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big refactoring: J1939, log output, state machine bug fixes

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This commit is contained in:
init.bin
2026-05-07 22:12:13 +03:00
parent 137c9d3c8d
commit 7a74ef1367
49 changed files with 2574 additions and 684 deletions
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Core/Src/j1939.c
+427 -93
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@@ -11,107 +11,272 @@
#include "string.h"
#include "can.h"
#include "edcan.h"
#include "debug.h"
#include <string.h>
extern GBT_BCL_t GBT_ReqPower;
extern GBT_BCL_t GBT_CurrPower;
j_receive_t j_rx;
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
CAN_RxHeaderTypeDef RxHeader;
uint8_t RxData[8] = {0,};
typedef struct{
uint8_t data[256];
uint32_t PGN;
uint16_t size;
uint8_t packets;
uint8_t next_packet;
uint8_t step;
uint8_t state; // 0=idle, 1=wait CTS, 2=wait ACK
uint32_t tick;
}j_transmit_t;
if(HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, RxData) == HAL_OK)
{
if((RxHeader.ExtId & 0x00FFFF) == ((J_ID_EV << 8) | J_ID_SE)){ // SA, DA match
switch ((RxHeader.ExtId>>8) & 0x00FF00){
static j_transmit_t j_tx;
case 0xEC00: //PGN Connection Management Message
if(RxData[0] == 16){ //Request to Send
/* Set the RTS values */
j_rx.size = RxData[1] | (RxData[2]<<8);
j_rx.packet = 1;
j_rx.packets = RxData[3];
j_rx.step = 2; //TODO
j_rx.step_cts_remain = j_rx.step;
j_rx.PGN = (RxData[7] << 16) | (RxData[6] << 8) | RxData[5];
if(j_rx.size<256) { //TODO: valid check
J_SendCTS(j_rx);
j_rx.state = 1;
}
}
if(RxData[0] == 255){ //Connection Abort
j_rx.state = 0;
}
#define J1939_BUFFER_SIZE 64U
//if(RxData[0] == 32){}//Broadcast Announce Message
/*
* 1CEC56F4 10 31 00 07 07 00 02 00
* 1CECF456 11 02 01 FF FF 00 02 00
* 1CEB56F4 01 01 01 00 03 46 05 40
* 1CEC56F4 FF FF FF FF FF 00 00 00
*/
typedef struct {
j1939_rx_frame_t buffer[J1939_BUFFER_SIZE];
uint16_t head;
uint16_t tail;
uint16_t count;
uint32_t overflow;
} j1939_rx_ring_t;
break;
typedef struct {
j1939_tx_frame_t buffer[J1939_BUFFER_SIZE];
uint16_t head;
uint16_t tail;
uint16_t count;
uint8_t busy;
uint32_t overflow;
} j1939_tx_ring_t;
case 0xEB00: //PGN Data Message
if(j_rx.state != 1) break;
if((RxData[0]>0) && (RxData[0]<35)){ //Array limit check
if(j_rx.packet == RxData[0]){ //step check
memcpy (&j_rx.data[(RxData[0]-1)*7], &RxData[1],7);
j_rx.packet++;
if(j_rx.packet > j_rx.packets){
//End of transmission
J_SendACK(j_rx);
static j1939_rx_ring_t j_rxbuf;
static j1939_tx_ring_t j_txbuf;
static uint32_t j_tx_watchdog_last_log_tick;
j_rx.state = 2;
}else{
if(j_rx.step_cts_remain > 0) j_rx.step_cts_remain--;
if(j_rx.step_cts_remain == 0){
J_SendCTS(j_rx);
j_rx.step_cts_remain = 2;
}
}
}
}
break;
#define J1939_CRITICAL_ENTER() __disable_irq()
#define J1939_CRITICAL_EXIT() __enable_irq()
case 0x1E00: //PGN BEM (ERROR)
//Error force stop
// --> Suspend EV
EDCAN_printf(LOG_WARN, "BEM Received, force stopping...\n");
EDCAN_printf(LOG_WARN, "BEM: %02X %02X %02X %02X", RxData[0], RxData[1], RxData[2], RxData[3]);
EDCAN_printf(LOG_WARN, " %02X %02X %02X %02X\n", RxData[4], RxData[5], RxData[6], RxData[7]);
GBT_ForceStop();
break;
static void J_SendTpRts(void);
static void J_SendTpDtRange(uint8_t start_packet, uint8_t count);
static void J_TxCheckTimeout(void);
static void J_TxReset(void);
static void J1939_ProcessRxFrame(const j1939_rx_frame_t *frame);
static void J1939_RxBufferAdd(const j1939_rx_frame_t *frame);
static uint8_t J1939_RxBufferGet(j1939_rx_frame_t *frame);
static void J1939_TxBufferAdd(const j1939_tx_frame_t *frame);
static uint8_t J1939_TxBufferPeek(j1939_tx_frame_t *frame);
static void J1939_TxBufferDropFirst(void);
static void J1939_TxQueueByPgn(uint32_t PGN, uint8_t pri, uint8_t DLC, const uint8_t *data, uint8_t pad_ff);
case 0x1900: //PGN BST (STOP)
//Normal stop
#define J1939_TP_CTS_WAIT_TIMEOUT_MS 1000U
#define J1939_TP_ACK_WAIT_TIMEOUT_MS 1000U
// --> Suspend EV
EDCAN_printf(LOG_WARN, "BST Received, stopping...\n");
EDCAN_printf(LOG_WARN, "BST: %02X %02X %02X %02X", RxData[0], RxData[1], RxData[2], RxData[3]);
EDCAN_printf(LOG_WARN, " %02X %02X %02X %02X\n", RxData[4], RxData[5], RxData[6], RxData[7]);
GBT_StopEV(GBT_CST_BMS_ACTIVELY_SUSPENDS);
static void J_TxReset(void){
if(j_tx.state != 0){
log_printf(LOG_WARN, "J1939 chunk send failed: TX session reset (state=%u pgn=0x%lX next=%u/%u)\n",
j_tx.state, j_tx.PGN, j_tx.next_packet, j_tx.packets);
}
memset(&j_tx, 0, sizeof(j_tx));
}
break;
void J1939_InitBuffers(void){
memset(&j_rxbuf, 0, sizeof(j_rxbuf));
memset(&j_txbuf, 0, sizeof(j_txbuf));
j_tx_watchdog_last_log_tick = 0U;
J_TxReset();
}
default:
if(j_rx.state == 0){//TODO protections
//Short packet
j_rx.size = RxHeader.DLC;
j_rx.packet = 1;
j_rx.packets = 1;
j_rx.step = 1;
j_rx.step_cts_remain = 0;
j_rx.PGN = (RxHeader.ExtId>>8) & 0x00FF00;
j_rx.state = 2;
memcpy (j_rx.data, RxData, j_rx.size);
}
}
}
}
uint16_t J1939_GetRxBufferCount(void){
uint16_t c;
J1939_CRITICAL_ENTER();
c = j_rxbuf.count;
J1939_CRITICAL_EXIT();
return c;
}
uint16_t J1939_GetTxBufferCount(void){
uint16_t c;
J1939_CRITICAL_ENTER();
c = j_txbuf.count;
J1939_CRITICAL_EXIT();
return c;
}
uint32_t J1939_GetRxOverflowCount(void){
return j_rxbuf.overflow;
}
uint32_t J1939_GetTxOverflowCount(void){
return j_txbuf.overflow;
}
void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan){
j1939_rx_frame_t frame;
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8] = {0};
if(HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &rx_header, rx_data) != HAL_OK) return;
frame.ExtId = rx_header.ExtId;
frame.DLC = rx_header.DLC;
frame.tick = HAL_GetTick();
memcpy(frame.data, rx_data, sizeof(frame.data));
J1939_RxBufferAdd(&frame);
}
static void J1939_ProcessRxFrame(const j1939_rx_frame_t *frame){
uint32_t pgn;
if((frame->ExtId & 0x00FFFF) != ((J_ID_EV << 8) | J_ID_SE)) return; // SA, DA match
switch ((frame->ExtId >> 8) & 0x00FF00){
case 0xEC00:
if(frame->data[0] == 16){ // RTS
j_rx.size = frame->data[1] | (frame->data[2] << 8);
j_rx.packet = 1;
j_rx.packets = frame->data[3];
j_rx.step = 2;
j_rx.step_cts_remain = j_rx.step;
j_rx.PGN = (frame->data[7] << 16) | (frame->data[6] << 8) | frame->data[5];
if(j_rx.size < 256){
J_SendCTS(j_rx);
j_rx.state = 1;
}
}
if(frame->data[0] == 17){ // CTS
pgn = (frame->data[7] << 16) | (frame->data[6] << 8) | frame->data[5];
if((j_tx.state == 1) && (pgn == j_tx.PGN)){
uint8_t req_count = frame->data[1];
uint8_t req_start_packet = frame->data[2];
log_printf(LOG_DEBUG, "J1939 event: TP CTS received (pgn=0x%lX cnt=%u start=%u exp=%u)\n",
pgn, req_count, req_start_packet, j_tx.next_packet);
if(req_count == 0){
log_printf(LOG_DEBUG, "J1939 event: TP CTS wait (pgn=0x%lX)\n", j_tx.PGN);
}else{
j_tx.tick = frame->tick;
J_SendTpDtRange(req_start_packet, req_count);
}
}else{
log_printf(LOG_WARN, "J1939 chunk send failed: CTS ignored (tx_state=%u tx_pgn=0x%lX rx_pgn=0x%lX)\n",
j_tx.state, j_tx.PGN, pgn);
}
}
if(frame->data[0] == 19){ // ACK
pgn = (frame->data[7] << 16) | (frame->data[6] << 8) | frame->data[5];
if((j_tx.state == 2) && (pgn == j_tx.PGN)){
log_printf(LOG_DEBUG, "J1939 event: TP ACK received, TX complete (pgn=0x%lX)\n", pgn);
j_tx.state = 0;
}
}
if(frame->data[0] == 255){
j_rx.state = 0;
J_TxReset();
}
break;
case 0xEB00:
if(j_rx.state != 1) return;
if((frame->data[0] > 0) && (frame->data[0] < 35) && (j_rx.packet == frame->data[0])){
memcpy(&j_rx.data[(frame->data[0]-1)*7], &frame->data[1], 7);
j_rx.packet++;
if(j_rx.packet > j_rx.packets){
J_SendACK(j_rx);
j_rx.state = 2;
}else{
if(j_rx.step_cts_remain > 0) j_rx.step_cts_remain--;
if(j_rx.step_cts_remain == 0){
J_SendCTS(j_rx);
j_rx.step_cts_remain = 2;
}
}
}
break;
case 0x1E00:
log_printf(LOG_WARN, "J1939 fault received: BEM, forcing stop (data=%02X %02X %02X %02X %02X %02X %02X %02X)\n",
frame->data[0], frame->data[1], frame->data[2], frame->data[3],
frame->data[4], frame->data[5], frame->data[6], frame->data[7]);
GBT_ForceStop();
break;
case 0x1900:
/* Repeated BST frames during STOP flow are normal on the bus.
* Handle/log only once to avoid flooding UART logs.
*/
if((GBT_State != GBT_STOP) && (GBT_State != GBT_STOP_CSD) && (GBT_State != GBT_COMPLETE)){
log_printf(LOG_DEBUG, "J1939 event: BST received, initiating stop flow (data=%02X %02X %02X %02X %02X %02X %02X %02X)\n",
frame->data[0], frame->data[1], frame->data[2], frame->data[3],
frame->data[4], frame->data[5], frame->data[6], frame->data[7]);
GBT_StopEV(GBT_CST_BMS_ACTIVELY_SUSPENDS);
}
break;
default:
if(j_rx.state == 0){
j_rx.size = frame->DLC;
j_rx.packet = 1;
j_rx.packets = 1;
j_rx.step = 1;
j_rx.step_cts_remain = 0;
j_rx.PGN = (frame->ExtId >> 8) & 0x00FF00;
j_rx.state = 2;
memcpy(j_rx.data, frame->data, j_rx.size);
}
break;
}
}
void J1939_ExchangeRxBuffer(void){
j1939_rx_frame_t frame;
J_TxCheckTimeout();
if(J1939_RxBufferGet(&frame)){
J1939_ProcessRxFrame(&frame);
}
}
void J1939_ExchangeTxBuffer(void){
j1939_tx_frame_t frame;
CAN_TxHeaderTypeDef tx_header;
uint32_t tx_mailbox;
HAL_StatusTypeDef tx_status;
if(HAL_CAN_GetTxMailboxesFreeLevel(&hcan1) == 0) return;
/* Atomically reserve first queued frame without holding IRQ over HAL call */
J1939_CRITICAL_ENTER();
if(j_txbuf.busy || (j_txbuf.count == 0U)){
J1939_CRITICAL_EXIT();
return;
}
j_txbuf.busy = 1U;
frame = j_txbuf.buffer[j_txbuf.tail];
J1939_CRITICAL_EXIT();
tx_header.ExtId = frame.ExtId;
tx_header.RTR = CAN_RTR_DATA;
tx_header.IDE = CAN_ID_EXT;
tx_header.DLC = frame.DLC;
tx_status = HAL_CAN_AddTxMessage(&hcan1, &tx_header, frame.data, &tx_mailbox);
J1939_CRITICAL_ENTER();
if((tx_status == HAL_OK) && (j_txbuf.count > 0U)){
j_txbuf.tail = (j_txbuf.tail + 1U) % J1939_BUFFER_SIZE;
j_txbuf.count--;
}
j_txbuf.busy = 0U;
J1939_CRITICAL_EXIT();
if(tx_status != HAL_OK){
log_printf(LOG_WARN, "J1939 send failed: CAN TX error (st=%d extid=0x%lX dlc=%u free_mb=%lu err=0x%lX)\n",
(int)tx_status, frame.ExtId, frame.DLC, HAL_CAN_GetTxMailboxesFreeLevel(&hcan1), HAL_CAN_GetError(&hcan1));
if((tx_status == HAL_ERROR) && (HAL_CAN_GetError(&hcan1) & HAL_CAN_ERROR_NOT_INITIALIZED)){
log_printf(LOG_WARN, "J1939 send failed: CAN not initialized, reinitializing\n");
GBT_CAN_ReInit();
}
}
}
void GBT_CAN_ReInit(){
@@ -120,24 +285,119 @@ void GBT_CAN_ReInit(){
HAL_CAN_Start(&hcan1);
HAL_CAN_ActivateNotification(&hcan1, CAN_IT_RX_FIFO0_MSG_PENDING);
GBT_CAN_FilterInit();
J1939_InitBuffers();
}
void J_SendPacket(uint32_t PGN, uint8_t pri, uint8_t DLC, uint8_t *data){
J_TxCheckTimeout();
CAN_TxHeaderTypeDef tx_header;
uint32_t tx_mailbox;
if(DLC > 8){
/* Transport protocol for multi-packet payloads */
if(DLC > sizeof(j_tx.data)) return;
if(j_tx.state != 0){
log_printf(LOG_WARN, "J1939 chunk send failed: TX busy (state=%u req_pgn=0x%lX cur_pgn=0x%lX)\n",
j_tx.state, PGN, j_tx.PGN);
return;
}
tx_header.ExtId = (pri << 26) | (PGN << 8) | (J_ID_SE << 8) | J_ID_EV;
tx_header.RTR = CAN_RTR_DATA;
tx_header.IDE = CAN_ID_EXT;
tx_header.DLC = DLC;
memset(&j_tx, 0, sizeof(j_tx));
memcpy(j_tx.data, data, DLC);
j_tx.PGN = PGN;
j_tx.size = DLC;
j_tx.packets = (DLC + 6) / 7;
j_tx.next_packet = 1;
j_tx.step = 2;
j_tx.state = 1;
j_tx.tick = HAL_GetTick();
log_printf(LOG_DEBUG, "J1939 event: TP RTS sent (pgn=0x%lX size=%u packets=%u)\n",
j_tx.PGN, j_tx.size, j_tx.packets);
//TODO buffer wait
HAL_CAN_AddTxMessage(&hcan1, &tx_header, data, &tx_mailbox);
//HAL_Delay(2);
J_SendTpRts();
return;
}
J1939_TxQueueByPgn(PGN, pri, DLC, data, 1);
}
static void J_TxCheckTimeout(void){
if(j_tx.state != 0){
uint32_t now = HAL_GetTick();
if((now - j_tx_watchdog_last_log_tick) >= 500U){
log_printf(LOG_DEBUG, "J1939 event: TP TX watchdog (state=%u pgn=0x%lX next=%u/%u age=%lu)\n",
j_tx.state, j_tx.PGN, j_tx.next_packet, j_tx.packets, (now - j_tx.tick));
j_tx_watchdog_last_log_tick = now;
}
}else{
j_tx_watchdog_last_log_tick = HAL_GetTick();
}
if((j_tx.state == 1) && ((HAL_GetTick() - j_tx.tick) > J1939_TP_CTS_WAIT_TIMEOUT_MS)){
log_printf(LOG_WARN, "J1939 chunk send failed: CTS timeout (pgn=0x%lX), resetting TX session\n", j_tx.PGN);
J_TxReset();
}else if((j_tx.state == 2) && ((HAL_GetTick() - j_tx.tick) > J1939_TP_ACK_WAIT_TIMEOUT_MS)){
log_printf(LOG_WARN, "J1939 chunk send failed: ACK timeout (pgn=0x%lX), resetting TX session\n", j_tx.PGN);
J_TxReset();
}
}
static void J_SendTpRts(void){
uint8_t data[8];
data[0] = 16; // CONTROL_BYTE_TP_CM_RTS
data[1] = j_tx.size & 0xFF;
data[2] = j_tx.size >> 8;
data[3] = j_tx.packets;
data[4] = j_tx.step; // max packets before next CTS
data[5] = j_tx.PGN;
data[6] = j_tx.PGN >> 8;
data[7] = j_tx.PGN >> 16;
J1939_TxQueueByPgn(0x00EC00, 7, 8, data, 0);
}
static void J_SendTpDtRange(uint8_t start_packet, uint8_t count){
uint8_t dt[8];
uint8_t packet;
uint8_t i;
uint16_t idx;
if(j_tx.state != 1){
log_printf(LOG_WARN, "J1939 chunk send failed: TP DT ignored (invalid TX state=%u)\n", j_tx.state);
return;
}
if((start_packet == 0) || (start_packet > j_tx.packets)) return;
if(count == 0) return;
if(start_packet != j_tx.next_packet){
log_printf(LOG_WARN, "J1939 chunk send failed: TP desync (start=%u expected=%u), resetting TX session\n", start_packet, j_tx.next_packet);
J_TxReset();
return;
}
if((start_packet + count - 1) > j_tx.packets){
count = j_tx.packets - start_packet + 1;
}
for(packet = 0; packet < count; packet++){
uint8_t seq = start_packet + packet;
dt[0] = seq;
idx = (uint16_t)(seq - 1) * 7;
for(i = 0; i < 7; i++){
if((idx + i) < j_tx.size) dt[i + 1] = j_tx.data[idx + i];
else dt[i + 1] = 0xFF;
}
J1939_TxQueueByPgn(0x00EB00, 7, 8, dt, 0);
}
log_printf(LOG_DEBUG, "J1939 event: TP DT sent (pgn=0x%lX start=%u cnt=%u)\n", j_tx.PGN, start_packet, count);
j_tx.next_packet = start_packet + count;
j_tx.tick = HAL_GetTick();
if(j_tx.next_packet > j_tx.packets){
j_tx.state = 2; // wait ACK
}else{
j_tx.state = 1; // wait next CTS
}
}
//void J_SendPacketLong(){
// //TODO (no need)
//}
@@ -195,3 +455,77 @@ void GBT_CAN_FilterInit(){
}
}
static void J1939_RxBufferAdd(const j1939_rx_frame_t *frame){
J1939_CRITICAL_ENTER();
j_rxbuf.buffer[j_rxbuf.head] = *frame;
j_rxbuf.head = (j_rxbuf.head + 1U) % J1939_BUFFER_SIZE;
if(j_rxbuf.count == J1939_BUFFER_SIZE){
j_rxbuf.tail = (j_rxbuf.tail + 1U) % J1939_BUFFER_SIZE;
j_rxbuf.overflow++;
log_printf(LOG_WARN, "J1939 RX buffer overflow: dropped oldest frame, overflow_count=%lu\n", j_rxbuf.overflow);
}else{
j_rxbuf.count++;
}
J1939_CRITICAL_EXIT();
}
static uint8_t J1939_RxBufferGet(j1939_rx_frame_t *frame){
uint8_t ok = 0;
J1939_CRITICAL_ENTER();
if(j_rxbuf.count > 0){
*frame = j_rxbuf.buffer[j_rxbuf.tail];
j_rxbuf.tail = (j_rxbuf.tail + 1U) % J1939_BUFFER_SIZE;
j_rxbuf.count--;
ok = 1;
}
J1939_CRITICAL_EXIT();
return ok;
}
static void J1939_TxBufferAdd(const j1939_tx_frame_t *frame){
J1939_CRITICAL_ENTER();
j_txbuf.buffer[j_txbuf.head] = *frame;
j_txbuf.head = (j_txbuf.head + 1U) % J1939_BUFFER_SIZE;
if(j_txbuf.count == J1939_BUFFER_SIZE){
j_txbuf.tail = (j_txbuf.tail + 1U) % J1939_BUFFER_SIZE;
j_txbuf.overflow++;
log_printf(LOG_WARN, "J1939 TX buffer overflow: dropped oldest frame, overflow_count=%lu\n", j_txbuf.overflow);
}else{
j_txbuf.count++;
}
J1939_CRITICAL_EXIT();
}
static uint8_t J1939_TxBufferPeek(j1939_tx_frame_t *frame){
uint8_t ok = 0;
J1939_CRITICAL_ENTER();
if(j_txbuf.count > 0){
*frame = j_txbuf.buffer[j_txbuf.tail];
ok = 1;
}
J1939_CRITICAL_EXIT();
return ok;
}
static void J1939_TxBufferDropFirst(void){
J1939_CRITICAL_ENTER();
if(j_txbuf.count > 0){
j_txbuf.tail = (j_txbuf.tail + 1U) % J1939_BUFFER_SIZE;
j_txbuf.count--;
}
J1939_CRITICAL_EXIT();
}
static void J1939_TxQueueByPgn(uint32_t PGN, uint8_t pri, uint8_t DLC, const uint8_t *data, uint8_t pad_ff){
j1939_tx_frame_t frame;
uint8_t i;
frame.ExtId = (pri << 26) | (PGN << 8) | (J_ID_SE << 8) | J_ID_EV;
frame.DLC = DLC;
for(i = 0; i < 8; i++){
if(i < DLC) frame.data[i] = data[i];
else frame.data[i] = pad_ff ? 0xFF : 0x00;
}
J1939_TxBufferAdd(&frame);
}