diff options
Diffstat (limited to 'CAN-binder/libs/uds-c/src/uds/uds.c')
| -rw-r--r-- | CAN-binder/libs/uds-c/src/uds/uds.c | 400 |
1 files changed, 400 insertions, 0 deletions
diff --git a/CAN-binder/libs/uds-c/src/uds/uds.c b/CAN-binder/libs/uds-c/src/uds/uds.c new file mode 100644 index 00000000..0114384d --- /dev/null +++ b/CAN-binder/libs/uds-c/src/uds/uds.c @@ -0,0 +1,400 @@ +#include <uds/uds.h> +#include <bitfield/bitfield.h> +#include <canutil/read.h> +#include <string.h> +#include <limits.h> +#include <stddef.h> +#include <sys/param.h> +#include <inttypes.h> + +#define ARBITRATION_ID_OFFSET 0x8 +#define MODE_RESPONSE_OFFSET 0x40 +#define NEGATIVE_RESPONSE_MODE 0x7f +#define MAX_DIAGNOSTIC_PAYLOAD_SIZE 6 +#define MODE_BYTE_INDEX 0 +#define PID_BYTE_INDEX 1 +#define NEGATIVE_RESPONSE_MODE_INDEX 1 +#define NEGATIVE_RESPONSE_NRC_INDEX 2 + +#ifndef MAX +#define MAX(x, y) (((x) > (y)) ? (x) : (y)) +#endif + +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 + }; + return shims; +} + +static void setup_receive_handle(DiagnosticRequestHandle* handle) { + if(handle->request.arbitration_id == OBD2_FUNCTIONAL_BROADCAST_ID) { + uint32_t response_id; + for(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); + } +} + +static uint16_t autoset_pid_length(uint8_t mode, uint16_t pid, + uint8_t pid_length) { + if(pid_length == 0) { + if(mode <= 0xa || mode == 0x3e ) { + pid_length = 1; + } else if(pid > 0xffff || ((pid & 0xFF00) > 0x0)) { + pid_length = 2; + } else { + pid_length = 1; + } + } + return pid_length; +} + +static void send_diagnostic_request(DiagnosticShims* shims, + DiagnosticRequestHandle* handle) { + uint8_t payload[MAX_DIAGNOSTIC_PAYLOAD_SIZE] = {0}; + payload[MODE_BYTE_INDEX] = handle->request.mode; + if(handle->request.has_pid) { + handle->request.pid_length = autoset_pid_length(handle->request.mode, + handle->request.pid, handle->request.pid_length); + set_bitfield(handle->request.pid, PID_BYTE_INDEX * CHAR_BIT, + handle->request.pid_length * CHAR_BIT, payload, + sizeof(payload)); + } + + if(handle->request.payload_length > 0) { + memcpy(&payload[PID_BYTE_INDEX + handle->request.pid_length], + handle->request.payload, handle->request.payload_length); + } + + handle->isotp_send_handle = isotp_send(&handle->isotp_shims, + handle->request.arbitration_id, payload, + 1 + handle->request.payload_length + handle->request.pid_length, + NULL); + if(handle->isotp_send_handle.completed && + !handle->isotp_send_handle.success) { + handle->completed = true; + handle->success = false; + if(shims->log != NULL) { + shims->log("%s", "Diagnostic request not sent"); + } + } else if(shims->log != NULL) { + char request_string[128] = {0}; + diagnostic_request_to_string(&handle->request, request_string, + sizeof(request_string)); + shims->log("Sending diagnostic request: %s", request_string); + } +} + +bool diagnostic_request_sent(DiagnosticRequestHandle* handle) { + return handle->isotp_send_handle.completed; +} + +void start_diagnostic_request(DiagnosticShims* shims, + DiagnosticRequestHandle* handle) { + handle->success = false; + handle->completed = false; + send_diagnostic_request(shims, handle); + if(!handle->completed) { + setup_receive_handle(handle); + } +} + +DiagnosticRequestHandle generate_diagnostic_request(DiagnosticShims* shims, + DiagnosticRequest* request, DiagnosticResponseReceived callback) { + DiagnosticRequestHandle handle = { + request: *request, + callback: callback, + success: false, + completed: false + }; + + handle.isotp_shims = isotp_init_shims(shims->log, + shims->send_can_message, + shims->set_timer); + handle.isotp_shims.frame_padding = !request->no_frame_padding; + + return handle; + // TODO notes on multi frame: + // TODO what are the timers for exactly? + // + // when sending multi frame, send 1 frame, wait for a response + // if it says send all, send all right away + // if it says flow control, set the time for the next send + // instead of creating a timer with an async callback, add a process_handle + // function that's called repeatedly in the main loop - if it's time to + // send, we do it. so there's a process_handle_send and receive_can_frame + // that are just called continuously from the main loop. it's a waste of a + // few cpu cycles but it may be more natural than callbacks. + // + // what would a timer callback look like...it would need to pass the handle + // and that's all. seems like a context void* would be able to capture all + // of the information but arg, memory allocation. look at how it's done in + // the other library again + // +} + +DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims, + DiagnosticRequest* request, DiagnosticResponseReceived callback) { + DiagnosticRequestHandle handle = generate_diagnostic_request( + shims, request, callback); + start_diagnostic_request(shims, &handle); + return handle; +} + +DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims, + DiagnosticPidRequestType pid_request_type, uint32_t arbitration_id, + uint16_t pid, DiagnosticResponseReceived callback) { + DiagnosticRequest request = { + arbitration_id: arbitration_id, + mode: pid_request_type == DIAGNOSTIC_STANDARD_PID ? 0x1 : 0x22, + has_pid: true, + pid: pid + }; + + return diagnostic_request(shims, &request, callback); +} + +static bool handle_negative_response(IsoTpMessage* message, + DiagnosticResponse* response, DiagnosticShims* shims) { + bool response_was_negative = false; + if(response->mode == NEGATIVE_RESPONSE_MODE) { + response_was_negative = true; + if(message->size > NEGATIVE_RESPONSE_MODE_INDEX) { + response->mode = message->payload[NEGATIVE_RESPONSE_MODE_INDEX]; + } + + if(message->size > NEGATIVE_RESPONSE_NRC_INDEX) { + response->negative_response_code = + message->payload[NEGATIVE_RESPONSE_NRC_INDEX]; + } + + response->success = false; + response->completed = true; + } + return response_was_negative; +} + +static bool handle_positive_response(DiagnosticRequestHandle* handle, + IsoTpMessage* message, DiagnosticResponse* response, + DiagnosticShims* shims) { + bool response_was_positive = false; + if(response->mode == handle->request.mode + MODE_RESPONSE_OFFSET) { + response_was_positive = true; + // hide the "response" version of the mode from the user + // if it matched + response->mode = handle->request.mode; + response->has_pid = false; + if(handle->request.has_pid && message->size > 1) { + response->has_pid = true; + if(handle->request.pid_length == 2) { + response->pid = get_bitfield(message->payload, message->size, + PID_BYTE_INDEX * CHAR_BIT, sizeof(uint16_t) * CHAR_BIT); + } else { + response->pid = message->payload[PID_BYTE_INDEX]; + } + + } + + if((!handle->request.has_pid && !response->has_pid) + || response->pid == handle->request.pid) { + response->success = true; + response->completed = true; + + uint8_t payload_index = 1 + handle->request.pid_length; + response->payload_length = MAX(0, message->size - payload_index); + if(response->payload_length > 0) { + memcpy(response->payload, &message->payload[payload_index], + response->payload_length); + } + } else { + response_was_positive = false; + } + } + return response_was_positive; +} + +DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims, + DiagnosticRequestHandle* handle, const uint32_t arbitration_id, + const uint8_t data[], const uint8_t size) { + + DiagnosticResponse response = { + arbitration_id: arbitration_id, + multi_frame: false, + success: false, + completed: false + }; + + if(!handle->isotp_send_handle.completed) { + isotp_continue_send(&handle->isotp_shims, + &handle->isotp_send_handle, arbitration_id, data, size); + } else { + uint8_t i; + for(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); + response.multi_frame = message.multi_frame; + + if(message.completed) { + if(message.size > 0) { + response.mode = message.payload[0]; + if(handle_negative_response(&message, &response, shims) || + handle_positive_response(handle, &message, + &response, shims)) { + if(shims->log != NULL) { + char response_string[128] = {0}; + diagnostic_response_to_string(&response, + response_string, sizeof(response_string)); + shims->log("Diagnostic response received: %s", + response_string); + } + + handle->success = true; + handle->completed = true; + } + } else { + if(shims->log != NULL) { + shims->log("Received an empty response on arb ID 0x%x", + response.arbitration_id); + } + } + + if(handle->completed && handle->callback != NULL) { + handle->callback(&response); + } + + break; + } + } + } + return response; +} + +int diagnostic_payload_to_integer(const DiagnosticResponse* response) { + return get_bitfield(response->payload, response->payload_length, 0, + response->payload_length * CHAR_BIT); +} + +float diagnostic_decode_obd2_pid(const DiagnosticResponse* response) { + // handles on the single number values, not the bit encoded ones + switch(response->pid) { + case 0xa: + return response->payload[0] * 3; + case 0xc: + return (response->payload[0] * 256 + response->payload[1]) / 4.0; + case 0xd: + case 0x33: + case 0xb: + return response->payload[0]; + case 0x10: + return (response->payload[0] * 256 + response->payload[1]) / 100.0; + case 0x11: + case 0x2f: + case 0x45: + case 0x4c: + case 0x52: + case 0x5a: + case 0x4: + return response->payload[0] * 100.0 / 255.0; + case 0x46: + case 0x5c: + case 0xf: + case 0x5: + return response->payload[0] - 40; + case 0x62: + return response->payload[0] - 125; + default: + return diagnostic_payload_to_integer(response); + } +} + +void diagnostic_response_to_string(const DiagnosticResponse* response, + char* destination, size_t destination_length) { + int bytes_used = snprintf(destination, destination_length, + "arb_id: 0x%lx, mode: 0x%x, ", + (unsigned long) response->arbitration_id, + response->mode); + + if(response->has_pid) { + bytes_used += snprintf(destination + bytes_used, + destination_length - bytes_used, + "pid: 0x%x, ", + response->pid); + } + + if(!response->success) { + bytes_used += snprintf(destination + bytes_used, + destination_length - bytes_used, + "nrc: 0x%x, ", + response->negative_response_code); + } + + if(response->payload_length > 0) { + snprintf(destination + bytes_used, destination_length - bytes_used, + "payload: 0x%02x%02x%02x%02x%02x%02x%02x", + response->payload[0], + response->payload[1], + response->payload[2], + response->payload[3], + response->payload[4], + response->payload[5], + response->payload[6]); + } else { + snprintf(destination + bytes_used, destination_length - bytes_used, + "no payload"); + } +} + +void diagnostic_request_to_string(const DiagnosticRequest* request, + char* destination, size_t destination_length) { + int bytes_used = snprintf(destination, destination_length, + "arb_id: 0x%lx, mode: 0x%x, ", + (unsigned long) request->arbitration_id, + request->mode); + + if(request->has_pid) { + bytes_used += snprintf(destination + bytes_used, + destination_length - bytes_used, + "pid: 0x%x, ", + request->pid); + } + + int remaining_space = destination_length - bytes_used; + if(request->payload_length > 0) { + snprintf(destination + bytes_used, remaining_space, + "payload: 0x%02x%02x%02x%02x%02x%02x%02x", + request->payload[0], + request->payload[1], + request->payload[2], + request->payload[3], + request->payload[4], + request->payload[5], + request->payload[6]); + } else { + snprintf(destination + bytes_used, remaining_space, "no payload"); + } +} + +bool diagnostic_request_equals(const DiagnosticRequest* ours, + const DiagnosticRequest* theirs) { + bool equals = ours->arbitration_id == theirs->arbitration_id && + ours->mode == theirs->mode; + equals &= ours->has_pid == theirs->has_pid; + equals &= ours->pid == theirs->pid; + return equals; +} |