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-rw-r--r--CAN-binder/libs/uds-c/src/uds/uds.c400
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;
+}