2 #include <bitfield/bitfield.h>
8 #define ARBITRATION_ID_OFFSET 0x8
9 #define MODE_RESPONSE_OFFSET 0x40
10 #define NEGATIVE_RESPONSE_MODE 0x7f
11 #define MAX_DIAGNOSTIC_PAYLOAD_SIZE 6
12 #define MODE_BYTE_INDEX 0
13 #define PID_BYTE_INDEX 1
14 #define NEGATIVE_RESPONSE_MODE_INDEX 1
15 #define NEGATIVE_RESPONSE_NRC_INDEX 2
17 DiagnosticShims diagnostic_init_shims(LogShim log,
18 SendCanMessageShim send_can_message,
19 SetTimerShim set_timer) {
20 DiagnosticShims shims = {
22 send_can_message: send_can_message,
28 DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
29 DiagnosticRequest* request, DiagnosticResponseReceived callback) {
30 DiagnosticRequestHandle handle = {
37 uint8_t payload[MAX_DIAGNOSTIC_PAYLOAD_SIZE];
38 payload[MODE_BYTE_INDEX] = request->mode;
39 if(request->pid_length > 0) {
40 set_bitfield(request->pid, PID_BYTE_INDEX * CHAR_BIT,
41 request->pid_length * CHAR_BIT, payload, sizeof(payload));
43 if(request->payload_length > 0) {
44 memcpy(&payload[PID_BYTE_INDEX + request->pid_length],
45 request->payload, request->payload_length);
48 handle.isotp_shims = isotp_init_shims(shims->log,
49 shims->send_can_message,
52 handle.isotp_send_handle = isotp_send(&handle.isotp_shims,
53 request->arbitration_id, payload,
54 1 + request->payload_length + request->pid_length,
56 if(shims->log != NULL) {
57 shims->log("Sending diagnostic request: arb_id: 0x%02x, mode: 0x%x, pid: 0x%x, payload: 0x%02x%02x%02x%02x%02x%02x%02x%02x, size: %d\r\n",
58 request->arbitration_id,
69 request->payload_length);
72 handle.isotp_receive_handle = isotp_receive(&handle.isotp_shims,
73 request->arbitration_id + ARBITRATION_ID_OFFSET,
76 // TODO notes on multi frame:
77 // TODO what are the timers for exactly?
79 // when sending multi frame, send 1 frame, wait for a response
80 // if it says send all, send all right away
81 // if it says flow control, set the time for the next send
82 // instead of creating a timer with an async callback, add a process_handle
83 // function that's called repeatedly in the main loop - if it's time to
84 // send, we do it. so there's a process_handle_send and receive_can_frame
85 // that are just called continuously from the main loop. it's a waste of a
86 // few cpu cycles but it may be more natural than callbacks.
88 // what woudl a timer callback look like...it would need to pass the handle
89 // and that's all. seems like a context void* would be able to capture all
90 // of the information but arg, memory allocation. look at how it's done in
91 // the other library again
96 DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims,
97 DiagnosticPidRequestType pid_request_type, uint16_t arbitration_id,
98 uint16_t pid, DiagnosticResponseReceived callback) {
99 DiagnosticRequest request = {
100 arbitration_id: arbitration_id,
101 mode: pid_request_type == DIAGNOSTIC_STANDARD_PID ? 0x1 : 0x22,
103 pid_length: pid_request_type == DIAGNOSTIC_STANDARD_PID ? 1 : 2
106 return diagnostic_request(shims, &request, callback);
109 static bool handle_negative_response(IsoTpMessage* message,
110 DiagnosticResponse* response, DiagnosticShims* shims) {
111 bool response_was_negative = false;
112 if(response->mode == NEGATIVE_RESPONSE_MODE) {
113 response_was_negative = true;
114 if(message->size > NEGATIVE_RESPONSE_MODE_INDEX) {
115 response->mode = message->payload[NEGATIVE_RESPONSE_MODE_INDEX];
118 if(message->size > NEGATIVE_RESPONSE_NRC_INDEX) {
119 response->negative_response_code = message->payload[NEGATIVE_RESPONSE_NRC_INDEX];
122 response->success = false;
123 response->completed = true;
125 return response_was_negative;
128 static bool handle_positive_response(DiagnosticRequestHandle* handle,
129 IsoTpMessage* message, DiagnosticResponse* response,
130 DiagnosticShims* shims) {
131 bool response_was_positive = false;
132 if(response->mode == handle->request.mode + MODE_RESPONSE_OFFSET) {
133 response_was_positive = true;
134 // hide the "response" version of the mode from the user
136 response->mode = handle->request.mode;
137 if(handle->request.pid_length > 0 && message->size > 1) {
138 if(handle->request.pid_length == 2) {
139 response->pid = *(uint16_t*)&message->payload[PID_BYTE_INDEX];
140 if(BYTE_ORDER == LITTLE_ENDIAN) {
141 response->pid = __builtin_bswap32(response->pid << 16);
144 response->pid = message->payload[PID_BYTE_INDEX];
148 uint8_t payload_index = 1 + handle->request.pid_length;
149 response->payload_length = message->size - payload_index;
150 if(response->payload_length > 0) {
151 memcpy(response->payload, &message->payload[payload_index],
152 response->payload_length);
154 response->success = true;
155 response->completed = true;
157 return response_was_positive;
160 DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims,
161 DiagnosticRequestHandle* handle, const uint16_t arbitration_id,
162 const uint8_t data[], const uint8_t size) {
164 DiagnosticResponse response = {
165 arbitration_id: arbitration_id,
170 if(!handle->isotp_send_handle.completed) {
171 isotp_continue_send(&handle->isotp_shims,
172 &handle->isotp_send_handle, arbitration_id, data, size);
173 } else if(!handle->isotp_receive_handle.completed) {
174 IsoTpMessage message = isotp_continue_receive(&handle->isotp_shims,
175 &handle->isotp_receive_handle, arbitration_id, data, size);
177 if(message.completed) {
178 if(message.size > 0) {
179 response.mode = message.payload[0];
180 if(handle_negative_response(&message, &response, shims)) {
181 shims->log("Received a negative response to mode %d on arb ID 0x%x",
182 response.mode, response.arbitration_id);
183 handle->success = true;
184 handle->completed = true;
185 } else if(handle_positive_response(handle, &message, &response,
187 shims->log("Received a positive mode %d response on arb ID 0x%x",
188 response.mode, response.arbitration_id);
189 handle->success = true;
190 handle->completed = true;
192 shims->log("Response was for a mode 0x%x request, not our mode 0x%x request",
193 response.mode - MODE_RESPONSE_OFFSET,
194 handle->request.mode);
198 if(handle->completed && handle->callback != NULL) {
199 handle->callback(&response);
204 shims->log("Mode %d request to arb ID 0x%x is already completed",
205 handle->request.mode, handle->request.arbitration_id);