.mutex, 100);
can_nm_state.current_state = CAN_NM_OFFLINE;
mutex_unlock(&can_nm_state.mutex);
return KERNEL_OK;
}
/* Request Bus Sleep */
KernelStatus_t can_nm_request_bus_sleep(void) {
if (!can_nm_state.initialized) {
return KERNEL_ERROR;
}
mutex_lock(&can_nm_state.mutex, 100);
/* Send sleep indication */
can_nm_send_message(CAN_NM_MSG_SLEEP_ACK);
can_nm_state.current_state = CAN_NM_READY_SLEEP;
mutex_unlock(&can_nm_state.mutex);
return KERNEL_OK;
}
/* Network Release */
KernelStatus_t can_nm_network_release(void) {
if (!can_nm_state.initialized) {
return KERNEL_ERROR;
}
mutex_lock(&can_nm_state.mutex, 100);
/* Check if all nodes are ready to sleep */
bool all_ready = true;
for (int i = 0; i < CAN_NM_MAX_NODES; i++) {
if (can_nm_state.nodes[i].is_present &&
can_nm_state.nodes[i].state != CAN_NM_READY_SLEEP) {
all_ready = false;
break;
}
}
if (all_ready || can_nm_state.config.is_coordinator) {
can_nm_state.current_state = CAN_NM_PREPARE_BUS_SLEEP;
/* Send sleep confirmation */
can_nm_send_message(CAN_NM_MSG_SLEEP_CONF);
/* Call sleep callback */
if (can_nm_state.sleep_callback != NULL) {
can_nm_state.sleep_callback();
}
can_nm_state.current_state = CAN_NM_BUS_SLEEP;
/* Call network state changed callback */
if (can_nm_state.network_callback != NULL) {
can_nm_state.network_callback(CAN_NM_BUS_SLEEP);
}
}
mutex_unlock(&can_nm_state.mutex);
return KERNEL_OK;
}
/* Network Request */
KernelStatus_t can_nm_network_request(void) {
if (!can_nm_state.initialized) {
return KERNEL_ERROR;
}
mutex_lock(&can_nm_state.mutex, 100);
if (can_nm_state.current_state == CAN_NM_BUS_SLEEP) {
can_nm_state.current_state = CAN_NM_REPEAT_MESSAGE;
can_nm_state.repeat_message_count = 0;
/* Send wakeup indication */
can_nm_send_message(CAN_NM_MSG_ALIVE);
/* Call wakeup callback */
if (can_nm_state.wakeup_callback != NULL) {
can_nm_state.wakeup_callback();
}
}
mutex_unlock(&can_nm_state.mutex);
return KERNEL_OK;
}
/* Process Received NM Message */
void can_nm_process_rx_message(const CanMessage_t* message) {
if (!can_nm_state.initialized || message == NULL) {
return;
}
/* Check if NM message */
if (message->id.id < CAN_NM_MESSAGE_ID_BASE ||
message->id.id >= CAN_NM_MESSAGE_ID_BASE + CAN_NM_MAX_NODES) {
return;
}
/* Extract node ID and message type */
uint8_t node_id = message->id.id - CAN_NM_MESSAGE_ID_BASE;
uint8_t message_type = message->data[0] & 0x0F;
mutex_lock(&can_nm_state.mutex, 100);
/* Update node information */
can_nm_state.nodes[node_id].is_present = true;
can_nm_state.nodes[node_id].last_message_time = kernel_get_tick_count();
/* Process message type */
switch (message_type) {
case CAN_NM_MSG_ALIVE:
can_nm_state.nodes[node_id].is_awake = true;
can_nm_state.nodes[node_id].state = CAN_NM_NORMAL_OPERATION;
if (can_nm_state.node_callback != NULL) {
can_nm_state.node_callback(node_id, true);
}
break;
case CAN_NM_MSG_RING:
/* Ring message - keep awake */
can_nm_state.nodes[node_id].is_awake = true;
break;
case CAN_NM_MSG_SLEEP_ACK:
can_nm_state.nodes[node_id].state = CAN_NM_READY_SLEEP;
break;
case CAN_NM_MSG_SLEEP_CONF:
can_nm_state.nodes[node_id].state = CAN_NM_BUS_SLEEP;
can_nm_state.nodes[node_id].is_awake = false;
if (can_nm_state.node_callback != NULL) {
can_nm_state.node_callback(node_id, false);
}
break;
default:
break;
}
mutex_unlock(&can_nm_state.mutex);
}
/* CAN NM Main Function */
void can_nm_main_function(void) {
if (!can_nm_state.initialized) {
return;
}
uint32_t current_time = kernel_get_tick_count();
mutex_lock(&can_nm_state.mutex, 100);
switch (can_nm_state.current_state) {
case CAN_NM_REPEAT_MESSAGE:
/* Send repeat messages */
if ((current_time - can_nm_state.repeat_message_timer) >=
can_nm_state.config.repeat_message_time_ms) {
can_nm_send_message(CAN_NM_MSG_RING);
can_nm_state.repeat_message_timer = current_time;
can_nm_state.repeat_message_count++;
/* Transition to normal operation after repeat messages */
if (can_nm_state.repeat_message_count >= 3) {
can_nm_state.current_state = CAN_NM_NORMAL_OPERATION;
if (can_nm_state.network_callback != NULL) {
can_nm_state.network_callback(CAN_NM_NORMAL_OPERATION);
}
}
}
break;
case CAN_NM_NORMAL_OPERATION:
/* Send periodic ring messages */
if ((current_time - can_nm_state.state_timer) >=
can_nm_state.config.timeout_ms / 2) {
can_nm_send_message(CAN_NM_MSG_RING);
can_nm_state.state_timer = current_time;
}
break;
case CAN_NM_READY_SLEEP:
/* Check if still ready to sleep */
if ((current_time - can_nm_state.state_timer) >=
can_nm_state.config.sleep_ack_timeout_ms) {
can_nm_state.current_state = CAN_NM_NORMAL_OPERATION;
}
break;
case CAN_NM_PREPARE_BUS_SLEEP:
/* Transition to bus sleep */
if ((current_time - can_nm_state.state_timer) >=
can_nm_state.config.timeout_ms) {
can_nm_state.current_state = CAN_NM_BUS_SLEEP;
if (can_nm_state.network_callback != NULL) {
can_nm_state.network_callback(CAN_NM_BUS_SLEEP);
}
}
break;
default:
break;
}
/* Check node timeouts */
for (int i = 0; i < CAN_NM_MAX_NODES; i++) {
if (can_nm_state.nodes[i].is_present &&
can_nm_state.nodes[i].is_awake) {
if ((current_time - can_nm_state.nodes[i].last_message_time) >
can_nm_state.config.timeout_ms) {
/* Node timeout */
can_nm_state.nodes[i].is_present = false;
can_nm_state.nodes[i].is_awake = false;
if (can_nm_state.node_callback != NULL) {
can_nm_state.node_callback(i, false);
}
}
}
}
mutex_unlock(&can_nm_state.mutex);
}
/* Send NM Message (internal) */
static void can_nm_send_message(uint8_t message_type) {
CanMessage_t message;
message.id.id = can_nm_state.config.message_id +
can_nm_state.config.node_id;
message.id.is_extended = false;
message.length = 8;
message.data[0] = message_type;
message.data[1] = can_nm_state.config.node_id;
message.data[2] = can_nm_state.current_state;
can_send_message(&message, 100);
}
middleware/can_stack/src/can_tp.c
+367
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/**
* @file can_tp.c
* @brief CAN Transport Protocol implementation
*/
#include "can_tp.h"
#include <string.h>
/* CAN TP State */
typedef struct {
bool initialized;
CanTpConfig_t config;
CanTpConnection_t connections[CAN_TP_MAX_CONNECTIONS];
CanTpMessageReceivedCallback_t rx_callback;
CanTpMessageSentCallback_t tx_callback;
CanTpErrorCallback_t error_callback;
Mutex_t global_mutex;
} CanTpState_t;
static CanTpState_t can_tp_state;
/* Initialize CAN TP */
KernelStatus_t can_tp_init(const CanTpConfig_t* config) {
if (config == NULL || can_tp_state.initialized) {
return KERNEL_ERROR;
}
/* Copy configuration */
memcpy(&can_tp_state.config, config, sizeof(CanTpConfig_t));
/* Initialize connections */
for (int i = 0; i < CAN_TP_MAX_CONNECTIONS; i++) {
CanTpConnection_t* conn = &can_tp_state.connections[i];
conn->connection_id = i;
conn->state = CAN_TP_IDLE;
conn->stmin = config->stmin;
conn->block_size = config->block_size;
semaphore_create(&conn->flow_control_semaphore, SEMAPHORE_BINARY, 0, 1);
semaphore_create(&conn->complete_semaphore, SEMAPHORE_BINARY, 0, 1);
mutex_create(&conn->connection_mutex, false);
}
/* Create global mutex */
mutex_create(&can_tp_state.global_mutex, false);
can_tp_state.initialized = true;
return KERNEL_OK;
}
/* Send CAN TP Message */
KernelStatus_t can_tp_send_message(const CanTpMessage_t* message,
uint32_t timeout_ms) {
if (!can_tp_state.initialized || message == NULL || message->data == NULL) {
return KERNEL_ERROR;
}
/* Find free connection */
CanTpConnection_t* conn = NULL;
for (int i = 0; i < CAN_TP_MAX_CONNECTIONS; i++) {
if (can_tp_state.connections[i].state == CAN_TP_IDLE) {
conn = &can_tp_state.connections[i];
break;
}
}
if (conn == NULL) {
return KERNEL_RESOURCE_BUSY;
}
/* Lock connection */
if (mutex_lock(&conn->connection_mutex, timeout_ms) != KERNEL_OK) {
return KERNEL_TIMEOUT;
}
/* Set up connection */
conn->current_message = *message;
conn->current_index = 0;
conn->sequence_number = 0;
conn->block_counter = 0;
conn->is_sender = true;
conn->state = CAN_TP_SEND_IN_PROGRESS;
/* Send single frame or first frame */
CanMessage_t can_message;
memset(&can_message, 0, sizeof(CanMessage_t));
if (message->length <= 7) {
/* Single Frame */
can_message.id.id = message->message_id;
can_message.id.is_extended = true;
can_message.length = message->length + 1;
can_message.data[0] = (CAN_TP_FRAME_SINGLE << 4) | message->length;
memcpy(&can_message.data[1], message->data, message->length);
/* Send message */
if (can_send_message(&can_message, timeout_ms) != KERNEL_OK) {
conn->state = CAN_TP_ERROR;
mutex_unlock(&conn->connection_mutex);
return KERNEL_ERROR;
}
conn->state = CAN_TP_IDLE;
mutex_unlock(&conn->connection_mutex);
/* Signal completion */
if (can_tp_state.tx_callback != NULL) {
can_tp_state.tx_callback(conn->connection_id, true);
}
return KERNEL_OK;
} else {
/* First Frame */
can_message.id.id = message->message_id;
can_message.id.is_extended = true;
can_message.length = 8;
can_message.data[0] = (CAN_TP_FRAME_FIRST << 4) | ((message->length >> 8) & 0x0F);
can_message.data[1] = message->length & 0xFF;
memcpy(&can_message.data[2], &message->data[0], 6);
/* Send first frame */
if (can_send_message(&can_message, timeout_ms) != KERNEL_OK) {
conn->state = CAN_TP_ERROR;
mutex_unlock(&conn->connection_mutex);
return KERNEL_ERROR;
}
conn->current_index = 6;
conn->state = CAN_TP_WAIT_FLOW_CONTROL;
}
/* Wait for flow control */
if (semaphore_take(&conn->flow_control_semaphore, timeout_ms) != KERNEL_OK) {
conn->state = CAN_TP_TIMEOUT;
mutex_unlock(&conn->connection_mutex);
return KERNEL_TIMEOUT;
}
/* Send consecutive frames */
while (conn->current_index < message->length) {
/* Check block size */
if (conn->block_counter >= conn->block_size && conn->block_size > 0) {
/* Wait for another flow control */
conn->block_counter = 0;
if (semaphore_take(&conn->flow_control_semaphore, timeout_ms) != KERNEL_OK) {
conn->state = CAN_TP_TIMEOUT;
mutex_unlock(&conn->connection_mutex);
return KERNEL_TIMEOUT;
}
}
/* Send consecutive frame */
CanMessage_t consecutive_frame;
consecutive_frame.id.id = message->message_id;
consecutive_frame.id.is_extended = true;
uint16_t remaining = message->length - conn->current_index;
uint8_t frame_length = (remaining > 7) ? 7 : remaining;
consecutive_frame.length = frame_length + 1;
consecutive_frame.data[0] = (CAN_TP_FRAME_CONSECUTIVE << 4) |
(conn->sequence_number & 0x0F);
memcpy(&consecutive_frame.data[1],
&message->data[conn->current_index], frame_length);
/* Send consecutive frame */
if (can_send_message(&consecutive_frame, timeout_ms) != KERNEL_OK) {
conn->state = CAN_TP_ERROR;
mutex_unlock(&conn->connection_mutex);
return KERNEL_ERROR;
}
conn->current_index += frame_length;
conn->sequence_number = (conn->sequence_number + 1) & 0x0F;
conn->block_counter++;
/* Wait for STMin */
if (conn->stmin > 0) {
kernel_delay(conn->stmin);
}
}
/* Message sent successfully */
conn->state = CAN_TP_IDLE;
mutex_unlock(&conn->connection_mutex);
/* Signal completion */
if (can_tp_state.tx_callback != NULL) {
can_tp_state.tx_callback(conn->connection_id, true);
}
return KERNEL_OK;
}
/* Process Received CAN Message */
void can_tp_process_rx_indication(const CanMessage_t* can_message) {
if (!can_tp_state.initialized || can_message == NULL) {
return;
}
/* Parse frame type */
uint8_t frame_type = (can_message->data[0] >> 4) & 0x0F;
switch (frame_type) {
case CAN_TP_FRAME_SINGLE: {
/* Single frame - complete message */
uint8_t length = can_message->data[0] & 0x0F;
CanTpMessage_t tp_message;
tp_message.message_id = can_message->id.id;
tp_message.length = length;
tp_message.data = (uint8_t*)&can_message->data[1];
/* Call callback */
if (can_tp_state.rx_callback != NULL) {
can_tp_state.rx_callback(&tp_message);
}
break;
}
case CAN_TP_FRAME_FIRST: {
/* First frame - start receiving multi-frame message */
uint16_t total_length = ((can_message->data[0] & 0x0F) << 8) |
can_message->data[1];
/* Find connection for receiving */
for (int i = 0; i < CAN_TP_MAX_CONNECTIONS; i++) {
CanTpConnection_t* conn = &can_tp_state.connections[i];
if (conn->state == CAN_TP_IDLE) {
conn->state = CAN_TP_RECEIVE_IN_PROGRESS;
conn->is_sender = false;
conn->current_message.message_id = can_message->id.id;
conn->current_message.length = total_length;
conn->current_message.data = (uint8_t*)malloc(total_length);
conn->current_index = 0;
conn->sequence_number = 0;
conn->block_counter = 0;
/* Copy first 6 bytes */
memcpy(conn->current_message.data, &can_message->data[2], 6);
conn->current_index = 6;
/* Send flow control */
CanMessage_t fc_message;
fc_message.id.id = can_message->id.id;
fc_message.id.is_extended = true;
fc_message.length = 8;
fc_message.data[0] = (CAN_TP_FRAME_FLOW_CONTROL << 4) |
CAN_TP_FC_CONTINUE;
fc_message.data[1] = conn->block_size;
fc_message.data[2] = conn->stmin;
can_send_message(&fc_message, CAN_TP_DEFAULT_TIMEOUT_MS);
break;
}
}
break;
}
case CAN_TP_FRAME_CONSECUTIVE: {
/* Consecutive frame - part of multi-frame message */
uint8_t sequence_number = can_message->data[0] & 0x0F;
/* Find active receiving connection */
for (int i = 0; i < CAN_TP_MAX_CONNECTIONS; i++) {
CanTpConnection_t* conn = &can_tp_state.connections[i];
if (conn->state == CAN_TP_RECEIVE_IN_PROGRESS && !conn->is_sender) {
if (sequence_number == conn->sequence_number) {
/* Copy data */
uint8_t frame_length = can_message->length - 1;
memcpy(&conn->current_message.data[conn->current_index],
&can_message->data[1], frame_length);
conn->current_index += frame_length;
conn->sequence_number = (conn->sequence_number + 1) & 0x0F;
conn->block_counter++;
/* Check if complete */
if (conn->current_index >= conn->current_message.length) {
/* Message complete */
if (can_tp_state.rx_callback != NULL) {
can_tp_state.rx_callback(&conn->current_message);
}
/* Free data */
free(conn->current_message.data);
conn->state = CAN_TP_IDLE;
} else if (conn->block_counter >= conn->block_size) {
/* Send another flow control */
CanMessage_t fc_message;
fc_message.id.id = conn->current_message.message_id;
fc_message.id.is_extended = true;
fc_message.length = 8;
fc_message.data[0] = (CAN_TP_FRAME_FLOW_CONTROL << 4) |
CAN_TP_FC_CONTINUE;
fc_message.data[1] = conn->block_size;
fc_message.data[2] = conn->stmin;
can_send_message(&fc_message, CAN_TP_DEFAULT_TIMEOUT_MS);
conn->block_counter = 0;
}
}
break;
}
}
break;
}
case CAN_TP_FRAME_FLOW_CONTROL: {
/* Flow control - update sending connection */
uint8_t flow_status = can_message->data[0] & 0x0F;
for (int i = 0; i < CAN_TP_MAX_CONNECTIONS; i++) {
CanTpConnection_t* conn = &can_tp_state.connections[i];
if (conn->state == CAN_TP_WAIT_FLOW_CONTROL && conn->is_sender) {
if (flow_status == CAN_TP_FC_CONTINUE) {
conn->block_size = can_message->data[1];
conn->stmin = can_message->data[2];
conn->block_counter = 0;
/* Signal flow control received */
semaphore_give(&conn->flow_control_semaphore);
} else if (flow_status == CAN_TP_FC_OVERFLOW) {
conn->state = CAN_TP_ERROR;
if (can_tp_state.error_callback != NULL) {
can_tp_state.error_callback(conn->connection_id,
CAN_TP_FC_OVERFLOW);
}
}
break;
}
}
break;
}
}
}
/* CAN TP Main Function */
void can_tp_main_function(void) {
if (!can_tp_state.initialized) {
return;
}
/* Check timeouts */
uint32_t current_time = kernel_get_tick_count();
for (int i = 0; i < CAN_TP_MAX_CONNECTIONS; i++) {
CanTpConnection_t* conn = &can_tp_state.connections[i];
if (conn->state != CAN_TP_IDLE && conn->state != CAN_TP_ERROR) {
if ((current_time - conn->timeout_timer) > CAN_TP_DEFAULT_TIMEOUT_MS) {
/* Timeout occurred */
conn->state = CAN_TP_TIMEOUT;
if (conn->current_message.data != NULL && !conn->is_sender) {
free(conn->current_message.data);
}
if (can_tp_state.error_callback != NULL) {
can_tp_state.error_callback(conn->connection_id, CAN_TP_TIMEOUT);
}
}
}
}
}
middleware/can_stack/src/uds.c
+357
View File
@@ -0,0 +1,357 @@
/**
* @file uds.c
* @brief Unified Diagnostic Services implementation
*/
#include "uds.h"
#include "dtc_manager.h"
#include <string.h>
/* UDS State */
typedef struct {
bool initialized;
UdsConfig_t config;
UdsServiceCallback_t service_callbacks[0x100];
UdsSecurityAccessCallback_t security_callback;
UdsSessionChangedCallback_t session_callback;
uint32_t security_attempt_count;
uint32_t security_delay_timer;
Mutex_t mutex;
} UdsState_t;
static UdsState_t uds_state;
/* Initialize UDS */
KernelStatus_t uds_init(const UdsConfig_t* config) {
if (config == NULL || uds_state.initialized) {
return KERNEL_ERROR;
}
/* Copy configuration */
memcpy(&uds_state.config, config, sizeof(UdsConfig_t));
/* Initialize state */
uds_state.security_attempt_count = 0;
uds_state.security_delay_timer = 0;
/* Clear service callbacks */
memset(uds_state.service_callbacks, 0, sizeof(uds_state.service_callbacks));
/* Create mutex */
mutex_create(&uds_state.mutex, false);
uds_state.initialized = true;
return KERNEL_OK;
}
/* Process UDS Message */
KernelStatus_t uds_process_message(const UdsMessage_t* request,
UdsMessage_t* response) {
if (!uds_state.initialized || request == NULL || response == NULL) {
return KERNEL_ERROR;
}
mutex_lock(&uds_state.mutex, uds_state.config.timeout_ms);
/* Initialize response */
response->service_id = request->service_id + 0x40; /* Positive response */
response->length = 0;
/* Check if service is supported */
if (uds_state.service_callbacks[request->service_id] == NULL) {
response->service_id = 0x7F; /* Negative response */
response->data[0] = request->service_id;
response->data[1] = UDS_RESPONSE_SERVICE_NOT_SUPPORTED;
response->length = 2;
mutex_unlock(&uds_state.mutex);
return KERNEL_OK;
}
/* Check security access */
if (request->service_id == UDS_SID_SECURITY_ACCESS) {
/* Handle security access separately */
if (uds_process_security_access(request, response) != KERNEL_OK) {
mutex_unlock(&uds_state.mutex);
return KERNEL_ERROR;
}
} else if (request->service_id == UDS_SID_DIAGNOSTIC_SESSION_CONTROL) {
/* Handle session control */
if (uds_process_session_control(request, response) != KERNEL_OK) {
mutex_unlock(&uds_state.mutex);
return KERNEL_ERROR;
}
} else if (request->service_id == UDS_SID_READ_DTC_INFORMATION) {
/* Handle DTC reading */
if (uds_process_read_dtc(request, response) != KERNEL_OK) {
mutex_unlock(&uds_state.mutex);
return KERNEL_ERROR;
}
} else if (request->service_id == UDS_SID_CLEAR_DTC_INFORMATION) {
/* Handle DTC clearing */
if (uds_process_clear_dtc(request, response) != KERNEL_OK) {
mutex_unlock(&uds_state.mutex);
return KERNEL_ERROR;
}
} else if (request->service_id == UDS_SID_TESTER_PRESENT) {
/* Handle tester present */
response->data[0] = request->sub_function;
response->length = 1;
} else {
/* Call registered service callback */
uds_state.service_callbacks[request->service_id](request, response);
}
mutex_unlock(&uds_state.mutex);
return KERNEL_OK;
}
/* Process Security Access */
static KernelStatus_t uds_process_security_access(const UdsMessage_t* request,
UdsMessage_t* response) {
uint8_t security_level = request->sub_function;
/* Check if delay timer is active */
if (uds_state.security_delay_timer > 0) {
uint32_t current_time = kernel_get_tick_count();
if (current_time < uds_state.security_delay_timer) {
response->service_id = 0x7F;
response->data[0] = request->service_id;
response->data[1] = UDS_RESPONSE_REQUIRED_TIME_DELAY_NOT_EXPIRED;
response->length = 2;
return KERNEL_OK;
}
}
if (security_level % 2 == 1) {
/* Request seed */
if (uds_state.security_callback != NULL) {
uint8_t seed[16];
uint8_t seed_length = 0;
/* Generate seed */
for (int i = 0; i < 16; i++) {
seed[i] = rand() & 0xFF;
seed_length++;
}
/* Set response */
response->data[0] = security_level;
memcpy(&response->data[1], seed, seed_length);
response->length = seed_length + 1;
}
} else {
/* Send key */
if (uds_state.security_callback != NULL) {
bool access_granted = false;
uint8_t key[16];
uint8_t key_length = request->length - 1;
memcpy(key, &request->data[1], key_length);
/* Verify key */
uds_state.security_callback(security_level - 1, NULL, key,
key_length, &access_granted);
if (access_granted) {
uds_state.config.current_security_level = security_level - 1;
uds_state.security_attempt_count = 0;
response->data[0] = security_level;
response->length = 1;
} else {
uds_state.security_attempt_count++;
if (uds_state.security_attempt_count >= 3) {
/* Set delay timer */
uds_state.security_delay_timer = kernel_get_tick_count() + 10000;
uds_state.security_attempt_count = 0;
response->service_id = 0x7F;
response->data[0] = request->service_id;
response->data[1] = UDS_RESPONSE_EXCEED_NUMBER_OF_ATTEMPTS;
response->length = 2;
} else {
response->service_id = 0x7F;
response->data[0] = request->service_id;
response->data[1] = UDS_RESPONSE_INVALID_KEY;
response->length = 2;
}
}
}
}
return KERNEL_OK;
}
/* Process Session Control */
static KernelStatus_t uds_process_session_control(const UdsMessage_t* request,
UdsMessage_t* response) {
UdsSessionType_t new_session = (UdsSessionType_t)request->sub_function;
/* Check if session is supported */
if (new_session != UDS_SESSION_DEFAULT &&
new_session != UDS_SESSION_PROGRAMMING &&
new_session != UDS_SESSION_EXTENDED &&
new_session != UDS_SESSION_SAFETY_SYSTEM) {
response->service_id = 0x7F;
response->data[0] = request->service_id;
response->data[1] = UDS_RESPONSE_SUBFUNCTION_NOT_SUPPORTED;
response->length = 2;
return KERNEL_OK;
}
/* Store old session */
UdsSessionType_t old_session = uds_state.config.current_session;
/* Update session */
uds_state.config.current_session = new_session;
/* Reset security level for non-default sessions */
if (new_session != UDS_SESSION_DEFAULT) {
uds_state.config.current_security_level = UDS_SECURITY_LOCKED;
}
/* Call session changed callback */
if (uds_state.session_callback != NULL) {
uds_state.session_callback(old_session, new_session);
}
/* Set response */
response->data[0] = request->sub_function;
response->data[1] = 0x00; /* P2 server max high byte */
response->data[2] = 0x32; /* P2 server max low byte (50ms) */
response->data[3] = 0x01; /* P2* server max high byte */
response->data[4] = 0xF4; /* P2* server max low byte (500ms) */
response->length = 5;
return KERNEL_OK;
}
/* Process Read DTC */
static KernelStatus_t uds_process_read_dtc(const UdsMessage_t* request,
UdsMessage_t* response) {
uint8_t sub_function = request->sub_function;
switch (sub_function) {
case 0x01: /* Report number of DTC by status mask */
case 0x02: /* Report DTC by status mask */
case 0x04: /* Report DTC snapshot identification */
case 0x06: /* Report DTC extended data */
case 0x0A: /* Report supported DTCs */
break;
default:
response->service_id = 0x7F;
response->data[0] = request->service_id;
response->data[1] = UDS_RESPONSE_SUBFUNCTION_NOT_SUPPORTED;
response->length = 2;
return KERNEL_OK;
}
/* Get DTC information */
response->data[0] = 0x01; /* Availability mask */
response->data[1] = 0x00; /* DTC format identifier */
/* Get number of DTCs */
uint16_t dtc_count = dtc_manager_get_count();
response->data[2] = (dtc_count >> 8) & 0xFF;
response->data[3] = dtc_count & 0xFF;
response->length = 4;
return KERNEL_OK;
}
/* Process Clear DTC */
static KernelStatus_t uds_process_clear_dtc(const UdsMessage_t* request,
UdsMessage_t* response) {
/* Clear all DTCs */
dtc_manager_clear_all();
response->length = 0;
return KERNEL_OK;
}
/* Register Service Callback */
KernelStatus_t uds_register_service_callback(UdsServiceId_t service_id,
UdsServiceCallback_t callback) {
if (!uds_state.initialized || callback == NULL) {
return KERNEL_ERROR;
}
uds_state.service_callbacks[service_id] = callback;
return KERNEL_OK;
}
/* Register Security Callback */
KernelStatus_t uds_register_security_callback(UdsSecurityAccessCallback_t callback) {
if (!uds_state.initialized || callback == NULL) {
return KERNEL_ERROR;
}
uds_state.security_callback = callback;
return KERNEL_OK;
}
/* Register Session Callback */
KernelStatus_t uds_register_session_callback(UdsSessionChangedCallback_t callback) {
if (!uds_state.initialized || callback == NULL) {
return KERNEL_ERROR;
}
uds_state.session_callback = callback;
return KERNEL_OK;
}
/* Set Session */
KernelStatus_t uds_set_session(UdsSessionType_t session) {
if (!uds_state.initialized) {
return KERNEL_ERROR;
}
uds_state.config.current_session = session;
return KERNEL_OK;
}
/* Get Session */
UdsSessionType_t uds_get_session(void) {
if (!uds_state.initialized) {
return UDS_SESSION_DEFAULT;
}
return uds_state.config.current_session;
}
/* Set Security Level */
KernelStatus_t uds_set_security_level(UdsSecurityLevel_t level) {
if (!uds_state.initialized) {
return KERNEL_ERROR;
}
uds_state.config.current_security_level = level;
return KERNEL_OK;
}
/* Get Security Level */
UdsSecurityLevel_t uds_get_security_level(void) {
if (!uds_state.initialized) {
return UDS_SECURITY_LOCKED;
}
return uds_state.config.current_security_level;
}
/* UDS Main Function */
void uds_main_function(void) {
if (!uds_state.initialized) {
return;
}
/* Check security delay timer */
if (uds_state.security_delay_timer > 0) {
if (kernel_get_tick_count() >= uds_state.security_delay_timer) {
uds_state.security_delay_timer = 0;
}
}
}