diff options
| -rw-r--r-- | src/obd2/obd2.c | 84 | ||||
| -rw-r--r-- | src/obd2/obd2.h | 2 | ||||
| -rw-r--r-- | src/obd2/obd2_types.h | 4 | ||||
| -rw-r--r-- | tests/test_core.c | 89 |
4 files changed, 99 insertions, 80 deletions
diff --git a/src/obd2/obd2.c b/src/obd2/obd2.c index 25b00e7c..513c7d71 100644 --- a/src/obd2/obd2.c +++ b/src/obd2/obd2.c @@ -30,9 +30,20 @@ DiagnosticShims diagnostic_init_shims(LogShim log, } static void setup_receive_handle(DiagnosticRequestHandle* handle) { - handle->isotp_receive_handle = isotp_receive(&handle->isotp_shims, - handle->request.arbitration_id + ARBITRATION_ID_OFFSET, - NULL); + if(handle->request.arbitration_id == OBD2_FUNCTIONAL_BROADCAST_ID) { + for(uint16_t response_id = 0; + response_id < OBD2_FUNCTIONAL_RESPONSE_COUNT; ++response_id) { + handle->isotp_receive_handles[response_id] = isotp_receive( + &handle->isotp_shims, OBD2_FUNCTIONAL_RESPONSE_START + response_id, + NULL); + } + handle->isotp_receive_handle_count = OBD2_FUNCTIONAL_RESPONSE_COUNT; + } else { + handle->isotp_receive_handle_count = 1; + handle->isotp_receive_handles[0] = isotp_receive(&handle->isotp_shims, + handle->request.arbitration_id + ARBITRATION_ID_OFFSET, + NULL); + } } @@ -185,43 +196,46 @@ DiagnosticResponse diagnostic_receive_can_frame(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); - 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 { + for(uint8_t i = 0; i < handle->isotp_receive_handle_count; ++i) { + IsoTpMessage message = isotp_continue_receive(&handle->isotp_shims, + &handle->isotp_receive_handles[i], arbitration_id, data, size); + + // TODO as of now we're completing the handle as soon as one + // broadcast response is received....need to hang on for 100ms + 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); + 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 (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); + // TODO just leave handles open until the user decides + // to be done with it - keep a count of valid responses + // received. + } } 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); - setup_receive_handle(handle); + shims->log("Received an empty response on arb ID 0x%x", + response.arbitration_id); } - } else { - shims->log("Received an empty response on arb ID 0x%x", - response.arbitration_id); - } - if(handle->completed && handle->callback != NULL) { - handle->callback(&response); + 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; } diff --git a/src/obd2/obd2.h b/src/obd2/obd2.h index b301138c..bcd6e76b 100644 --- a/src/obd2/obd2.h +++ b/src/obd2/obd2.h @@ -6,6 +6,8 @@ #include <stdbool.h> #define OBD2_FUNCTIONAL_BROADCAST_ID 0x7df +#define OBD2_FUNCTIONAL_RESPONSE_START 0x7e8 +#define OBD2_FUNCTIONAL_RESPONSE_COUNT 8 #ifdef __cplusplus extern "C" { diff --git a/src/obd2/obd2_types.h b/src/obd2/obd2_types.h index 5260fa8e..0699fc4b 100644 --- a/src/obd2/obd2_types.h +++ b/src/obd2/obd2_types.h @@ -12,6 +12,7 @@ extern "C" { // TODO This isn't true for multi frame messages - we may need to dynamically // allocate this in the future #define MAX_OBD2_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 @@ -149,7 +150,8 @@ typedef struct { // Private IsoTpShims isotp_shims; IsoTpSendHandle isotp_send_handle; - IsoTpReceiveHandle isotp_receive_handle; + IsoTpReceiveHandle isotp_receive_handles[MAX_RESPONDING_ECU_COUNT]; + uint8_t isotp_receive_handle_count; DiagnosticResponseReceived callback; // DiagnosticMilStatusReceived mil_status_callback; // DiagnosticVinReceived vin_callback; diff --git a/tests/test_core.c b/tests/test_core.c index be4d1412..182f268b 100644 --- a/tests/test_core.c +++ b/tests/test_core.c @@ -20,7 +20,7 @@ void response_received_handler(const DiagnosticResponse* response) { START_TEST (test_receive_wrong_arb_id) { DiagnosticRequest request = { - arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID, + arbitration_id: 0x100, mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST }; DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, @@ -37,7 +37,7 @@ END_TEST START_TEST (test_send_diag_request_with_payload) { DiagnosticRequest request = { - arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID, + arbitration_id: 0x100, mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST, payload: {0x12, 0x34}, payload_length: 2 @@ -56,7 +56,7 @@ START_TEST (test_send_diag_request_with_payload) } END_TEST -START_TEST (test_send_diag_request) +START_TEST (test_send_functional_request) { DiagnosticRequest request = { arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID, @@ -72,6 +72,41 @@ START_TEST (test_send_diag_request) fail_if(last_response_was_received); const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23}; + for(uint16_t filter = OBD2_FUNCTIONAL_RESPONSE_START; filter < + OBD2_FUNCTIONAL_RESPONSE_START + OBD2_FUNCTIONAL_RESPONSE_COUNT; + filter++) { + DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle, + filter, can_data, sizeof(can_data)); + fail_unless(response.success); + fail_unless(response.completed); + fail_unless(handle.completed); + ck_assert(last_response_received.success); + ck_assert_int_eq(last_response_received.arbitration_id, + filter); + ck_assert_int_eq(last_response_received.mode, request.mode); + ck_assert_int_eq(last_response_received.pid, 0); + ck_assert_int_eq(last_response_received.payload_length, 1); + ck_assert_int_eq(last_response_received.payload[0], can_data[2]); + } +} +END_TEST + +START_TEST (test_send_diag_request) +{ + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: OBD2_MODE_EMISSIONS_DTC_REQUEST + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, + response_received_handler); + + fail_if(handle.completed); + ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); + ck_assert_int_eq(last_can_payload_sent[1], request.mode); + ck_assert_int_eq(last_can_payload_size, 2); + + fail_if(last_response_was_received); + const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23}; DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle, request.arbitration_id + 0x8, can_data, sizeof(can_data)); fail_unless(response.success); @@ -110,7 +145,7 @@ END_TEST START_TEST (test_request_pid_enhanced) { - uint16_t arb_id = OBD2_FUNCTIONAL_BROADCAST_ID; + uint16_t arb_id = 0x100; DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler); @@ -131,7 +166,7 @@ END_TEST START_TEST (test_wrong_mode_response) { - uint16_t arb_id = OBD2_FUNCTIONAL_BROADCAST_ID; + uint16_t arb_id = 0x100; DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler); @@ -146,7 +181,7 @@ END_TEST START_TEST (test_missing_pid) { - uint16_t arb_id = OBD2_FUNCTIONAL_BROADCAST_ID; + uint16_t arb_id = 0x100; DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler); @@ -161,7 +196,7 @@ END_TEST START_TEST (test_wrong_pid_response) { - uint16_t arb_id = OBD2_FUNCTIONAL_BROADCAST_ID; + uint16_t arb_id = 0x100; DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler); @@ -176,7 +211,7 @@ END_TEST START_TEST (test_wrong_pid_then_right_completes) { - uint16_t arb_id = OBD2_FUNCTIONAL_BROADCAST_ID; + uint16_t arb_id = 0x100; DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler); @@ -198,44 +233,10 @@ START_TEST (test_wrong_pid_then_right_completes) } END_TEST -START_TEST (test_handle_completed) -{ - DiagnosticRequest request = { - arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID, - mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST - }; - DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, - response_received_handler); - - fail_if(handle.completed); - - const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23}; - DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle, - request.arbitration_id + 0x8, can_data, sizeof(can_data)); - fail_unless(response.success); - fail_unless(response.completed); - fail_unless(handle.completed); - - response = diagnostic_receive_can_frame(&SHIMS, &handle, - request.arbitration_id + 0x8, can_data, sizeof(can_data)); - fail_if(response.success); - fail_if(response.completed); - fail_unless(handle.completed); - - ck_assert(last_response_received.success); - ck_assert_int_eq(last_response_received.arbitration_id, - request.arbitration_id + 0x8); - ck_assert_int_eq(last_response_received.mode, request.mode); - ck_assert_int_eq(last_response_received.pid, 0); - ck_assert_int_eq(last_response_received.payload_length, 1); - ck_assert_int_eq(last_response_received.payload[0], can_data[2]); -} -END_TEST - START_TEST (test_negative_response) { DiagnosticRequest request = { - arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID, + arbitration_id: 0x100, mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST }; DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, @@ -262,6 +263,7 @@ Suite* testSuite(void) { TCase *tc_core = tcase_create("core"); tcase_add_checked_fixture(tc_core, setup, NULL); tcase_add_test(tc_core, test_send_diag_request); + tcase_add_test(tc_core, test_send_functional_request); tcase_add_test(tc_core, test_send_diag_request_with_payload); tcase_add_test(tc_core, test_receive_wrong_arb_id); tcase_add_test(tc_core, test_request_pid_standard); @@ -270,7 +272,6 @@ Suite* testSuite(void) { tcase_add_test(tc_core, test_wrong_pid_response); tcase_add_test(tc_core, test_missing_pid); tcase_add_test(tc_core, test_wrong_pid_then_right_completes); - tcase_add_test(tc_core, test_handle_completed); tcase_add_test(tc_core, test_negative_response); // TODO these are future work: |