diff options
| -rw-r--r-- | CHANGELOG.mkd | 4 | ||||
| m--------- | deps/isotp-c | 6 | ||||
| -rw-r--r-- | src/uds/uds.c | 7 | ||||
| -rw-r--r-- | src/uds/uds_types.h | 14 | ||||
| -rw-r--r-- | tests/test_core.c | 98 |
5 files changed, 103 insertions, 26 deletions
diff --git a/CHANGELOG.mkd b/CHANGELOG.mkd index edf7f7d5..96eaa178 100644 --- a/CHANGELOG.mkd +++ b/CHANGELOG.mkd @@ -1,5 +1,9 @@ # OBD-II Support Library in C +## v0.2 + +* Add support for multi-frame diagnostic responses. + ## v0.1 * Initial release diff --git a/deps/isotp-c b/deps/isotp-c -Subproject a8f4bf42ee73ede0d2d3ddaf6c312c756c042a6 +Subproject 64fdcc7381a20c992d44c424e7c9677a19f2248 diff --git a/src/uds/uds.c b/src/uds/uds.c index 636bbfca..0114384d 100644 --- a/src/uds/uds.c +++ b/src/uds/uds.c @@ -53,7 +53,9 @@ static void setup_receive_handle(DiagnosticRequestHandle* handle) { static uint16_t autoset_pid_length(uint8_t mode, uint16_t pid, uint8_t pid_length) { if(pid_length == 0) { - if(pid > 0xffff || (mode != 0x3e && mode > 0xa)) { + if(mode <= 0xa || mode == 0x3e ) { + pid_length = 1; + } else if(pid > 0xffff || ((pid & 0xFF00) > 0x0)) { pid_length = 2; } else { pid_length = 1; @@ -69,7 +71,6 @@ static void send_diagnostic_request(DiagnosticShims* shims, 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)); @@ -233,6 +234,7 @@ DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims, DiagnosticResponse response = { arbitration_id: arbitration_id, + multi_frame: false, success: false, completed: false }; @@ -246,6 +248,7 @@ DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims, IsoTpMessage message = isotp_continue_receive(&handle->isotp_shims, &handle->isotp_receive_handles[i], arbitration_id, data, size); + response.multi_frame = message.multi_frame; if(message.completed) { if(message.size > 0) { diff --git a/src/uds/uds_types.h b/src/uds/uds_types.h index 68d6b6f5..66bf7437 100644 --- a/src/uds/uds_types.h +++ b/src/uds/uds_types.h @@ -9,9 +9,10 @@ extern "C" { #endif -// TODO This isn't true for multi frame messages - we may need to dynamically -// allocate this in the future -#define MAX_UDS_PAYLOAD_LENGTH 7 +// 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 255 +#define MAX_UDS_REQUEST_PAYLOAD_LENGTH 7 #define MAX_RESPONDING_ECU_COUNT 8 #define VIN_LENGTH 17 @@ -54,7 +55,7 @@ typedef struct { bool has_pid; uint16_t pid; uint8_t pid_length; - uint8_t payload[MAX_UDS_PAYLOAD_LENGTH]; + uint8_t payload[MAX_UDS_REQUEST_PAYLOAD_LENGTH]; uint8_t payload_length; bool no_frame_padding; DiagnosticRequestType type; @@ -92,6 +93,8 @@ typedef enum { * 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. @@ -106,12 +109,13 @@ typedef enum { 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_PAYLOAD_LENGTH]; + uint8_t payload[MAX_UDS_RESPONSE_PAYLOAD_LENGTH]; uint8_t payload_length; } DiagnosticResponse; diff --git a/tests/test_core.c b/tests/test_core.c index 448c0cd6..81200cca 100644 --- a/tests/test_core.c +++ b/tests/test_core.c @@ -242,14 +242,26 @@ START_TEST (test_autoset_pid_length) arbitration_id: 0x100, mode: 0x22, has_pid: true, - pid: 2, + pid: 0x1234, no_frame_padding: true }; diagnostic_request(&SHIMS, &request, response_received_handler); 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_sent[2], (request.pid & 0xFF00) >> 8); + ck_assert_int_eq(last_can_payload_sent[3], request.pid & 0xFF); ck_assert_int_eq(last_can_payload_size, 4); + + request.arbitration_id = 0x101; + request.pid = 0x12; + + diagnostic_request(&SHIMS, &request, response_received_handler); + + 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_sent[2], request.pid); + ck_assert_int_eq(last_can_payload_size, 3); } END_TEST @@ -279,10 +291,10 @@ START_TEST (test_request_pid_enhanced) { uint16_t arb_id = 0x100; DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, - DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler); + DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler); fail_if(last_response_was_received); - const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x2, 0x45}; + const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x34, 0x45}; diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, sizeof(can_data)); fail_unless(last_response_was_received); @@ -291,7 +303,7 @@ START_TEST (test_request_pid_enhanced) arb_id + 0x8); ck_assert_int_eq(last_response_received.mode, 0x22); fail_unless(last_response_received.has_pid); - ck_assert_int_eq(last_response_received.pid, 0x2); + ck_assert_int_eq(last_response_received.pid, 0x1234); ck_assert_int_eq(last_response_received.payload_length, 1); ck_assert_int_eq(last_response_received.payload[0], can_data[4]); } @@ -301,10 +313,10 @@ START_TEST (test_wrong_mode_response) { uint16_t arb_id = 0x100; DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, - DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler); + DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler); fail_if(last_response_was_received); - const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x0, 0x2, 0x45}; + const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x12, 0x34, 0x45}; diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, sizeof(can_data)); fail_if(last_response_was_received); @@ -316,7 +328,7 @@ START_TEST (test_missing_pid) { uint16_t arb_id = 0x100; DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, - DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler); + DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler); fail_if(last_response_was_received); const uint8_t can_data[] = {0x1, 0x22 + 0x40}; @@ -331,10 +343,10 @@ START_TEST (test_wrong_pid_response) { uint16_t arb_id = 0x100; DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, - DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler); + DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler); fail_if(last_response_was_received); - const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x3, 0x45}; + const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x33, 0x45}; diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, sizeof(can_data)); fail_if(last_response_was_received); @@ -346,23 +358,23 @@ START_TEST (test_wrong_pid_then_right_completes) { uint16_t arb_id = 0x100; DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, - DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler); + DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler); fail_if(last_response_was_received); - uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x3, 0x45}; + uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x33, 0x45}; diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, sizeof(can_data)); fail_if(last_response_was_received); fail_if(handle.completed); - can_data[3] = 0x2; + can_data[3] = 0x34; diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, sizeof(can_data)); fail_unless(last_response_was_received); fail_unless(handle.completed); fail_unless(handle.success); fail_unless(last_response_received.success); - ck_assert_int_eq(last_response_received.pid, 0x2); + ck_assert_int_eq(last_response_received.pid, 0x1234); } END_TEST @@ -407,6 +419,65 @@ START_TEST (test_payload_to_integer) } END_TEST +START_TEST (test_response_multi_frame) +{ + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: OBD2_MODE_VEHICLE_INFORMATION, + has_pid: true, + pid: 0x2 + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, + response_received_handler); + + const uint8_t can_data[] = {0x10, 0x14, 0x9 + 0x40, 0x2, 0x1, 0x31, 0x46, 0x4d}; + DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle, + request.arbitration_id + 0x8, can_data, sizeof(can_data)); + + fail_unless(can_frame_was_sent); + fail_unless(!response.success); + fail_unless(!response.completed); + fail_unless(response.multi_frame); + ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); + ck_assert_int_eq(last_can_payload_sent[0], 0x30); + + const uint8_t can_data_1[] = {0x21, 0x43, 0x55, 0x39, 0x4a, 0x39, 0x34, 0x48}; + response = diagnostic_receive_can_frame(&SHIMS, &handle, + request.arbitration_id + 0x8, can_data_1, sizeof(can_data_1)); + fail_unless(!response.success); + fail_unless(!response.completed); + fail_unless(response.multi_frame); + + const uint8_t can_data_2[] = {0x22, 0x55, 0x41, 0x30, 0x34, 0x35, 0x32, 0x34}; + response = diagnostic_receive_can_frame(&SHIMS, &handle, + request.arbitration_id + 0x8, can_data_2, sizeof(can_data_2)); + fail_unless(response.success); + fail_unless(response.completed); + fail_unless(response.multi_frame); + ck_assert_int_eq(response.mode, OBD2_MODE_VEHICLE_INFORMATION); + ck_assert_int_eq(response.pid, 0x2); + ck_assert_int_eq(response.payload_length, 18); + ck_assert_int_eq(response.payload[0], 0x01); + ck_assert_int_eq(response.payload[1], 0x31); + ck_assert_int_eq(response.payload[2], 0x46); + ck_assert_int_eq(response.payload[3], 0x4d); + ck_assert_int_eq(response.payload[4], 0x43); + ck_assert_int_eq(response.payload[5], 0x55); + ck_assert_int_eq(response.payload[6], 0x39); + ck_assert_int_eq(response.payload[7], 0x4a); + ck_assert_int_eq(response.payload[8], 0x39); + ck_assert_int_eq(response.payload[9], 0x34); + ck_assert_int_eq(response.payload[10], 0x48); + ck_assert_int_eq(response.payload[11], 0x55); + ck_assert_int_eq(response.payload[12], 0x41); + ck_assert_int_eq(response.payload[13], 0x30); + ck_assert_int_eq(response.payload[14], 0x34); + ck_assert_int_eq(response.payload[15], 0x35); + ck_assert_int_eq(response.payload[16], 0x32); + ck_assert_int_eq(response.payload[17], 0x34); +} +END_TEST + Suite* testSuite(void) { Suite* s = suite_create("uds"); TCase *tc_core = tcase_create("core"); @@ -429,6 +500,7 @@ Suite* testSuite(void) { tcase_add_test(tc_core, test_wrong_pid_then_right_completes); tcase_add_test(tc_core, test_negative_response); tcase_add_test(tc_core, test_payload_to_integer); + tcase_add_test(tc_core, test_response_multi_frame); // TODO these are future work: // TODO test request MIL |