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‎GearIndicator/KBus.c‎

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/*
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* KBus.c
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* Part of project: GearIndicator
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* Created: 25.05.2015 8:54:04
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* Author: Andrej Hradnansky, 2022
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*
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* This program is free software: you can redistribute it and/or modify it under the terms of the GNU
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* (General Public License as published by the Free Software Foundation, either version 3 of the License,
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* or (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
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* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with this program.
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* If not, see <https://www.gnu.org/licenses/>.
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*/
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#include "global.h"
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#include <util/delay.h>
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#include <avr/interrupt.h>
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#include <avr/io.h>
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#include <avr/wdt.h>
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#include "uart.h"
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#include "bikes.h"
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#include "kbus.h"
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#include "timers.h"
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#include "eeproma.h"
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#include <string.h>
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//State of the K-Bus communication
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tKBUS_state KBUS_state=KBUS_S_IDLE;
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////////////////////////////////////////////
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//KBUS commands - partially :-)
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////////////////////////////////////////////
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//StartCommunication Request
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tKBUS_Msg KBUS_STC_req = {.form=ADDRESS_NO_LBYTE, //Message with address without additional message length byte
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.header={
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.HForm_MsgLen=PHYSICAL_ADDR + 1,//Physical addressing + message lenght (1 byte)
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.Tgt=0x11, //Target address -> ECU address (0x11 - Kawa)
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.Src=IND_ADDR //Source address = Indicator address
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},
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.data.Sld=STC, //startCommunication Request Service Id
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.cs=0x04 //Check sum
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};
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//Byte Name Value Description
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//-----------------------------------------------
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//0 Fmt 0x81 Physical addressing PHYSICAL_ADDR<<6 + length of information (1 byte) = 0x81
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//1 Tgt <Ttg> Address of target device (ECU)
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//2 Src IND_ADDR Address of source device (GEAR INDICATOR)
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//3 STC 0x81 startCommunication Request Service Id
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//4 CS <CS> Example: CHS = 04 = 81+11+F1+81 modulo 0x100 -> 0x81,0x11,0xF1,0x81,0x04
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//
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////////////////////////////////////////////
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//startCommunication Positive Response
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unsigned char KeyBytes[2]={0xEA,0x8F};
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tKBUS_Msg KBUS_STC_res = {.form=ADDRESS_LBYTE, //Message with address and with extra length byte
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.header={
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.HForm_MsgLen=PHYSICAL_ADDR, //Physical addressing
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.Tgt=IND_ADDR, //Target address = Indicator address
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.Src=0x11, //Source address = ECU
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.Len=3 //Data length - number of data bytes
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},
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.data.Sld=STCPR, //startCommunication Positive Response Service Id
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.data.Data=KeyBytes,
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.cs=0xBF //Check sum
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};
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//Byte Name Value Description
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//------------------------------------------------------------------------------
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//0 Fmt 0x80 Address mode: physical addressing + Len
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//1 Tgt IND_ADDR Address of target devide (GEAR INDICATOR)
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//2 Src <ADDR> Address of source device (ECU)
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//3 Len 0x03 3 Bytes following...
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//4 STCPR 0xC1 startCommunication Positive Response Service Id
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//5 KB1 0xEA Header with target and source address information
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//6 KB2 0x8F Additional length byte used
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//7 CS <CS> Example: CHS BF = 80+F1+...+8F modulo 0x100 ->0x80,0x11,0x03,0xC1,0xEA,0x8F,0xBF
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//
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////////////////////////////////////////////
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//StartDiagnosticSession Request
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unsigned char KBUS_START_DIAG[7] = {PHYSICAL_ADDR,0x11,IND_ADDR,0x02,SDS,0x80,0x14};
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unsigned char diagnosticMode=0x80; //manufacterSpecific - 00-7F reserved, 80-FF for vehicle manufacturer specific use
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tKBUS_Msg KBUS_SDS_req = {.form=ADDRESS_LBYTE, //Message with address and with extra length byte
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.header={
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.HForm_MsgLen=PHYSICAL_ADDR, //Physical addressing
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.Tgt=0x11, //Target address -> ECU address (0x11 - Kawa)
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.Src=IND_ADDR, //Source address = Indicator address
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.Len=2 //Data length - number of data bytes
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},
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.data.Sld=SDS, //startDiagnosticSession Request Service Id
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.data.Data=&diagnosticMode, //manufacterSpecific - 00-7F reserved, 80-FF for vehicle manufacturer specific use
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.cs=0x14 //Check sum
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};
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//Byte Name Value Description
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//-------------------------------------------------------------------------------------
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//0 Fmt 0x80 Address mode: physical addressing + Len
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//1 Tgt <ADDR> Address of target device (ECU)
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//2 Src IND_ADDR Address of source device (GEAR INDICATOR)
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//3 Len 0x02 2 Bytes following...
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//4 SDS 0x10 startDiagnosticSession Request Service Id
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//5 diagnosticMode 0x80 manufacterSpecific - 00-7F reserved, 80-FF for vehicle manufacturer specific use
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//6 CS <CS> Example: CHS = 14 = 80+11+F1+02+10+80 modulo 0x100 ->0x80,0x11,0xF1,0x02,0x10,0x80,0x14
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//
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////////////////////////////////////////////
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//startDiagnosticSession Positive Response
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unsigned char KBUS_START_DIAG_RPL[7] = {PHYSICAL_ADDR,IND_ADDR,0x11,0x02,SDSPR,0x80,0x54};
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tKBUS_Msg KBUS_SDS_res = {.form=ADDRESS_LBYTE, //Message with address and with extra length byte
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.header={
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.HForm_MsgLen=PHYSICAL_ADDR, //Physical addressing
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.Tgt=IND_ADDR, //Target address = indicator address
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.Src=0x11, //Source address = ECU
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.Len=2 //Data length - number of data bytes
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},
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.data.Sld=SDSPR, //startDiagnosticSession Request Service Id
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.data.Data=&diagnosticMode, //manufacterSpecific - 00-7F reserved, 80-FF for vehicle manufacturer specific use
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.cs=0x54 //Check sum
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};
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//Byte Name Value Description
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//-----------------------------------------------------------------------------------
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//0 Fmt 0x80 Address mode: physical addressing +Len
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//1 Tgt IND_ADDR Address of target device (GEAR INDICATOR)
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//2 Src <ADDR> Address of source device (ECU)
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//3 Len 0x02 2 Bytes following...
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//4 SDSPR 0x50 startDiagnosticSession Positive Response Service Id
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//5 Diagnostic mode 0x80 manufacterSpecific
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//6 Checksum <CS> Example: CS = 54 ->0x80,0xF1,0x11,0x02,0x50,0x80,0x54
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//
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////////////////////////////////////////////
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//readDataByLocalIdentifier Request
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unsigned char KBUS_READ_DATA[7] = {PHYSICAL_ADDR,0x11,IND_ADDR,0x02,RDBLID,0x0B,0xB0};
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unsigned char RLOCID=0xB0;
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tKBUS_Msg KBUS_RDBLID_req = {.form=ADDRESS_LBYTE, //Message with address and with extra length byte
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.header={
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.HForm_MsgLen=PHYSICAL_ADDR, //Physical addressing
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.Tgt=0x11, //Target address = ECU
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.Src=IND_ADDR, //Source address = Indicator address
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.Len=2 //Data length - number of data bytes
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},
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.data.Sld=RDBLID, //readDataByLocalIdentifier Request Service Id
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.data.Data=&RLOCID, //recordLocalIdentifier (to be read)
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.cs=0xB0 //Check sum
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};
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//Byte Name Value Description
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//-----------------------------------------------
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//0 Fmt 0x80 Address mode: physical addressing + Len
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//1 Tgt <ADDR> Address of target devide (ECU)
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//2 Src IND_ADDR Address of source device (GEAR INDICATOR)
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//3 Len 0x02 Two byte following...
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//4 RDBLID 0x21 readDataByLocalIdentifier Request Service Id
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//5 RLOCID <RLOCID> recordLocalIdentifier (to be read)
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//6 CS <CS> Example: CHS = B0 = 80+11+F1+02+21+0B modulo 0x100 ->0x80,0x11,0xF1,0x02,0x21,0x0B,0xB0
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//
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//////////////////////////////////////////////
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//READ REG - reply
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//Differs according to the manufacturer/model
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//This is defined in bikes.c & bikes.h
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tKBUS_Msg KBUS_reply_msg;
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////////////////////////////////////////
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//KBus protocol check sum calculation
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unsigned char KBUS_checksum1(volatile unsigned char *msg, volatile unsigned char cnt)
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{
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unsigned char checksum=0, i;
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for(i=0;i<cnt;i++)
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checksum+= *(msg+i);
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return(checksum);
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}
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unsigned char KBUS_checksum(tKBUS_Msg *msg)
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{
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unsigned char checksum=0;
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int i, MsgLen;
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//Header byte always
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checksum+=msg->header.HForm_MsgLen;
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//Addresses include only if necessary
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if(msg->form==ADDRESS_NO_LBYTE || msg->form==ADDRESS_LBYTE)
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{
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checksum+=msg->header.Src;
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checksum+=msg->header.Tgt;
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}
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//Always there
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checksum+=msg->data.Sld;
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//Length byte only if necessary
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if(msg->form==ADDRESS_LBYTE || msg->form==NO_ADDRESS_LBYTE)
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{
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checksum+=msg->header.Len;
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for(i=0;i<msg->header.Len-1;i++)
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checksum+=msg->data.Data[i];
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}
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else
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{
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MsgLen=msg->header.HForm_MsgLen & 0b00111111;
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for(i=0;i<MsgLen-1;i++)
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checksum+=msg->data.Data[i];
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}
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msg->cs=checksum;
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return(checksum);
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}
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////////////////////////////////////////
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//Performs KBus Fast Init
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//25ms pulse to KBUS - Initialization
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void KBUS_fast_init(void)
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{
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cli();
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wdt_disable(); //WDT would expire during fast init
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//RX Disable
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CLB(UCSR0B, RXEN0);
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//TX Disable
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CLB(UCSR0B, TXEN0);
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STB(UARTDR,TX); //TXD is output
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STB(UARTPORT,TX); //TX high
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_delay_ms(400); //Just be sure we fulfill TIdle time - min.300ms first transmission after power up)
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//KBUS FAST INIT
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//(--FIRST LOW--)
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CLB(UARTPORT,TX); //Keep TX Lo for min. 25ms +/- 1ms (TiniL according to ISO14230)
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_delay_ms(25);
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STB(UARTPORT,TX); //and TX Hi for another 25ms +/- 1ms (TWuP according to ISO14230)
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_delay_ms(25);
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//TX Enable
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STB(UCSR0B, TXEN0);
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sei(); //Enable all interrupts
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wdt_enable(WDTO_250MS); //Enable watch dog
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}
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///////////////////////////////////////////////////
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//Store message to UART tx buffer
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void KBUS_msg_to_uart(tKBUS_Msg *msg)
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{
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int MsgLen;
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unsigned char msgout[10];
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unsigned char *msgptr;
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int i;
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msgptr=msgout;
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//Fmt
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*msgptr++=msg->header.HForm_MsgLen;
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//Address
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if(msg->form==ADDRESS_LBYTE || msg->form==ADDRESS_NO_LBYTE)
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{
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*msgptr++=msg->header.Tgt;
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*msgptr++=msg->header.Src;
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}
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//Additional Length byte
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if(msg->form==ADDRESS_LBYTE || msg->form==NO_ADDRESS_LBYTE)
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{
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*msgptr++=msg->header.Len;
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}
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//Sld
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*msgptr++=msg->data.Sld;
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//Data - Sld is first, so number of data = Len-1
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if(msg->form==ADDRESS_LBYTE || msg->form==NO_ADDRESS_LBYTE)
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{
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if(msg->header.Len>1)
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for(i=0;i<msg->header.Len-1;i++)
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*msgptr++=msg->data.Data[i];
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}
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else
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{
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//Get MsgLen from the header byte
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MsgLen = msg->header.HForm_MsgLen & 0b00111111;
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if(MsgLen>1)
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for(i=0;i<MsgLen-1;i++)
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*msgptr++=msg->data.Data[i];
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}
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//Check sum
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*msgptr++=KBUS_checksum(msg);
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//Send it to UART
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UARTsend(msgout,msgptr-msgout);
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}
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//////////////////////////////////////////////////
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//Sends K-Bus message to ECU with particular ECUno
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void KBUS_send_msg(volatile unsigned char ECUno)
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{
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switch(KBUS_state)
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{
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case KBUS_S_IDLE:
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KBUS_STC_req.header.Tgt = BIKES_DATA[ECUno].ecu_addr;
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KBUS_fast_init();
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KBUS_msg_to_uart(&KBUS_STC_req);
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break;
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case KBUS_S_COMM_STARTED:
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KBUS_RDBLID_req.header.Tgt = BIKES_DATA[ECUno].ecu_addr;
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RLOCID=BIKES_DATA[ECUno].local_id_gear;
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KBUS_msg_to_uart(&KBUS_RDBLID_req);
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break;
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case KBUS_S_DATA_POOLING:
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//if GEAR localID is different from RPM localID, read that different localID and we need to read RPM (if RPM is programmed or we are in programming mode)
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if(BIKES_DATA[ECUno].local_id_gear!=BIKES_DATA[ECUno].local_id_rpm && (rpmValue.rpm>0 || rpmValue.prgmode==0))
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{
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if(RLOCID==BIKES_DATA[ECUno].local_id_gear)
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RLOCID=BIKES_DATA[ECUno].local_id_rpm;
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else
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RLOCID=BIKES_DATA[ECUno].local_id_gear;
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}
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KBUS_msg_to_uart(&KBUS_RDBLID_req);
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break;
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default:
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break;
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}
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}
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/////////////////////////////////////////////////////////////
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//Checks reply from remote ECU according to actual KBus state
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unsigned char KBUS_check_reply(volatile unsigned char ECUno, volatile unsigned char *msg)
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{
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int replylen;
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// Reply length: <FMT> <IND_ADDR> <ECUaddr> <Bytes Follow> <Sdl> byte[0]...byte[Bytes Follow-1] <CHS> => replylen=<Bytes Follow>+5
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replylen = msg[3]+5;
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switch(KBUS_state)
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{
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case KBUS_S_IDLE:
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//KBUS_START_COMM_RPL
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//{<FMT> <IND_ADDR> <ECUaddr> <0x03> <STCPR> <0xEA> <0x8F> <CHS>};
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if( msg[1]==IND_ADDR && \
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msg[2]==BIKES_DATA[ECUno].ecu_addr && \
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msg[4]==STCPR && \
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msg[replylen-1]==KBUS_checksum1(msg,replylen-1)
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)
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{
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KBUS_state = KBUS_S_COMM_STARTED;
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return(TRUE);
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break;
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}
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else
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return(FALSE);
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break;
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case KBUS_S_COMM_STARTED:
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case KBUS_S_DATA_POOLING:
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//{<B0> <B1> <B2> <B3> <B4> <B5> <B6> <BN> <CHS>};
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//{<FMT> <IND_ADDR> <ECUaddr> <Bytes Follows> <RDBLIDPR> <Loc_Id> <B6>... ... ... ... ... ... <BN> <CHS>};
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//{<FMT> <IND_ADDR> <0x11> <0x03> <RDBLIDPR> <0x0B> <GEAR> <CHS>}; KAWASAKI01
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//{<FMT> <IND_ADDR> <0x11> <0x04> <RDBLIDPR> <0x09> <RPM1> <RPM2> <CHS>}; KAWASAKI01
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//{<FMT> <IND_ADDR> <0x12> <0x34> <RDBLIDPR> <0x08> <B6>...<B16> <RPM1> <RPM2> ...<B25>,<GEAR>,<B27>... ...<Byte55> <CHS>}; SUZUKI01
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if( msg[1]==IND_ADDR && \
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msg[2]==BIKES_DATA[ECUno].ecu_addr && \
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msg[4]==RDBLIDPR && \
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(msg[5]==BIKES_DATA[ECUno].local_id_gear || msg[5]==BIKES_DATA[ECUno].local_id_rpm) && \
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msg[replylen-1]==KBUS_checksum1(msg,replylen-1)
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)
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{
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KBUS_state=KBUS_S_DATA_POOLING;
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return(TRUE);
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break;
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}
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else
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return(FALSE);
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break;
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default:
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return(FALSE);
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break;
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}
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}

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