X-Git-Url: https://gerrit.automotivelinux.org/gerrit/gitweb?a=blobdiff_plain;f=libs%2Fuds-c%2Fsrc%2Fuds%2Fuds_types.h;fp=libs%2Fuds-c%2Fsrc%2Fuds%2Fuds_types.h;h=4ebc150c09c19176d37122602349892a956b4e52;hb=32e25cbca210a359b09768537b6f443fe90a3070;hp=0000000000000000000000000000000000000000;hpb=76c43dec62b2e21cd6446360c00d4fe6b437533f;p=apps%2Flow-level-can-service.git diff --git a/libs/uds-c/src/uds/uds_types.h b/libs/uds-c/src/uds/uds_types.h new file mode 100644 index 0000000..4ebc150 --- /dev/null +++ b/libs/uds-c/src/uds/uds_types.h @@ -0,0 +1,200 @@ +#ifndef __UDS_TYPES_H__ +#define __UDS_TYPES_H__ + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +// TODO This still doesn't have enough space for the largest possible +// multiframe response. May need to dynamically allocate in the future. +#define MAX_UDS_RESPONSE_PAYLOAD_LENGTH 127 +#define MAX_UDS_REQUEST_PAYLOAD_LENGTH 7 +#define MAX_RESPONDING_ECU_COUNT 8 +#define VIN_LENGTH 17 + +/* Private: The four main types of diagnositc requests that determine how the + * request should be parsed and what type of callback should be used. + * + * TODO this may not be used...yet? + */ +typedef enum { + DIAGNOSTIC_REQUEST_TYPE_PID, + DIAGNOSTIC_REQUEST_TYPE_DTC, + DIAGNOSTIC_REQUEST_TYPE_MIL_STATUS, + DIAGNOSTIC_REQUEST_TYPE_VIN +} DiagnosticRequestType; + +/* Public: A container for a single diagnostic request. + * + * The only required fields are the arbitration_id and mode. + * + * arbitration_id - The arbitration ID to send the request. + * mode - The OBD-II mode for the request. + * has_pid - (optional) If the requests uses a PID, this should be true. + * pid - (optional) The PID to request, if the mode requires one. has_pid must + * be true. + * pid_length - The length of the PID field, either 1 (standard) or 2 bytes + * (extended). If 0, it will be set automatically based on the request + * mode. + * payload - (optional) The payload for the request, if the request requires + * one. If payload_length is 0 this field is ignored. + * payload_length - The length of the payload, or 0 if no payload is used. + * no_frame_padding - false if sent CAN payloads should *not* be padded out to a + * full 8 byte CAN frame. Many ECUs require this, but others require the + * size of the CAN message to only be the actual data. By default padding + * is enabled (so this struct value can default to 0). + * type - the type of the request (TODO unused) + */ +typedef struct { + uint32_t arbitration_id; + uint8_t mode; + bool has_pid; + uint16_t pid; + uint8_t pid_length; + uint8_t payload[MAX_UDS_REQUEST_PAYLOAD_LENGTH]; + uint8_t payload_length; + bool no_frame_padding; + DiagnosticRequestType type; +} DiagnosticRequest; + +/* Public: All possible negative response codes that could be received from a + * requested node. + * + * When a DiagnosticResponse is received and the 'completed' field is true, but + * the 'success' field is false, the 'negative_response_code' field will contain + * one of these values as reported by the requested node. + * + * Thanks to canbushack.com for the list of NRCs. + */ +typedef enum { + NRC_SUCCESS = 0x0, + NRC_SERVICE_NOT_SUPPORTED = 0x11, + NRC_SUB_FUNCTION_NOT_SUPPORTED = 0x12, + NRC_INCORRECT_LENGTH_OR_FORMAT = 0x13, + NRC_CONDITIONS_NOT_CORRECT = 0x22, + NRC_REQUEST_OUT_OF_RANGE = 0x31, + NRC_SECURITY_ACCESS_DENIED = 0x33, + NRC_INVALID_KEY = 0x35, + NRC_TOO_MANY_ATTEMPS = 0x36, + NRC_TIME_DELAY_NOT_EXPIRED = 0x37, + NRC_RESPONSE_PENDING = 0x78 +} DiagnosticNegativeResponseCode; + +/* Public: A partially or fully completed response to a diagnostic request. + * + * completed - True if the request is complete - some functions return a + * DiagnosticResponse even when it's only partially completed, so be sure + * to check this field. + * success - True if the request was successful. The value if this + * field isn't valid if 'completed' isn't true. If this is 'false', check + * the negative_response_code field for the reason. + * arbitration_id - The arbitration ID the response was received on. + * multi_frame - True if this response (whether completed or not) required + * multi-frame CAN support. Can be used for updating time-out functions. + * mode - The OBD-II mode for the original request. + * has_pid - If this is a response to a PID request, this will be true and the + * 'pid' field will be valid. + * pid - If the request was for a PID, this is the PID echo. Only valid if + * 'has_pid' is true. + * negative_response_code - If the request was not successful, 'success' will be + * false and this will be set to a DiagnosticNegativeResponseCode returned + * by the other node. + * payload - An optional payload for the response - NULL if no payload. + * payload_length - The length of the payload or 0 if none. + */ +typedef struct { + bool completed; + bool success; + bool multi_frame; + uint32_t arbitration_id; + uint8_t mode; + bool has_pid; + uint16_t pid; + DiagnosticNegativeResponseCode negative_response_code; + uint8_t payload[MAX_UDS_RESPONSE_PAYLOAD_LENGTH]; + uint8_t payload_length; +} DiagnosticResponse; + +/* Public: Friendly names for all OBD-II modes. + */ +typedef enum { + OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST = 0x1, + OBD2_MODE_POWERTRAIN_FREEZE_FRAME_REQUEST = 0x2, + OBD2_MODE_EMISSIONS_DTC_REQUEST = 0x3, + OBD2_MODE_EMISSIONS_DTC_CLEAR = 0x4, + // 0x5 is for non-CAN only + // OBD2_MODE_OXYGEN_SENSOR_TEST = 0x5, + OBD2_MODE_TEST_RESULTS = 0x6, + OBD2_MODE_DRIVE_CYCLE_DTC_REQUEST = 0x7, + OBD2_MODE_CONTROL = 0x8, + OBD2_MODE_VEHICLE_INFORMATION = 0x9, + OBD2_MODE_PERMANENT_DTC_REQUEST = 0xa, + // this one isn't technically in uds, but both of the enhanced standards + // have their PID requests at 0x22 + OBD2_MODE_ENHANCED_DIAGNOSTIC_REQUEST = 0x22 +} DiagnosticMode; + +/* Public: The signature for an optional function to be called when a diagnostic + * request is complete, and a response is received or there is a fatal error. + * + * response - the completed DiagnosticResponse. + */ +typedef void (*DiagnosticResponseReceived)(const DiagnosticResponse* response); + +/* Public: A handle for initiating and continuing a single diagnostic request. + * + * A diagnostic request requires one or more CAN messages to be sent, and one + * or more CAN messages to be received before it is completed. This struct + * encapsulates the local state required to track the request while it is in + * progress. + * + * request - The original DiagnosticRequest that this handle was created for. + * completed - True if the request was completed successfully, or was otherwise + * cancelled. + * success - True if the request send and receive process was successful. The + * value if this field isn't valid if 'completed' isn't true. + */ +typedef struct { + DiagnosticRequest request; + bool success; + bool completed; + + // Private + IsoTpShims isotp_shims; + IsoTpSendHandle isotp_send_handle; + IsoTpReceiveHandle isotp_receive_handles[MAX_RESPONDING_ECU_COUNT]; + uint8_t isotp_receive_handle_count; + DiagnosticResponseReceived callback; + // DiagnosticMilStatusReceived mil_status_callback; + // DiagnosticVinReceived vin_callback; +} DiagnosticRequestHandle; + +/* Public: The two major types of PIDs that determine the OBD-II mode and PID + * field length. + */ +typedef enum { + DIAGNOSTIC_STANDARD_PID, + DIAGNOSTIC_ENHANCED_PID +} DiagnosticPidRequestType; + +/* Public: A container for the 3 shim functions used by the library to interact + * with the wider system. + * + * Use the diagnostic_init_shims(...) function to create an instance of this + * struct. + */ +typedef struct { + LogShim log; + SendCanMessageShim send_can_message; + SetTimerShim set_timer; +} DiagnosticShims; + +#ifdef __cplusplus +} +#endif + +#endif // __UDS_TYPES_H__