diff --git a/README b/README --- a/README +++ b/README @@ -1,17 +1,17 @@ Tools for Automotive ECU Development tovcd - Converts several CAN formats to VCD. -todbc - Generate Vector DBC files from CAN specification. probe - Extracts configuration and probed signals from ECU. canview - View CAN traffic. cansend - Send CAN message. ccp - CAN Configuration Protocol master. +toesb - Converts s-record ECU images to the Eaton Standard Binary format. git2cc - Bridge Git repositories to ClearCase. commit - Git commits with ClearQuest activity annotations. Future Tools: -toesb - Converts s-record ECU images to the Eaton Standard Binary format. +todbc - Generate Vector DBC files from CAN specification. vcdgrep - Search VCD files for signal patterns and assertion violations. brakedancer-layout - Generate a brakedancer signal layout from a VCD file. ecush - ECU development shell. diff --git a/ecu.cabal b/ecu.cabal --- a/ecu.cabal +++ b/ecu.cabal @@ -1,5 +1,5 @@ name: ecu -version: 0.0.2 +version: 0.0.3 category: Embedded, Utils @@ -61,7 +61,7 @@ extra-libraries: canlib build-depends: base >= 4.0 && < 5 ghc-options: -W - extensions: ForeignFunctionInterface + extensions: ForeignFunctionInterface, FlexibleInstances executable probe hs-source-dirs: src diff --git a/src/CCP.hs b/src/CCP.hs --- a/src/CCP.hs +++ b/src/CCP.hs @@ -1,8 +1,10 @@ module Main (main) where import Control.Monad +import Data.IORef import Data.Word import System.Environment +import System.IO import Text.Printf import CAN @@ -17,11 +19,12 @@ , " ccp command { option } { argument }" , "" , "COMMANDS" - , " upload { option } address Upload 4 bytes from the ECU. Address must be 32-bit aligned." - , " upload { option } address length Upload a memory region from the ECU. Address must be 32-bit aligned." + , " download address data Download data to ECU. Data must be even number of hex characters." + , " upload address Upload 4 bytes from the ECU." + , " upload address size Upload a memory region from the ECU." , "" , "OPTIONS" - , " --std Set to standard CAN with 500K. Default is extended CAN with 250K." + , " -v Print message transactions and diagnostic messages." , "" , "ENVIRONMENT VARIABLES" , " CCP_ID_MASTER CAN identifier for master device (this configuration tool)." @@ -35,39 +38,168 @@ f args = case args of ["-h"] -> help ["--help"] -> help - ["upload", addr] -> f ["upload", addr, "4"] - ["upload", "--std", addr] -> f ["upload", "--std", addr, "4"] - ["upload", "--std", addr, size] -> do - initCAN - bus <- openBus 0 Standard - ids <- ids - upload bus ids (read addr) (read size) - closeBus bus + ["download", addr, bytes] -> do + bytes <- parseBytes bytes + connection <- connect False + download connection (read addr) bytes + disconnect connection + ["download", "-v", addr, bytes] -> do + bytes <- parseBytes bytes + connection <- connect True + download connection (read addr) bytes + disconnect connection + ["upload", "-v", addr] -> f ["upload", "-v", addr, "4"] + ["upload", "-v", addr, size] -> do + connection <- connect True + upload connection (read addr) (read size) + disconnect connection + ["upload", addr] -> f ["upload", addr, "4"] ["upload", addr, size] -> do - initCAN - bus <- openBus 0 Extended - ids <- ids - upload bus ids (read addr) (read size) - closeBus bus + connection <- connect False + upload connection (read addr) (read size) + disconnect connection _ -> help -canview :: Bus -> [Word32] -> IO () -canview bus ids = do - m <- recvMsg bus - case m of - Nothing -> canview bus ids - Just (t, m@(Msg id _)) -> do - when (null ids || elem id ids) $ putStrLn $ printf "%10i " t ++ show m - canview bus ids +data Connection = Connection + { cBus :: Bus + , cMaster :: Word32 + , cSlave :: Word32 + , cCounter :: IORef Word8 + , cVerbose :: Bool + } -ids :: IO (Word32, Word32) -ids = do - master <- getEnv "CCP_ID_MASTER" - slave <- getEnv "CCP_ID_SLAVE" - return (read master, read slave) +connect :: Bool -> IO Connection +connect verbose = do + initCAN + bus <- openBus 0 Extended + flushRxQueue bus + master <- getEnv "CCP_ID_MASTER" + slave <- getEnv "CCP_ID_SLAVE" + counter <- newIORef 0 + return Connection + { cBus = bus + , cMaster = read master + , cSlave = read slave + , cCounter = counter + , cVerbose = verbose + } -upload :: Bus -> (Word32, Word32) -> Word32 -> Word32 -> IO () -upload bus (master, slave) address size = do - printf "%08x %08x\n" master slave +disconnect :: Connection -> IO () +disconnect c = closeBus $ cBus c + +transact :: Connection -> Word8 -> [Word8] -> IO (Maybe [Word8]) +transact c command payload = do + counter <- readIORef $ cCounter c + writeIORef (cCounter c) $ counter + 1 + let msg = Msg (cMaster c) $ take 8 $ command : counter : payload ++ repeat 0xff + when (cVerbose c) $ do + printf "send: %s\n" $ show msg + hFlush stdout + sendMsg (cBus c) msg + time <- busTime' $ cBus c + recv counter time + where + recv :: Word8 -> Int -> IO (Maybe [Word8]) + recv counter time = do + m <- recvMsgWait (cBus c) 25 + case m of + Nothing -> return Nothing + Just (t, m@(Msg id payload)) + | id == cSlave c && length payload == 8 && payload !! 0 == 0xff && payload !! 2 == counter -> do + if payload !! 1 == 0 + then do + when (cVerbose c) $ do + printf "recv: %s\n" (show m) + hFlush stdout + return $ Just $ drop 3 payload + else error $ printf "error code: %02x\n" $ payload !! 1 + | t - time > 25 -> return Nothing + | otherwise -> recv counter time + +transactRetry :: Int -> Connection -> Word8 -> [Word8] -> IO [Word8] +transactRetry n c cmd payload + | n <= 0 = error "transactRetry failed to complete" + | otherwise = do + a <- transact c cmd payload + case a of + Nothing -> do + when (cVerbose c) $ do + putStrLn "retrying transaction" + hFlush stdout + transactRetry (n - 1) c cmd payload + Just a -> return a + +setMTA0 :: Connection -> Word32 -> IO () +setMTA0 c address = do + transactRetry 5 c 0x02 $ 0 : 0 : fromWord32 address return () + +upload :: Connection -> Word32 -> Word32 -> IO () +upload c address size = do + bytes <- upload0 address size + sequence_ [ printf "%08x %s\n" address value | (address, value) <- zip [address, address + 4 ..] (pack $ map (printf "%02x") bytes :: [String]) ] + where + upload0 :: Word32 -> Word32 -> IO [Word8] + upload0 address size + | size <= 5 = do + a <- transact c 0x0f $ fromIntegral size : 0 : fromWord32 address + case a of + Nothing -> do + when (cVerbose c) $ do + printf "upload restart at address %08x\n" address + hFlush stdout + upload0 address size + Just payload -> return $ take (fromIntegral size) payload + | otherwise = do + setMTA0 c address + upload1 address size + + upload1 :: Word32 -> Word32 -> IO [Word8] + upload1 address size = if size == 0 then return [] else do + a <- transact c 0x04 [if size > 5 then 5 else fromIntegral size] + case a of + Nothing -> do + when (cVerbose c) $ do + printf "upload restart at address %08x\n" address + hFlush stdout + upload0 address size + Just payload -> do + a <- upload1 (address + min size 5) (max size 5 - 5) + return $ take (fromIntegral size) payload ++ a + + pack :: [String] -> [String] + pack (a0 : a1 : a2 : a3 : rest) = concat [a0, a1, a2, a3] : pack rest + pack [] = [] + pack a = [concat a] + +parseBytes :: String -> IO [Word8] +parseBytes a = if odd $ length a then error "hex string has odd number of characters, not byte aligned" else return $ parseBytes' a + where + parseBytes' :: String -> [Word8] + parseBytes' ('0' : 'x' : bytes) = parseBytes' bytes + parseBytes' [] = [] + parseBytes' [_] = error "hex string has odd number of characters, not byte aligned" + parseBytes' (a : b : c) = read ("0x" ++ [a, b]) : parseBytes' c + + +download :: Connection -> Word32 -> [Word8] -> IO () +download c address bytes = download0 address bytes + where + download0 :: Word32 -> [Word8] -> IO () + download0 address bytes = do + setMTA0 c address + download1 address bytes + + download1 :: Word32 -> [Word8] -> IO () + download1 address bytes = if null bytes then return () else do + a <- transact c (if n == 6 then 0x23 else 0x03) (if n == 6 then take 6 bytes else fromIntegral n : take n (bytes ++ [0xFF ..])) + case a of + Nothing -> do + when (cVerbose c) $ do + printf "download restart at address %08x\n" address + hFlush stdout + download0 address bytes + Just _ -> download1 (address + fromIntegral n) (drop n bytes) + where + n = min 6 $ length bytes