diff options
Diffstat (limited to 'CAN-binder/libs/uds-c/src/uds/uds.h')
| -rw-r--r-- | CAN-binder/libs/uds-c/src/uds/uds.h | 165 |
1 files changed, 165 insertions, 0 deletions
diff --git a/CAN-binder/libs/uds-c/src/uds/uds.h b/CAN-binder/libs/uds-c/src/uds/uds.h new file mode 100644 index 00000000..43058342 --- /dev/null +++ b/CAN-binder/libs/uds-c/src/uds/uds.h @@ -0,0 +1,165 @@ +#ifndef __UDS_H__ +#define __UDS_H__ + +#include <uds/uds_types.h> +#include <stdint.h> +#include <stdbool.h> + +#define OBD2_FUNCTIONAL_BROADCAST_ID 0x7df +#define OBD2_FUNCTIONAL_RESPONSE_START 0x7e8 +#define OBD2_FUNCTIONAL_RESPONSE_COUNT 8 + +#ifdef __cplusplus +extern "C" { +#endif + +/* Public: Initialize an DiagnosticShims with the given callback functions. + * + * If any callbacks are not to be used, set them to NULL. For documentation of + * the function type signatures, see higher up in this header file. This struct + * is a handy encapsulation used to pass the shims around to the various + * diagnostic_* functions. + * + * Returns a struct with the fields initailized to the callbacks. + */ +DiagnosticShims diagnostic_init_shims(LogShim log, + SendCanMessageShim send_can_message, + SetTimerShim set_timer); + +/* Public: Generate a new diagnostic request, send the first CAN message frame + * and set up the handle required to process the response via + * diagnostic_receive_can_frame(...). + * + * shims - Low-level shims required to send CAN messages, etc. + * request - + * callback - an optional function to be called when the response is receved + * (use NULL if no callback is required). + * + * Returns a handle to be used with diagnostic_receive_can_frame to complete + * sending the request and receive the response. The 'completed' field in the + * returned DiagnosticRequestHandle will be true when the message is completely + * sent. The first frame of the message will already be sent. + */ +DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims, + DiagnosticRequest* request, DiagnosticResponseReceived callback); + +/* Public: Generate the handle for a new diagnostic request, but do not send any + * data to CAN yet - you must call start_diagnostic_request(...) on the handle + * returned from this function actually kick off the request. + * + * shims - Low-level shims required to send CAN messages, etc. + * request - + * callback - an optional function to be called when the response is receved + * (use NULL if no callback is required). + * + * Returns a handle to be used with start_diagnostic_request and then + * diagnostic_receive_can_frame to complete sending the request and receive the + * response. The 'completed' field in the returned DiagnosticRequestHandle will + * be true when the message is completely sent. + */ +DiagnosticRequestHandle generate_diagnostic_request(DiagnosticShims* shims, + DiagnosticRequest* request, DiagnosticResponseReceived callback); + +/* Public: Send the first frame of the request to CAN for the handle, generated + * by generate_diagnostic_request. + * + * You can also call this method to re-do the request for a handle that has + * already completed. + */ +void start_diagnostic_request(DiagnosticShims* shims, + DiagnosticRequestHandle* handle); + +/* Public: Request a PID from the given arbitration ID, determining the mode + * automatically based on the PID type. + * + * shims - Low-level shims required to send CAN messages, etc. + * pid_request_type - either DIAGNOSTIC_STANDARD_PID (will use mode 0x1 and 1 + * byte PIDs) or DIAGNOSTIC_ENHANCED_PID (will use mode 0x22 and 2 byte + * PIDs) + * arbitration_id - The arbitration ID to send the request to. + * pid - The PID to request from the other node. + * callback - an optional function to be called when the response is receved + * (use NULL if no callback is required). + * + * Returns a handle to be used with diagnostic_receive_can_frame to complete + * sending the request and receive the response. The 'completed' field in the + * returned DiagnosticRequestHandle will be true when the message is completely + * sent. + */ +DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims, + DiagnosticPidRequestType pid_request_type, uint32_t arbitration_id, + uint16_t pid, DiagnosticResponseReceived callback); + +/* Public: Continue to send and receive a single diagnostic request, based on a + * freshly received CAN message. + * + * shims - Low-level shims required to send CAN messages, etc. + * handle - A DiagnosticRequestHandle previously returned by one of the + * diagnostic_request*(..) functions. + * arbitration_id - The arbitration_id of the received CAN message. + * data - The data of the received CAN message. + * size - The size of the data in the received CAN message. + * + * Returns true if the request was completed and response received, or the + * request was otherwise cancelled. Check the 'success' field of the handle to + * see if it was successful. + */ +DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims, + DiagnosticRequestHandle* handle, + const uint32_t arbitration_id, const uint8_t data[], + const uint8_t size); + +/* Public: Parse the entier payload of the reponse as a single integer. + * + * response - the received DiagnosticResponse. + */ +int diagnostic_payload_to_integer(const DiagnosticResponse* response); + +/* Public: Render a DiagnosticResponse as a string into the given buffer. + * + * response - the response to convert to a string, for debug logging. + * destination - the target string buffer. + * destination_length - the size of the destination buffer, i.e. the max size + * for the rendered string. + */ +void diagnostic_response_to_string(const DiagnosticResponse* response, + char* destination, size_t destination_length); + +/* Public: Render a DiagnosticRequest as a string into the given buffer. + * + * request - the request to convert to a string, for debug logging. + * destination - the target string buffer. + * destination_length - the size of the destination buffer, i.e. the max size + * for the rendered string. + */ +void diagnostic_request_to_string(const DiagnosticRequest* request, + char* destination, size_t destination_length); + +/* Public: For many OBD-II PIDs with a numerical result, translate a diagnostic + * response payload into a meaningful number using the standard formulas. + * + * Functions pulled from http://en.wikipedia.org/wiki/OBD-II_PIDs#Mode_01 + * + * Returns the translated value or 0 if the PID is not in the OBD-II standard or + * does not use a numerical value (e.g. VIN). + */ +float diagnostic_decode_obd2_pid(const DiagnosticResponse* response); + +/* Public: Returns true if the "fingerprint" of the two diagnostic messages + * matches - the arbitration_id, mode and pid (or lack of pid). + */ +bool diagnostic_request_equals(const DiagnosticRequest* ours, + const DiagnosticRequest* theirs); + +/* Public: Returns true if the request has been completely sent - if false, make + * sure you called start_diagnostic_request once to start it, and then pass + * incoming CAN messages to it with diagnostic_receive_can_frame(...) so it can + * continue the ISO-TP transfer. + */ +bool diagnostic_request_sent(DiagnosticRequestHandle* handle); + +#ifdef __cplusplus +} +#endif + +#endif // __UDS_H__ |