XCP

An object oriented XCP (Universal Measurement and Calibration Protocol) implementation. This library is still in "Work In Progress" it is not recommended for everyday use. A lots of functionalities are still missing, and the rest is not extensively tested.

Features

Connect/Disconnect
Seed&Key (with user provided functions for key computing)
Static and Dynamic DAQ
Ethernet and CAN message formats
Polling via UPLOAD and UPLOAD_SHORT packets
Getting information from the slave device
Easy to extend

Limitations

STIM direction is not supported
DOWNLOAD and DOWNLOAD_SHORT packets are not supported at the moment (WIP)
Block transfer mode is not supported
Resume mode is not supported

Implemented (outgoing) packets

CONNECT
DISCONNECT
GET_STATUS
SYNCH
GET_SEED
UNLOCK
SET_MTA
UPLOAD
SHORT_UPLOAD
SET_DAQ_PTR
WRITE_DAQ
SET_DAQ_LIST_MODE
START_STOP_DAQ_LIST
START_STOP_SYNCH
GET_DAQ_PROCESSOR_INFO
CLEAR_DAQ_LIST
FREE_DAQ
ALLOC_DAQ
ALLOC_ODT
ALLOC_ODT_ENTRY

TODO

Implement the missing mandatory commands from the standard
DOWNLOAD/SHORT_DOWNLOAD packets
STIM direction
Implement the missing transport layers
A higher level API for some tasks (eg.: DAQ)

Examples

Initializing the library

The following code will set up the master in Ethernet mode, sets the function pointers for the seed&key algorithms (described by the XCP standard), and the incoming message handler object (discussed later on).

XCPMaster* master = new XCPMaster(TransportLayer::ETHERNET);
master->SetSeedAndKeyFunctionPointers(
	GetAvailablePrivileges, //function pointer for the GetAvailablePrivileges 
	ComputeKeyFromSeed); //function pointer for the ComputeKeyFromSeed 
IncomingHandlerExternal* Handler = new IncomingHandlerExternal(thread, master); //It is my implementation of the IIncomingMessageHandler interface. Your implementation can be different.
master->SetExternalMessageHandler(Handler);

Connect to slave, then disconnect

XCPMsgPtr connect_message = master->CreateConnectMessage(ConnectPacket::ConnectMode::NORMAL);
Send(s, std::move(connect_message));
XCPMsgPtr disconnect_message = master->CreateDisconnectMessage();
Send(s, std::move(disconnect_message));

Unlock all resources on the slave

The user only needs to send the appropriate packets and provide the function pointer to the key calculator function.

XCPMsgPtr GetSeed1 = master->CreateGetSeedMessage(GetSeedPacket::Mode::FIRST_PART, GetSeedPacket::Resource::DAQ);
Send(s, std::move(GetSeed1));
std::vector<XCPMsgPtr> UnlockMessages = master->CreateUnlockMessages();
Send(s, std::move(UnlockMessages[0]));

XCPMsgPtr GetSeed2 = master->CreateGetSeedMessage(GetSeedPacket::Mode::FIRST_PART, GetSeedPacket::Resource::CAL_PG);
Send(s, std::move(GetSeed2));
std::vector<XCPMsgPtr> UnlockMessages1 = master->CreateUnlockMessages();
Send(s, std::move(UnlockMessages1[0]));

XCPMsgPtr GetSeed3 = master->CreateGetSeedMessage(GetSeedPacket::Mode::FIRST_PART, GetSeedPacket::Resource::PGM);
Send(s, std::move(GetSeed3));
std::vector<XCPMsgPtr> UnlockMessages2 = master->CreateUnlockMessages();
Send(s, std::move(UnlockMessages2[0]));

XCPMsgPtr GetSeed4 = master->CreateGetSeedMessage(GetSeedPacket::Mode::FIRST_PART, GetSeedPacket::Resource::STIM);
Send(s, std::move(GetSeed4));
std::vector<XCPMsgPtr> UnlockMessages4 = master->CreateUnlockMessages();
Send(s, std::move(UnlockMessages4[0]));

Get some data from a given memory location (polling)

The following code gets 10 elements of data from the 0x219020 memory address

XCPMsgPtr SetMTA = master->CreateSetMTAMessage(0x219020, 0);
Send(s, std::move(SetMTA));
XCPMsgPtr Upload = master->CreateUploadMessage(10);
Send(s, std::move(Upload));

Polling with only 1 message

XCPMsgPtr ShortUpload = master->CreateShortUploadMessage(10, 0x21A08D, 0);
Send(s, std::move(ShortUpload));

Setting up the DAQ layout

The following code sets up the DAQ layout to be used. This will be used to create the DAQ lists in the slave. It is always the user's responsibility to maintain the DAQ layout descriptor. The following code sets up 2 DAQ lists with 1 ODT and 1 ODT entry each.

DAQLayout daqlayout;
DAQ daq0;
DAQ daq1;
ODT daq0odt0;
ODT daq1odt0;
ODTEntry daq0odt0entry0(0x21A1BD, 0, 1);
ODTEntry daq1odt0entry0(0x21A08D, 0, 1);

daq0odt0.AddEntry(daq0odt0entry0);
daq1odt0.AddEntry(daq1odt0entry0);
daq0.AddODT(daq0odt0);
daq1.AddODT(daq1odt0);
daq0.SetEventChannel(1);
daq0.SetMode(ModeFieldBits::TIMESTAMP);
daq0.SetPrescaler(1);
daq0.SetPriority(1);
daq1.SetEventChannel(2);
daq1.SetMode(ModeFieldBits::TIMESTAMP);
daq1.SetPrescaler(1);
daq1.SetPriority(2);
daqlayout.AddDAQ(daq0);
daqlayout.AddDAQ(daq1);
master->SetDaqLayout(daqlayout);

Setting up the DAQ layout with the fluent API

It's also possible to set up the DAQ layout with a fluent API:

daqlayout.WithDAQ([](DAQ& d) -> DAQ&
{
	d.SetEventChannel(1);
	d.SetMode(ModeFieldBits::TIMESTAMP);
	d.SetPrescaler(1);
	d.SetPriority(1);

	d.WithODT([](ODT& o) -> ODT& {
		o.WithODTEntry([](ODTEntry& e) -> ODTEntry& {
			e.SetAddress(0x21A1BD);
			e.SetAddressExtension(0);
			e.SetLength(1);
			return e;
		});
		return o;
	});

	return d;
}).WithDAQ([](DAQ& d) ->  DAQ&
{
	d.SetEventChannel(2);
	d.SetMode(ModeFieldBits::TIMESTAMP);
	d.SetPrescaler(1);
	d.SetPriority(2);

	d.WithODT([](ODT& o) -> ODT& {
		o.WithODTEntry([](ODTEntry& e) -> ODTEntry& {
			e.SetAddress(0x21A08D);
			e.SetAddressExtension(0);
			e.SetLength(1);
			return e;
		});

		return o;
	});

	return d;
});
daqlayout.SetInitialized(true);
master->SetDaqLayout(daqlayout);

Getting DAQ processor info

You should get the DAQ processor information by sending out this command.

XCPMsgPtr GetDaqProcessorInfo = master->CreateGetDaqProcessorInfoMessage();
Send(s, std::move(GetDaqProcessorInfo));

If it is not supported, then you have to set the properties provided by this command by hand.

XCPMaster::SlaveProperties properties = m_Master.GetSlaveProperties();
properties.DaqProperies.ConfigType = [...]
properties.DaqProperies.PrescalerSupported = [...]
properties.DaqProperies.ResumeSupported = [...]
properties.DaqProperies.BitStimSupported = [...]
properties.DaqProperies.TimeStampSupported = [...]
properties.DaqProperies.PidOffSupported = [...]

properties.DaqProperies.OverloadIndicationMode = [...]
properties.DaqProperies.OptimisationType = [...]
properties.DaqProperies.AddressExtensionType = [...]
properties.DaqProperies.IdentificationFieldType = [...]

properties.DaqProperies.MaxDaq = [...]
properties.DaqProperies.MinDaq = [...]
properties.DaqProperies.MaxEventChannel = [...]

m_Master.SetSlaveProperties(properties);

Setting up the DAQ layout in the slave device

After the DAQ layout descriptor was set up in the master you can set up the desired layout in the slave with the following commands.

DAQLayout daqlayout = master->GetDaqLayout();	
if (daqlayout.IsInitialized())
{
	Send(s, master->CreateAllocDaqMessage(daqlayout.GetNumberOfDAQLists()));
	for (int i = 0; i < daqlayout.GetNumberOfDAQLists(); i++)
	{
		DAQ daq =daqlayout.GetDAQ(i);
		Send(s, master->CreateAllocOdtMessage(i, daq.GetNumberOfODTs()));
		for (int j = 0; j < daqlayout.GetDAQ(i).GetNumberOfODTs(); j++)
		{
			ODT odt = daq.GetOdt(j);
			Send(s, master->CreateAllocOdtEntryMessage(i, j, odt.GetNumberOfEntries()));
		}
	}
    	//The XCP simulator crashes if I merge these two loops...
	for (int i = 0; i < daqlayout.GetNumberOfDAQLists(); i++)
	{
		DAQ daq = daqlayout.GetDAQ(i);
		for (int j = 0; j < daqlayout.GetDAQ(i).GetNumberOfODTs(); j++)
		{
			ODT odt = daq.GetOdt(j);
			for (int k = 0; k < daqlayout.GetDAQ(i).GetOdt(j).GetNumberOfEntries(); k++)
			{
				ODTEntry entry = odt.GetEntry(k);
				Send(s, master->CreateSetDaqPtrMessage(i, j, k));
				Send(s, master->CreateWriteDaqMessage(0xFF, entry.GetLength(), entry.GetAddressExtension(), entry.GetAddress()));
			}
		}
	}
}

Selecting and starting the measurement on the desired DAQ lists

for (int id = 0; id < daqlayout.GetNumberOfDAQLists(); id++)
{
	XCPMsgPtr SetDaqListMode = master->CreateSetDaqListModeMessage(daqlayout.GetDAQ(id).GetMode(), id, daqlayout.GetDAQ(id).GetEventChannel(), daqlayout.GetDAQ(id).GetPrescaler(), daqlayout.GetDAQ(id).GetPriority());
	Send(s, std::move(SetDaqListMode));
	XCPMsgPtr StartStopDaqList = master->CreateStartStopDaqListMessage(StartStopDaqListPacket::Mode::SELECT, id);
	Send(s, std::move(StartStopDaqList));
}

XCPMsgPtr StartStopSynch = master->CreateStartStopSynchMessage(StartStopSynchPacket::Mode::START_SELECTED);
Send(s, std::move(StartStopSynch));

After that, the slave will send out DAQ packets until you tell it to stop. The following code will get for about 1000 DAQ packets from the slave (using Qt sockets). You have to explicitly call Master::DeserializeMessage to decode these packets.

int i = 0;
while (i < 1000)
{
	if (s->waitForReadyRead(-1))
	{
		bytes.resize(MaxRecvsize);
		int recv_size = s->read((char*)&bytes[0], MaxRecvsize);
		bytes.resize(recv_size);
		for (int i = 0; i < recv_size; i++)
		{
			std::cout << std::hex << (int)(bytes[i] & 0xff) << " ";
		}
		std::cout << "\n";
		while (bytes.size())
		{
			XCPMsgPtr asd = master->DeserializeMessage(bytes);
		}
		i++;
	}
}

XCPMsgPtr Stop = master->CreateStartStopSynchMessage(StartStopSynchPacket::Mode::STOP_ALL);
Send(s, std::move(Stop));

Handling incoming packets from slave

Some of the incoming responses are handled internally by the library (eg.: ConnectResponse), but there are some responses that you are most definitely want to handle by yourself. (eg.: incoming DAQ packets, UploadResponse, various error messages, etc.) For that you have to implement the IIncomingMessageHandler interface. After you implemented the interface, you'll have to tell the master to use your implementation. It is up to you how to handle the incoming packets. Every incoming packet will be deserialized by the master, then the appropriate handler function will be called.

IncomingHandlerExternal* Handler = new IncomingHandlerExternal(thread, master);
master->SetExternalMessageHandler(Handler);

(There is not any interface for the constructor of the MessageHandler, so it is up to you to call SetExternalMessageHandler separately or call it in the Handler's constructor. In this example the SetExternalMessageHandler function was called outside of the handler's constructor)

License

robotjatek/XCP

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