static void setup_receive_handle(DiagnosticRequestHandle* handle) {
if(handle->request.arbitration_id == OBD2_FUNCTIONAL_BROADCAST_ID) {
- uint16_t response_id;
+ uint32_t response_id;
for(response_id = 0;
response_id < OBD2_FUNCTIONAL_RESPONSE_COUNT; ++response_id) {
handle->isotp_receive_handles[response_id] = isotp_receive(
return pid_length;
}
-DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
+static void send_diagnostic_request(DiagnosticShims* shims,
+ DiagnosticRequestHandle* handle) {
+ uint8_t payload[MAX_DIAGNOSTIC_PAYLOAD_SIZE] = {0};
+ payload[MODE_BYTE_INDEX] = handle->request.mode;
+ if(handle->request.has_pid) {
+ handle->request.pid_length = autoset_pid_length(handle->request.mode,
+ handle->request.pid, handle->request.pid_length);
+ handle->request.pid_length = handle->request.pid_length;
+ set_bitfield(handle->request.pid, PID_BYTE_INDEX * CHAR_BIT,
+ handle->request.pid_length * CHAR_BIT, payload,
+ sizeof(payload));
+ }
+
+ if(handle->request.payload_length > 0) {
+ memcpy(&payload[PID_BYTE_INDEX + handle->request.pid_length],
+ handle->request.payload, handle->request.payload_length);
+ }
+
+ handle->isotp_send_handle = isotp_send(&handle->isotp_shims,
+ handle->request.arbitration_id, payload,
+ 1 + handle->request.payload_length + handle->request.pid_length,
+ NULL);
+ if(shims->log != NULL) {
+ char request_string[128] = {0};
+ diagnostic_request_to_string(&handle->request, request_string,
+ sizeof(request_string));
+ shims->log("Sending diagnostic request: %s", request_string);
+ }
+}
+
+void start_diagnostic_request(DiagnosticShims* shims,
+ DiagnosticRequestHandle* handle) {
+ handle->success = false;
+ handle->completed = false;
+ send_diagnostic_request(shims, handle);
+ setup_receive_handle(handle);
+}
+
+DiagnosticRequestHandle generate_diagnostic_request(DiagnosticShims* shims,
DiagnosticRequest* request, DiagnosticResponseReceived callback) {
DiagnosticRequestHandle handle = {
request: *request,
completed: false
};
- uint8_t payload[MAX_DIAGNOSTIC_PAYLOAD_SIZE] = {0};
- payload[MODE_BYTE_INDEX] = request->mode;
- if(request->has_pid) {
- request->pid_length = autoset_pid_length(request->mode,
- request->pid, request->pid_length);
- handle.request.pid_length = request->pid_length;
- set_bitfield(request->pid, PID_BYTE_INDEX * CHAR_BIT,
- request->pid_length * CHAR_BIT, payload, sizeof(payload));
- }
- if(request->payload_length > 0) {
- memcpy(&payload[PID_BYTE_INDEX + request->pid_length],
- request->payload, request->payload_length);
- }
-
handle.isotp_shims = isotp_init_shims(shims->log,
shims->send_can_message,
shims->set_timer);
handle.isotp_shims.frame_padding = !request->no_frame_padding;
- handle.isotp_send_handle = isotp_send(&handle.isotp_shims,
- request->arbitration_id, payload,
- 1 + request->payload_length + request->pid_length,
- NULL);
- if(shims->log != NULL) {
- shims->log("Sending diagnostic request: arb_id: 0x%02x, mode: 0x%x, pid: 0x%x, payload: 0x%02x%02x%02x%02x%02x%02x%02x, size: %d\r\n",
- request->arbitration_id,
- request->mode,
- request->pid,
- request->payload[0],
- request->payload[1],
- request->payload[2],
- request->payload[3],
- request->payload[4],
- request->payload[5],
- request->payload[6],
- request->payload_length);
- }
-
- setup_receive_handle(&handle);
-
+ return handle;
// TODO notes on multi frame:
// TODO what are the timers for exactly?
//
// of the information but arg, memory allocation. look at how it's done in
// the other library again
//
+}
+
+DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
+ DiagnosticRequest* request, DiagnosticResponseReceived callback) {
+ DiagnosticRequestHandle handle = generate_diagnostic_request(
+ shims, request, callback);
+ start_diagnostic_request(shims, &handle);
return handle;
}
DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims,
- DiagnosticPidRequestType pid_request_type, uint16_t arbitration_id,
+ DiagnosticPidRequestType pid_request_type, uint32_t arbitration_id,
uint16_t pid, DiagnosticResponseReceived callback) {
DiagnosticRequest request = {
arbitration_id: arbitration_id,
}
- uint8_t payload_index = 1 + handle->request.pid_length;
- response->payload_length = MAX(0, message->size - payload_index);
- if(response->payload_length > 0) {
- memcpy(response->payload, &message->payload[payload_index],
- response->payload_length);
- }
-
if((!handle->request.has_pid && !response->has_pid)
|| response->pid == handle->request.pid) {
response->success = true;
response->completed = true;
+
+ uint8_t payload_index = 1 + handle->request.pid_length;
+ response->payload_length = MAX(0, message->size - payload_index);
+ if(response->payload_length > 0) {
+ memcpy(response->payload, &message->payload[payload_index],
+ response->payload_length);
+ }
} else {
response_was_positive = false;
}
}
DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims,
- DiagnosticRequestHandle* handle, const uint16_t arbitration_id,
+ DiagnosticRequestHandle* handle, const uint32_t arbitration_id,
const uint8_t data[], const uint8_t size) {
DiagnosticResponse response = {
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 0x%x on arb ID 0x%x",
- response.mode, response.arbitration_id);
- handle->success = true;
- handle->completed = true;
- } else if(handle_positive_response(handle, &message,
+ if(handle_negative_response(&message, &response, shims) ||
+ handle_positive_response(handle, &message,
&response, shims)) {
- shims->log("Received a positive mode 0x%x response on arb ID 0x%x",
- response.mode, response.arbitration_id);
+ if(shims->log != NULL) {
+ char response_string[128] = {0};
+ diagnostic_response_to_string(&response,
+ response_string, sizeof(response_string));
+ shims->log("Diagnostic response received: %s",
+ response_string);
+ }
+
handle->success = true;
handle->completed = true;
- } else {
- shims->log("Response was for a mode 0x%x request (pid 0x%x), not our mode 0x%x request (pid 0x%x)",
- MAX(0, response.mode - MODE_RESPONSE_OFFSET),
- response.pid, handle->request.mode,
- handle->request.pid);
}
} else {
- shims->log("Received an empty response on arb ID 0x%x",
- response.arbitration_id);
+ if(shims->log != NULL) {
+ shims->log("Received an empty response on arb ID 0x%x",
+ response.arbitration_id);
+ }
}
if(handle->completed && handle->callback != NULL) {
response->payload_length * CHAR_BIT);
}
-float diagnostic_decode_obd2_pid(const DiagnosticResponse* response,
- int parsed_payload) {
+float diagnostic_decode_obd2_pid(const DiagnosticResponse* response) {
// handles on the single number values, not the bit encoded ones
switch(response->pid) {
case 0xa:
return 0;
}
}
+
+void diagnostic_response_to_string(const DiagnosticResponse* response,
+ char* destination, size_t destination_length) {
+ int bytes_used = snprintf(destination, destination_length,
+ "arb_id: 0x%02x, mode: 0x%x, ",
+ response->arbitration_id,
+ response->mode);
+
+ if(response->has_pid) {
+ bytes_used += snprintf(destination + bytes_used,
+ destination_length - bytes_used,
+ "pid: 0x%x, ",
+ response->pid);
+ }
+
+ if(!response->success) {
+ bytes_used += snprintf(destination + bytes_used,
+ destination_length - bytes_used,
+ "nrc: 0x%x, ",
+ response->negative_response_code);
+ }
+
+ if(response->payload_length > 0) {
+ snprintf(destination + bytes_used, destination_length - bytes_used,
+ "payload: 0x%02x%02x%02x%02x%02x%02x%02x",
+ response->payload[0],
+ response->payload[1],
+ response->payload[2],
+ response->payload[3],
+ response->payload[4],
+ response->payload[5],
+ response->payload[6]);
+ } else {
+ snprintf(destination + bytes_used, destination_length - bytes_used,
+ "no payload");
+ }
+}
+
+void diagnostic_request_to_string(const DiagnosticRequest* request,
+ char* destination, size_t destination_length) {
+ int bytes_used = snprintf(destination, destination_length,
+ "arb_id: 0x%02x, mode: 0x%x, ",
+ request->arbitration_id,
+ request->mode);
+
+ if(request->has_pid) {
+ bytes_used += snprintf(destination + bytes_used,
+ destination_length - bytes_used,
+ "pid: 0x%x, ",
+ request->pid);
+ }
+
+ int remaining_space = destination_length - bytes_used;
+ if(request->payload_length > 0) {
+ snprintf(destination + bytes_used, remaining_space,
+ "payload: 0x%02x%02x%02x%02x%02x%02x%02x",
+ request->payload[0],
+ request->payload[1],
+ request->payload[2],
+ request->payload[3],
+ request->payload[4],
+ request->payload[5],
+ request->payload[6]);
+ } else {
+ snprintf(destination + bytes_used, remaining_space, "no payload");
+ }
+}
+
+bool diagnostic_request_equals(const DiagnosticRequest* ours,
+ const DiagnosticRequest* theirs) {
+ bool equals = ours->arbitration_id == theirs->arbitration_id &&
+ ours->mode == theirs->mode;
+ equals &= ours->has_pid == theirs->has_pid;
+ equals &= ours->pid == theirs->pid;
+ return equals;
+}
Code Review / apps / low-level-can-service.git / blobdiff