串口透传OK

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "ASW/CherryRB"]
+	path = ASW/CherryRB
+	url = https://github.com/cherry-embedded/CherryRB.git

.vscode/settings.json

@@ -3,6 +3,8 @@
     "files.associations": {
         "candrv.h": "c",
         "stm32l4xx_hal.h": "c",
-        "uart2candiagapp.h": "c"
+        "uart2candiagapp.h": "c",
+        "chry_ringbuffer.h": "c",
+        "stdio.h": "c"
     }
 }

ASW/CherryRB

@@ -0,0 +1 @@
+Subproject commit 19ea7c6efcf19dc9e805a0a662212533ee5b1edb

ASW/UartDiagApp/Uart2CanDiag/CanDrv.c

@@ -3,6 +3,9 @@
 ******************************************************************************/
 #include "CanDrv.h"
 #include <stdio.h>
+#include "Uart2CanDiagApp.h"
+#include <string.h>
+#include "CherryRB/chry_ringbuffer.h"
 
 /*******************************************************************************
 * the defines
@@ -21,6 +24,11 @@
 extern CAN_HandleTypeDef hcan1;
 static CAN_TxHeaderTypeDef txhead;
 static uint32_t TxMailbox = CAN_TX_MAILBOX0;
+static uint16_t respID = 0,phyID = 0;
+
+static chry_ringbuffer_t rb;
+static uint8_t mempool[64];
+static uint8_t FlagRbErr,FlagGetFC;
 /*******************************************************************************
 * the const
 ******************************************************************************/
@@ -30,6 +38,9 @@ static uint32_t TxMailbox = CAN_TX_MAILBOX0;
 /*******************************************************************************
 * the functions
 ******************************************************************************/
+
+
+
 uint8_t CanDrv_Init(void)
 {
     txhead.StdId = TEST_ID;
@@ -38,19 +49,13 @@ uint8_t CanDrv_Init(void)
     txhead.TransmitGlobalTime = DISABLE;
     txhead.DLC = 8;
     HAL_CAN_Start(&hcan1);
-    CAN_FilterTypeDef filter;
+    CanDrv_SetFilter(0x777,0);//for test
-    filter.FilterMode = CAN_FILTERMODE_IDMASK;
-    filter.FilterIdHigh = 0x7B2 << 5;         // 注意：标准 ID 要左移 5 位
-    filter.FilterMaskIdHigh = 0x7FF << 5;
-    filter.FilterFIFOAssignment = CAN_RX_FIFO0;
-    filter.FilterBank = 0;
-
-    filter.FilterScale = CAN_FILTERSCALE_32BIT;
-    filter.FilterActivation = CAN_FILTER_ENABLE;
-
-
-    HAL_CAN_ConfigFilter(&hcan1,&filter);
     HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
+
+    if(0 != chry_ringbuffer_init(&rb, mempool, 64))
+    {
+        printf("err:can rb init\n");
+    }
     return 0;
 }
 
@@ -78,6 +83,7 @@ uint8_t CanDrv_GetCANTxEmpty(void)
     return 0;
 }
 
+//中断函数
 void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
 {
     CAN_RxHeaderTypeDef rxmsg;
@@ -85,8 +91,72 @@ void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
     HAL_CAN_GetRxMessage(hcan,CAN_RX_FIFO0,&rxmsg,data);
     if (rxmsg.StdId >= 0x600)
     {
-        printf("get id:0x%03x",rxmsg.StdId);
+        //printf("get id:0x%03x",rxmsg.StdId);
+        if (respID == rxmsg.StdId)
+        {
+            uint32_t len = chry_ringbuffer_write(&rb, data, 8);
+            if (len != 8)
+            {
+                FlagRbErr = 1;
+                printf("err:ring buf write\n");
+            }
+            
+        }
+        
     }
     
     
+}
+
+uint8_t CanDrv_SetFilter(uint16_t id,uint8_t bank)
+{
+    CAN_FilterTypeDef filter;
+    filter.FilterMode = CAN_FILTERMODE_IDMASK;
+    filter.FilterIdHigh = id << 5;         // 注意：标准 ID 要左移 5 位
+    filter.FilterMaskIdHigh = 0x7FF << 5;
+    filter.FilterFIFOAssignment = CAN_RX_FIFO0;
+    filter.FilterBank = bank;
+
+    filter.FilterScale = CAN_FILTERSCALE_32BIT;
+    filter.FilterActivation = CAN_FILTER_ENABLE;
+
+
+    HAL_CAN_ConfigFilter(&hcan1,&filter);
+    return 0;
+}
+
+void CanDrv_SetDiagID(uint16_t pid,uint16_t rid)
+{
+    CanDrv_SetFilter(rid,1);
+    respID = rid;
+    phyID = pid;
+}
+
+
+
+uint8_t CanDrv_isGetFC(void)
+{
+    uint8_t ret = 0;
+    ret = FlagGetFC;
+    FlagGetFC = 0;
+    return ret;
+}
+
+void CanDrv_MsgRecvTask(void)
+{
+    uint8_t data[8];
+    uint32_t len = chry_ringbuffer_read(&rb, data, 8);
+    if (len)
+    {
+        if (len == 8)
+        {
+            //缓冲区中有数据
+            U2CD_PackDiagMsg(data);
+        }
+        else
+        {
+            FlagRbErr = 1;
+        }
+    }
+    
 }

ASW/UartDiagApp/Uart2CanDiag/CanDrv.h

@@ -32,6 +32,10 @@ uint8_t CanDrv_Init(void);
 uint8_t CanDrv_Txmsg(uint16_t id,uint8_t * data);
 void CanDrv_Test(void);
 uint8_t CanDrv_GetCANTxEmpty(void);
+uint8_t CanDrv_SetFilter(uint16_t id,uint8_t bank);
+void CanDrv_SetDiagID(uint16_t pid,uint16_t rid);
+void CanDrv_MsgRecvTask(void);
+uint8_t CanDrv_isGetFC(void);
 
 
 #endif

ASW/UartDiagApp/Uart2CanDiag/Uart2CanDiagApp.c

@@ -5,13 +5,16 @@
 #include <string.h>
 #include <stdio.h>
 #include "CanDrv.h"
+#include "uartapp.h"
 /*******************************************************************************
 * the defines
 ******************************************************************************/
-#define TX_BUF_SIZE  2050
+#define U2CD_TX_BUF_SIZE  2050
+#define U2CD_RX_BUF_SIZE 128
 #define N_Bs 150
 #define N_As 70
-#define P2_SERVER 50
+#define P2_SERVER 150
+
 /*******************************************************************************
 * the typedefs
 ******************************************************************************/
@@ -35,13 +38,15 @@ static uint8_t U2CD_fill;
 static uint8_t U2CD_cfgFlag;
 static uint8_t U2CD_TTFlag;
 static uint16_t U2CD_TTLen;
-static uint8_t U2CD_Txbuf[TX_BUF_SIZE];
+static uint8_t U2CD_Txbuf[U2CD_TX_BUF_SIZE];
 static uint16_t U2CD_TxCnt;//发送数据指针
 static uint8_t U2CD_TxSN;
 static uint8_t U2CD_TxTimeCounter;
-
+static uint8_t U2CD_WaitRespFlag = 0;
 static uint8_t U2CD_FCFlag = 0;
 static uint8_t U2CD_Framebuf[8];
+
+static uint8_t U2CD_Rxbuf[U2CD_RX_BUF_SIZE];
 static U2CD_TASK_STATE task_state;
 /*******************************************************************************
 * the const
@@ -55,6 +60,8 @@ static U2CD_TASK_STATE task_state;
 static void U2CD_TxSF(uint16_t id,uint8_t* data,uint16_t len);
 static void U2CD_TxFF(uint16_t id,uint8_t* data,uint16_t len);
 static void U2CD_TxCF(uint16_t id,uint8_t* data,uint16_t len);
+static void U2CD_TxFC(uint16_t id);
+
 
 void U2CD_Init(void)
 {
@@ -73,6 +80,9 @@ void U2CD_cfg(uint16_t pid,uint16_t fid,uint16_t rid,uint8_t stmin,uint8_t fill)
         U2CD_stmin = stmin;
         U2CD_fill = fill;
         U2CD_cfgFlag = 1;
+
+        CanDrv_SetDiagID(pid,rid);
+        printf("ok:config finished\n");
     }
     else
     {
@@ -87,25 +97,32 @@ void U2CD_TickTask(void)
 }
 void U2CD_Task(void)
 {
+    CanDrv_MsgRecvTask();
     switch (task_state)
     {
     case U2CD_TASK_idle:
         if (U2CD_TTFlag == 1)
         {
+            
             if (U2CD_TTLen <= 7)
             {
+                //printf("debug:send SF\n");
                 U2CD_TxSF(U2CD_pid,U2CD_Txbuf,U2CD_TTLen);
                 task_state = U2CD_TASK_WaitResp;
                 U2CD_TxTimeCounter = 0;
+                U2CD_WaitRespFlag = 0;
             }
             else
             {
+                //printf("debug:send FF");
                 U2CD_TxFF(U2CD_pid,U2CD_Txbuf,U2CD_TTLen);
                 task_state = U2CD_TASK_WaitFC;
                 U2CD_TxTimeCounter = 0;
                 U2CD_FCFlag = 0;
             }
-            
+
+            U2CD_TTFlag = 0;
+            U2CD_TTLen = 0;
         }
         
         break;
@@ -117,6 +134,7 @@ void U2CD_Task(void)
         }
         if (U2CD_FCFlag == 1)
         {
+            U2CD_FCFlag = 0;
             U2CD_TxTimeCounter = 0;
             task_state = U2CD_TASK_TxCF;
         }
@@ -157,6 +175,13 @@ void U2CD_Task(void)
             printf("err:P2_SERVER timeout\n");
             task_state = U2CD_TASK_idle;
         }
+        if (U2CD_WaitRespFlag == 1)
+        {
+            //printf("ok:get resp\n");
+            U2CD_WaitRespFlag = 0;
+            task_state = U2CD_TASK_idle;
+        }
+        
         break;
     default:
         break;
@@ -165,7 +190,7 @@ void U2CD_Task(void)
 
 void U2CD_TTreq(uint8_t* data,uint16_t len)
 {
-    if (len > TX_BUF_SIZE)
+    if (len > U2CD_TX_BUF_SIZE)
     {
         printf("err:len too long");
         return;
@@ -185,6 +210,90 @@ void U2CD_TTreq(uint8_t* data,uint16_t len)
     memcpy(U2CD_Txbuf,data,len);
     U2CD_TTLen = len;
     U2CD_TTFlag = 1;
+    
+}
+
+void U2CD_DiagMsgProReq(uint8_t *data,uint16_t len)
+{
+    U2CD_WaitRespFlag = 1;
+    //printf("ok:get pdu\n");
+    printf("data:");
+    uartapp_TxHexData(data,len);
+    printf("\nend\n");
+}
+
+void U2CD_PackDiagMsg(uint8_t *data)
+{
+    //变量大小需要考虑PDU_BUF_SIZE大小
+    static uint8_t pointer,maxlen,flag_getff,last_frame_sn;
+    
+
+    uint8_t n_pci = data[0]>>4;
+
+    switch (n_pci)
+    {
+    case 0://单帧
+        maxlen = data[0]&0x0f;
+        memcpy(U2CD_Rxbuf,&data[1],maxlen);
+        U2CD_DiagMsgProReq(U2CD_Rxbuf,maxlen);
+        flag_getff = 0;
+        break;
+    case 1://首帧
+        maxlen = ((data[0]&0x0f)<<8) + data[1];
+        if (maxlen <= U2CD_RX_BUF_SIZE)
+        {
+            U2CD_TxFC(U2CD_pid);
+            memcpy(U2CD_Rxbuf,&data[2],6);
+            flag_getff = 1;
+            last_frame_sn = 0;
+            pointer = 6;
+        }
+        else
+        {
+            printf("err:data too long\n");
+        }
+        
+        
+        break;
+    case 2://连续帧
+        if (flag_getff != 1)
+        {
+            //未收到首帧
+            printf("err:not get ff\n");
+            break;
+        }
+        uint8_t frame_sn = data[0]&0x0f;
+        if (((last_frame_sn+1)&0x0f) == frame_sn)
+        {//sn 正确
+            if (pointer+7 >= maxlen)
+            {//最后一帧
+                memcpy(&U2CD_Rxbuf[pointer],&data[1],(maxlen-pointer));
+                U2CD_DiagMsgProReq(U2CD_Rxbuf,maxlen);
+                flag_getff = 0;
+                //printf("debug:lcf\n");
+            }
+            else
+            {
+                //printf("debug:cf\n");
+                memcpy(&U2CD_Rxbuf[pointer],&data[1],7);
+                pointer+=7;
+            }
+            last_frame_sn = frame_sn;
+            
+        }
+        else
+        {
+            printf("err:sn err %d\n",frame_sn);
+        }
+        break;
+    case 3:
+        //printf("ok:get FC\n");
+        U2CD_FCFlag = 1;
+        break;
+    default:
+        break;
+    }
+
 }
 
 static void U2CD_TxSF(uint16_t id,uint8_t* data,uint16_t len)
@@ -225,4 +334,17 @@ static void U2CD_TxCF(uint16_t id,uint8_t* data,uint16_t len)
     
     CanDrv_Txmsg(id,U2CD_Framebuf);
     U2CD_TxSN++;
-}
+}
+
+static void U2CD_TxFC(uint16_t id)
+{
+    U2CD_Framebuf[0] = 0x30;
+    U2CD_Framebuf[1] = 8;//bs
+    U2CD_Framebuf[2] = 0;//stmin
+
+    for (uint8_t i = 3; i < 8; i++)
+    {
+        U2CD_Framebuf[i] = U2CD_fill;
+    }
+    CanDrv_Txmsg(id,U2CD_Framebuf);
+}

ASW/UartDiagApp/Uart2CanDiag/Uart2CanDiagApp.h

@@ -31,8 +31,9 @@ void U2CD_Init(void);
 void U2CD_cfg(uint16_t pid,uint16_t fid,uint16_t rid,uint8_t stmin,uint8_t fill);
 void U2CD_Task(void);
 void U2CD_TickTask(void);
-
+void U2CD_DiagMsgProReq(uint8_t *data,uint16_t len);
-
+void U2CD_PackDiagMsg(uint8_t *data);
+void U2CD_TTreq(uint8_t* data,uint16_t len);
 
 
 #endif

ASW/UartDiagApp/ud_66.c

@@ -3,7 +3,7 @@
 ******************************************************************************/
 #include "ud_66.h"
 #include "Uart2CanDiagApp.h"
-
+#include <stdio.h>
 /*******************************************************************************
 * the defines
 ******************************************************************************/
@@ -54,7 +54,9 @@ void uartapp_cmd66(uint8_t* data, uint16_t len)
             ud66_cfg(data+1,len-1);
             
             break;
-       
+        case CMD66_TTreq:
+            U2CD_TTreq(data+1,len-1);
+            break;
         default:
             break;
     }
@@ -73,6 +75,7 @@ static void ud66_cfg(uint8_t* data, uint16_t len)
         uint8_t stmin = data[6];
         uint8_t fill = data[7];
         U2CD_cfg(pid,fid,rid,stmin,fill);
+        //printf("pid=%x\n",pid);
     }
     
 }

ASW/uartapp.c

@@ -150,7 +150,7 @@ void uartapp_maintask(void)
             }
             else
             {
-                printf("err rxsize=%d\n", rxsize);
+                printf("err:format err\n");
             }
 
             maintask_gotoidle();
@@ -191,3 +191,7 @@ static void uartapp_cmdpro(uint8_t* data, uint16_t len)
     }
 }
 
+void uartapp_TxHexData(uint8_t* data, uint16_t len)
+{
+    HAL_UART_Transmit(&huart1, (uint8_t*)data, len, len*100);
+}

ASW/uartapp.h

@@ -59,6 +59,9 @@
 void uartapp_init(void);
 void uartapp_maintask(void);
 uint32_t crc_calc(uint32_t addr,uint32_t len);
+void uartapp_TxHexData(uint8_t* data, uint16_t len);
+
+
 
 #endif /*DEFINES_NAME*/
 

CMakeLists.txt

@@ -76,6 +76,7 @@ target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
     ${PROJECT_SOURCE_DIR}/asw/
     ${PROJECT_SOURCE_DIR}/asw/UartDiagApp/
     ${PROJECT_SOURCE_DIR}/asw/UartDiagApp/Uart2CanDiag
+    ${PROJECT_SOURCE_DIR}/ASW/CherryRB
 )
 
 # Add project symbols (macros)