diff --git a/Core/CANEmu/canConfig.h b/Core/CANEmu/canConfig.h index 5029772..1871b71 100644 --- a/Core/CANEmu/canConfig.h +++ b/Core/CANEmu/canConfig.h @@ -2,6 +2,7 @@ #define CANCONFIG_H #define CAN_ONLY_EMULATING +//#define CAN_ERROR_WITH_CORRECT_CRC // Настройки GPIO и таймера diff --git a/Core/CANEmu/canWorking.c b/Core/CANEmu/canWorking.c index d36500c..69e4526 100644 --- a/Core/CANEmu/canWorking.c +++ b/Core/CANEmu/canWorking.c @@ -10,7 +10,6 @@ int transmit_prev = 0; void CAN_Init(CANEmu_HandleTypeDef *canemu) { #ifdef CAN_ONLY_EMULATING - CANEmu_SendFrame(canemu); if(canemu->EmuFlag == 0) { CANEmu_Init(canemu, canemu->bitrate_bps); @@ -33,7 +32,7 @@ void CAN_SendFrame(CANEmu_HandleTypeDef *canemu) #ifdef CAN_ONLY_EMULATING CANEmu_SendFrame(canemu); #else - if(canemu->errors.all) + if(canemu->EmuFlag) CANEmu_SendFrame(canemu); else HAL_CAN_AddTxMessage(&hcan, &canemu->header, canemu->data, &mbox); @@ -42,7 +41,6 @@ void CAN_SendFrame(CANEmu_HandleTypeDef *canemu) void CANEmu_Working(CANEmu_HandleTypeDef *canemu) { - if(flag_manual == 0) { canemu->start_poll = MB_DATA.Coils.START_POLLING; diff --git a/Core/CANEmu/canform.c b/Core/CANEmu/canform.c index 9f65dde..1c1a3eb 100644 --- a/Core/CANEmu/canform.c +++ b/Core/CANEmu/canform.c @@ -155,7 +155,19 @@ void form_CAN_bitstream_full(const CAN_TxHeaderTypeDef *header, const uint8_t *d } } } - +#ifdef CAN_ERROR_WITH_CORRECT_CRC + // Ошибки + if (errors.bit.FF_SRS) flip_bit(srr_idx); + if (errors.bit.FF_IDE) flip_bit(ide_idx); + if (errors.bit.FF_RTR) flip_bit(rtr_idx); + if (errors.bit.FF_R1) flip_bit(r1_idx); + if (errors.bit.FF_R0) flip_bit(r0_idx); + if (errors.bit.DATA) flip_bit(data_idx); + // MSGID_ERR — переворачиваем 1-й бит ID (MSB ID[10]) для примера + if (errors.bit.MSGID) flip_bit(id_start); +#endif + + // 5. CRC uint16_t crc = compute_crc15(raw_bits, raw_len); uint32_t crc_start = raw_len; @@ -168,6 +180,7 @@ void form_CAN_bitstream_full(const CAN_TxHeaderTypeDef *header, const uint8_t *d // 6. CRC Delimiter (recessive) append_bit(raw_bits, &raw_len, 1); +#ifndef CAN_ERROR_WITH_CORRECT_CRC // Ошибки if (errors.bit.FF_SRS) flip_bit(srr_idx); if (errors.bit.FF_IDE) flip_bit(ide_idx); @@ -177,6 +190,7 @@ void form_CAN_bitstream_full(const CAN_TxHeaderTypeDef *header, const uint8_t *d if (errors.bit.DATA) flip_bit(data_idx); // MSGID_ERR — переворачиваем 1-й бит ID (MSB ID[10]) для примера if (errors.bit.MSGID) flip_bit(id_start); +#endif // 10. Apply bit stuffing, пропускаем вставку stuff bits если ошибка ERR_STUFF_BITS apply_bit_stuffing_with_error(raw_bits, raw_len, can_bits, &can_bits_len, errors.bit.STUFF_BITS); diff --git a/Core/CANEmu/canform.h b/Core/CANEmu/canform.h index 999cfb0..17956ff 100644 --- a/Core/CANEmu/canform.h +++ b/Core/CANEmu/canform.h @@ -5,6 +5,7 @@ #include #include #include +#include "canConfig.h" typedef union { diff --git a/MDK-ARM/CANEmu.uvguix.I b/MDK-ARM/CANEmu.uvguix.I index 9134779..cce0993 100644 --- a/MDK-ARM/CANEmu.uvguix.I +++ b/MDK-ARM/CANEmu.uvguix.I @@ -83,7 +83,7 @@ 466 Source Browser 500 - 300 + 166 @@ -106,8 +106,8 @@ 2 3 - -32000 - -32000 + -1 + -1 -1 @@ -124,7 +124,7 @@ 0 2211 - 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898 @@ -3616,7 +3616,7 @@ 0 100 - 22 + 24 ..\Core\CANEmu\canEmu.c 38 @@ -3655,9 +3655,9 @@ ../Core/Src/main.c - 12 - 85 - 96 + 0 + 64 + 69 1 0 @@ -3682,9 +3682,9 @@ ..\Core\CANEmu\canform.c - 87 - 153 - 182 + 37 + 156 + 167 1 0 @@ -3754,11 +3754,11 @@ ..\Core\CANEmu\canform.h - 12 - 17 - 18 + 17 + 35 + 4 1 - 26 + 27 0 @@ -3808,18 +3808,18 @@ ../Core/Src/can.c - 5 - 63 - 62 + 19 + 29 + 41 1 0 ..\Core\CANEmu\canWorking.c - 0 - 6 - 30 + 9 + 55 + 84 1 0 @@ -3835,9 +3835,9 @@ ..\Core\CANEmu\canConfig.h - 26 + 2 1 - 4 + 5 1 0 diff --git a/README.md b/README.md new file mode 100644 index 0000000..c65ba7b --- /dev/null +++ b/README.md @@ -0,0 +1,149 @@ +# Устройство эмуляции CAN-ошибок + +Устройство предназначено для генерации CAN-кадров с возможностью намеренного внесения ошибок в различные поля кадра. Это позволяет тестировать устойчивость и обработку ошибок в CAN-сетях, а также проверять поведение принимающих устройств. + +--- + +## Основные возможности + +В папке **can_emul_term** находится терминалка для генерации CAN-кадров + + +В вкладке setup настраивается обмен по Modbus: +- Выбирается COM порт для общения с STM +- Выбирается период опроса Modbus +- Скорость 115200 bps, 1 stop bit, none parity, none flow control + +В вкладке CAN EMULATOR настраивается скорость CAN, период посылок и CAN фрейм. + +Возможности: +- Передача данных по регистрам океана. +- Генерация рандомного ID в CAN-кадре. +- Генерация **стандартных** (11-бит ID) и **расширенных** (29-бит ID) CAN-кадров. +- Передача данных с заданным **битрейтом** (напр. 125 / 250 / 500 / 1000 Кбит/с). +- Возможность **внесения ошибок**: + - Инверсия полей **IDE**, **RTR**, **SRR**, **r1**, **r0**. + - Инверсия одного бита **данных** или **ID**. + - Ошибка **CRC**. + - Отключение **бит-стаффинга** (stuff bits). +- Работа в двух режимах: **одиночный кадр** или **периодическая отправка**. + +--- + + +# Для разработчика +## Структура управления + +Устройство управляется через **Modbus-регистр**, состоящий из: +- **Коилов (флагов)** — включение функций и ошибок. +- **Холдинг-регистров** — задание параметров кадра. + +--- + +### Холдинг-регистры +Настройка параметров CAN: +| Название поля | Адрес | Описание | +|----------------------------|-------|----------| +| `CAN_BITRATE_KBPS` | 0 | Битрейт CAN в Кбит/с | +| `CAN_PERIOD` | 1 | Интервал отправки в мс (если включен `START_POLLING`) | + +Настройка CAN-кадра: +| Название поля | Адрес | Описание | +|----------------------------|-------|----------| +| `CAN_ID_HI` | 2 | Старшая часть CAN ID | +| `CAN_ID_LO` | 3 | Младшая часть CAN ID | +| `CAN_DLC` | 4 | Длина данных (0–8 байт) | +| `CAN_DATA_0` ... `CAN_DATA_7` | 16–23 | Данные для передачи (до 8 байт) | + +На будущее: +| Название поля | Адрес | Описание | +|----------------------------|-------|----------| +| `DATA_UNIX_HI` | 64 | Время в системе UNIX (старшое слово) | +| `DATA_UNIX_LO` | 65 | Время в системе UNIX (младшее слово) | + +### Адреса коилов +Для управления CAN: +| Название поля | Адрес | Описание | +|----------------------------|------------------|----------| +| `START_POLLING` | 0 | Запуск периодической отправки | +| `START_SINGLE_FRAME` | 1 | Однократная отправка кадра | +| `HEADER_IDE` | 2 | Режим кадра: 0 = стандартный, 1 = расширенный | +| `HEADER_RTR` | 3 | Remote Transmission Request (1 = запрос) | + + +Для выставления ошибок: +| Название поля | Адрес | Описание | +|----------------------------|------------------|----------| +| `FLIP_SRS` | 16 | Инвертировать SRR-бит | +| `FLIP_IDE` | 17 | Инвертировать IDE | +| `FLIP_RTR` | 18 | Инвертировать RTR | +| `FLIP_R1` | 19 | Инвертировать r1 | +| `FLIP_R0` | 20 | Инвертировать r0 | +| `FLIP_MSGID_BIT` | 21 | Инвертировать старший бит ID | +| `FLIP_DATA_BIT` | 22 | Инвертировать один бит данных | +| `FLIP_CRC_BIT` | 23 | Инвертировать CRC | +| `DISABLE_STUFF_BITS` | 24 | Отключить вставку stuff-битов | + + +--- + +## Как пользоваться + +### Шаг 1. Настройка параметров кадра +Заполните следующие поля: +- `CAN_BITRATE_KBPS` — битрейт шины (например, 500). +- `CAN_ID_HI`, `CAN_ID_LO` — идентификатор кадра. +- `HEADER_IDE` — выбор типа кадра: + - 0 — стандартный (11 бит). + - 1 — расширенный (29 бит). +- `HEADER_RTR` — тип кадра: + - 0 — data frame. + - 1 — remote request. +- `CAN_DLC` — количество байт данных (0–8). +- `CAN_DATA_0` ... `CAN_DATA_7` — данные кадра. + +### Шаг 2. Включение ошибок (опционально) +Установите нужные флаги в коилах: +- Для инверсии полей (например, IDE, CRC и др.). +- Для отключения бит-стаффинга. + +### Шаг 3. Отправка кадра +Выберите один из вариантов: +- Установите `START_SINGLE_FRAME` в 1 — для однократной отправки кадра. +- Установите `START_POLLING` в 1 — для периодической отправки. + - Задайте интервал через `CAN_PERIOD`. + +> **Примечание:** Если задан слишком маленький `CAN_PERIOD`, он автоматически будет ограничен минимальным значением (`CAN_MIN_PERIOD` в прошивке). + +--- + +## Примеры + +### Пример 1: Стандартный кадр, ID = 0x123, 2 байта данных +``` +CAN_BITRATE_KBPS = 500 +CAN_ID_HI = 0x0000 +CAN_ID_LO = 0x0123 +HEADER_IDE = 0 +HEADER_RTR = 0 +CAN_DLC = 2 +CAN_DATA_0 = 0x11 +CAN_DATA_1 = 0x22 +START_SINGLE_FRAME = 1 +``` + +### Пример 2: Расширенный кадр с ошибкой CRC и отключенным стаффингом +``` +CAN_BITRATE_KBPS = 500 +CAN_ID_HI = 0x001D +CAN_ID_LO = 0xABCD +HEADER_IDE = 1 +HEADER_RTR = 0 +CAN_DLC = 8 +CAN_DATA_0...7 = 0xAA, 0xBB, ... +FLIP_CRC_BIT = 1 +DISABLE_STUFF_BITS = 1 +START_SINGLE_FRAME = 1 +``` + +---