diff options
| m--------- | deps/isotp-c | 10 | ||||
| -rw-r--r-- | src/obd2/obd2.c | 39 | ||||
| -rw-r--r-- | src/obd2/obd2.h | 8 | ||||
| -rw-r--r-- | tests/test_core.c | 36 |
4 files changed, 55 insertions, 38 deletions
diff --git a/deps/isotp-c b/deps/isotp-c -Subproject e3637d97ecaef1768d3f9ef40cb0204a0e668ff +Subproject 3b25a0491ce9ef9b55c903c6c7f0929bc2910d1 diff --git a/src/obd2/obd2.c b/src/obd2/obd2.c index d8ef190c..1dcb827e 100644 --- a/src/obd2/obd2.c +++ b/src/obd2/obd2.c @@ -1,4 +1,5 @@ #include <obd2/obd2.h> +#include <arpa/inet.h> #define MODE_RESPONSE_OFFSET 0x40 #define NEGATIVE_RESPONSE_MODE 0x7f @@ -12,9 +13,9 @@ 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; } @@ -32,11 +33,11 @@ DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims, 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); } @@ -46,15 +47,11 @@ 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? NULL); // when a can frame is received and passes to the diagnostic handle @@ -117,20 +114,21 @@ 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) { + DiagnosticRequestHandle* handle, const uint16_t arbitration_id, + const uint8_t data[], const uint8_t size) { DiagnosticResponse response = { arbitration_id: arbitration_id, @@ -169,12 +167,15 @@ DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims, // if it matched response.mode = handle->request.mode; if(handle->request.pid_length > 0 && message.size > 1) { - copy_bytes_right_aligned(handle->request.pid, sizeof(handle->request.pid), - PID_BYTE_INDEX, handle->request.pid_length, response.pid, - sizeof(response.pid)); + 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; + 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], @@ -182,7 +183,7 @@ DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims, } response.success = true; } else { - shims->log("Response was for a mode %d request, not our mode %d request", + shims->log("Response was for a mode 0x%x request, not our mode 0x%x request", response.mode - MODE_RESPONSE_OFFSET, handle->request.mode); } diff --git a/src/obd2/obd2.h b/src/obd2/obd2.h index 75894835..2bb6c77f 100644 --- a/src/obd2/obd2.h +++ b/src/obd2/obd2.h @@ -133,9 +133,9 @@ typedef enum { } DiagnosticPidRequestType; typedef struct { - SetTimerShim set_timer; - SendCanMessageShim send_can_message; LogShim log; + SendCanMessageShim send_can_message; + SetTimerShim set_timer; } DiagnosticShims; DiagnosticShims diagnostic_init_shims(LogShim log, @@ -147,8 +147,8 @@ DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims, // decide mode 0x1 / 0x22 based on pid type 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); DiagnosticRequestHandle diagnostic_request_malfunction_indicator_status( DiagnosticShims* shims, diff --git a/tests/test_core.c b/tests/test_core.c index 2730cd73..4b247340 100644 --- a/tests/test_core.c +++ b/tests/test_core.c @@ -62,18 +62,19 @@ END_TEST START_TEST (test_request_pid_standard) { + // TODO need a constant for the 7df broadcast functional request + uint16_t arb_id = 0x7df; DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, - DIAGNOSTIC_STANDARD_PID, 0x2, response_received_handler); + DIAGNOSTIC_STANDARD_PID, arb_id, 0x2, response_received_handler); fail_if(last_response_was_received); const uint8_t can_data[] = {0x3, 0x1 + 0x40, 0x2, 0x45}; - // TODO need a constant for the 7df broadcast functional request - diagnostic_receive_can_frame(&SHIMS, &handle, 0x7df + 0x8, + diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, sizeof(can_data)); fail_unless(last_response_was_received); ck_assert(last_response_received.success); ck_assert_int_eq(last_response_received.arbitration_id, - 0x7df + 0x8); + arb_id + 0x8); ck_assert_int_eq(last_response_received.mode, 0x1); ck_assert_int_eq(last_response_received.pid, 0x2); ck_assert_int_eq(last_response_received.payload_length, 1); @@ -83,19 +84,18 @@ END_TEST START_TEST (test_request_pid_enhanced) { + uint16_t arb_id = 0x7df; DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, - DIAGNOSTIC_ENHANCED_PID, 0x2, response_received_handler); + DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler); fail_if(last_response_was_received); - const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x0, 0x2, 0x45}; - // TODO need a constant for the 7df broadcast functional request - diagnostic_receive_can_frame(&SHIMS, &handle, 0x7df + 0x8, can_data, + const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x2, 0x45}; + diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, sizeof(can_data)); fail_unless(last_response_was_received); ck_assert(last_response_received.success); ck_assert_int_eq(last_response_received.arbitration_id, - 0x7df + 0x8); - // TODO should we set it back to the original mode, or leave as mode + 0x40? + arb_id + 0x8); ck_assert_int_eq(last_response_received.mode, 0x22); ck_assert_int_eq(last_response_received.pid, 0x2); ck_assert_int_eq(last_response_received.payload_length, 1); @@ -103,6 +103,21 @@ START_TEST (test_request_pid_enhanced) } END_TEST +START_TEST (test_wrong_mode_response) +{ + uint16_t arb_id = 0x7df; + DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, + DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler); + + fail_if(last_response_was_received); + const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x0, 0x2, 0x45}; + diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, + sizeof(can_data)); + fail_unless(last_response_was_received); + fail_if(last_response_received.success); +} +END_TEST + Suite* testSuite(void) { Suite* s = suite_create("obd2"); TCase *tc_core = tcase_create("core"); @@ -111,6 +126,7 @@ Suite* testSuite(void) { tcase_add_test(tc_core, test_receive_wrong_arb_id); tcase_add_test(tc_core, test_request_pid_standard); tcase_add_test(tc_core, test_request_pid_enhanced); + tcase_add_test(tc_core, test_wrong_mode_response); // TODO these are future work: // TODO test request MIL |