#include <obd2/obd2.h>
+#include <arpa/inet.h>
+#define ARBITRATION_ID_OFFSET 0x8
+#define MODE_RESPONSE_OFFSET 0x40
+#define NEGATIVE_RESPONSE_MODE 0x7f
#define MAX_DIAGNOSTIC_PAYLOAD_SIZE 6
#define MODE_BYTE_INDEX 0
#define PID_BYTE_INDEX 1
+#define NEGATIVE_RESPONSE_MODE_INDEX 1
+#define NEGATIVE_RESPONSE_NRC_INDEX 2
DiagnosticShims diagnostic_init_shims(LogShim log,
SendCanMessageShim send_can_message,
SetTimerShim set_timer) {
DiagnosticShims shims = {
+ log: log,
send_can_message: send_can_message,
- set_timer: set_timer,
- log: log
+ set_timer: set_timer
};
return shims;
}
DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
DiagnosticRequest* request, DiagnosticResponseReceived callback) {
DiagnosticRequestHandle handle = {
- type: DIAGNOSTIC_REQUEST_TYPE_PID,
+ request: *request,
callback: callback,
- status: true
+ success: false,
+ completed: false
};
+
uint8_t payload[MAX_DIAGNOSTIC_PAYLOAD_SIZE];
payload[MODE_BYTE_INDEX] = request->mode;
if(request->pid_length > 0) {
- copy_bytes_right_aligned(request->pid, sizeof(request->pid),
+ copy_bytes_right_aligned(&request->pid, sizeof(request->pid),
PID_BYTE_INDEX, request->pid_length, payload, sizeof(payload));
}
if(request->payload_length > 0) {
- memcpy(payload[PID_BYTE_INDEX + request->pid_length],
+ memcpy(&payload[PID_BYTE_INDEX + request->pid_length],
request->payload, request->payload_length);
}
- IsoTpShims isotp_shims = isotp_init_shims(shims->log,
+ handle.isotp_shims = isotp_init_shims(shims->log,
shims->send_can_message,
shims->set_timer);
- handle.status = isotp_send(&isotp_shims, request->arbitration_id,
- payload, 1 + request->payload_length + request->pid_length,
- diagnostic_receive_isotp_message);
-
- // TODO need to set up an isotp receive handler. in isotp, rx and tx are
- // kind of intermingled at this point. really, there's not explicit link
- // between send and receveice...well except for flow control. hm, damn.
- // so there's 2 things:
- //
- // isotp_send needs to return a handle. if it was a single frame, we
- // probably sent it right away so the status true and the callback was hit.
- // the handle needs another flag to say if it was completed or not, so you
- // know you can destroy it. you will continue to throw can frames at that
- // handler until it returns completed (either with a flag, or maybe
- // receive_can_frame returns true if it's complete)
+ handle.isotp_send_handle = isotp_send(&handle.isotp_shims,
+ request->arbitration_id, payload,
+ 1 + request->payload_length + request->pid_length,
+ NULL);
+
+ handle.isotp_receive_handle = isotp_receive(&handle.isotp_shims,
+ request->arbitration_id + ARBITRATION_ID_OFFSET,
+ NULL);
+
+ // TODO notes on multi frame:
+ // TODO what are the timers for exactly?
//
- // the second thing is that we need to be able to arbitrarly set up to
- // receive an iso-tp message on a particular arb id. again, you keep
- // throwing can frames at it until it returns a handle with the status
- // completed and calls your callback
+ // when sending multi frame, send 1 frame, wait for a response
+ // if it says send all, send all right away
+ // if it says flow control, set the time for the next send
+ // instead of creating a timer with an async callback, add a process_handle
+ // function that's called repeatedly in the main loop - if it's time to
+ // send, we do it. so there's a process_handle_send and receive_can_frame
+ // that are just called continuously from the main loop. it's a waste of a
+ // few cpu cycles but it may be more natural than callbacks.
//
- // so the diagnostic request needs 2 isotp handles and they should both be
- // hidden from the user
+ // what woudl a timer callback look like...it would need to pass the handle
+ // and that's all. seems like a context void* would be able to capture all
+ // of the information but arg, memory allocation. look at how it's done in
+ // the other library again
//
- // when a can frame is received and passes to the diagnostic handle
- // if we haven't successfuly sent the entire message yet, give it to the
- // isottp send handle
- // if we have sent it, give it to the isotp rx handle
- // if we've received properly, mark this request as completed
return handle;
}
DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims,
- DiagnosticPidRequestType pid_request_type, uint16_t pid,
- DiagnosticResponseReceived callback) {
+ DiagnosticPidRequestType pid_request_type, uint16_t arbitration_id,
+ uint16_t pid, DiagnosticResponseReceived callback) {
DiagnosticRequest request = {
+ arbitration_id: arbitration_id,
mode: pid_request_type == DIAGNOSTIC_STANDARD_PID ? 0x1 : 0x22,
- pid: pid
+ pid: pid,
+ pid_length: pid_request_type == DIAGNOSTIC_STANDARD_PID ? 1 : 2
};
return diagnostic_request(shims, &request, callback);
}
-void diagnostic_receive_isotp_message(const IsoTpMessage* message) {
- // TODO
-}
-
-void diagnostic_receive_can_frame(DiagnosticRequestHandle* handle,
- const uint16_t arbitration_id, const uint8_t data[],
- const uint8_t size) {
- isotp_receive_can_frame(handle->isotp_handler, arbitration_id, data, size);
-}
-
-// TODO argh, we're now saying that user code will rx CAN messages, but who does
-// it hand them to? isotp handlers are encapsulated in diagnostic handles
-
-
-
-// TODO everything below here is for future work...not critical for now.
-
-DiagnosticRequestHandle diagnostic_request_malfunction_indicator_status(
- DiagnosticShims* shims,
- DiagnosticMilStatusReceived callback) {
- // TODO request malfunction indicator light (MIL) status - request mode 1
- // pid 1, parse first bit
+static bool handle_negative_response(IsoTpMessage* message,
+ DiagnosticResponse* response, DiagnosticShims* shims) {
+ bool response_was_negative = false;
+ if(response->mode == NEGATIVE_RESPONSE_MODE) {
+ response_was_negative = true;
+ if(message->size > NEGATIVE_RESPONSE_MODE_INDEX) {
+ response->mode = message->payload[NEGATIVE_RESPONSE_MODE_INDEX];
+ }
+
+ if(message->size > NEGATIVE_RESPONSE_NRC_INDEX) {
+ response->negative_response_code = message->payload[NEGATIVE_RESPONSE_NRC_INDEX];
+ }
+
+ response->success = false;
+ response->completed = true;
+ }
+ return response_was_negative;
}
-DiagnosticRequestHandle diagnostic_request_vin(DiagnosticShims* shims,
- DiagnosticVinReceived callback) {
+static bool handle_positive_response(DiagnosticRequestHandle* handle,
+ IsoTpMessage* message, DiagnosticResponse* response,
+ DiagnosticShims* shims) {
+ bool response_was_positive = false;
+ if(response->mode == handle->request.mode + MODE_RESPONSE_OFFSET) {
+ response_was_positive = true;
+ // hide the "response" version of the mode from the user
+ // if it matched
+ response->mode = handle->request.mode;
+ if(handle->request.pid_length > 0 && message->size > 1) {
+ if(handle->request.pid_length == 2) {
+ response->pid = *(uint16_t*)&message->payload[PID_BYTE_INDEX];
+ response->pid = ntohs(response->pid);
+ } else {
+ response->pid = message->payload[PID_BYTE_INDEX];
+ }
+ }
+
+ uint8_t payload_index = 1 + handle->request.pid_length;
+ response->payload_length = message->size - payload_index;
+ if(response->payload_length > 0) {
+ memcpy(response->payload, &message->payload[payload_index],
+ response->payload_length);
+ }
+ response->success = true;
+ response->completed = true;
+ }
+ return response_was_positive;
}
-DiagnosticRequestHandle diagnostic_request_dtc(DiagnosticShims* shims,
- DiagnosticTroubleCodeType dtc_type,
- DiagnosticTroubleCodesReceived callback) {
-}
+DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims,
+ DiagnosticRequestHandle* handle, const uint16_t arbitration_id,
+ const uint8_t data[], const uint8_t size) {
-bool diagnostic_clear_dtc(DiagnosticShims* shims) {
-}
+ DiagnosticResponse response = {
+ arbitration_id: arbitration_id,
+ success: false,
+ completed: false
+ };
-DiagnosticRequestHandle diagnostic_enumerate_pids(DiagnosticShims* shims,
- DiagnosticRequest* request, DiagnosticPidEnumerationReceived callback) {
- // before calling the callback, split up the received bytes into 1 or 2 byte
- // chunks depending on the mode so the final pid list is actual 1 or 2 byte PIDs
- // TODO request supported PIDs - request PID 0 and parse 4 bytes in response
+ if(!handle->isotp_send_handle.completed) {
+ isotp_continue_send(&handle->isotp_shims,
+ &handle->isotp_send_handle, arbitration_id, data, size);
+ } else if(!handle->isotp_receive_handle.completed) {
+ IsoTpMessage message = isotp_continue_receive(&handle->isotp_shims,
+ &handle->isotp_receive_handle, arbitration_id, data, size);
+
+ if(message.completed) {
+ if(message.size > 0) {
+ response.mode = message.payload[0];
+ if(handle_negative_response(&message, &response, shims)) {
+ shims->log("Received a negative response to mode %d on arb ID 0x%x",
+ response.mode, response.arbitration_id);
+
+ // TODO clarify what it means for a handle to be successful (we made
+ // a good request+response) vs a request itself being
+ // successfully
+ // (the other node didn't return a negative response).
+ handle->success = true;
+ handle->completed = true;
+ } else if(handle_positive_response(handle, &message, &response,
+ shims)) {
+ shims->log("Received a positive mode %d response on arb ID 0x%x",
+ response.mode, response.arbitration_id);
+ handle->success = true;
+ handle->completed = true;
+ } else {
+ shims->log("Response was for a mode 0x%x request, not our mode 0x%x request",
+ response.mode - MODE_RESPONSE_OFFSET,
+ handle->request.mode);
+ }
+ }
+
+ if(handle->completed && handle->callback != NULL) {
+ handle->callback(&response);
+ }
+ }
+
+ } else {
+ shims->log("Mode %d request to arb ID 0x%x is already completed",
+ handle->request.mode, handle->request.arbitration_id);
+ }
+ return response;
}
Code Review / apps / low-level-can-service.git / blobdiff