/// <summary>
/// Send a KWP request.
/// </summary>
/// <param name="a_request">A KWP request.</param>
/// <param name="r_reply">A KWP reply.</param>
/// <returns>The status of the request.</returns>
public RequestResult sendRequest(KWPRequest a_request, out KWPReply r_reply)
{
CANMessage msg = new CANMessage(0x7E0, 0, 8);
uint row = nrOfRowsToSend(a_request.getData());
m_kwpCanListener.setupWaitMessage(0x7E8);
// Send one or several request messages.
for (; row > 0; row--)
{
msg.setData(createCanMessage(a_request.getData(), row - 1));
if (!m_canDevice.sendMessage(msg))
{
r_reply = new KWPReply();
return RequestResult.ErrorSending;
}
}
msg = m_kwpCanListener.waitMessage(timeoutPeriod);
// msg = m_kwpCanListener.waitForMessage(0x7E8, timeoutPeriod);
// Receive one or several replys and send an ack for each reply.
if (msg.getID() == 0x7E8)
{
uint nrOfRows = (uint)(msg.getCanData(0) & 0x3F)+ 1;
row = 0;
if (nrOfRows == 0)
throw new Exception("Wrong nr of rows");
//Assume that no KWP reply contains more than 0x200 bytes
byte[] reply = new byte[0x200];
reply = collectReply(reply, msg.getData(), row);
sendAck(nrOfRows - 1);
nrOfRows--;
m_kwpCanListener.setupWaitMessage(0x7E8);
while (nrOfRows > 0)
{
// msg = m_kwpCanListener.waitForMessage(0x7E8, timeoutPeriod);
msg = m_kwpCanListener.waitMessage(timeoutPeriod);
if (msg.getID() == 0x7E8)
{
row++;
reply = collectReply(reply, msg.getData(), row);
sendAck(nrOfRows - 1);
nrOfRows--;
}
else
{
r_reply = new KWPReply();
return RequestResult.Timeout;
}
}
r_reply = new KWPReply(reply, a_request.getNrOfPID());
return RequestResult.NoError;
}
else
{
r_reply = new KWPReply();
return RequestResult.Timeout;
}
}
/// <summary>
/// This method writes to a symbol in RAM.
/// The ECU must not be write protected for this to work.
/// </summary>
/// <param name="a_symbolNumber">Symbol number to write to.</param>
/// <param name="a_data">Data to write.</param>
/// <returns></returns>
public bool writeSymbolRequestAddress(uint a_address, byte[] a_data)
{
LogDataString("writeSymbolRequest: " + a_address.ToString("X8") + "len: " + a_data.Length.ToString("X4"));
KWPReply reply = new KWPReply();
KWPResult result;
byte[] symbolNumberAndData = new byte[4 + a_data.Length];
//symbolNumberAndData[0] = (byte)(a_address >> 24);
symbolNumberAndData[0] = (byte)(a_address >> 16);
symbolNumberAndData[1] = (byte)(a_address >> 8);
symbolNumberAndData[2] = (byte)(a_address);
symbolNumberAndData[3] = (byte)(a_data.Length);
// len len
// adr adr adr
for (int i = 0; i < a_data.Length; i++)
symbolNumberAndData[i + 4] = a_data[i];
//string requestString = "RequestString: ";
//foreach (byte b in symbolNumberAndData)
//{
// requestString += b.ToString("X2") + " ";
//}
//Console.WriteLine(requestString);
// end dump to console
//Console.WriteLine("SymbolNumberAndData length: " + symbolNumberAndData.Length.ToString("X8"));
KWPRequest t_request = new KWPRequest(0x3D, /*0x81, */symbolNumberAndData);
//Console.WriteLine(t_request.ToString());
result = sendRequest(t_request, out reply);
if (result != KWPResult.OK)
{
Console.WriteLine("Result != KWPResult.OK");
return false;
}
// Console.WriteLine("Result = " + reply.getData()[0].ToString("X2"));
//Console.WriteLine("Result-total = " + reply.ToString());
if (reply.getData()[0] == 0x7D)
{
return true;
}
else
{
return false;
}
}
/// <summary>
/// This method writes to a symbol in RAM.
/// The ECU must not be write protected for this to work.
/// </summary>
/// <param name="a_symbolNumber">Symbol number to write to.</param>
/// <param name="a_data">Data to write.</param>
/// <returns></returns>
public bool writeSymbolRequestTest(uint a_symbolNumber, byte[] a_data, int idx)
{
LogDataString("writeSymbolRequest: " + a_symbolNumber.ToString());
KWPReply reply = new KWPReply();
KWPResult result;
int LengthToTx = a_data.Length;
if (LengthToTx > 0x41) LengthToTx = 0x41; // FA
byte[] symbolNumberAndData = new byte[3 + /*a_data.Length*/ LengthToTx];
//First two bytes should be the symbol number
symbolNumberAndData[0] = (byte)(a_symbolNumber >> 8);
symbolNumberAndData[1] = (byte)(a_symbolNumber);
symbolNumberAndData[2] = (byte)(0);
// len len
// adr adr adr
for (int i = 0; i < /*a_data.Length*/ LengthToTx; i++)
symbolNumberAndData[i + 3] = a_data[i];
//string requestString = "RequestString: ";
//foreach (byte b in symbolNumberAndData)
//{
// requestString += b.ToString("X2") + " ";
//}
//Console.WriteLine(requestString);
// end dump to console
//Console.WriteLine("SymbolNumberAndData length: " + symbolNumberAndData.Length.ToString("X8"));
KWPRequest t_request = new KWPRequest(0x3D, 0x80, symbolNumberAndData);
//Console.WriteLine(t_request.ToString());
result = sendRequest(t_request, out reply);
if (result != KWPResult.OK)
{
Console.WriteLine("Result != KWPResult.OK");
return false;
}
//Console.WriteLine("Result = " + reply.getData()[0].ToString("X2"));
if (reply.getData()[0] == 0x7D)
{
return true;
}
else
{
return false;
}
}
public bool ResetECU()
{
LogDataString("ResetECU");
KWPReply reply = new KWPReply();
KWPResult result;
byte[] data = new byte[1];
data[0] = (byte)0x00;
KWPRequest req = new KWPRequest(0x11, 0x01, data);
//Console.WriteLine(req.ToString());
result = sendRequest(req, out reply);
//Console.WriteLine(reply.ToString());
return true;
}
public KWPResult sendEraseMemorySpaceRequest(Int32 StartAddress, Int32 Length)
{
/*02 FLASH memory erasure
1 start address (high byte)
2 start address (middle byte)
3 start address (low byte)
4 stop address (high byte)
5 stop address (middle byte)
6 stop address (low byte)
*/
Int32 StopAddress = StartAddress + Length;
LogDataString("sendEraseRequest");
KWPReply reply = new KWPReply();
KWPReply reply2 = new KWPReply();
KWPResult result = KWPResult.Timeout;
int i = 0;
//First erase message. Up to 5 retries.
//Mode = 0x31
//PID = 0x51
//Expected result is 0x71
byte[] a_data = new byte[6];
int bt = 0;
//a_data[0] = (byte)(StartAddress >> 24);
a_data[bt++] = (byte)(StartAddress >> 16);
a_data[bt++] = (byte)(StartAddress >> 8);
a_data[bt++] = (byte)(StartAddress);
//a_data[4] = (byte)(Length >> 24);
a_data[bt++] = (byte)(StopAddress >> 16);
a_data[bt++] = (byte)(StopAddress >> 8);
a_data[bt++] = (byte)(StopAddress);
requestSequrityAccess(true);
KWPRequest req = new KWPRequest(0x31, 0x50, a_data);
result = sendRequest(req, out reply);
Console.WriteLine("Erase(1) " + reply.ToString());
/*if (result != KWPResult.OK)
return result;
System.Threading.Thread.Sleep(10000);
result = sendRequest(new KWPRequest(0x31, 0x53, a_data), out reply);
Console.WriteLine("Erase(2:" + i.ToString() + ") " + reply.ToString());
*/
if (result != KWPResult.OK)
return result;
result = sendRequest(new KWPRequest(0x3E, 0x50), out reply2); // tester present???
Console.WriteLine("reply on exit " + reply2.ToString());
return result;
}
public bool ReadDTCCodes()
{
LogDataString("ReadDTCCodes");
KWPReply reply = new KWPReply();
KWPResult result;
byte[] data = new byte[2];
data[0] = (byte)0xFF;
data[1] = (byte)0xFF;
//data[2] = (byte)0x00;
KWPRequest req = new KWPRequest(0x18, 0x02/*, data*/);
//Console.WriteLine(req.ToString());
result = sendRequest(req, out reply);
//Console.WriteLine(reply.ToString());
return true;
}
public bool ReadFreezeFrameData(uint frameNumber)
{
LogDataString("ReadFreezeFrameData");
KWPReply reply = new KWPReply();
KWPResult result;
byte[] data = new byte[1];
data[0] = (byte)0x00;
//data[1] = (byte)0x00;
//data[2] = (byte)0x00;
KWPRequest req = new KWPRequest(0x12, Convert.ToByte(frameNumber), data);
//Console.WriteLine(req.ToString());
result = sendRequest(req, out reply);
//Console.WriteLine(reply.ToString());
return true;
}
public bool ClearDTCCode(int dtccode)
{
LogDataString("ClearDTCCode: " + dtccode.ToString("X4"));
KWPReply reply = new KWPReply();
KWPResult result;
byte[] data = new byte[1];
data[0] = (byte)(dtccode & 0x00FF);
//data[1] = (byte)0xFF;
//data[2] = (byte)0x00;
KWPRequest req = new KWPRequest(0x14, (byte)(dtccode >> 8), data);
//Console.WriteLine(req.ToString());
result = sendRequest(req, out reply);
//Console.WriteLine(reply.ToString());
return true;
}
/// <summary>
/// This method sends a KWPRequest and returns a KWPReply.
/// </summary>
/// <param name="a_request">The request.</param>
/// <param name="a_reply">The reply.</param>
/// <returns>KWPResult</returns>
private KWPResult sendRequest(KWPRequest a_request, out KWPReply a_reply, int expectedLength)
{
int _maxSendRetries = 3;
KWPResult _kwpResult = KWPResult.Timeout;
LogDataString("sendRequest");
KWPReply reply = new KWPReply();
RequestResult result;
a_reply = new KWPReply();
//<GS-11012010> was allemaal 1000
int keepAliveTimeout = 1000;
//Console.WriteLine("Checking KWP device open");
if (!m_kwpDevice.isOpen())
return KWPResult.DeviceNotConnected;
// reset the timer for keep alive (set to 1 seconds now)
if (stateTimer == null)
stateTimer = new System.Threading.Timer(sendKeepAlive, new Object(), keepAliveTimeout, keepAliveTimeout);
stateTimer.Change(keepAliveTimeout, keepAliveTimeout);
m_requestMutex.WaitOne();
int _retryCount = 0;
result = RequestResult.Unknown; // <GS-11022010>
while (_retryCount < _maxSendRetries && result != RequestResult.NoError)
{
LogDataString(a_request.ToString());
result = m_kwpDevice.sendRequest(a_request, out reply);
if ((int)reply.getLength() != expectedLength)
{
result = RequestResult.InvalidLength;
}
if (result == RequestResult.NoError)
{
a_reply = reply;
LogDataString(reply.ToString());
LogDataString(""); // empty line
m_requestMutex.ReleaseMutex();
//return KWPResult.OK;
_kwpResult = KWPResult.OK;
}
else
{
LogDataString("Timeout in KWPHandler::sendRequest");
m_requestMutex.ReleaseMutex();
//return KWPResult.Timeout;
_kwpResult = KWPResult.Timeout;
}
}
return _kwpResult;
}
/// <summary>
/// This method sends a KWPRequest and returns a KWPReply.
/// </summary>
/// <param name="a_request">The request.</param>
/// <param name="a_reply">The reply.</param>
/// <returns>KWPResult</returns>
private KWPResult sendRequest(KWPRequest a_request, out KWPReply a_reply)
{
LogDataString("sendRequest");
KWPReply reply = new KWPReply();
RequestResult result;
a_reply = new KWPReply();
//<GS-11012010> was allemaal 1000
int keepAliveTimeout = 1000;
//Console.WriteLine("Checking KWP device open");
if (!m_kwpDevice.isOpen())
return KWPResult.DeviceNotConnected;
// reset the timer for keep alive (set to 1 seconds now)
if (stateTimer == null)
stateTimer = new System.Threading.Timer(sendKeepAlive, new Object(), keepAliveTimeout, keepAliveTimeout);
stateTimer.Change(keepAliveTimeout, keepAliveTimeout);
m_requestMutex.WaitOne();
LogDataString(a_request.ToString());
Console.WriteLine("KWP send request: " + a_request.ToString());
result = m_kwpDevice.sendRequest(a_request, out reply);
a_reply = reply;
if (result == RequestResult.NoError)
{
LogDataString(reply.ToString());
LogDataString(""); // empty line
m_requestMutex.ReleaseMutex();
return KWPResult.OK;
}
else
{
LogDataString("Timeout in KWPHandler::sendRequest: " + result.ToString());
Console.WriteLine("Timeout in KWPHandler::sendRequest: " + result.ToString());
m_requestMutex.ReleaseMutex();
return KWPResult.Timeout;
}
}
/// <summary>
/// Send a request for a sequrity access with one out of two methods to
/// calculate the key.
/// </summary>
/// <param name="a_method">Key calculation method [1,2]</param>
/// <returns>true if sequrity access was granted, otherwise false</returns>
private bool requestSequrityAccessLevel()
{
LogDataString("requestSequrityAccessLevel");
KWPReply reply = new KWPReply();
KWPResult result;
byte[] seed = new byte[2];
byte[] key = new byte[2];
// Send a seed request.
KWPRequest requestForKey = new KWPRequest(0x27, 0x05); // TODO: What is this for T8?
Console.WriteLine("requestSequrityAccessLevel request for key: " + requestForKey.ToString());
result = sendRequest(requestForKey, out reply);
Console.WriteLine("requestSequrityAccessLevel request for key result: " + reply.ToString());
if (result != KWPResult.OK)
return false;
if (reply.getData().Length < 2)
return false;
seed[0] = reply.getData()[0];
seed[1] = reply.getData()[1];
key = calculateKey(seed);
// Send key reply.
KWPRequest sendKeyRequest = new KWPRequest(0x27, 0x06, key);
Console.WriteLine("requestSequrityAccessLevel send Key request: " + sendKeyRequest.ToString());
result = sendRequest(sendKeyRequest, out reply);
Console.WriteLine("requestSequrityAccessLevel send Key reply: " + reply.ToString());
if (result != KWPResult.OK)
{
Console.WriteLine("Security access request was not send");
return false;
}
//Check if sequrity was granted.
Console.WriteLine("Mode: " + reply.getMode().ToString("X2"));
Console.WriteLine("Data: " + reply.getData()[0].ToString("X2"));
if ((reply.getMode() == 0x67) && (reply.getData()[0] == 0x34)) // WAS [0]
{
Console.WriteLine("Security access granted");
return true;
}
Console.WriteLine("Security access was not granted: " + reply.ToString());
return false;
}
/// <summary>
/// This method sends a KWP request and returns a KWPReply. The method returns
/// when a reply has been received, after a failure or after a timeout.
/// The open and startSession methods must be called and returned possitive result
/// before this method is used.
/// </summary>
/// <param name="a_request">The KWPRequest.</param>
/// <param name="r_reply">The reply to the KWPRequest.</param>
/// <returns>RequestResult.</returns>
public RequestResult sendRequest(KWPRequest a_request, out KWPReply r_reply)
{
string sendString = "";
string receiveString = "";
for (int i = 1; i < a_request.getData().Length; i++)
sendString += a_request.getData()[i].ToString("X") + " ";
sendString += "\r";
m_serialPort.Write(sendString);
//receiveString = "49 01 01 00 00 00 31 \n\r49 02 02 44 34 47 50 \n\r49 02 03 30 30 52 35 \n\r49 02 04 25 42";// m_serialPort.ReadTo(">");
receiveString = m_serialPort.ReadTo(">");
char[] chrArray = receiveString.ToCharArray();
byte[] reply = new byte[0xFF];
int insertPos = 1;
int index = 0;
string subString = "";
while(receiveString.Length > 4)
{
//Remove first three bytes
//TODO. Remove Mode and PIDs
for (int i = 0; i < 3; i++)
{
index = receiveString.IndexOf(" ");
receiveString = receiveString.Remove(0, index + 1);
}
//Read data for the rest of the row.
for (int i = 0; i < 4; i++)
{
index = receiveString.IndexOf(" ");
if (index == 0) //Last row not 4 bytes of data.
{
continue;
}
subString = receiveString.Substring(0, index);
reply[insertPos] = (byte)Convert.ToInt16("0x"+subString, 16);
insertPos++;
receiveString = receiveString.Remove(0, index + 1);
}
}
reply[0] = (byte)insertPos; //Length
r_reply = new KWPReply(reply, a_request.getNrOfPID());
return RequestResult.NoError;
}
