/* * @Author: qianziyang qianzy@bmser.com * @Date: 2024-01-26 16:15:44 * @LastEditors: qianziyang qianzy@bmser.com * @LastEditTime: 2024-03-12 10:22:28 * @FilePath: /rk3568_sdk_1018/bmser_app/libdb_control/src/tools/canrbus/bmser_canrbus.c * @Description: 流协议组解包 */ #include "bmser_canrbus.h" #include "bms_transfer_V50.h" #include "bms_transfer.h" #include "can_rbus.h" #include "toolkit.h" #include "bmser_dev.h" #include "bmser_log.h" #include "sqlite_api.h" #include "bmser_error_code.h" #define CAN_DATA_HEAD_LEN 5 // canrbus默认header长度 #define DEBUG_CMD_MAX_BUFF_SIZE 64 // debug指令最大长度 int32_t packTransferFrame_V41(CanrbusFlow_Infor_t *pCanrInfor, uint32_t in_len, uint8_t *in_frame, \ uint32_t *out_len, uint8_t *out_frame); int32_t packTransferFrame_V50(CanrbusFlow_Infor_t *pCanrInfor, uint32_t in_len, uint8_t *in_frame, \ uint32_t *out_len, uint8_t *out_frame); static int32_t packDebugStr_V41(CanrbusFlow_Infor_t *pCanrInfor, uint8_t dbg_cmd, void* buff, int32_t* realLen); static int32_t packDebugStr_V50(CanrbusFlow_Infor_t *pCanrInfor, uint8_t dbg_cmd, void* buff, int32_t* realLen); static int32_t isFlowContentMatch_V41(uint8_t *buf, uint16_t len); static int32_t isFlowContentMatch_V50(uint8_t *buf, uint16_t len); static uint8_t getCmdCode_V41(uint8_t *buf); static uint8_t getCmdCode_V50(uint8_t *buf); static uint8_t selectVDId_V41(CanrbusFlow_Infor_t *pCanrInfor, uint8_t *buf); static uint8_t selectVDId_V50(CanrbusFlow_Infor_t *pCanrInfor, uint8_t *buf); /* 默认版本 bau V4.1 bcu V4.1 bmu V4.1 bdu V5.0 */ // 版本号实例 static CanrbusFlow_Ver_t* getCanrbusFlowVerInstance(void) { static CanrbusFlow_Ver_t ver_instance = { CANRBUS_FLOW_VER_0x41, CANRBUS_FLOW_VER_0x41, CANRBUS_FLOW_VER_0x41, CANRBUS_FLOW_VER_0x50 }; return &ver_instance; } // 查询并配置安装参数表中配置的流协议版本 static int32_t queryAndSetDeviceVersion(char *dev_name, int *ver, char *log_msg) { int ret = 0; sqlResult_t sqlResult = {0}; ret = sqliteApi_query_custom(CANRBUSFLOW_VER_TABLE, CANRBUSFLOW_VERSION_KEY, \ CANRBUSFLOW_DEVNAME_KEY, dev_name, INTEGER, &sqlResult); if (ret != 0) { dy_syslog(LOG_ERR, "Failed to query %s version from database.\n", log_msg); } else { if(sqlResult.integer >= CANRBUS_FLOW_VER_0x41 && sqlResult.integer < CANRBUS_FLOW_VER_BUTT) { *ver = sqlResult.integer; } else { dy_syslog(LOG_ERR, "%s ver from table is illeagl, ver = %d.\n", log_msg, sqlResult.integer); } } return ret; } /*! * @brief canrbus消息流初始化，确定canrbus消息流版本 * * @return * @retval None * * @par modify log * Date Author Description \n * 2024-02-05 qzy Create \n */ int32_t CanrbusFlowInit(void) { int ret = 0; CanrbusFlow_Ver_t* pCanrVer = getCanrbusFlowVerInstance(); // 获取版本号实例指针 if (pCanrVer == NULL) { dy_syslog(LOG_ERR, "Failed to get CanrbusFlow version instance.\n"); return -1; } // 查询并设置版本号, 没查询到则使用默认值 ret |= queryAndSetDeviceVersion(CANRBUSFLOW_DEVNAME_VAL_BAU, &pCanrVer->bau_ver, "BAU"); ret |= queryAndSetDeviceVersion(CANRBUSFLOW_DEVNAME_VAL_BCU, &pCanrVer->bcu_ver, "BCU"); ret |= queryAndSetDeviceVersion(CANRBUSFLOW_DEVNAME_VAL_BMU, &pCanrVer->bmu_ver, "BMU"); ret |= queryAndSetDeviceVersion(CANRBUSFLOW_DEVNAME_VAL_BDU, &pCanrVer->bdu_ver, "BDU"); dy_syslog(LOG_DEBUG, "lib: bau_ver:%d, bcu_ver:%d, bmu_ver:%d, bdu_ver:%d\n",pCanrVer->bau_ver, \ pCanrVer->bcu_ver,pCanrVer->bmu_ver,pCanrVer->bdu_ver); return ret; } /*根据设备层级获取canrbus流协议版本*/ static int32_t CanrbusFlowGetVerByLevel(uint8_t devlevel) { int32_t canrbusVer = 0; CanrbusFlow_Ver_t* pCanrVer = getCanrbusFlowVerInstance(); if (pCanrVer == NULL) { dy_syslog(LOG_ERR, "Failed to get CanrbusFlow version instance.\n"); return -1; } if(devlevel == BMS_HW_LEVEL_1) { canrbusVer = pCanrVer->bmu_ver; } else if(devlevel == BMS_HW_LEVEL_2) { canrbusVer = pCanrVer->bcu_ver; } else if(devlevel == BMS_HW_LEVEL_3) { canrbusVer = pCanrVer->bau_ver; // todo: bdu } else { // 取默认版本4.1 canrbusVer = CANRBUS_FLOW_VER_0x41; } return canrbusVer; } /*! * @brief 按照canrbus 流协议打包 * * @param[in] CanrbusFlow_Infor_t *pCanrInfor * @param[in] uint32_t in_len 有效数据体长度 * @param[in] uint8_t *in_data 有效数据体buf * @param[out] uint32_t out_len 组装完成的buf长度 * @param[out] uint8_t *out_data 组装完成的buf * * @return * @retval None * * @par modify log * Date Author Description \n * 2024-01-29 qzy Create \n * 2024-02-19 qzy 入参出参修改 \n */ int32_t CanrbusFlowPackData(CanrbusFlow_Infor_t *pCanrInfor, uint32_t in_len, uint8_t *in_data,\ uint32_t *out_len, uint8_t *out_data) { if (pCanrInfor == NULL || in_data == NULL || out_len == NULL || out_data == NULL) { dy_syslog(LOG_ERR, "Invalid input param.\n"); return -1; } uint8_t canrbusVer = CanrbusFlowGetVerByLevel(pCanrInfor->devlevel); // 根据版本选择打包函数 if (canrbusVer == CANRBUS_FLOW_VER_0x41) { packTransferFrame_V41(pCanrInfor, in_len, in_data, out_len, out_data); } else if (canrbusVer == CANRBUS_FLOW_VER_0x50) { packTransferFrame_V50(pCanrInfor, in_len, in_data, out_len, out_data); } else { dy_syslog(LOG_ERR, "CanrbusFlowPackCanrbusFrame, canrbusVer err.\n"); return -1; } return 0; } /*! * @brief 组装Debug指令字符串(事务3 debug指令) * * @param[in] CanrbusFlow_Infor_t *p_upinfor * @param[in] uint8_t dbg_cmd debug指令类型 * @param[out] void *buff 命令字符串buf * @param[out] int32_t *realLen 命令字符串长度 * @return Std_True * @retval None * * @par modify log * Date Author Description \n * 2023-08-09 qzy Create \n */ int32_t CanrbusFlowPackDebugCmdStr(CanrbusFlow_Infor_t *pCanrInfor, uint8_t dbg_cmd, void* buff, int32_t* realLen) { if (pCanrInfor == NULL || buff == NULL || realLen == NULL) { dy_syslog(LOG_ERR, "Invalid input param.\n"); return -1; } uint8_t canrbusVer = CanrbusFlowGetVerByLevel(pCanrInfor->devlevel); if(CANRBUS_FLOW_VER_0x41 == canrbusVer) { packDebugStr_V41(pCanrInfor, dbg_cmd, buff, realLen); } else if(CANRBUS_FLOW_VER_0x50 == canrbusVer) { packDebugStr_V50(pCanrInfor, dbg_cmd, buff, realLen); } else { dy_syslog(LOG_ERR, "CanrbusFlowPackDebugCmdStr, canrbusVer err.\n"); } return 0; } /*! * @brief 检查响应包是否合法(升级) * * @param[in] uint8_t devlevel 设备层级(根据层级确定协议版本) * @param[in] uint8_t *buf 响应包 * @param[in] uint16_t len 响应包长度 * @return true: match ; false: not match * @retval None * * @par modify log * Date Author Description \n * 2023-08-09 qzy Create \n */ int32_t CanrbusFlowIsFlowContentMatch(uint8_t devlevel, uint8_t *buf, uint16_t len) { if (buf == NULL || len == 0) { dy_syslog(LOG_ERR, "Invalid input param.\n"); return -1; } int32_t isMatch = 0; uint8_t canrbusVer = CanrbusFlowGetVerByLevel(devlevel); if(CANRBUS_FLOW_VER_0x41 == canrbusVer) { isMatch = isFlowContentMatch_V41(buf, len); } else if(CANRBUS_FLOW_VER_0x50 == canrbusVer) { isMatch = isFlowContentMatch_V50(buf, len); } else { dy_syslog(LOG_ERR, "CanrbusFlowIsFlowContentMatch, canrbusVer err.\n"); } return isMatch; } /*! * @brief 获取功能码 * * @param[in] uint8_t devlevel 设备层级 * @param[in] uint8_t *buf 数据包 * @return cmd_code 功能码 * @retval uint8_t * * @par modify log * Date Author Description \n * 2023-10-24 qzy Create \n */ uint8_t CanrbusFlowGetCmdCode(uint8_t devlevel, uint8_t *buf) { if (buf == NULL) { dy_syslog(LOG_ERR, "Invalid input param.\n"); return -1; } uint8_t cmdCode = 0; uint8_t canrbusVer = CanrbusFlowGetVerByLevel(devlevel); if(CANRBUS_FLOW_VER_0x41 == canrbusVer) { cmdCode = getCmdCode_V41(buf); } else if(CANRBUS_FLOW_VER_0x50 == canrbusVer) { cmdCode = getCmdCode_V50(buf); } else { dy_syslog(LOG_ERR, "CanrbusFlowGetCmdCode, canrbusVer err.\n"); } return cmdCode; } /*! * @brief 获取设备level_id * * @param[in] CanrbusFlow_Infor_t *pCanrInfor * @param[in] uint8_t *buf 数据包 * @return Select_VD_Id level_id * @retval uint8_t * * @par modify log * Date Author Description \n * 2023-10-24 qzy Create \n */ uint8_t CanrbusFlowSelectVDId(CanrbusFlow_Infor_t *pCanrInfor, uint8_t *buf) { if (pCanrInfor == NULL || buf == NULL) { dy_syslog(LOG_ERR, "Invalid input param.\n"); return -1; } uint8_t canrbusVer = CanrbusFlowGetVerByLevel(pCanrInfor->devlevel); uint8_t id = 0; if(CANRBUS_FLOW_VER_0x41 == canrbusVer) { id = selectVDId_V41(pCanrInfor, buf); } else if(CANRBUS_FLOW_VER_0x50 == canrbusVer) { id = selectVDId_V50(pCanrInfor, buf); } else { dy_syslog(LOG_ERR, "CanrbusFlowSelectVDId, canrbusVer err.\n"); } return id; } /*! * @brief 获取传输框架长度(不包含CRC) * * @param[in] uint8_t devlevel 设备层级 * @return length * @retval uint8_t * * @par modify log * Date Author Description \n * 2024-01-29 qzy Create \n */ uint8_t CanrbusFlowGetHeaderLen(uint8_t devlevel) { uint8_t length = CAN_DATA_HEAD_LEN; //默认为canrbus V41协议头长度 uint8_t canrbusVer = CanrbusFlowGetVerByLevel(devlevel); if(CANRBUS_FLOW_VER_0x41 == canrbusVer) { length = sizeof(TRANSFER_FRAMEWORK_STRU); } else if(CANRBUS_FLOW_VER_0x50 == canrbusVer) { length = sizeof(TRANSFER_FRAMEWORK_STRU_V50); } else { dy_syslog(LOG_ERR, "CanrbusFlowGetHeaderLen, canrbusVer err.\n"); } return length; } /******************************************** CANRBUS V41 *************************************************/ /*! * @brief 计算地址信息(V41) * @param[in] CanrbusFlow_Infor_t *pCanrInfor * @return * @retval addr * * @par modify log * Date Author Description \n * 2024-01-26 qzy Create \n */ static uint16_t calAddr_V41(CanrbusFlow_Infor_t *pCanrInfor) { uint16_t addr = 0; TRANSFER_DEVADDR_STRU *devAddr = (TRANSFER_DEVADDR_STRU *)&addr; TRANSFER_DEVADDR_BRO_STRU *broAddr = (TRANSFER_DEVADDR_BRO_STRU *)&addr; if(pCanrInfor->isHierMode == false){ devAddr->bro = 0; devAddr->level3 = pCanrInfor->bauId; devAddr->level2 = pCanrInfor->bcuId; devAddr->level1 = pCanrInfor->bmuId; } else{ broAddr->bro = 1; broAddr->broBAU = pCanrInfor->bauId; broAddr->broBCU = pCanrInfor->bcuId; broAddr->broLevel = pCanrInfor->devlevel; broAddr->broType = pCanrInfor->devType; } return addr; } /*! * @brief 解析addr信息(V41) * @param[in] CanrbusFlow_Infor_t *pCanrInfor * @return * @retval addr * * @par modify log * Date Author Description \n * 2024-11-05 tk Create \n */ static uint16_t ParseAddr_V41(uint16_t addr, CanrbusFlow_Infor_t *pCanrInfor) { TRANSFER_DEVADDR_STRU *devAddr = (TRANSFER_DEVADDR_STRU *)&addr; TRANSFER_DEVADDR_BRO_STRU *broAddr = (TRANSFER_DEVADDR_BRO_STRU *)&addr; if ((addr & 0x8000) == 0) { pCanrInfor->bauId = devAddr->level3; pCanrInfor->bcuId = devAddr->level2; pCanrInfor->bmuId = devAddr->level1; } else { pCanrInfor->bauId = broAddr->broBAU; pCanrInfor->bcuId = broAddr->broBCU; pCanrInfor->devlevel = broAddr->broLevel; switch(pCanrInfor->devlevel) { case BMS_HW_LEVEL_1: { //层级1: bmu pCanrInfor->bmuId = HWID_LEVEL_1_MASK; } break; case BMS_HW_LEVEL_2: //层级2: bcu case BMS_HW_LEVEL_3: { //层级3: bau pCanrInfor->bmuId = 0; //BMU为无效层级(0x00) } break; default: break; } pCanrInfor->devType = broAddr->broType; } return 0; } /*! * @brief 计算当前的消息类型(V41) * @param[in] p_upinfor * @param[in] type * @return * @retval msg_type * * @par modify log * Date Author Description \n * 2024-01-26 qzy Create \n */ static uint8_t calMsgType_V41(CanrbusFlow_Infor_t *pCanrInfor) { uint8_t msg_type; TRANSFER_MSG_TYPE_STRU *pMsgType = (TRANSFER_MSG_TYPE_STRU *)&msg_type; pMsgType->isCorretResp = 1; pMsgType->isHier = (pCanrInfor->isHierMode > 0)?1:0; pMsgType->isResp = 0; pMsgType->isTunnel = 1; pMsgType->cmdType = pCanrInfor->cmdCode & TRANSFER_TYPE_CMDTYPE_MASK; return msg_type; } /*! * @brief 解析当前的消息类型(V41) * @param[in] p_upinfor * @param[in] type * @return * @retval msg_type * * @par modify log * Date Author Description \n * 2024-11-05 tk Create \n */ static int ParseMsgType_V41(uint8_t msg_type, CanrbusFlow_Infor_t *pCanrInfor) { TRANSFER_MSG_TYPE_STRU *pMsgType = (TRANSFER_MSG_TYPE_STRU *)&msg_type; pCanrInfor->isHierMode = (pMsgType->isHier > 0) ? 1 : 0; pCanrInfor->cmdCode = pMsgType->cmdType & TRANSFER_TYPE_CMDTYPE_MASK; return 0; } /*! * @brief 按照canrbus V41协议打包binary_flow mqtt * @param[in] CanrbusFlow_Infor_t *pCanrInfor * @param[in] uint32_t data_len 有效数据体长度 * @param[in] uint8_t *data_frame 有效数据体buf * @param[out] uint32_t out_len 组装完成的buf长度 * @param[out] uint8_t *out_frame 组装完成的buf * @return * @retval 0 * * @par modify log * Date Author Description \n * 2024-01-26 qzy Create \n */ int32_t packTransferFrame_V41(CanrbusFlow_Infor_t *pCanrInfor, uint32_t in_len, uint8_t *in_frame, \ uint32_t *out_len, uint8_t *out_frame) { if (pCanrInfor == NULL || in_frame == NULL || out_len == NULL || out_frame == NULL) { dy_syslog(LOG_ERR, "Invalid input param.\n"); return -1; } uint16_t crc, addr; memcpy(out_frame + sizeof(TRANSFER_FRAMEWORK_STRU), in_frame, in_len); TRANSFER_FRAMEWORK_STRU *pHeader = (TRANSFER_FRAMEWORK_STRU *)out_frame; pHeader->version = TRANSFER_PROTOCOL_VERSION; pHeader->destDevAddr = 0x0000; addr = calAddr_V41(pCanrInfor); pHeader->destDevAddr = HOST_TO_LITTLE_ENDIAN_16(addr); pHeader->msgType = calMsgType_V41(pCanrInfor); pHeader->msgLength = in_len; crc = BmsMsg_Crc16(out_frame, in_len + sizeof(TRANSFER_FRAMEWORK_STRU)); crc = HOST_TO_LITTLE_ENDIAN_16(crc); memcpy(&out_frame[sizeof(TRANSFER_FRAMEWORK_STRU)+in_len], &crc, sizeof(crc)); *out_len = in_len + sizeof(TRANSFER_FRAMEWORK_STRU) + sizeof(crc); return 0; } static int32_t packDebugStr_V41(CanrbusFlow_Infor_t *pCanrInfor, uint8_t dbg_cmd, void* buff, int32_t* realLen) { uint16_t dev_addr = calAddr_V41(pCanrInfor); switch (dbg_cmd) { case DEBUG_CMD_RESET: *realLen = snprintf(buff, DEBUG_CMD_MAX_BUFF_SIZE, "0x%x reset", dev_addr); break; case DEBUG_CMD_SHOWVERSION: *realLen = snprintf(buff, DEBUG_CMD_MAX_BUFF_SIZE, "0x%x ShowVersion", dev_addr); break; case DEBUG_CMD_STARTPRG: *realLen = snprintf(buff, DEBUG_CMD_MAX_BUFF_SIZE, "0x%x StartPrg", dev_addr); break; case DEBUG_CMD_ENDPRG: *realLen = snprintf(buff, DEBUG_CMD_MAX_BUFF_SIZE, "0x%x EndPrg", dev_addr); break; case DEBUG_CMD_CANRBUSVERSION: *realLen = snprintf(buff, DEBUG_CMD_MAX_BUFF_SIZE, "0x%x CANRBUSVersion", dev_addr); break; default: *realLen = 0; break; } return 0; } /*! * @brief 检查升级响应包是否match(V41) * * @param[in] uint8_t *buf 响应包 * @param[in] uint16_t len 响应包长度 * @return 1: match ; 0: not match * @retval None * * @par modify log * Date Author Description \n * 2023-08-09 qzy Create \n */ static int32_t isFlowContentMatch_V41(uint8_t *buf, uint16_t len) { uint8_t msg_type = 0; int32_t is_match = 0; do{ TRANSFER_FRAMEWORK_STRU *p_recv_header = (TRANSFER_FRAMEWORK_STRU *)buf; uint16_t addr = LITTLE_ENDIAN_TO_HOST_16(p_recv_header->destDevAddr); uint16_t crc = 0; if(p_recv_header->version != TRANSFER_PROTOCOL_VERSION){ break; } msg_type = p_recv_header->msgType; if(TRANSFER_TYPE_IS_CORRECT_RESP(msg_type) == 0){ break; } if (len < 2) break; /*发送的长度中没有包含 CRC长度*/ crc = BmsMsg_Crc16(buf, len); if(crc != 0){ break; } { /*回复的消息应为单播*/ TRANSFER_DEVADDR_BRO_STRU *pBroLevel = (TRANSFER_DEVADDR_BRO_STRU *)&addr; if(pBroLevel->bro > 0) break; } is_match = 1; }while(0); return is_match; } /*! * @brief 获取功能码(V41) * * @param[in] uint8_t *buf 数据包 * @return cmd_code 功能码 * @retval uint8_t * * @par modify log * Date Author Description \n * 2023-10-24 qzy Create \n */ static uint8_t getCmdCode_V41(uint8_t *buf) { uint8_t msg_type = 0; TRANSFER_FRAMEWORK_STRU *p_recv_header = (TRANSFER_FRAMEWORK_STRU *)buf; msg_type = TRANSFER_GET_MSGTYPE(p_recv_header->msgType); return msg_type; } /*! * @brief 获取设备level_id(V41) * * @param[in] CanrbusFlow_Infor_t *pCanrInfor * @param[in] uint8_t *buf 数据包 * @return Select_VD_Id level_id * @retval uint8_t * * @par modify log * Date Author Description \n * 2023-10-24 qzy Create \n */ static uint8_t selectVDId_V41(CanrbusFlow_Infor_t *pCanrInfor, uint8_t *buf) { uint8_t select_valid_id = 0; uint8_t bmu_id = 0, bcu_id = 0, bau_id = 0; TRANSFER_FRAMEWORK_STRU *p_recv_header = (TRANSFER_FRAMEWORK_STRU *)buf; uint16_t addr = LITTLE_ENDIAN_TO_HOST_16(p_recv_header->destDevAddr); TRANSFER_DEVADDR_STRU *p_addr = (TRANSFER_DEVADDR_STRU *)&addr; bau_id = p_addr->level3; bcu_id = p_addr->level2; bmu_id = p_addr->level1; if(pCanrInfor->isHierMode){ if((pCanrInfor->devlevel == BMS_HW_LEVEL_1) || (pCanrInfor->devlevel == BMS_HW_LEVEL_2)){ select_valid_id = bcu_id; } if(pCanrInfor->devlevel == BMS_HW_LEVEL_3){ select_valid_id = bau_id; } } else{ if(pCanrInfor->devlevel == BMS_HW_LEVEL_1){ select_valid_id = bmu_id; } if(pCanrInfor->devlevel == BMS_HW_LEVEL_2){ select_valid_id = bcu_id; } if(pCanrInfor->devlevel == BMS_HW_LEVEL_3){ select_valid_id = bau_id; } } return select_valid_id; } /******************************************** CANRBUS V41 *************************************************/ /******************************************** CANRBUS V50 *************************************************/ /*! * @brief 计算目的地址信息(V50) * * @param[in] CanrbusFlow_Infor_t *pCanrInfor * @return uint32_t addr 目的地址 * @retval None * * @par modify log * Date Author Description \n * 2024-01-26 qzy Create \n */ static uint32_t calAddr_V50(CanrbusFlow_Infor_t *pCanrInfor) { uint32_t addr = 0; TRANSFER_DEVADDR_STRU_V50 *dstAddr = (TRANSFER_DEVADDR_STRU_V50 *)&addr; dstAddr->res = 0x00; //预留 dstAddr->level3_id = pCanrInfor->bauId; //BAU仅支持定向，固定为bauid switch(pCanrInfor->devlevel) { case BMS_HW_LEVEL_1: //层级1: bmu { dstAddr->level2_id = pCanrInfor->bcuId; //a:升级某一簇的从控(簇ID); b:升级所有簇的从控(0xFF) if(pCanrInfor->isHierMode == Std_False){ dstAddr->level1_id = pCanrInfor->bmuId; //定向(暂不支持) } else { dstAddr->level1_id = TRANSFER_V50_LEVEL_BRO;//广播(0xFF) } break; } case BMS_HW_LEVEL_2: //层级2: bcu { dstAddr->level1_id = TRANSFER_V50_LEVEL_INVALD; //BMU为无效层级(0x00) if(pCanrInfor->isHierMode == Std_False){ dstAddr->level2_id = pCanrInfor->bcuId; //定向 } else { dstAddr->level2_id = TRANSFER_V50_LEVEL_BRO;//广播(0xFF) } break; } case BMS_HW_LEVEL_3: //层级3: bau { //level3_id固定为bauId，bcu、bmu层级置为无效 dstAddr->level1_id = TRANSFER_V50_LEVEL_INVALD; dstAddr->level2_id = TRANSFER_V50_LEVEL_INVALD; break; } default: break; } return addr; } /*! * @brief 解析addr信息(V50) * * @param[in] CanrbusFlow_Infor_t *pCanrInfor * @return uint32_t addr 目的地址 * @retval None * * @par modify log * Date Author Description \n * 2024-11-05 tk Create \n */ static uint32_t ParseAddr_V50(uint32_t addr, CanrbusFlow_Infor_t *pCanrInfor) { TRANSFER_DEVADDR_STRU_V50 *srcAddr = (TRANSFER_DEVADDR_STRU_V50 *)&addr; pCanrInfor->bauId = srcAddr->level3_id; //BAU仅支持定向，固定为bauid switch(pCanrInfor->devlevel) { case BMS_HW_LEVEL_1: //层级1: bmu { pCanrInfor->bcuId = srcAddr->level2_id; //a:升级某一簇的从控(簇ID); b:升级所有簇的从控(0xFF) if(pCanrInfor->isHierMode == Std_False) { pCanrInfor->bmuId = srcAddr->level1_id; } else { pCanrInfor->bmuId = TRANSFER_V50_LEVEL_BRO;//广播(0xFF) } break; } case BMS_HW_LEVEL_2: //层级2: bcu { pCanrInfor->bmuId = TRANSFER_V50_LEVEL_INVALD; //BMU为无效层级(0x00) if (pCanrInfor->isHierMode == Std_False) { pCanrInfor->bcuId = srcAddr->level2_id; //定向 } else { pCanrInfor->bcuId = TRANSFER_V50_LEVEL_BRO; //广播(0xFF) } break; } case BMS_HW_LEVEL_3: //层级3: bau { //level3_id固定为bauId，bcu、bmu层级置为无效 pCanrInfor->bmuId = TRANSFER_V50_LEVEL_INVALD; pCanrInfor->bcuId = TRANSFER_V50_LEVEL_INVALD; break; } default: break; } return 0; } /*! * @brief 计算数据帧操作方式(V50) * * @param[in] CanrbusFlow_Infor_t *pCanrInfor * @return uint8_t frame_type 数据帧操作方式 * @retval None * * @par modify log * Date Author Description \n * 2023-08-08 qzy Create \n * */ static uint8_t calFrameType_V50(uint8_t isHierMode) { uint8_t frame_type; TRANSFER_FRAME_TYPE_STRU_V50 *pFrameType = (TRANSFER_FRAME_TYPE_STRU_V50 *)&frame_type; pFrameType->isBro = (isHierMode > 0 )?1:0; pFrameType->isCorretResp = 0; pFrameType->isHier = isHierMode; pFrameType->isResp = 0; pFrameType->res = 0; return frame_type; } static uint8_t calDevType_V50(uint8_t level) { uint32_t devType = 0; switch(level) { case BMS_HW_LEVEL_1: //层级1: bmu { devType = TRANSFER_DEV_BMU_V50; break; } case BMS_HW_LEVEL_2: //层级2: bcu { devType = TRANSFER_DEV_BCU_V50; break; } case BMS_HW_LEVEL_3: //层级3: bau { devType = TRANSFER_DEV_BAU_V50; break; } default: break; } return devType; } static uint8_t calLevel_V50(uint8_t devType) { uint8_t level = 0; switch(devType) { case TRANSFER_DEV_BMU_V50: //层级1: bmu { level = BMS_HW_LEVEL_1; break; } case TRANSFER_DEV_BCU_V50: //层级2: bcu { level = BMS_HW_LEVEL_2; break; } case TRANSFER_DEV_BAU_V50: //层级3: bau { level = BMS_HW_LEVEL_3; break; } default: break; } return level; } /*! * @brief 按照canrbus 5.0协议打包 * * @param[in] UPSP_Infor_Stru *pUPSPInfor * @param[in] uint32_t msgType 命令码(cmd_code) * @param[out] uint8_t *frame 组装完成的buf * @param[in] uint32_t len 有效数据长度 * @return * @retval None * * @par modify log * Date Author Description \n * 2023-08-08 qzy Create \n */ int32_t packTransferFrame_V50(CanrbusFlow_Infor_t *pCanrInfor, uint32_t in_len, uint8_t *in_frame, \ uint32_t *out_len, uint8_t *out_frame) { if (pCanrInfor == NULL || in_frame == NULL || out_len == NULL || out_frame == NULL) { dy_syslog(LOG_ERR, "Invalid input param.\n"); return -1; } uint16_t crc; uint32_t addr; memcpy(out_frame + sizeof(TRANSFER_FRAMEWORK_STRU_V50), in_frame, in_len); TRANSFER_FRAMEWORK_STRU_V50 *pHeader = (TRANSFER_FRAMEWORK_STRU_V50 *)out_frame; pHeader->header = CANRBUS_FLOW_HEADER_V50; //起始帧数据(0xD1) pHeader->ver = TRANSFER_VERSION_V50; //版本号(0x50) pHeader->dev = calDevType_V50(pCanrInfor->devlevel); //设备类型 pHeader->src_id = 0x0000; //源地址(预留,0x00) addr = calAddr_V50(pCanrInfor); //目的地址 pHeader->dst_id = HOST_TO_LITTLE_ENDIAN_16(addr); pHeader->frame_type = calFrameType_V50(pCanrInfor->isHierMode); pHeader->cmd_code = pCanrInfor->cmdCode; pHeader->reserve = 0x00; pHeader->data_len = in_len; crc = BmsMsg_Crc16(out_frame, in_len + sizeof(TRANSFER_FRAMEWORK_STRU_V50)); crc = HOST_TO_LITTLE_ENDIAN_16(crc); memcpy(&out_frame[sizeof(TRANSFER_FRAMEWORK_STRU_V50)+in_len], &crc, sizeof(crc)); *out_len = in_len + sizeof(TRANSFER_FRAMEWORK_STRU_V50) + sizeof(crc); return 0; } int32_t ParsepackTransferFrame_V41(CanrbusFlow_Infor_t *pCanrInfor, uint8_t *in_frame) { if (pCanrInfor == NULL || in_frame == NULL) { dy_syslog(LOG_ERR, "Invalid input param.\n"); return -1; } TRANSFER_FRAMEWORK_STRU *pHeader = (TRANSFER_FRAMEWORK_STRU *)in_frame; uint16_t addr = 0; ParseMsgType_V41(pHeader->msgType, pCanrInfor); addr = LITTLE_ENDIAN_TO_HOST_16(pHeader->destDevAddr); ParseAddr_V41(addr, pCanrInfor); return 0; } int32_t ParsepackTransferFrame_V50(CanrbusFlow_Infor_t *pCanrInfor, uint8_t *in_frame) { if (pCanrInfor == NULL || in_frame == NULL) { dy_syslog(LOG_ERR, "Invalid input param.\n"); return -1; } TRANSFER_FRAMEWORK_STRU_V50 *pHeader = (TRANSFER_FRAMEWORK_STRU_V50 *)in_frame; uint32_t addr = 0; TRANSFER_FRAME_TYPE_STRU_V50 *pFrameType = (TRANSFER_FRAME_TYPE_STRU_V50 *)&pHeader->frame_type; pCanrInfor->devlevel = calLevel_V50(pHeader->dev); pCanrInfor->cmdCode = pHeader->cmd_code; pCanrInfor->isHierMode = pFrameType->isHier; addr = LITTLE_ENDIAN_TO_HOST_16(pHeader->src_id); ParseAddr_V50(addr, pCanrInfor); return 0; } static int32_t packDebugStr_V50(CanrbusFlow_Infor_t *pCanrInfor, uint8_t dbg_cmd, void* buff, int32_t* realLen) { uint16_t dev_addr = (uint16_t)calAddr_V50(pCanrInfor); switch (dbg_cmd) { case DEBUG_CMD_RESET: *realLen = snprintf(buff, DEBUG_CMD_MAX_BUFF_SIZE, "0x%x reset", dev_addr); break; case DEBUG_CMD_SHOWVERSION: *realLen = snprintf(buff, DEBUG_CMD_MAX_BUFF_SIZE, "0x%x ShowVersion", dev_addr); break; case DEBUG_CMD_STARTPRG: *realLen = snprintf(buff, DEBUG_CMD_MAX_BUFF_SIZE, "0x%x StartPrg", dev_addr); break; case DEBUG_CMD_ENDPRG: *realLen = snprintf(buff, DEBUG_CMD_MAX_BUFF_SIZE, "0x%x EndPrg", dev_addr); break; case DEBUG_CMD_CANRBUSVERSION: *realLen = snprintf(buff, DEBUG_CMD_MAX_BUFF_SIZE, "0x%x CANRBUSVersion", dev_addr); break; default: *realLen = 0; break; } return 0; } /*! * @brief 检查升级响应包是否match(V50) * * @param[in] uint8_t *buf 响应包 * @param[in] uint16_t len 响应包长度 * @return 1: match ; 0: not match * @retval None * * @par modify log * Date Author Description \n * 2023-08-09 qzy Create \n */ static int32_t isFlowContentMatch_V50(uint8_t *buf, uint16_t len) { uint8_t frame_type = 0; int32_t is_match = 0; do{ TRANSFER_FRAMEWORK_STRU_V50 *p_recv_header = (TRANSFER_FRAMEWORK_STRU_V50 *)buf; uint16_t crc = 0; if(p_recv_header->header != CANRBUS_FLOW_HEADER_V50){ break; } frame_type = p_recv_header->frame_type; if(TRANSFER_V50_IS_CORRECT_RESP(frame_type) == 0){ break; } if (len < 2) break; /*发送的长度中没有包含 CRC长度*/ crc = BmsMsg_Crc16(buf, len); if(crc != 0){ break; } { /*回复的消息中应为单播*/ TRANSFER_FRAME_TYPE_STRU_V50 *pBroLevel = (TRANSFER_FRAME_TYPE_STRU_V50 *)&frame_type; if(pBroLevel->isBro > 0) break; } is_match = 1; }while(0); return is_match; } /*! * @brief 获取功能码(V50) * * @param[in] uint8_t *buf 数据包 * @return cmd_code 功能码 * @retval uint8_t * * @par modify log * Date Author Description \n * 2023-10-24 qzy Create \n */ static uint8_t getCmdCode_V50(uint8_t *buf) { uint8_t cmd_code = 0; TRANSFER_FRAMEWORK_STRU_V50 *p_recv_header = (TRANSFER_FRAMEWORK_STRU_V50 *)buf; cmd_code = p_recv_header->cmd_code; return cmd_code; } /*! * @brief 根据设备层级获取有效设备id(v50) * * @param[in] CanrbusFlow_Infor_t *pCanrInfor * @param[in] uint8_t *buf 数据包 * @return Select_VD_Id level_id * @retval uint8_t * * @par modify log * Date Author Description \n * 2023-10-24 qzy Create \n */ static uint8_t selectVDId_V50(CanrbusFlow_Infor_t *pCanrInfor, uint8_t *buf) { uint8_t select_valid_id = 0; uint8_t bmu_id = 0, bcu_id = 0, bau_id = 0; TRANSFER_FRAMEWORK_STRU_V50 *p_recv_header = (TRANSFER_FRAMEWORK_STRU_V50 *)buf; uint32_t addr = LITTLE_ENDIAN_TO_HOST_32(p_recv_header->dst_id); TRANSFER_DEVADDR_STRU_V50 *p_addr = (TRANSFER_DEVADDR_STRU_V50 *)&addr; bau_id = p_addr->level3_id; bcu_id = p_addr->level2_id; bmu_id = p_addr->level1_id; if(pCanrInfor->isHierMode){ if((pCanrInfor->devlevel == BMS_HW_LEVEL_1) || (pCanrInfor->devlevel == BMS_HW_LEVEL_2)){ select_valid_id = bcu_id; } if(pCanrInfor->devlevel == BMS_HW_LEVEL_3){ select_valid_id = bau_id; } } else{ if(pCanrInfor->devlevel == BMS_HW_LEVEL_1){ select_valid_id = bmu_id; } if(pCanrInfor->devlevel == BMS_HW_LEVEL_2){ select_valid_id = bcu_id; } if(pCanrInfor->devlevel == BMS_HW_LEVEL_3){ select_valid_id = bau_id; } } return select_valid_id; } /******************************************** CANRBUS V50 *************************************************/