PEAK-System Forum

Code: Select all

n_req_t crc =
{ 
		.n_ai.n_pr = 0x00,     /* Network Address Priority */
		.n_ai.n_sa = 0xF1,     /* Network Source Address */
		.n_ai.n_ta = 0x01,     /* Network Target Address */
		.n_ai.n_ae = 0x00,   /* Network Address Extension */
		.n_ai.n_tt = N_TA_T_PHY,  /* Network Target Address type */

		.fr_fmt = CBUS_FR_FRM_STD,   /* Standard CANBUS */
		.msg = {0x01,0x02,0x03,0x04,0x05,0x06,0x07,0x08,0x09,0x0A,0x00B,0x0C},
		.msg_sz = 16,
};

Code: Select all

uint32_t ISOTP_init(cantp_mapping *mapping, cantp_handle handle)
{
	char version_buffer[500];
	cantp_status res;

	// Print version informations
	CANTP_GetValue_2016(PCANTP_HANDLE_NONEBUS, PCANTP_PARAMETER_API_VERSION, version_buffer, 500);
	printf("PCAN-ISO-TP API Version: %s\n\r", version_buffer);

	// Initialize channels: CAN2.0 - 500Kbit/s
	res = CANTP_Initialize_2016(handle, BAUDRATE, (cantp_hwtype)0, 0, 0);
	printf("Initialize: %s\n", STATUS_OK_KO(res));


	// Create a simple physical mapping: 
//    - Source 0xF1 (client), target 0x01 (server)
//    - Diagnostic message in a fixed normal format

	mapping->can_msgtype = PCANTP_CAN_MSGTYPE_EXTENDED;					//29 bit identifier
	mapping->netaddrinfo.extension_addr = 0x00;							//NA due to physical addressing mode
	mapping->netaddrinfo.format = PCANTP_ISOTP_FORMAT_FIXED_NORMAL;		//address type
	mapping->netaddrinfo.msgtype = PCANTP_ISOTP_MSGTYPE_DIAGNOSTIC;		//due to physical addressing 
	mapping->netaddrinfo.source_addr = 0xF1;							//
	mapping->netaddrinfo.target_addr = 0x01;							//
	mapping->netaddrinfo.target_type = PCANTP_ISOTP_ADDRESSING_PHYSICAL;

	STmin = 0x7F;
	res = CANTP_SetValue_2016(handle, PCANTP_PARAMETER_SEPARATION_TIME, &STmin, sizeof(STmin));
	printf("PCANTP_PARAMETER_SEPARATION_TIME %s\n\r", STATUS_OK_KO(res));

	res = CANTP_SetValue_2016(handle, PCANTP_PARAMETER_SEPARATION_TIME_TX, &STmin, sizeof(STmin));
	printf("PCANTP_PARAMETER_SEPARATION_TIME_TX %s\n\r", STATUS_OK_KO(res));


	res = CANTP_SetValue_2016(handle, PCANTP_PARAMETER_TIMEOUT_BR, &STmin, sizeof(STmin));
	printf("PCANTP_PARAMETER_TIMEOUT_BR %s\n\r", STATUS_OK_KO(res));

	res = CANTP_SetValue_2016(handle, PCANTP_PARAMETER_TIMEOUT_BS, &STmin, sizeof(STmin));
	printf("PCANTP_PARAMETER_TIMEOUT_BS %s\n\r", STATUS_OK_KO(res));

	res = CANTP_SetValue_2016(handle, PCANTP_PARAMETER_TIMEOUT_CR, &STmin, sizeof(STmin));
	printf("PCANTP_PARAMETER_TIMEOUT_CR %s\n\r", STATUS_OK_KO(res));

	res = CANTP_SetValue_2016(handle, PCANTP_PARAMETER_TIMEOUT_CS, &STmin, sizeof(STmin));
	
	printf("PCANTP_PARAMETER_TIMEOUT_CS %s\n\r", STATUS_OK_KO(res));
	
	uint32_t temp = 0x00;
	res = CANTP_GetValue_2016(handle, PCANTP_PARAMETER_TIMEOUT_CR, &temp, sizeof(temp));
	printf("get value PCANTP_PARAMETER_TIMEOUT_CR  %s %#X\n\r", STATUS_OK_KO(res), temp);

	printf("Can tp initialze success\n\r");
	return res;
}


void callback(cantp_handle channel, void* user_context)
{
	//printf("Call back called\n\r");
	cantp_status status;
	cantp_msg rx_msg;
	memset(&rx_msg, 0, sizeof(rx_msg));
	UserContext* context = (UserContext*)user_context;
	do {
		status = CANTP_Read_2016(channel, &rx_msg, NULL, PCANTP_MSGTYPE_ANY);
		if (CANTP_StatusIsOk_2016(status, PCANTP_STATUS_OK, false))
		{
			context->message_counter++;

			printf("received data length: %d =", rx_msg.msgdata.any->length);
			if (rx_msg.msgdata.any->length <= 500)
			{
				for (unsigned int i = 0; i < rx_msg.msgdata.any->length; i++)
				{
					printf("%#x ", rx_msg.msgdata.any->data[i]);

				}
			}
			else
			{
				printf("processing\n\r");
			}
		}
		else if (!CANTP_StatusIsOk_2016(status, PCANTP_STATUS_NO_MESSAGE, false)) {
			printf("Read error: %d or hexa %#x\n\r", status, status);
			context->error_counter++;
		}
		CANTP_MsgDataFree_2016(&rx_msg);
	} while (!CANTP_StatusIsOk_2016(status, PCANTP_STATUS_NO_MESSAGE, false));
}

Code: Select all

// Mapping communication from Client to ECU
        CANTP_AddMapping(Channel, 0xA1, 0xA2,
		PCANTP_ID_CAN_11BIT, PCANTP_FORMAT_NORMAL, PCANTP_MESSAGE_DIAGNOSTIC,
		N_SA, N_TA_PHYS, PCANTP_ADDRESSING_PHYSICAL, 0x00);
// Mapping communication from ECU to Client
	CANTP_AddMapping(Channel, 0xA2, 0xA1,
		PCANTP_ID_CAN_11BIT, PCANTP_FORMAT_NORMAL, PCANTP_MESSAGE_DIAGNOSTIC,
		N_TA_PHYS, N_SA, PCANTP_ADDRESSING_PHYSICAL, 0x00);