mirror of
https://github.com/intrepidcs/libicsneo.git
synced 2026-09-20 07:58:39 +02:00
Device: Add ISO-15765 hardware acceleration
This commit is contained in:
Kurt Wachowski
committed by
Kyle Schwarz
Kyle Schwarz
parent
34875129ee
commit
3a6501d116
@@ -36,6 +36,7 @@ option(LIBICSNEO_BUILD_CPP_ANALOG_OUT_EXAMPLE "Build the analog output example."
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option(LIBICSNEO_BUILD_CPP_DISKFORMAT_EXAMPLE "Build the disk format example." ON)
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option(LIBICSNEO_BUILD_CPP_T1S_EXAMPLE "Build the T1S example." ON)
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option(LIBICSNEO_BUILD_CPP_GPTP_EXAMPLE "Build the C++ gPTP settings example." ON)
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option(LIBICSNEO_BUILD_CPP_ISO15765_LOOPBACK_EXAMPLE "Build the C++ ISO15765 two-device CAN1 loopback example." ON)
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add_compile_options(${LIBICSNEO_COMPILER_WARNINGS})
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@@ -190,3 +191,7 @@ endif()
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if(LIBICSNEO_BUILD_CPP_GPTP_EXAMPLE)
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add_subdirectory(cpp/gptp)
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endif()
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if(LIBICSNEO_BUILD_CPP_ISO15765_LOOPBACK_EXAMPLE)
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add_subdirectory(cpp/iso15765_loopback)
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endif()
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@@ -0,0 +1,2 @@
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add_executable(libicsneocpp-iso15765-loopback src/ISO15765Loopback.cpp)
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target_link_libraries(libicsneocpp-iso15765-loopback icsneocpp)
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@@ -0,0 +1,450 @@
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#include <cctype>
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#include <chrono>
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#include <cstdint>
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#include <iomanip>
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#include <iostream>
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#include <mutex>
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#include <optional>
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#include <sstream>
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#include <stdexcept>
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#include <string>
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#include <thread>
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#include <vector>
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#include "icsneo/icsneocpp.h"
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namespace {
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using namespace std::chrono_literals;
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enum class Mode {
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None,
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Raw,
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SingleFrame,
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Both,
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};
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struct Options {
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Mode mode = Mode::None;
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std::string testerSerial;
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std::string ecuSerial;
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int64_t baud = 500000;
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bool keepBaud = false;
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uint32_t txId = 0x7E0;
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uint32_t fcId = 0x7E8;
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std::optional<size_t> payloadBytes;
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int listenMs = 2000;
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uint8_t padding = 0x00;
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uint16_t fsTimeoutMs = 75;
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uint16_t fsWaitMs = 150;
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uint16_t cfTimeoutMs = 150;
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};
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std::mutex gLogMutex;
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void logLine(const std::string& line) {
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std::lock_guard<std::mutex> lk(gLogMutex);
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std::cout << line << std::endl;
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}
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bool iequals(const std::string& a, const std::string& b) {
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if(a.size() != b.size())
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return false;
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for(size_t i = 0; i < a.size(); i++) {
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if(std::tolower(static_cast<unsigned char>(a[i])) != std::tolower(static_cast<unsigned char>(b[i])))
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return false;
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}
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return true;
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}
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std::string hexBytes(const std::vector<uint8_t>& data) {
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std::ostringstream oss;
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oss << std::hex << std::setfill('0');
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for(size_t i = 0; i < data.size(); i++) {
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if(i)
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oss << ' ';
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oss << std::setw(2) << static_cast<unsigned>(data[i]);
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}
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return oss.str();
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}
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std::string pciDescribe(const std::vector<uint8_t>& data) {
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if(data.empty())
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return {};
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const uint8_t pciType = static_cast<uint8_t>(data[0] >> 4);
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const uint8_t pciLow = static_cast<uint8_t>(data[0] & 0x0F);
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std::ostringstream oss;
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switch(pciType) {
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case 0x0:
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if(pciLow > 7 || data.size() < static_cast<size_t>(1 + pciLow))
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return {};
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oss << "SF len=" << static_cast<unsigned>(pciLow);
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break;
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case 0x1: {
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if(data.size() < 8)
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return {};
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const uint16_t len = static_cast<uint16_t>((pciLow << 8) | data[1]);
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if(len < 8)
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return {};
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oss << "FF len=" << len;
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break;
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}
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case 0x2:
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if(data.size() < 2)
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return {};
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oss << "CF SN=" << static_cast<unsigned>(pciLow);
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break;
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case 0x3: {
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if(data.size() < 3 || pciLow > 2)
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return {};
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static const char* fsName[] = { "CTS", "WAIT", "OVFLW" };
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oss << "FC FS=" << fsName[pciLow];
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oss << " BS=" << static_cast<unsigned>(data[1]);
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oss << " STmin=0x" << std::hex << std::setw(2) << std::setfill('0')
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<< static_cast<unsigned>(data[2]);
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break;
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}
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default:
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return {};
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}
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return oss.str();
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}
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void printUsage(const char* argv0) {
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std::cerr
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<< "Usage: " << argv0 << " --raw|--sf|--both [options]\n\n"
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<< "Two Intrepid devices with CAN1 wired together (CANH/CANL, terminated).\n"
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<< "Prints CAN1 frames with ISO-TP PCI decode (SF/FF/CF/FC).\n\n"
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<< "Modes:\n"
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<< " --raw Raw CAN ping-pong (cable check)\n"
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<< " --sf Firmware ISO-TP single-frame TX from tester\n"
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<< " --both Firmware ISO-TP TX on tester, firmware flow-control on ECU\n\n"
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<< "Devices:\n"
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<< " --tester SERIAL Tester (sender) serial\n"
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<< " --ecu SERIAL ECU / peer serial\n"
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<< " Optional if exactly two devices are found.\n\n"
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<< "Optional:\n"
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<< " --baud N CAN1 baud (default 500000, applied temporarily)\n"
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<< " --keep-baud Do not change device baud\n"
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<< " --tx-id HEX Tester ISO-TP CAN ID (default 0x7E0)\n"
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<< " --fc-id HEX Flow-control CAN ID (default 0x7E8)\n"
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<< " --bytes N ISO-TP payload size (sf default 5, both default 20)\n"
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<< " --listen-ms N Time to listen after the action (default 2000)\n";
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}
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uint32_t parseU32(const std::string& s) {
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return static_cast<uint32_t>(std::stoul(s, nullptr, 0));
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}
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bool parseArgs(int argc, char** argv, Options& opt) {
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for(int i = 1; i < argc; i++) {
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const std::string a = argv[i];
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auto need = [&](const char* name) -> std::string {
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if(i + 1 >= argc)
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throw std::runtime_error(std::string("missing value for ") + name);
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return argv[++i];
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};
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if(a == "--raw")
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opt.mode = Mode::Raw;
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else if(a == "--sf")
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opt.mode = Mode::SingleFrame;
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else if(a == "--both")
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opt.mode = Mode::Both;
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else if(a == "--tester")
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opt.testerSerial = need("--tester");
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else if(a == "--ecu")
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opt.ecuSerial = need("--ecu");
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else if(a == "--baud")
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opt.baud = static_cast<int64_t>(std::stoll(need("--baud")));
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else if(a == "--keep-baud")
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opt.keepBaud = true;
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else if(a == "--tx-id")
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opt.txId = parseU32(need("--tx-id"));
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else if(a == "--fc-id")
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opt.fcId = parseU32(need("--fc-id"));
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else if(a == "--bytes")
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opt.payloadBytes = static_cast<size_t>(std::stoul(need("--bytes")));
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else if(a == "--listen-ms")
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opt.listenMs = std::stoi(need("--listen-ms"));
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else if(a == "-h" || a == "--help") {
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printUsage(argv[0]);
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return false;
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} else {
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std::cerr << "Unknown argument: " << a << "\n";
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printUsage(argv[0]);
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return false;
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}
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}
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if(opt.mode == Mode::None) {
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printUsage(argv[0]);
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return false;
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}
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return true;
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}
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size_t defaultPayloadSize(Mode mode) {
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return mode == Mode::SingleFrame ? 5 : 20;
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}
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std::vector<uint8_t> makePayload(size_t n) {
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std::vector<uint8_t> data(n);
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for(size_t i = 0; i < n; i++)
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data[i] = static_cast<uint8_t>(i & 0xFF);
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return data;
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}
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bool isExtended(uint32_t id) {
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return id > 0x7FFu;
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}
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void printApiResult(const char* what, bool ok) {
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std::ostringstream oss;
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oss << " " << what << ": " << (ok ? "OK" : "FAIL");
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if(!ok) {
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const auto err = icsneo::GetLastError();
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if(err.getType() != icsneo::APIEvent::Type::NoErrorFound)
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oss << " [" << err << "]";
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}
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logLine(oss.str());
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}
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bool transmitCan(icsneo::Device& device, uint32_t arbId, std::vector<uint8_t> data) {
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auto frame = std::make_shared<icsneo::CANMessage>();
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frame->network = icsneo::Network::NetID::DWCAN_01;
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frame->arbid = arbId;
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frame->data = std::move(data);
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frame->isExtended = isExtended(arbId);
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frame->isCANFD = false;
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const bool ok = device.transmit(frame);
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if(!ok)
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printApiResult("transmit CAN", ok);
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return ok;
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}
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void fillIso15765(icsneo::Iso15765MessageArgs& msg, const Options& opt, const std::vector<uint8_t>& payload, bool rx) {
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msg.setTxIndex(0);
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msg.setArbId(icsneo::Iso15765MessageArgs::ArbId(opt.txId, isExtended(opt.txId)));
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msg.setFlowControlArbId(icsneo::Iso15765MessageArgs::ArbId(opt.fcId, isExtended(opt.fcId)));
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msg.setFlowControlArbIdMask(isExtended(opt.txId) ? 0x1FFFFFFFu : 0x7FFu);
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msg.setIsCanFd(false);
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msg.setIsBrsEnabled(false);
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msg.setTxDl(8);
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msg.setPaddingValue(opt.padding);
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msg.setFsTimeout(opt.fsTimeoutMs);
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msg.setFsWaitTimeout(opt.fsWaitMs);
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msg.setCfTimeout(opt.cfTimeoutMs);
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msg.setIsFlowControlEnabled(rx);
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if(!payload.empty()) {
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auto copy = payload;
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msg.setData(std::move(copy));
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}
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}
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struct Sniffer {
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const char* tag = "";
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std::optional<uint64_t> t0;
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std::mutex t0Mutex;
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void onCan(const std::shared_ptr<icsneo::CANMessage>& can) {
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{
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std::lock_guard<std::mutex> lk(t0Mutex);
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if(!t0)
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t0 = can->timestamp;
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}
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double relMs = 0.0;
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{
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std::lock_guard<std::mutex> lk(t0Mutex);
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if(t0 && can->timestamp >= *t0)
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relMs = static_cast<double>(can->timestamp - *t0) / 1e6;
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}
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std::ostringstream oss;
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oss << " [" << tag << (can->transmitted ? " TX" : " RX") << "] "
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<< std::fixed << std::setprecision(3) << relMs << " ms "
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<< can->network << " 0x" << std::hex << std::uppercase
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<< std::setw(isExtended(can->arbid) ? 8 : 3) << std::setfill('0') << can->arbid
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<< std::dec << " [" << can->data.size() << "] " << hexBytes(can->data);
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const auto pci = pciDescribe(can->data);
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if(!pci.empty())
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oss << " " << pci;
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logLine(oss.str());
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}
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};
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void addCanSniffer(icsneo::Device& device, Sniffer& sniffer) {
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auto filter = std::make_shared<icsneo::MessageFilter>(icsneo::Network::NetID::DWCAN_01);
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device.addMessageCallback(std::make_shared<icsneo::MessageCallback>(filter, [&sniffer](std::shared_ptr<icsneo::Message> message) {
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if(message->type != icsneo::Message::Type::Frame)
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return;
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auto frame = std::static_pointer_cast<icsneo::Frame>(message);
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if(frame->network.getType() != icsneo::Network::Type::CAN)
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return;
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sniffer.onCan(std::static_pointer_cast<icsneo::CANMessage>(message));
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}));
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}
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bool openAndOnline(std::shared_ptr<icsneo::Device>& device, const Options& opt) {
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logLine(std::string("Opening ") + device->describe() + " ...");
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if(!device->open()) {
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printApiResult("open", false);
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return false;
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}
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if(!opt.keepBaud && device->settings) {
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if(!device->settings->setBaudrateFor(icsneo::Network::NetID::DWCAN_01, opt.baud))
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printApiResult("setBaudrateFor", false);
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else if(!device->settings->apply(true))
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printApiResult("settings->apply(temporary)", false);
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}
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if(!device->goOnline()) {
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printApiResult("goOnline", false);
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device->close();
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return false;
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}
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return true;
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}
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void closeDevice(const std::shared_ptr<icsneo::Device>& device) {
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if(!device)
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return;
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device->iso15765DisableAll();
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if(device->isOnline())
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device->goOffline();
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if(device->isOpen())
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device->close();
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}
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bool enableIso(icsneo::Device& device, const char* who) {
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const bool ok = device.iso15765Enable(icsneo::Network(icsneo::Network::NetID::DWCAN_01));
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printApiResult((std::string(who) + " ISO15765_Enable").c_str(), ok);
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return ok;
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}
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bool receiveIso(icsneo::Device& device, const Options& opt) {
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icsneo::Iso15765MessageArgs msg;
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fillIso15765(msg, opt, {}, true);
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const bool ok = device.iso15765SetupRxFlowControl(icsneo::Network(icsneo::Network::NetID::DWCAN_01), msg);
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printApiResult("ECU ISO15765_ReceiveMessage", ok);
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return ok;
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}
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bool transmitIso(icsneo::Device& device, const Options& opt, const std::vector<uint8_t>& payload) {
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icsneo::Iso15765MessageArgs msg;
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fillIso15765(msg, opt, payload, false);
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const bool ok = device.iso15765TransmitMessage(
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icsneo::Network(icsneo::Network::NetID::DWCAN_01), msg, std::chrono::milliseconds(0));
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printApiResult("tester ISO15765_TransmitMessage", ok);
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return ok;
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}
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std::shared_ptr<icsneo::Device> findBySerial(const std::vector<std::shared_ptr<icsneo::Device>>& devices, const std::string& serial) {
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for(const auto& d : devices) {
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if(iequals(d->getSerial(), serial))
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return d;
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}
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return nullptr;
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}
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} // namespace
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int main(int argc, char** argv) {
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Options opt;
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try {
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if(!parseArgs(argc, argv, opt))
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return 1;
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} catch(const std::exception& ex) {
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std::cerr << ex.what() << std::endl;
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return 1;
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}
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std::cout << "libicsneo " << icsneo::GetVersion() << std::endl;
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auto devices = icsneo::FindAllDevices();
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std::cout << "Found " << devices.size() << " device(s)\n";
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for(const auto& d : devices)
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std::cout << " " << d->describe() << " serial=" << d->getSerial() << "\n";
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if(devices.size() < 2) {
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std::cerr << "Need two devices connected.\n";
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return 1;
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}
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std::shared_ptr<icsneo::Device> tester;
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std::shared_ptr<icsneo::Device> ecu;
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if(opt.testerSerial.empty() && opt.ecuSerial.empty()) {
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if(devices.size() != 2) {
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std::cerr << "More than two devices found; pass --tester and --ecu serials.\n";
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return 1;
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}
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tester = devices[0];
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ecu = devices[1];
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std::cout << "No serials given; using first as tester, second as ECU.\n";
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} else {
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if(opt.testerSerial.empty() || opt.ecuSerial.empty()) {
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std::cerr << "Pass both --tester and --ecu, or neither.\n";
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return 1;
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}
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tester = findBySerial(devices, opt.testerSerial);
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ecu = findBySerial(devices, opt.ecuSerial);
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if(!tester || !ecu) {
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std::cerr << "Could not match tester/ECU serials.\n";
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return 1;
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}
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}
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const size_t payloadSize = opt.payloadBytes.value_or(defaultPayloadSize(opt.mode));
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const auto payload = makePayload(payloadSize);
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std::cout << "Tester: " << tester->describe() << "\n"
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<< "ECU: " << ecu->describe() << "\n";
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if(opt.mode != Mode::Raw) {
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std::ostringstream hdr;
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hdr << "CAN1 TX 0x" << std::hex << std::uppercase << opt.txId
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<< " FC 0x" << opt.fcId << std::dec
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<< " payload " << payloadSize << " bytes";
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std::cout << hdr.str() << "\n";
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}
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std::cout << std::endl;
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if(!openAndOnline(tester, opt) || !openAndOnline(ecu, opt))
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return 1;
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Sniffer testerSniff;
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testerSniff.tag = "TESTER";
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||||
Sniffer ecuSniff;
|
||||
ecuSniff.tag = "ECU ";
|
||||
addCanSniffer(*tester, testerSniff);
|
||||
addCanSniffer(*ecu, ecuSniff);
|
||||
|
||||
switch(opt.mode) {
|
||||
case Mode::Raw:
|
||||
logLine("Mode --raw: tester 0x123, then ECU 0x456");
|
||||
transmitCan(*tester, 0x123, { 0x11, 0x22, 0x33, 0x44 });
|
||||
std::this_thread::sleep_for(200ms);
|
||||
transmitCan(*ecu, 0x456, { 0x55, 0x66, 0x77, 0x88 });
|
||||
break;
|
||||
case Mode::SingleFrame:
|
||||
logLine("Mode --sf: firmware ISO-TP single frame from tester");
|
||||
if(payload.size() > 7)
|
||||
logLine(" warning: payload > 7 bytes will be a First Frame (no flow control in this mode)");
|
||||
enableIso(*tester, "tester");
|
||||
transmitIso(*tester, opt, payload);
|
||||
break;
|
||||
case Mode::Both:
|
||||
logLine("Mode --both: firmware TX on tester, firmware flow-control on ECU");
|
||||
enableIso(*tester, "tester");
|
||||
enableIso(*ecu, "ECU");
|
||||
receiveIso(*ecu, opt);
|
||||
std::this_thread::sleep_for(100ms);
|
||||
transmitIso(*tester, opt, payload);
|
||||
break;
|
||||
case Mode::None:
|
||||
break;
|
||||
}
|
||||
|
||||
std::this_thread::sleep_for(std::chrono::milliseconds(opt.listenMs));
|
||||
|
||||
closeDevice(tester);
|
||||
closeDevice(ecu);
|
||||
return 0;
|
||||
}
|
||||
Reference in New Issue
Block a user