#include <obd2/obd2.h>
+#define MAX_DIAGNOSTIC_PAYLOAD_SIZE 6
+#define MODE_BYTE_INDEX 0
+#define PID_BYTE_INDEX 1
+
DiagnosticShims diagnostic_init_shims(LogShim log,
SendCanMessageShim send_can_message,
SetTimerShim set_timer) {
DiagnosticShims shims = {
- isotp_shims: {
- log: log,
- send_can_message: send_can_message,
- set_timer: set_timer
- },
+ send_can_message: send_can_message,
+ set_timer: set_timer,
log: log
};
return shims;
DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
DiagnosticRequest* request, DiagnosticResponseReceived callback) {
- // TODO hmm, where is message_received coming from? we would need 2 layers
- // of callbacks. if we do it in the obd2 library, we have to have some
- // context passed to that message_received handler so we can then retreive
- // the obd2 callback. there was an option question of if we should pass a
- // context with that callback, and maybe this answers it.
- //
- // alternatively, what if don't hide isotp and allow that to also be
- // injected. the user has the iso_tp message_received callback, and in that
- // they call a message_received handler from obd2.
- //
- // in fact that makes more sense - all the diagnostic_can_frame_received
- // function is going to be able to do is call the equivalent function in the
- // isotp library. it may or may not have a complete ISO-TP message. huh.
DiagnosticRequestHandle handle = {
- // TODO why are teh shims stored as a reference in the isotp handler?
- // it's just 3 pointers
- isotp_handler: isotp_init(&shims->isotp_shims, request->arbitration_id,
- NULL, // TODO need a callback here!
- NULL, NULL),
- type: 0 //DIAGNOSTIC_.... // TODO how would we know the type?
- //does it matter? we were going to have a different callback
+ type: DIAGNOSTIC_REQUEST_TYPE_PID,
+ callback: callback,
+ status: true
};
+ 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),
+ PID_BYTE_INDEX, request->pid_length, payload, sizeof(payload));
+ }
+ if(request->payload_length > 0) {
+ memcpy(payload[PID_BYTE_INDEX + request->pid_length],
+ request->payload, request->payload_length);
+ }
+
+ IsoTpShims 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)
+ //
+ // 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
+ //
+ // so the diagnostic request needs 2 isotp handles and they should both be
+ // hidden from the user
+ //
+ // 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) {
- // decide mode 0x1 / 0x22 based on pid type
DiagnosticRequest request = {
mode: pid_request_type == DIAGNOSTIC_STANDARD_PID ? 0x1 : 0x22,
pid: pid
return diagnostic_request(shims, &request, callback);
}
-void diagnostic_receive_can_frame(DiagnosticRequestHandle* handler,
+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(handler->isotp_handler, arbitration_id, data, 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(
uint16_t arbitration_id;
uint8_t mode;
uint16_t pid;
+ uint8_t pid_length;
uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
uint8_t payload_length;
} DiagnosticRequest;
+// TODO I don't like this, it's hard coding isotp library stuff here
+typedef bool (*SendIsoTpMessageShim)(IsoTpHandler* handler,
+ const uint8_t* payload, uint16_t payload_size);
+
// Thanks to
// http://www.canbushack.com/blog/index.php?title=scanning-for-diagnostic-data&more=1&c=1&tb=1&pb=1
// for the list of NRCs
// compare an incoming CAN message to see if it matches the service / PID!
// TODO i'm not sure this type/callback in here is too useful - see the
// comments in obd2.c:diagnostic_request
+
DiagnosticRequestType type;
DiagnosticResponseReceived callback;
DiagnosticMilStatusReceived mil_status_callback;
} DiagnosticPidRequestType;
typedef struct {
- IsoTpShims isotp_shims;
+ SetTimerShim set_timer;
+ SendCanMessageShim send_can_message;
LogShim log;
} DiagnosticShims;
DiagnosticRequestHandle diagnostic_enumerate_pids(DiagnosticShims* shims,
DiagnosticRequest* request, DiagnosticPidEnumerationReceived callback);
+// TODO
+// void diagnostic_receive_isotp_message(DiagnosticRequestHandle* handle,
+ // const IsoTpMessage* message);
+void diagnostic_receive_isotp_message(const IsoTpMessage* message);
+
void diagnostic_receive_can_frame(DiagnosticRequestHandle* handle,
const uint16_t arbitration_id, const uint8_t data[],
const uint8_t size);
Code Review / apps / low-level-can-service.git / commitdiff