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-rw-r--r--CAN-binder/libs/uds-c/src/uds/uds.c400
1 files changed, 0 insertions, 400 deletions
diff --git a/CAN-binder/libs/uds-c/src/uds/uds.c b/CAN-binder/libs/uds-c/src/uds/uds.c
deleted file mode 100644
index 0114384d..00000000
--- a/CAN-binder/libs/uds-c/src/uds/uds.c
+++ /dev/null
@@ -1,400 +0,0 @@
-#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;
-}