X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;ds=inline;f=src%2Fobd2%2Fobd2.c;h=0590c1b1f1bf0554b6cc4ff7491a453443f18979;hb=695e488b19d3b6884ccd7ca1010c8180484ccceb;hp=7188af0d73898acb59b30546ed7a927a7255f334;hpb=7a5e3a7037170aacc3f3438f1267c635358d91a8;p=apps%2Flow-level-can-service.git diff --git a/src/obd2/obd2.c b/src/obd2/obd2.c index 7188af0..0590c1b 100644 --- a/src/obd2/obd2.c +++ b/src/obd2/obd2.c @@ -1,16 +1,22 @@ #include +#include +#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; } @@ -18,19 +24,20 @@ DiagnosticShims diagnostic_init_shims(LogShim log, DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims, DiagnosticRequest* request, DiagnosticResponseReceived callback) { DiagnosticRequestHandle handle = { - type: DIAGNOSTIC_REQUEST_TYPE_PID, + request: *request, callback: callback, 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); } @@ -40,58 +47,14 @@ DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims, handle.isotp_send_handle = isotp_send(&handle.isotp_shims, request->arbitration_id, payload, 1 + request->payload_length + request->pid_length, - // TODO is this ok to pass null here? NULL); handle.isotp_receive_handle = isotp_receive(&handle.isotp_shims, - // TODO need to either always add 0x8 or let the user specify - request->arbitration_id + 0x8, - // TODO this callback is mostly useful for debugging stuff as it - // doesn't have the internal state we need to complete the - // diagnositc request - can we pass NULL or will that 'splode? + request->arbitration_id + ARBITRATION_ID_OFFSET, NULL); - // 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 - // how do you get the result? we have it set up for callbacks but that's - // getting to be kind of awkward - // - // say it were to call a callback...what state would it need to pass? - // - // the iso-tp message received callback needs to pass the handle and the - // received message - // - // so in the obd2 library, we get a callback with an isotp message. how do - // we know what diag request i went with, and which diag callback to use? we - // could store context with the isotp handle. the problem is that context is - // self referential and on the stack, so we really can't get a pointer to - // it. - // - // the diagnostic response received callback needs to pass the diagnostic - // handle and the diag response - // - // let's say we simplify things and drop the callbacks. - // - // isotp_receive_can_frame returns an isotp handle with a complete message - // in it if one was received - // - // diagnostic_receive_can_frame returns a diaghandle if one was received - // - // so in the user code you would throw the can frame at each of your active - // diag handles and see if any return a completed message. - // - // is there any advantage to a callback approach? callbacks are useful when - // you have something that will block, bt we don't have anything that will - // block. it's async but we return immediately from each partial parsing - // attempt. - // - // argh, but will we need the callbacks when we add timers for isotp multi - // frame? - // - // what are the timers for exactly? + // TODO notes on multi frame: + // TODO what are the timers for exactly? // // when sending multi frame, send 1 frame, wait for a response // if it says send all, send all right away @@ -111,62 +74,118 @@ DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims, } 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); } -DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims, - DiagnosticRequestHandle* handle, - const uint16_t arbitration_id, const uint8_t data[], - const uint8_t size) { - if(!handle->isotp_send_handle.completed) { - } else if(!handle->isotp_receive_handle.completed) { - } else { - shims->log("Handle is already completed"); - } - // TODO determine which isotp handler to pass it to based on our state - IsoTpMessage message = isotp_receive_can_frame(&handle->isotp_shims, - &handle->isotp_send_handle, arbitration_id, data, size); - - DiagnosticResponse response = { - success: false, - completed: false - }; - - if(message.completed) { +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; } -// 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_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_vin(DiagnosticShims* shims, - DiagnosticVinReceived callback) { -} +DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims, + DiagnosticRequestHandle* handle, const uint16_t arbitration_id, + const uint8_t data[], const uint8_t size) { -DiagnosticRequestHandle diagnostic_request_dtc(DiagnosticShims* shims, - DiagnosticTroubleCodeType dtc_type, - DiagnosticTroubleCodesReceived callback) { -} + DiagnosticResponse response = { + arbitration_id: arbitration_id, + success: false, + completed: false + }; -bool diagnostic_clear_dtc(DiagnosticShims* shims) { -} + 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); + } + } -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 + } else { + shims->log("Mode %d request to arb ID 0x%x is already completed", + handle->request.mode, handle->request.arbitration_id); + } + return response; }