Surendar S
f211
Fork of
OBD21121
by 
Surendar S
Diff: main.cpp
- Revision:
- 7:42cb4b01909c
- Parent:
- 6:741524d110fe
- Child:
- 8:cc3cb620c3bd
--- a/main.cpp Mon Feb 27 10:46:09 2017 +0000
+++ b/main.cpp Fri Mar 24 14:16:24 2017 +0000
@@ -1,9 +1,8 @@
#include "mbed.h"
#include "functions.h"
-#include <string.h>
-#define ENGINE_RPM 0x0C
-#define VEHICLE_SPEED 0x0D
+#define ENGINE_RPM 0x0D
+#define VEHICLE_SPEED 13/*0x0D*/
#define PID_REQUEST 0x7DF
#define PID_REPLY 0x7E8
@@ -14,33 +13,58 @@
#define sendDebugMessage 1
#define pushDebugData 1
-const int canSpeeds[3]= {CANSPEED_125,CANSPEED_250,CANSPEED_500};
+const int kLineW1=300;
+const int kLineW2=20;
+const int kLineW3=20;
+const int kLineW4=34;
+const int kLineP1=20;
+const int kLineP2=50;
+const int kLineP3=5000;
+const int kLineP4=14;
+const int canSpeeds[3]= {CANSPEED_125,CANSPEED_500,CANSPEED_250};
+char kLineCmd[6]={'\0','\0','\0','\0','\0','\0'};
+int kLineCommandCount=0;
+
DigitalOut myled(LED2);
-DigitalOut canDriverPowerSave(P0_4);
+DigitalOut canDriverPowerSave(LED1);
InterruptIn canActivity(P0_5);
-RawSerial serialPorts[3] = {RawSerial(P0_26,P0_6),RawSerial(P0_22,P0_23),RawSerial(USBTX,USBRX)};
+RawSerial serialPorts[2] = {RawSerial(P0_22,P0_23),RawSerial(P0_15,P0_14)};
+RawSerial *kLineUART=NULL;//(P0_26,P0_6),
+DigitalOut *klineWakeup=new DigitalOut(P0_26);
+Ticker timeCounter;
+uint8_t calculateChecksum(char *data,int len);
+void sendCommandToVehicle(char *_cmd);
+int findStringLength(char *_cmd);
+void clearOBDCommand();
+int isVehicleCommandProcessing=0;
+void flushBuffer();
+int KlineReadCount=0;
//Serial pc(P0_9,P0_29);
-CAN canBus(P0_24, P0_25);
-AnalogIn batteryVoltage(P0_6);
+CAN canBus(P0_24, P0_27);
+
+//AnalogIn batteryVoltage(P0_6);
//DigitalOut indicatorLEDs[3] = {P0_22,P0_23,P0_6};
-
+DigitalOut kline(P0_1);
//UART Counters
int kLine=0;
int interFace=1;
-int debug=2;
+int debug=1;
int currentOBDProtocol=0;
-const int protkLine=2;
+
const int protCan=1;
+const int protkLine9141=2;
+const int protkLine14230=3;
int canFrequency;
+int cmd;
//LED Counters
-Ticker timeCounter;
+Ticker timeCounter2;
char can_msg[8];
Timer OBDTimer;
@@ -54,6 +78,10 @@
const int incomingDataInOBDSize=256;
CANMessage can_MsgRx;
int incomingDataInOBDCounter=0;
+int emergencyRestart=0;
+
+char *kLineMessage;
+const int kLineMessageSize=8;
//OBD Command data
@@ -62,6 +90,9 @@
int pid;
int ID;
+char kLine9141[] = {0x68, 0x6a, 0xf1, 0x00, 0x00,0x00};
+char kLine14230[] = {0xc2, 0x33, 0xf1, 0x00, 0x00,0x00};
+char fastKLine14230[] = {0xC1, 0x33, 0xF1, 0x81, 0x66};
//Wait Duration for OBD comm
@@ -80,56 +111,79 @@
int lastOBDCmdRcvdTime=0;
int lastInterfaceCmdRcvdTime=0;
-void activityOnCan()
-{
+
+void timeCounterFunction2() {
+
}
void readInterface()
{
char c;
+ serialPorts[debug].puts("iS:");
while(serialPorts[interFace].readable()) {
lastInterfaceCmdRcvdTime=0;
c = serialPorts[interFace].getc();
+
+ serialPorts[debug].putc(c);
+
if(incomingDataInInterFaceCounter<incomingDataInInterFaceSize && c!='\r' && c!='\n') {
incomingDataInInterFace[incomingDataInInterFaceCounter] = c;
}
incomingDataInInterFaceCounter++;
- if(c=='\n') {
+ if(c=='\r') {
interfaceCmdReceived=1;
+ serialPorts[debug].puts("nl\r\n");
+ // emergencyRestart=0;
}
+ /*if(c=='!') {
+ emergencyRestart++;
+ if(emergencyRestart>3) {
+ NVIC_SystemReset();
+ }
+ }*/
}
}
void readKLine()
{
- char c;
+ /*char c;
while(serialPorts[kLine].readable()) {
- lastOBDCmdRcvdTime=0;
c = serialPorts[kLine].getc();
- if(incomingDataInOBDCounter<incomingDataInOBDSize) {
+ if(incomingDataInOBDCounter<incomingDataInOBDSize && c!='\r' && c!='\n') {
incomingDataInOBD[incomingDataInOBDCounter]=c;
+ incomingDataInOBDCounter++;
}
- incomingDataInOBDCounter++;
if(c=='\n') {
- OBDCmdReceived=1;
+ OBDCmdReceived++;
}
+ }*/
+ char c;
+ while(kLineUART->readable()) {
+ c = kLineUART->getc();
+ if(incomingDataInOBDCounter<incomingDataInOBDSize && c!='\r' && c!='\n') {
+ incomingDataInOBD[incomingDataInOBDCounter]=c;
+ incomingDataInOBDCounter++;
+ serialPorts[debug].putc(c);
+ }
+
}
}
-
-
void canReader()
{
if (canBus.read(can_MsgRx)) {
//Setting
lastOBDCmdRcvdTime=0;
-
- if ((can_MsgRx.id == PID_REPLY) && (can_MsgRx.data[2] == ENGINE_RPM)) {
+ //serialPorts[debug].puts("HRHK2");
+ if ((can_MsgRx.id == PID_REPLY) && (can_MsgRx.data[2] == cmd)) {
serialPorts[debug].puts("HRHK");
+ OBDCmdReceived=1;
for (int i = 0; i < (int)can_MsgRx.len; i++) {
serialPorts[debug].printf("%d:%x , ", i, can_MsgRx.data[i]);
+ incomingDataInOBD[incomingDataInOBDCounter]=can_MsgRx.data[i];
+ incomingDataInOBDCounter++;
}
}
}
@@ -139,16 +193,21 @@
{
lastInterfaceCmdRcvdTime++;
lastOBDCmdRcvdTime++;
+ KlineReadCount++;
+ if(currentOBDProtocol==protkLine14230 && KlineReadCount>=3){
+ KlineReadCount=0;
+ if(incomingDataInInterFaceCounter){
+ return;
+ }
+ sendCommandToVehicle("010D");
+ }
//IF timout is over certain amount just shutdown
-
-
}
int main()
{
- serialPorts[debug].puts("f2117\r\n");
-
+ serialPorts[debug].puts("f2119\r\n");
//Initialization
incomingDataInInterFace=(char *)malloc(incomingDataInInterFaceSize*sizeof(char));
incomingDataInOBD=(char *)malloc(incomingDataInOBDSize*sizeof(char));
@@ -157,76 +216,98 @@
clearMemoryLocation(incomingDataInOBD,incomingDataInOBDSize);
- canDriverPowerSave=0;
-
timeCounter.attach(&timeCounterFunction, 1.0);
serialPorts[interFace].attach(&readInterface);
+ serialPorts[interFace].puts("TU211 v1.0\r\n");
+ //checkCommunicationProtocol();
- serialPorts[interFace].puts("ELM327 v1.0\r\n");
while(1) {
- if(!currentOBDProtocol) {
+// canDriverPowerSave=1;
+ if(interfaceCmdReceived && checkForLocalInterfaceCommand()) {
+ clearInterfaceCommand();
+ }
+
+ if(currentOBDProtocol==0 && interfaceCmdReceived) {
#if sendDebugMessage
serialPorts[debug].puts("Going to figure protocol\r\n");
#endif
- serialPorts[kLine].attach(NULL);
canBus.attach(NULL);
serialPorts[interFace].puts("Searching...\r\n");
serialPorts[debug].puts("Searching...\r\n");
checkCommunicationProtocol();
- if(currentOBDProtocol==protkLine) {
- serialPorts[kLine].attach(&readKLine);
- }
- if(currentOBDProtocol==protCan) {
- canBus.attach(&canReader);
- }
- //??Shall we do somehitng when receive a specific commnad
-
- //?? Do this !Unknown only once.
if(!currentOBDProtocol) {
- serialPorts[interFace].puts("!UnknownProtocol\r\n");
#if sendDebugMessage
serialPorts[debug].puts("!Unknownprotocol\r\n");
#endif
//Goto Sleep?
+ } else if(currentOBDProtocol==protCan) {
+#if sendDebugMessage
+ serialPorts[debug].puts("can Protocol\r\n");
+#endif
+ serialPorts[interFace].puts("OK\r\n");
+ canBus.attach(&canReader);
+ } else if(currentOBDProtocol==protkLine14230){
+ //serialPorts[interFace].puts("OK\r\n");
+ //serialPorts[kLine].attach(&readKLine);
+#if sendDebugMessage
+ serialPorts[debug].puts("Kline Protocol\r\n");
+#endif
+ timeCounter2.attach(&timeCounterFunction2, 3.0);
}
}
-
- if(interfaceCmdReceived) {
- checkForLocalInterfaceCommand();
+ if(interfaceCmdReceived && checkForLocalInterfaceCommand()) {
+ serialPorts[debug].puts("Going to clear UART data\r\n");
+ clearInterfaceCommand();
+ serialPorts[debug].puts("UART data cleared\r\n");
}
- if(interfaceCmdReceived) {
- OBDTimer.reset();
- OBDCmdReceived=0;
- sendCommand();
- OBDTimer.start();
- while(OBDTimer.read_ms() < waitTimeForOBDComm) {
- if(OBDCmdReceived) {
- sendResponseToInterface();
- break;
- }
+ if(interfaceCmdReceived && currentOBDProtocol) {
+ serialPorts[debug].puts("Going to process user command\r\n");
+ clearOBDCommand();
+ if(currentOBDProtocol==protCan){
+ processUserCommand();
+ }else if(currentOBDProtocol==protkLine14230){
+ serialPorts[debug].printf("Command Received\r\n");
+ wait_ms(200);
+ while(isVehicleCommandProcessing);
+ flushBuffer();
+ kLineUART->attach(&readKLine);
+ sendCommandToVehicle(incomingDataInInterFace);
+ wait_ms(500);
+ serialPorts[debug].printf("\r\n");
+ kLineUART->attach(NULL);
}
- OBDTimer.stop();
- if(!OBDCmdReceived) {
- serialPorts[interFace].puts("?\r\n");
- }
- OBDCmdReceived=0;
- interfaceCmdReceived=0;
-
- //issueRegularCommands();
+ } else {
+ clearInterfaceCommand();
+ serialPorts[interFace].puts("?\r\n");
+#if sendDebugMessage
+ serialPorts[debug].puts("?\r\n");
+#endif
}
myled=0;
- sleepProcess();
if(lastOBDCmdRcvdTime> powerSaveTime && lastInterfaceCmdRcvdTime> powerSaveTime ) {
powerSaveMode();
+ } else {
+ ///???? suren changes
+ sleepProcess();
}
+ //???? suren changes
+ /*if(interfaceCmdReceived && checkForLocalInterfaceCommand()) {
+ clearInterfaceCommand();
+ }*/
myled=1;
}
}
void checkCommunicationProtocol()
{
+
+ /*canBus.frequency(canSpeeds[2]);
+ setCanMessage("010D");
+ if (canBus.write(CANMessage(PID_REQUEST, can_msg, 8))) {
+ serialPorts[debug].printf("done\r\n");
+ }*/
#if sendDebugMessage
serialPorts[debug].puts("check Communication protocal ENT\r\n");
#endif
@@ -235,12 +316,13 @@
#if sendDebugMessage
serialPorts[debug].puts("CanBusCheck\r\n");
#endif
+ canBus.frequency(canSpeeds[i]);
+ canBus.attach(&canReader);
canBus.reset();
- clearCanMessage();
- canBus.frequency(canSpeeds[i]);
OBDTimer.reset();
OBDTimer.start();
OBDCmdReceived=0;
+ setCanMessage("010D");
if (canBus.write(CANMessage(PID_REQUEST, can_msg, 8))) {
#if sendDebugMessage
serialPorts[debug].printf("OBDTIMER:%d\r\n",OBDTimer.read_ms());
@@ -250,6 +332,8 @@
currentOBDProtocol=protCan;
canFrequency=i;
#if sendDebugMessage
+ serialPorts[debug].puts("OBD ResPonse is : ");
+ serialPorts[debug].puts(incomingDataInOBD);
serialPorts[debug].puts("check Communication protocal SET\r\n");
#endif
return;
@@ -258,8 +342,14 @@
}
wait_ms(200);
i++;
+ canBus.attach(NULL);
} while(i<3);
OBDTimer.stop();
+ if(!currentOBDProtocol){
+ //Kline interface check
+ initializeKLine();
+ }
+
#if sendDebugMessage
serialPorts[debug].puts("check Communication protocal EXT\r\n");
#endif
@@ -271,11 +361,17 @@
base[forCount]='\0';
}
}
-void clearCanMessage()
+void setCanMessage(char* _cmd)
{
+ char _mode[2]="";
+ for(int i=0; i<2; i++) {
+ _mode[i]=_cmd[i];
+ }
+ int mode=strtol(_mode,NULL, 16);
+ cmd=strtol((_cmd+2),NULL, 16);
can_msg[0] = 0x02;
- can_msg[1] = 0x01;
- can_msg[2] = 0;
+ can_msg[1] = mode;
+ can_msg[2] = cmd;
can_msg[3] = 0;
can_msg[4] = 0;
can_msg[5] = 0;
@@ -283,9 +379,32 @@
can_msg[7] = 0;
}
-void sendCommand()
+void processUserCommand()
{
-
+ OBDTimer.reset();
+ setCanMessage(incomingDataInInterFace);
+ OBDTimer.start();
+ OBDCmdReceived=0;
+ if (canBus.write(CANMessage(PID_REQUEST, can_msg, 8))) {
+ while(OBDTimer.read_ms() < waitTimeForOBDComm) {
+ if(OBDCmdReceived) {
+ sendResponseToInterface();
+#if sendDebugMessage
+ serialPorts[debug].puts("OBD ResPonse is : ");
+ serialPorts[debug].puts(incomingDataInOBD);
+ serialPorts[debug].puts("check Communication protocal SET\r\n");
+#endif
+ clearInterfaceCommand();
+ break;
+ }
+ }
+ }
+ OBDTimer.stop();
+ if(!OBDCmdReceived) {
+ clearInterfaceCommand();
+ serialPorts[interFace].puts("?\r\n");
+ }
+ interfaceCmdReceived=0;
}
@@ -301,48 +420,58 @@
wait_ms(50);
}
OBDTimer.stop();
-
}
void powerSaveMode()
{
- //Putting CAn Driver on low power
- //Detect can Activity
- if(currentOBDProtocol==protCan) {
- canDriverPowerSave=1;
- }
-
+ //???? suren changes begin
#if pushDebugData
serialPorts[debug].puts("PowerSaveOn\r\n");
#endif
- //Remove pin allocaitons
-
- //Detect can Activity On Acnbus
- if(currentOBDProtocol==protCan) {
- canActivity.rise(&activityOnCan);
- canActivity.fall(&activityOnCan);
- }
-
-
+ canDriverPowerSave=0;
wait(20);
- if(currentOBDProtocol==protCan) {
- canDriverPowerSave=0;
- }
-
- //Make pin allocaitons
-
- //Detect can Activity On Acnbus
- if(currentOBDProtocol==protCan) {
- canActivity.rise(NULL);
- canActivity.fall(NULL);
- }
-
- lastOBDCmdRcvdTime=0;
- lastInterfaceCmdRcvdTime=0;
-
#if pushDebugData
serialPorts[debug].puts("PowerSaveOff\r\n");
#endif
+//???? suren changes end
+ //Putting CAn Driver on low power
+ //Detect can Activity
+ /* if(currentOBDProtocol==protCan) {
+ canDriverPowerSave=1;
+ }
+
+ #if pushDebugData
+ serialPorts[debug].puts("PowerSaveOn\r\n");
+ #endif
+ //Remove pin allocaitons
+
+ //Detect can Activity On Acnbus
+ if(currentOBDProtocol==protCan) {
+ canActivity.rise(&activityOnCan);
+ canActivity.fall(&activityOnCan);
+ }
+
+
+ wait(20);
+ if(currentOBDProtocol==protCan) {
+ canDriverPowerSave=0;
+ }
+
+ //Make pin allocaitons
+
+ //Detect can Activity On Acnbus
+ if(currentOBDProtocol==protCan) {
+ canActivity.rise(NULL);
+ canActivity.fall(NULL);
+ }
+
+ lastOBDCmdRcvdTime=0;
+ lastInterfaceCmdRcvdTime=0;
+
+ #if pushDebugData
+ serialPorts[debug].puts("PowerSaveOff\r\n");
+ #endif
+ */
}
@@ -368,25 +497,278 @@
return;
}
-void checkForLocalInterfaceCommand()
+int checkForLocalInterfaceCommand()
{
-
- char temp[2]={incomingDataInInterFace[0],incomingDataInInterFace[1]};
- if(strcmp(temp,"AT")!=0){
+ serialPorts[debug].puts("CommandDETECTED\r\n");
+ char temp[2]= {incomingDataInInterFace[0],incomingDataInInterFace[1]};
+ serialPorts[debug].puts(temp);
+ serialPorts[debug].puts(incomingDataInInterFace);
+ if(strcmp(temp,"AT")!=0) {
serialPorts[debug].puts("Not Local Command\r\n");
- return;
+ return 0;
}
- if(strcmp(incomingDataInInterFace,"ATZ")==0){
+ if(strcmp(incomingDataInInterFace,"ATZ")==0) {
NVIC_SystemReset();
}
- if(strcmp(incomingDataInInterFace,"ATRV")==0){
- serialPorts[interFace].puts("Gointoreport bat vol\r\n");
- interfaceCmdReceived=0;
- return;
+ if(strcmp(incomingDataInInterFace,"ATRV")==0) {
+ serialPorts[debug].puts("Gointoreport bat vol\r\n");
+ clearMemoryLocation(incomingDataInInterFace,incomingDataInInterFaceSize);
+ return 1;
}
serialPorts[interFace].puts("?\r\n");
+ return 2;
}
void sendResponseToInterface()
{
+ serialPorts[interFace].puts(incomingDataInOBD);
+ serialPorts[interFace].puts("\r\n");
+}
+
+void clearInterfaceCommand()
+{
+ incomingDataInInterFaceCounter=0;
+ interfaceCmdReceived=0;
+ clearMemoryLocation(incomingDataInInterFace,incomingDataInInterFaceSize);
+}
+
+void clearOBDCommand()
+{
+ clearMemoryLocation(incomingDataInOBD,incomingDataInOBDSize);
+ incomingDataInInterFaceCounter=0;
+ interfaceCmdReceived=0;
+}
+
+int initializeKLine(){
+ *klineWakeup=0;
+ wait_ms(25);
+ *klineWakeup=1;
+ wait_ms(25);
+ delete klineWakeup;
+ kLineUART=new RawSerial(P0_26,P0_6);
+ kLineUART->attach(&readKLine);
+ kLineUART->baud(10400);
+ uint8_t crc=0;
+ crc=crc+0xC1;
+ crc=crc+0x33;
+ crc=crc+0xF1;
+ crc=crc+0x81;
+ kLineUART->putc(0xC1);
+ kLineUART->putc(0x33);
+ kLineUART->putc(0xF1);
+ kLineUART->putc(0x81);
+ kLineUART->putc(crc);
+ wait(1);
+ /////??? have to remove below line
+ kLineUART->attach(NULL);
+ currentOBDProtocol=protkLine14230;
+ return 0;
+ serialPorts[kLine].baud(5);
+ serialPorts[kLine].attach(NULL);
+ kline=0; wait_ms(200); // start
+ kline=1; wait_ms(400); // first two bits
+ kline=0; wait_ms(400); // second pair
+ kline=1; wait_ms(400); // third pair
+ kline=0; wait_ms(400); // last pair
+ clearMemoryLocation(incomingDataInOBD,incomingDataInOBDSize);
+ lastOBDCmdRcvdTime=0;
+ OBDCmdReceived++;
+ serialPorts[kLine].attach(&readKLine); // just attached listener before complete the the first step
+ kline=1; wait_ms(200); // stop b
+ //Use PINMUX to move to serial port
+ //start time count to recevice vehicel data
+ serialPorts[kLine].attach(NULL);
+ /*if (incomingDataInOBD==0x55){
+ serialPorts[kLine].baud(10400);
+ clearMemoryLocation(incomingDataInOBD,incomingDataInOBDSize);
+ lastOBDCmdRcvdTime=0;
+ OBDCmdReceived++;
+ serialPorts[kLine].attach(&readKLine);
+ //start time count to recevice vehicel data
+ //serialPorts[kLine].attach(NULL); //dont want detach it. But we have to reset the variables.
+ lastOBDCmdRcvdTime=0;
+ OBDCmdReceived++;
+ if (incomingDataInOBD==0x08 || incomingDataInOBD==0x94){
+ int firstData=incomingDataInOBD;
+ clearMemoryLocation(incomingDataInOBD,incomingDataInOBDSize);
+ //start time count to recevice vehicel data
+ if (incomingDataInOBD==firstData){
+
+ }
+ }*/
+ OBDTimer.reset();
+ OBDTimer.start();
+ char c;
+ while(OBDTimer.read_ms() < kLineW1){
+ if(serialPorts[kLine].readable()) {
+ c=serialPorts[kLine].getc();
+ }
+ }
+ if(c!=0x55){
+ return 0;
+ }
+ int dataReceived=0;
+ OBDTimer.reset();
+ OBDTimer.start();
+
+ while(OBDTimer.read_ms() < kLineW2){
+ if(serialPorts[kLine].readable()) {
+ c=serialPorts[kLine].getc();
+ dataReceived=1;
+ break;
+
+ }
+ }
+ if(!dataReceived){
+ return 0;
+ }
+ dataReceived=0;
+ char d;
+ OBDTimer.reset();
+ OBDTimer.start();
+
+ while(OBDTimer.read_ms() < kLineW3){
+ if(serialPorts[kLine].readable()) {
+ d=serialPorts[kLine].getc();
+ dataReceived++;
+ break;
+ }
+ }
+ OBDTimer.stop();
+ if(!dataReceived){
+ return 0;
+ }
+ // these two should be identical according to the spec.
+ if(c!=d){
+ return 0;
+ }
+
+ // we obtained w1 and w2, now invert and send it back.
+ // tester waits w4 between 25 and 50 ms:
+ wait_ms(kLineW4);
+ serialPorts[kLine].putc(~c);
+
+ OBDTimer.reset();
+ OBDTimer.start();
+
+ while(OBDTimer.read_ms() < kLineW4){
+ if(serialPorts[kLine].readable()) {
+ d=serialPorts[kLine].getc();
+ dataReceived++;
+ break;
+ }
+ }
+ OBDTimer.stop();
+ if(!dataReceived){
+ return 0;
+ }
+ if(c!=0xCC){
+ return 0;
+ }
+ //Detectig ISO9141 protocol
+ if(c==0x08 || c== 0x96){
+ currentOBDProtocol=protkLine9141;
+
+ }
+ //Detectig ISO14230 protocol
+ if(c==0xef || c== 0x8f){
+ currentOBDProtocol=protkLine14230;
+ }
+
+ return 1;
}
+
+/*int fastInitializeKLine(){
+
+
+}*/
+void writeToKLine(){
+ wait_ms(kLineP4);
+}
+
+int fastInitializeKLine(){
+ kline=0; wait_ms(25); // start
+ kline=1; wait_ms(25); // start
+ serialPorts[kLine].baud(10400);
+
+ for(int k =0;sizeof(fastKLine14230);k++){
+ serialPorts[kLine].putc(fastKLine14230[k]);
+ }
+ return 1;
+}
+void setKLineMsg(char *_cmd){
+ for(int i=3;i<6;i++){
+ kLineCmd[i]='\0';
+ }
+ int len=findStringLength(_cmd)/2;
+ char _mode[2]="";
+ uint8_t crc=0;
+ if(len==1){
+ crc=crc+0xC1;
+ //kLineUART->putc(0xC1);
+ kLineCmd[0]=0xC1;
+ crc=crc+0x33;
+ kLineCmd[1]=(0x33);
+ crc=crc+0xF1;
+ kLineCmd[2]=(0xF1);
+ crc=crc+strtol((_cmd),NULL, 16);
+ kLineCmd[3]=(strtol((_cmd),NULL, 16));
+ kLineCmd[4]=(crc);
+ }else if(len==2){
+ crc=crc+0xC2;
+ kLineCmd[0]=(0xC2);
+ crc=crc+0x33;
+ kLineCmd[1]=(0x33);
+ crc=crc+0xF1;
+ kLineCmd[2]=(0xF1);
+ for(int i=0; i<2; i++) {
+ _mode[i]=_cmd[i];
+ }
+ crc=crc+strtol(_mode,NULL, 16);
+ kLineCmd[3]=(strtol(_mode,NULL, 16));
+ crc=crc+(strtol((_cmd+2),NULL, 16));
+ kLineCmd[4]=(strtol((_cmd+2),NULL, 16));
+ kLineCmd[5]=(crc);
+ }
+}
+void sendCommandToVehicle(char *_cmd){//kLineUART
+ isVehicleCommandProcessing=1;
+// clearMemoryLocation(incomingDataInInterFace,incomingDataInInterFaceSize);
+ setKLineMsg(_cmd);
+ for(kLineCommandCount=0;kLineCommandCount<6;kLineCommandCount++){
+ if(kLineCmd[kLineCommandCount]=='\0'){
+ break;
+ }
+ kLineUART->putc(kLineCmd[kLineCommandCount]);
+ wait_ms(5);
+ }
+ //have to check given and received commands are same.
+ //if it is same we have to read the response else just fush buffer and send the command again
+ ///??? suren code begin
+ wait_ms(500);
+
+ ///??? suren code end
+ clearMemoryLocation(incomingDataInInterFace,incomingDataInInterFaceSize);
+ interfaceCmdReceived=0;
+ incomingDataInInterFaceCounter=0;
+// isUserPortAvailable=1;
+ isVehicleCommandProcessing=0;
+}
+
+
+int findStringLength(char *_cmd){
+ int i=0;
+ for(i=0;_cmd[i]!='\0';++i);
+ return i;
+}
+void flushBuffer(){
+ while(kLineUART->readable()){
+ kLineUART->getc();
+ }
+}
+//byte iso_checksum(byte *data, byte len){
+// byte crc=0;
+// for(byte i=0; i<len; i++)
+// crc=crc+data[i];
+// return crc;
+//}