1. USBCAN分析仪国内现状
这是目前国内市场上的USBCAN分析仪现状。
2. 创芯科技产品
创芯科技的这个红色盒子是我比较下来综合性价比最高的。同时支持windows和linux的设备只要320元左右。你既可以用可视化界面发送/接收报文，也可以二次开发，设置复杂的收发以及数据处理的逻辑。可视化界面操作很简单，我就不赘述了，主要谈谈怎么基于linux二次开发。
2.1 设备自测
设备拿到时最好进行自测，判断设备是否可用。
自测时设备线路连接如下：
PC上virtualbox安装ubuntu虚拟机的USB接口选择
执行自测用例
root@zyy-VirtualBox:/home/zyy/controlcan# ls
controlcan.h hello_cpp libcontrolcan.so main_bak.cpp main.cpp Makefile
root@zyy-VirtualBox:/home/zyy/controlcan# rm -r hello_cpp
root@zyy-VirtualBox:/home/zyy/controlcan# make clean
rm -f *.o hello
root@zyy-VirtualBox:/home/zyy/controlcan# make
g++ -o hello_cpp main.cpp /home/zyy/controlcan/libcontrolcan.so -lpthread
root@zyy-VirtualBox:/home/zyy/controlcan1# ./hello_cpp
>>this is hello !
>>USBCAN DEVICE NUM:1 PCS
Device:0
>>Get VCI_ReadBoardInfo success!
>>Serial_Num:31F100016D6
>>hw_Type:CAN-Linux
>>Firmware Version:V3.40
>>
>>
>>
>>open deivce success!
>>Get VCI_ReadBoardInfo success!
>>Serial_Num:31F100016D6
>>hw_Type:CAN-Linux
>>Firmware Version:V3.40
Index:0000 CAN1 TX ID:0x00000000 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07
Index:0001 CAN2 TX ID:0x00000001 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07
Index:0002 CAN2 RX ID:0x00000000 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07 TimeStamp:0x0009D81E
Index:0003 CAN1 TX ID:0x00000002 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07
Index:0004 CAN1 RX ID:0x00000001 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07 TimeStamp:0x0009D85C
Index:0005 CAN2 TX ID:0x00000003 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07
Index:0006 CAN2 RX ID:0x00000002 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07 TimeStamp:0x0009D890
Index:0007 CAN1 TX ID:0x00000004 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07
Index:0008 CAN1 RX ID:0x00000003 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07 TimeStamp:0x0009D8B6
Index:0009 CAN2 TX ID:0x00000005 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07
Index:0010 CAN2 RX ID:0x00000004 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07 TimeStamp:0x0009D8E8
Index:0011 CAN1 TX ID:0x00000006 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07
Index:0012 CAN1 RX ID:0x00000005 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07 TimeStamp:0x0009D912
Index:0013 CAN2 TX ID:0x00000007 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07
Index:0014 CAN2 RX ID:0x00000006 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07 TimeStamp:0x0009D93D
Index:0015 CAN1 TX ID:0x00000008 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07
Index:0016 CAN1 RX ID:0x00000007 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07 TimeStamp:0x0009D96F
Index:0017 CAN2 TX ID:0x00000009 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07
Index:0018 CAN2 RX ID:0x00000008 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07 TimeStamp:0x0009D99F
Index:0019 CAN1 RX ID:0x00000009 Extend Data DLC:0x08 data:0x 00 01 02 03 04 05 06 07 TimeStamp:0x0009D9DC
run thread exit2.2 基于实际场景的二次开发
2.2.1 一种测试场景
将目标ECU的CAN引脚和USBCAN分析仪相连， 目标ECU的电源引脚接到相应电压的供电电源上。
关于ECU刷写，这篇博客写得比较简洁又清晰
我得测试场景分六步，后续步骤大同小异，可以仿照前几步格式添加。
1. 进入扩展会话模式，并获得正面响应。
2. tester向ECU请求seed，并获得seed。
3. tester根据seed计算key, tester向ECU发送key,并获得正面响应。
4. 进入编程会话,并获得正面响应
5.tester向ECU请求seed，并获得seed。
6.tester根据seed计算key, tester向ECU发送key,并获得正面响应。
针对ECU刷写的OTA升级的步骤资料可以查阅
2.2.2 编写代码以及调试
代码里组装的报文符合UDS协议，UDS描述见：
编写代码如下：
#include <stdio.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <pthread.h>
#include "controlcan.h"
#include <ctime>
#include <cstdlib>
#include "unistd.h"
#define NO_RES_COUNT_MAX 10 //等待响应的时间（周期）上限
VCI_BOARD_INFO pInfo;//用来获取设备信息。
int count=0;//数据列表中，用来存储列表序号。
VCI_BOARD_INFO pInfo1 [50];
int num=0;
//重要全局变量
//int i;
int STEP=0X01; //CAN数据发送和接收的步骤，用于控制步骤顺序
int CURRENT_STEP=0x00; //当前所处的CAN数据发送和接收的步骤，“接收线程“会根据”当前步骤”和“CAN数据内容”判断是否是正确响应
unsigned int Ecu_DialogId= 0x000; // ECU的CANID,每个ECU不一样
int Fun_Id = 0x7df; //功能寻址的CANID，固定值
DWORD seed0 =0; //UDS 0X27,ECU返回过来的seed第1位
DWORD seed1 =0; //UDS 0X27,ECU返回过来的seed第2位
DWORD seed2 =0; //UDS 0X27,ECU返回过来的seed第3位（若有）
DWORD seed3 =0; //UDS 0X27,ECU返回过来的seed第4位（若有）
DWORD seed0_tmp;
DWORD seed1_tmp;
DWORD seed2_tmp;
DWORD seed3_tmp;
DWORD seed;// UDS 0X27,ECU返回过来的seed
int Seedsize = 0; // UDS 0X27,ECU返回过来的seed位数，一般是2或者4
DWORD key_tmp;
DWORD key; //UDS 0X27， 由seed计算出的key，两位或者四位，用于ECU安全解锁
int NoResCount=0; // 未接收响应的等待次数，超过一定数目应当认为测试失败，进入shutdown流程
int LogAllRecv =1; //接收数据是否全打印
int TESTMODE =1; //是否是测试模式，测试模式时,CAN1 CAN2直连。非测试模式时CAN2不使用。
void *receive_func(void* param) //接收线程。
{
int reclen=0;
VCI_CAN_OBJ rec[3000];//接收缓存，设为3000为佳。
int i,j;
int *run=(int*)param;//线程启动，退出控制。
int ind_recv=0; //0: CAN1 1:CAN2
while((*run)&0x0f)
{
usleep(300000);//延时300ms。
if((reclen=VCI_Receive(VCI_USBCAN2,0,ind_recv,rec,3000,100))>0)//调用接收函数，如果有数据，进行数据处理显示。
{
for(j=0;j<reclen;j++)
{
if(LogAllRecv)
{
printf("[RECV]Index:%04d ",count);count++;//序号递增
printf("CAN%d RX ID:0x%08X", ind_recv+1, rec[j].ID);//ID
if(rec[j].ExternFlag==0) printf(" Standard ");//帧格式：标准帧
if(rec[j].ExternFlag==1) printf(" Extend ");//帧格式：扩展帧
if(rec[j].RemoteFlag==0) printf(" Data ");//帧类型：数据帧
if(rec[j].RemoteFlag==1) printf(" Remote ");//帧类型：远程帧
printf("DLC:0x%02X",rec[j].DataLen);//帧长度
printf(" data:0x"); //数据
for(i = 0; i < rec[j].DataLen; i++)
{
printf(" %02X", rec[j].Data[i]);
}
printf(" TimeStamp:0x%08X",rec[j].TimeStamp);//时间标识。
printf("\n");
}
if(0X01 == CURRENT_STEP &&0 == rec[j].ExternFlag && 0x50 == rec[j].Data[1] && 0x03 == rec[j].Data[2])
{
printf("STEP[0X01] 03 diagConversation resp received!\n");
STEP =0x07; //设置全局变量STEP指示下一步tester应该发送什么CAN消息
}
else if(0X07 == CURRENT_STEP && 0 == rec[j].ExternFlag && 0x06 == rec[j].Data[0]&& 0x67 == rec[j].Data[1] && 0x01 == rec[j].Data[2])
{
printf("STEP[0X07] ask seed resp 4 seeds received!\n");
seed0 = rec[j].Data[3];
seed1 = rec[j].Data[4];
seed2 = rec[j].Data[5];
seed3 = rec[j].Data[6];
Seedsize = 4; //全局变量Seedsize指示，下一步发送CAN消息前应该组装多少位的key
STEP = 0X71; //设置全局变量STEP指示下一步tester应该发送什么CAN消息
}
else if(0X07 ==CURRENT_STEP && 0 == rec[j].ExternFlag && 0x04 == rec[j].Data[0]&& 0x67 == rec[j].Data[1] && 0x01 == rec[j].Data[2])
{
printf("STEP[0X07] ask seed resp 2 seeds received!\n");
seed0 = rec[j].Data[3];
seed1 = rec[j].Data[4];
Seedsize = 2;//全局变量Seedsize指示，下一步发送CAN消息前应该组装多少位的key
STEP = 0X71; //设置全局变量STEP指示下一步tester应该发送什么CAN消息
}
else if(0X71 == CURRENT_STEP && 0 == rec[j].ExternFlag && 0x67 == rec[j].Data[1] && 0x02 == rec[j].Data[2])
{
printf("STEP[0X71] send key resp received!\n");
STEP = 0x08; //设置全局变量STEP指示下一步tester应该发送什么CAN消息
}
else if(0X08 == CURRENT_STEP && 0 == rec[j].ExternFlag && 0x50 == rec[j].Data[1] && 0x02 == rec[j].Data[2])
{
printf("STEP[0X08] enter codeConversation resp received!\n");
STEP =0x09;//设置全局变量STEP指示下一步tester应该发送什么CAN消息
}
else if(0X09 == CURRENT_STEP &&0 == rec[j].ExternFlag && 0x06 == rec[j].Data[0]&& 0x67 == rec[j].Data[1] && 0x01 == rec[j].Data[2])
{
printf("STEP[0X09] ask seed resp 4 seeds received!\n");
seed0 = rec[j].Data[3];
seed1 = rec[j].Data[4];
seed2 = rec[j].Data[5];
seed3 = rec[j].Data[6];
Seedsize = 4; //全局变量Seedsize指示，下一步发送CAN消息前应该组装多少位的key
STEP = 0x91; //设置全局变量STEP指示下一步tester应该发送什么CAN消息
}
else if(0X09 == CURRENT_STEP &&0 == rec[j].ExternFlag && 0x04 == rec[j].Data[0]&& 0x67 == rec[j].Data[1] && 0x01 == rec[j].Data[2])
{
printf("STEP[0X07] ask seed resp 2 seeds received!\n");
seed0 = rec[j].Data[3];
seed1 = rec[j].Data[4];
Seedsize = 2;//全局变量Seedsize指示，下一步发送CAN消息前应该组装多少位的key
STEP = 0X91; //设置全局变量STEP指示下一步tester应该发送什么CAN消息
}
else if(0X91 == CURRENT_STEP &&0 == rec[j].ExternFlag && 0x67 == rec[j].Data[1] && 0x02 == rec[j].Data[2])
{
printf("STEP[0X91] send key resp resp received!\n");
STEP = 0xFF; //进入0xFF步骤表示测试成功，即将是进入结束流程
}
}
}
}
printf("run thread exit\n");//退出接收线程
pthread_exit(0);
}
int main(int argc, char *argv[])
{
int i;
for (i = 0; i < argc; i++)
{
printf("argc = %d | argv[%d] %s\n", i, i, argv[i]);
}
//解析输入参数 Ecu_DialogId ，并打印
Ecu_DialogId = atoi(argv[1]);
printf("Ecu_DialogId = 0x%04x\n",Ecu_DialogId);
//设备信息打印
printf(">>this is hello !\r\n");//指示程序已运行
num=VCI_FindUsbDevice2(pInfo1);
printf(">>USBCAN DEVICE NUM:");printf("%d", num);printf(" PCS");printf("\n");
for(int i=0;i<num;i++)
{
printf("Device:");printf("%d", i);printf("\n");
printf(">>Get VCI_ReadBoardInfo success!\n");
}
if(VCI_OpenDevice(VCI_USBCAN2,0,0)==1)//打开设备
{
printf(">>open deivce success!\n");//打开设备成功
}
else
{
printf(">>open deivce error!\n");
exit(1);
}
if(VCI_ReadBoardInfo(VCI_USBCAN2,0,&pInfo)==1)//读取设备序列号、版本等信息。
{
printf(">>Get VCI_ReadBoardInfo success!\n");
}
else
{
printf(">>Get VCI_ReadBoardInfo error!\n");
exit(1);
}
//初始化参数，严格参数二次开发函数库说明书。
VCI_INIT_CONFIG config;
config.AccCode= (Ecu_DialogId+8) << 21;
printf("config.AccCode:%08X\n",config.AccCode);
config.AccMask=0x00000000;//AccMask的值0x00000000表示所有位均为相关位，AccMask=0xFFFFFFFF表示都接收
config.Filter=1;//1:接收所有帧 2:只接收标准帧 3:只接收扩展帧
config.Timing0=0x00;/*波特率125 Kbps 0x03 0x1C ||| 波特率500 Kbps 0x00 0x1C*/
config.Timing1=0x1C;
config.Mode=0;//正常模式
//CAN1通道的初始化
if(VCI_InitCAN(VCI_USBCAN2,0,0,&config)!=1)
{
printf(">>Init CAN1 error\n");
VCI_CloseDevice(VCI_USBCAN2,0);
}
if(VCI_StartCAN(VCI_USBCAN2,0,0)!=1)
{
printf(">>Start CAN1 error\n");
VCI_CloseDevice(VCI_USBCAN2,0);
}
//在自测模式下，需要使用CAN2通道，所以进行CAN2通道初始化
if(TESTMODE)
{
if(VCI_InitCAN(VCI_USBCAN2,0,1,&config)!=1)
{
printf(">>Init can2 error\n");
VCI_CloseDevice(VCI_USBCAN2,0);
}
if(VCI_StartCAN(VCI_USBCAN2,0,1)!=1)
{
printf(">>Start can2 error\n");
VCI_CloseDevice(VCI_USBCAN2,0);
}
}
//创建接收线程，持续接收数据包
int m_run0=1;
pthread_t threadid;
int ret;
ret=pthread_create(&threadid,NULL,receive_func,&m_run0);
//ID默认设置为CANID， 所有报文都是标准帧,默认填充字符是0x55
VCI_CAN_OBJ send[1];
while(1)
{
//每次发送前报文初始化
send[0].ID= Ecu_DialogId;
send[0].SendType=0;
send[0].RemoteFlag=0;
send[0].ExternFlag=0;
send[0].DataLen=8;
for (i=0;i<8;i++)
{
send[0].Data[i] = 0x55;
}
//STEP0x00:还没有收到ECU回复
//step0x01:enter 03 diagConversation
//step0x07:ask seed
//step0x71:send key
//step0x08:enter codeConversation
//step0x09:ask seed
//step0x91:send key
//step0xFF:所有流程结束
switch(STEP) //本switch-case里所有的发送都是通过CAN1通道
{
//step0x01:enter 03 diagConversation
case 0x01:
//需要发送的帧，结构体设置
send[0].Data[0] = 0x02;
send[0].Data[1] = 0x10;
send[0].Data[2] = 0x03;
if(VCI_Transmit(VCI_USBCAN2, 0, 0, send, 1) == 1)
{
printf("STEP[0X%02x] enter 03 diagConversation SEND SUCCESS!Index:%04d CAN1 TX ID:0x%08X data:0x",STEP,count,send[0].ID);
count++;
for(i=0;i<send[0].DataLen;i++)
{
printf(" %02X",send[0].Data[i]);
}
printf("\n");
}
else
{
printf("STEP[%02x] VCI_Transmit failed!",STEP);
goto SHUTDOWN;
}
CURRENT_STEP =STEP;//全局变量CURRENT_STEP是为了记录当前所处步骤(接收线程和自测时的模拟ECU需要这个变量)
STEP = 0x00; //tester的CAN消息发送成功后将STEP设置为0x00是为了防止重复发送，也方便计算等待时间，长时间等待不到响应则判定测试失败
usleep(200000);//延时200ms
break;
//step0x07:ask seed
case 0x07:
//需要发送的帧，结构体设置
send[0].Data[0] = 0x02;
send[0].Data[1] = 0x27;
send[0].Data[2] = 0x01;
if(VCI_Transmit(VCI_USBCAN2, 0, 0, send, 1) == 1)
{
printf("STEP[0X%02x] ask seed SEND SUCCESS!Index:%04d CAN1 TX ID:0x%08X data:0x",STEP,count,send[0].ID);
count++;
for(i=0;i<send[0].DataLen;i++)
{
printf(" %02X",send[0].Data[i]);
}
printf("\n");
}
else
{
printf("STEP[%02x] VCI_Transmit failed!",STEP);
goto SHUTDOWN;
}
CURRENT_STEP =STEP;//全局变量CURRENT_STEP是为了记录当前所处步骤(接收线程和自测时的模拟ECU需要这个变量)
STEP = 0x00;//tester的CAN消息发送成功后将STEP设置为0x00是为了防止重复发送，也方便计算等待时间，长时间等待不到响应则判定测试失败
usleep(300000);//延时300ms
break;
//step0x71:send key
case 0x71:
//需要发送的帧，结构体设置
//Seedsize有2和4两种可能，分别采取不同的组装CAN报文的形式
if(4 == Seedsize)
{
seed0_tmp = seed0 << 3*8;
seed1_tmp = seed1 << 2*8;
seed2_tmp = seed2 << 8;
seed3_tmp = seed3;
seed = seed0_tmp + seed1_tmp + seed2_tmp + seed3_tmp;
printf("seed is 0x%08x\n",seed);
key = seed;//汽车厂自定义安全解锁的算法，这里直接key=seed。
printf("key is 0x%08x\n",key);
send[0].Data[0] = 0x06;
send[0].Data[1] = 0x27;
send[0].Data[2] = 0x02;
send[0].Data[3] = (key & 0xff000000) >> 3*8;
send[0].Data[4] = (key & 0x00ff0000) >> 2*8;
send[0].Data[5] = (key & 0x0000ff00) >> 8;
send[0].Data[6] = (key & 0x000000ff);
}
else if(2 == Seedsize)
{
seed0_tmp = seed0 << 1*8;
seed1_tmp = seed1;
seed = seed0_tmp + seed1_tmp;
printf("seed is 0x%04x\n",seed);
key_tmp = seed;//汽车厂自定义安全解锁的算法，这里直接key=seed。
key = key_tmp & 0xffff;
printf("key is 0x%04x\n",key );
send[0].Data[0] = 0x04;
send[0].Data[1] = 0x27;
send[0].Data[2] = 0x02;
send[0].Data[3] = (key & 0xff00) >> 1*8;
send[0].Data[4] = (key & 0x00ff);
}
else
{
printf("Seedsize error!");
goto SHUTDOWN;
}
if(VCI_Transmit(VCI_USBCAN2, 0, 0, send, 1) == 1)
{
printf("STEP[0X%02x] send key SEND SUCCESS!Index:%04d CAN1 TX ID:0x%08X data:0x",STEP,count,send[0].ID);
count++;
for(i=0;i<send[0].DataLen;i++)
{
printf(" %02X",send[0].Data[i]);
}
printf("\n");
}
else
{
printf("STEP[%02x] VCI_Transmit failed!\n",STEP);
goto SHUTDOWN;
}
CURRENT_STEP =STEP;//全局变量CURRENT_STEP是为了记录当前所处步骤(接收线程和自测时的模拟ECU需要这个变量)
STEP = 0x00;//tester的CAN消息发送成功后将STEP设置为0x00是为了防止重复发送，也方便计算等待时间，长时间等待不到响应则判定测试失败
usleep(500000);//延时500ms
break;
//step0x08:enter codeConversation
case 0x08:
//需要发送的帧，结构体设置
send[0].Data[0] = 0x02;
send[0].Data[1] = 0x10;
send[0].Data[2] = 0x02;
if(VCI_Transmit(VCI_USBCAN2, 0, 0, send, 1) == 1)
{
printf("STEP[0X%02x] enter codeConversationng SEND SUCCESS!Index:%04d CAN1 TX ID:0x%08X data:0x",STEP,count,send[0].ID);
count++;
for(i=0;i<send[0].DataLen;i++)
{
printf(" %02X",send[0].Data[i]);
}
printf("\n");
}
else
{
printf("STEP[%02x] VCI_Transmit failed!",STEP);
goto SHUTDOWN;
}
CURRENT_STEP =STEP;//全局变量CURRENT_STEP是为了记录当前所处步骤(接收线程和自测时的模拟ECU需要这个变量)
STEP = 0x00;//tester的CAN消息发送成功后将STEP设置为0x00是为了防止重复发送，也方便计算等待时间，长时间等待不到响应则判定测试失败
usleep(500000);//延时500ms
break;
//step0x09:ask seed
case 0x09:
//需要发送的帧，结构体设置
send[0].Data[0] = 0x02;
send[0].Data[1] = 0x27;
send[0].Data[2] = 0x01;
if(VCI_Transmit(VCI_USBCAN2, 0, 0, send, 1) == 1)
{
printf("STEP[0X%02x] ask seed SEND SUCCESS!Index:%04d CAN1 TX ID:0x%08X data:0x",STEP,count,send[0].ID);
count++;
for(i=0;i<send[0].DataLen;i++)
{
printf(" %02X",send[0].Data[i]);
}
printf("\n");
}
else
{
printf("STEP[%02x] VCI_Transmit failed!",STEP);
goto SHUTDOWN;
}
CURRENT_STEP =STEP;//全局变量CURRENT_STEP是为了记录当前所处步骤(接收线程和自测时的模拟ECU需要这个变量)
STEP = 0x00;//tester的CAN消息发送成功后将STEP设置为0x00是为了防止重复发送，也方便计算等待时间，长时间等待不到响应则判定测试失败
usleep(500000);//延时500ms
break;
//step0x91:send key
case 0x91:
//需要发送的帧，结构体设置
//Seedsize有2和4两种可能，分别采取不同的组装CAN报文的形式
if(4 == Seedsize)
{
seed0_tmp = seed0 << 3*8;
seed1_tmp = seed1 << 2*8;
seed2_tmp = seed2 << 8;
seed3_tmp = seed3;
seed = seed0_tmp + seed1_tmp + seed2_tmp + seed3_tmp;
printf("seed is 0x%08x\n",seed);
key = seed;//汽车厂自定义安全解锁的算法，这里直接key=seed。
printf("key is 0x%08x\n",key);
send[0].Data[0] = 0x06;
send[0].Data[1] = 0x27;
send[0].Data[2] = 0x02;
send[0].Data[3] = (key & 0xff000000) >> 3*8;
send[0].Data[4] = (key & 0x00ff0000) >> 2*8;
send[0].Data[5] = (key & 0x0000ff00) >> 8;
send[0].Data[6] = (key & 0x000000ff);
}
else if(2 == Seedsize)
{
seed0_tmp = seed0 << 1*8;
seed1_tmp = seed1;
seed = seed0_tmp + seed1_tmp;
printf("seed is 0x%04x\n",seed);
key_tmp = seed;//汽车厂自定义安全解锁的算法，这里直接key=seed。
key = key_tmp & 0xffff;
printf("key is 0x%04x\n",key );
send[0].Data[0] = 0x04;
send[0].Data[1] = 0x27;
send[0].Data[2] = 0x02;
send[0].Data[3] = (key & 0xff00) >> 1*8;
send[0].Data[4] = (key & 0x00ff);
}
else
{
printf("Seedsize error!");
goto SHUTDOWN;
}
if(VCI_Transmit(VCI_USBCAN2, 0, 0, send, 1) == 1)
{
printf("STEP[0X%02x] send key SEND SUCCESS!Index:%04d CAN1 TX ID:0x%08X data:0x",STEP,count,send[0].ID);
count++;
for(i=0;i<send[0].DataLen;i++)
{
printf(" %02X",send[0].Data[i]);
}
printf("\n");
}
else
{
printf("STEP[%02x] VCI_Transmit failed!\n",STEP);
goto SHUTDOWN;
}
CURRENT_STEP =STEP;//全局变量CURRENT_STEP是为了记录当前所处步骤(接收线程和自测时的模拟ECU需要这个变量)
STEP = 0x00;//tester的CAN消息发送成功后将STEP设置为0x00是为了防止重复发送，也方便计算等待时间，长时间等待不到响应则判定测试失败
usleep(500000);//延时500ms
break;
case 0x00:
//还没有收到ECU回复
printf("[WAITING RESPONSE]VCI_Receive have not found corresponding ECU response!\n");
if(NoResCount < NO_RES_COUNT_MAX)
{
NoResCount++;
}
else
{
printf("VCI_Receive have not found corresponding ECU response > %d times,test failed!!!",NO_RES_COUNT_MAX);
goto SHUTDOWN;
}
usleep(1000000);//延时1000ms
break;
//step0xFF:所有流程结束
case 0xFF:
//所有流程结束
printf("VCI_Receive have found all corresponding ECU response!\n test SUCESS!!!\n");
goto SHUTDOWN;
break;
default:
printf("unknown step\n");
goto SHUTDOWN;
}
// 自测模式下，以下代码用于CAN2通道模仿ECU给tester回复
if(TESTMODE)
{
switch(CURRENT_STEP)//根据当前所处步骤决定ECU模拟器回复什么消息,本switch-case里所有的发送都是通过CAN2通道
{
case 0x01:
//需要发送的帧，结构体设置
send[0].ID= Ecu_DialogId +8; //ECU的响应报文的CANID时ECU_DialogId加8
send[0].SendType=0;
send[0].RemoteFlag=0;
send[0].ExternFlag=0;
send[0].DataLen=8;
send[0].Data[0] = 0x06;
send[0].Data[1] = 0x50;
send[0].Data[2] = 0x03;
send[0].Data[3] = 0x00;
send[0].Data[4] = 0x32;
send[0].Data[5] = 0x01;
send[0].Data[6] = 0xf4;
send[0].Data[7] = 0xaa;
if(VCI_Transmit(VCI_USBCAN2, 0, 1, send, 1) == 1)
{
}
else
{
printf("STEP[%02x] VCI_Transmit failed!",STEP);
goto SHUTDOWN;
}
usleep(300000);//延时300ms
break;
case 0x07:
//需要发送的帧，结构体设置
send[0].ID= Ecu_DialogId + 8;
send[0].SendType=0;
send[0].RemoteFlag=0;
send[0].ExternFlag=0;
send[0].DataLen=8;
if(0)//设为1，表示seedsize 4, 0表示seedsize2
{
send[0].Data[0] = 0x06;
send[0].Data[1] = 0x67;
send[0].Data[2] = 0x01;
send[0].Data[3] = 0x88;
send[0].Data[4] = 0x88;
send[0].Data[5] = 0x88;
send[0].Data[6] = 0x88;
send[0].Data[7] = 0xaa;
}
else
{
send[0].Data[0] = 0x04;
send[0].Data[1] = 0x67;
send[0].Data[2] = 0x01;
send[0].Data[3] = 0x88;
send[0].Data[4] = 0x88;
send[0].Data[5] = 0xaa;
send[0].Data[6] = 0xaa;
send[0].Data[7] = 0xaa;
}
if(VCI_Transmit(VCI_USBCAN2, 0, 1, send, 1) == 1)
{
}
else
{
printf("STEP[%02x] VCI_Transmit failed!",STEP);
goto SHUTDOWN;
}
usleep(300000);//延时300ms
break;
case 0x71:
//需要发送的帧，结构体设置
send[0].ID= Ecu_DialogId + 8;
send[0].SendType=0;
send[0].RemoteFlag=0;
send[0].ExternFlag=0;
send[0].DataLen=8;
send[0].Data[0] = 0x02;
send[0].Data[1] = 0x67;
send[0].Data[2] = 0x02;
send[0].Data[3] = 0xaa;
send[0].Data[4] = 0xaa;
send[0].Data[5] = 0xaa;
send[0].Data[6] = 0xaa;
send[0].Data[7] = 0xaa;
if(VCI_Transmit(VCI_USBCAN2, 0, 1, send, 1) == 1)
{
}
else
{
printf("STEP[%02x] VCI_Transmit failed!",STEP);
goto SHUTDOWN;
}
usleep(300000);//延时300ms
break;
case 0x08:
//需要发送的帧，结构体设置
send[0].ID= Ecu_DialogId + 8;
send[0].SendType=0;
send[0].RemoteFlag=0;
send[0].ExternFlag=0;
send[0].DataLen=8;
send[0].Data[0] = 0x06;
send[0].Data[1] = 0x50;
send[0].Data[2] = 0x02;
send[0].Data[3] = 0x00;
send[0].Data[4] = 0x32;
send[0].Data[5] = 0x01;
send[0].Data[6] = 0xf4;
send[0].Data[7] = 0x00;
if(VCI_Transmit(VCI_USBCAN2, 0, 1, send, 1) == 1)
{
}
else
{
printf("STEP[%02x] VCI_Transmit failed!",STEP);
goto SHUTDOWN;
}
usleep(300000);//延时300ms
break;
case 0x09:
//需要发送的帧，结构体设置
send[0].ID= Ecu_DialogId + 8;
send[0].SendType=0;
send[0].RemoteFlag=0;
send[0].ExternFlag=0;
send[0].DataLen=8;
if(1)//设为1，表示seedsize 4, 0表示seedsize2
{
send[0].Data[0] = 0x06;
send[0].Data[1] = 0x67;
send[0].Data[2] = 0x01;
send[0].Data[3] = 0x88;
send[0].Data[4] = 0x88;
send[0].Data[5] = 0x88;
send[0].Data[6] = 0x88;
send[0].Data[7] = 0xaa;
}
else
{
send[0].Data[0] = 0x04;
send[0].Data[1] = 0x67;
send[0].Data[2] = 0x01;
send[0].Data[3] = 0x88;
send[0].Data[4] = 0x88;
send[0].Data[5] = 0xaa;
send[0].Data[6] = 0xaa;
send[0].Data[7] = 0xaa;
}
if(VCI_Transmit(VCI_USBCAN2, 0, 1, send, 1) == 1)
{
}
else
{
printf("STEP[%02x] VCI_Transmit failed!",STEP);
goto SHUTDOWN;
}
usleep(300000);//延时300ms
break;
//step0x91:send key
case 0x91:
//需要发送的帧，结构体设置
send[0].ID= Ecu_DialogId + 8;
send[0].SendType=0;
send[0].RemoteFlag=0;
send[0].ExternFlag=0;
send[0].DataLen=8;
send[0].Data[0] = 0x02;
send[0].Data[1] = 0x67;
send[0].Data[2] = 0x02;
send[0].Data[3] = 0xaa;
send[0].Data[4] = 0xaa;
send[0].Data[5] = 0xaa;
send[0].Data[6] = 0xaa;
send[0].Data[7] = 0xaa;
if(VCI_Transmit(VCI_USBCAN2, 0, 1, send, 1) == 1)
{
}
else
{
printf("STEP[%02x] VCI_Transmit failed!",STEP);
goto SHUTDOWN;
}
usleep(300000);//延时300ms
break;
default:
printf("unknown CAN2 step:%02X\n",CURRENT_STEP);
goto SHUTDOWN;
}
}
}// while end
SHUTDOWN:
m_run0=0;//线程关闭指令。
pthread_join(threadid,NULL);//等待线程关闭。
usleep(100000);//延时100ms。
//VCI_ResetCAN(VCI_USBCAN2, 0, 0);//复位CAN1通道。
usleep(100000);//延时100ms。
//VCI_CloseDevice(VCI_USBCAN2,0);//关闭设备。
//除收发函数外，其它的函数调用前后，最好加个毫秒级的延时，即不影响程序的运行，又可以让USBCAN设备有充分的时间处理指令。
//goto ext;
}代码执行结果：
└─# ./hello_cpp 1800
argc = 0 | argv[0] ./hello_cpp
argc = 1 | argv[1] 1800
Ecu_DialogId = 0x0708
>>this is hello !
>>USBCAN DEVICE NUM:1 PCS
Device:0
>>Get VCI_ReadBoardInfo success!
>>open deivce success!
>>Get VCI_ReadBoardInfo success!
config.AccCode:E2000000
STEP[0X01] enter 03 diagConversation SEND SUCCESS!Index:0000 CAN1 TX ID:0x00000708 data:0x 02 10 03 55 55 55 55 55
[RECV]Index:0001 CAN1 RX ID:0x00000710 Standard Data DLC:0x08 data:0x 06 50 03 00 32 01 F4 AA TimeStamp:0x0033A452
STEP[0X01] 03 diagConversation resp received!
STEP[0X07] ask seed SEND SUCCESS!Index:0002 CAN1 TX ID:0x00000708 data:0x 02 27 01 55 55 55 55 55
[RECV]Index:0003 CAN1 RX ID:0x00000710 Standard Data DLC:0x08 data:0x 04 67 01 88 88 AA AA AA TimeStamp:0x0033BC1C
STEP[0X07] ask seed resp 2 seeds received!
seed is 0x8888
key is 0x8888
STEP[0X71] send key SEND SUCCESS!Index:0004 CAN1 TX ID:0x00000708 data:0x 04 27 02 88 88 55 55 55
[RECV]Index:0005 CAN1 RX ID:0x00000710 Standard Data DLC:0x08 data:0x 02 67 02 AA AA AA AA AA TimeStamp:0x0033DC85
STEP[0X71] send key resp received!
STEP[0X08] enter codeConversationng SEND SUCCESS!Index:0006 CAN1 TX ID:0x00000708 data:0x 02 10 02 55 55 55 55 55
[RECV]Index:0007 CAN1 RX ID:0x00000710 Standard Data DLC:0x08 data:0x 06 50 02 00 32 01 F4 00 TimeStamp:0x0033FC21
STEP[0X08] enter codeConversation resp received!
STEP[0X09] ask seed SEND SUCCESS!Index:0008 CAN1 TX ID:0x00000708 data:0x 02 27 01 55 55 55 55 55
[RECV]Index:0009 CAN1 RX ID:0x00000710 Standard Data DLC:0x08 data:0x 06 67 01 88 88 88 88 AA TimeStamp:0x00341BC1
STEP[0X09] ask seed resp 4 seeds received!
seed is 0x88888888
key is 0x88888888
STEP[0X91] send key SEND SUCCESS!Index:0010 CAN1 TX ID:0x00000708 data:0x 06 27 02 88 88 88 88 55
[RECV]Index:0011 CAN1 RX ID:0x00000710 Standard Data DLC:0x08 data:0x 02 67 02 AA AA AA AA AA TimeStamp:0x00343B93
STEP[0X91] send key resp resp received!
VCI_Receive have found all corresponding ECU response!
test SUCESS!!!
run thread exit3. 总结
这款CAN分析仪性价比不错，功能也够强大，如果你想使用，可以参考本博客试试。
本文章为转载内容，我们尊重原作者对文章享有的著作权。如有内容错误或侵权问题，欢迎原作者联系我们进行内容更正或删除文章。
