diff options
Diffstat (limited to 'CAN-binder/libs')
| -rw-r--r-- | CAN-binder/libs/uds-c/.gitignore | 5 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/.gitmodules | 6 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/.travis.yml | 8 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/CHANGELOG.mkd | 9 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/LICENSE | 24 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/Makefile | 56 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/README.mkd | 196 | ||||
| m--------- | CAN-binder/libs/uds-c/deps/bitfield-c | 6 | ||||
| m--------- | CAN-binder/libs/uds-c/deps/isotp-c | 7 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/runtests.sh | 17 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/src/uds/extras.c | 39 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/src/uds/extras.h | 71 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/src/uds/uds.c | 400 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/src/uds/uds.h | 165 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/src/uds/uds_types.h | 200 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/tests/common.c | 43 | ||||
| -rw-r--r-- | CAN-binder/libs/uds-c/tests/test_core.c | 526 |
17 files changed, 1778 insertions, 0 deletions
diff --git a/CAN-binder/libs/uds-c/.gitignore b/CAN-binder/libs/uds-c/.gitignore new file mode 100644 index 0000000..834a305 --- /dev/null +++ b/CAN-binder/libs/uds-c/.gitignore @@ -0,0 +1,5 @@ +*.o +.DS_Store +*~ +*.bin +build diff --git a/CAN-binder/libs/uds-c/.gitmodules b/CAN-binder/libs/uds-c/.gitmodules new file mode 100644 index 0000000..d9c0194 --- /dev/null +++ b/CAN-binder/libs/uds-c/.gitmodules @@ -0,0 +1,6 @@ +[submodule "deps/bitfield-c"] + path = deps/bitfield-c + url = https://github.com/openxc/bitfield-c +[submodule "deps/isotp-c"] + path = deps/isotp-c + url = https://github.com/openxc/isotp-c diff --git a/CAN-binder/libs/uds-c/.travis.yml b/CAN-binder/libs/uds-c/.travis.yml new file mode 100644 index 0000000..31bfdeb --- /dev/null +++ b/CAN-binder/libs/uds-c/.travis.yml @@ -0,0 +1,8 @@ +language: c +compiler: + - gcc +script: make test +before_install: + - git submodule update --init + - sudo apt-get update -qq + - sudo apt-get install check diff --git a/CAN-binder/libs/uds-c/CHANGELOG.mkd b/CAN-binder/libs/uds-c/CHANGELOG.mkd new file mode 100644 index 0000000..96eaa17 --- /dev/null +++ b/CAN-binder/libs/uds-c/CHANGELOG.mkd @@ -0,0 +1,9 @@ +# OBD-II Support Library in C + +## v0.2 + +* Add support for multi-frame diagnostic responses. + +## v0.1 + +* Initial release diff --git a/CAN-binder/libs/uds-c/LICENSE b/CAN-binder/libs/uds-c/LICENSE new file mode 100644 index 0000000..330d61f --- /dev/null +++ b/CAN-binder/libs/uds-c/LICENSE @@ -0,0 +1,24 @@ +Copyright (c) 2013 Ford Motor Company +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of the <organization> nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/CAN-binder/libs/uds-c/Makefile b/CAN-binder/libs/uds-c/Makefile new file mode 100644 index 0000000..4adf3ce --- /dev/null +++ b/CAN-binder/libs/uds-c/Makefile @@ -0,0 +1,56 @@ +CC = gcc +INCLUDES = -Isrc -Ideps/bitfield-c/src -Ideps/isotp-c/src +CFLAGS = $(INCLUDES) -c -Wall -Werror -g -ggdb -std=gnu99 -coverage +LDFLAGS = -coverage -lm +LDLIBS = -lcheck + +TEST_DIR = tests +TEST_OBJDIR = build + +# Guard against \r\n line endings only in Cygwin +OSTYPE := $(shell uname) +ifneq ($(OSTYPE),Darwin) + OSTYPE := $(shell uname -o) + ifeq ($(OSTYPE),Cygwin) + TEST_SET_OPTS = igncr + endif +endif + +SRC = $(wildcard src/**/*.c) +SRC += $(wildcard deps/bitfield-c/src/**/*.c) +SRC += $(wildcard deps/isotp-c/src/**/*.c) +OBJS = $(patsubst %,$(TEST_OBJDIR)/%,$(SRC:.c=.o)) +TEST_SRC = $(wildcard $(TEST_DIR)/test_*.c) +TESTS=$(patsubst %.c,$(TEST_OBJDIR)/%.bin,$(TEST_SRC)) +TEST_SUPPORT_SRC = $(TEST_DIR)/common.c +TEST_SUPPORT_OBJS = $(patsubst %,$(TEST_OBJDIR)/%,$(TEST_SUPPORT_SRC:.c=.o)) + +all: $(OBJS) + +test: $(TESTS) + @set -o $(TEST_SET_OPTS) >/dev/null 2>&1 + @export SHELLOPTS + @sh runtests.sh $(TEST_OBJDIR)/$(TEST_DIR) + +COVERAGE_INFO_FILENAME = coverage.info +COVERAGE_INFO_PATH = $(TEST_OBJDIR)/$(COVERAGE_INFO_FILENAME) +coverage: + @lcov --base-directory . --directory src --zerocounters -q + @make clean + @make test + @lcov --base-directory . --directory $(TEST_OBJDIR) -c -o $(TEST_OBJDIR)/coverage.info + @lcov --remove $(COVERAGE_INFO_PATH) "deps/*" -o $(COVERAGE_INFO_PATH) + @genhtml -o $(TEST_OBJDIR)/coverage -t "isotp-c test coverage" --num-spaces 4 $(COVERAGE_INFO_PATH) + @$(BROWSER) $(TEST_OBJDIR)/coverage/index.html + @echo "$(GREEN)Coverage information generated in $(TEST_OBJDIR)/coverage/index.html.$(COLOR_RESET)" + +$(TEST_OBJDIR)/%.o: %.c + @mkdir -p $(dir $@) + $(CC) $(CFLAGS) $(CC_SYMBOLS) $(INCLUDES) -o $@ $< + +$(TEST_OBJDIR)/%.bin: $(TEST_OBJDIR)/%.o $(OBJS) $(TEST_SUPPORT_OBJS) + @mkdir -p $(dir $@) + $(CC) $(LDFLAGS) $(CC_SYMBOLS) $(INCLUDES) -o $@ $^ $(LDLIBS) + +clean: + rm -rf $(TEST_OBJDIR) diff --git a/CAN-binder/libs/uds-c/README.mkd b/CAN-binder/libs/uds-c/README.mkd new file mode 100644 index 0000000..aa0d7fd --- /dev/null +++ b/CAN-binder/libs/uds-c/README.mkd @@ -0,0 +1,196 @@ +Unified Diagnostic Services (UDS) Support Library in C +====================================================== + +This is a platform agnostic C library that implements the Unified Diagnostics +Services protocol for automotive electronics. UDS is documented in ISO 14229 and +is the underpinning for the more well-known On-board Diagnostics (OBD) standard. +The library currently supports UDS running over CAN (ISO 15765-4), which uses +the ISO-TP (ISO 15765-2) protocol for message framing. + +This library doesn't assume anything about the source of your diagnostic message +requests or underlying interface to the CAN bus. It uses dependency injection to +give you complete control. + +## Usage + +First, create some shim functions to let this library use your lower level +system: + + // required, this must send a single CAN message with the given arbitration + // ID (i.e. the CAN message ID) and data. The size will never be more than 8 + // bytes. + bool send_can(const uint32_t arbitration_id, const uint8_t* data, + const uint8_t size) { + ... + } + + // optional, provide to receive debugging log messages + void debug(const char* format, ...) { + ... + } + + + // not used in the current version + void set_timer(uint16_t time_ms, void (*callback)) { + ... + } + +With your shims in place, create a `DiagnosticShims` object to pass them around: + + DiagnosticShims shims = diagnostic_init_shims(debug, send_can, set_timer); + +With your shims in hand, send a simple PID request to the standard broadcast +address, `0x7df` (we use the constant `OBD2_FUNCTIONAL_BROADCAST_ID` here): + + // Optional: This is your callback that will be called the response to your + // diagnostic request is received. + void response_received_handler(const DiagnosticResponse* response) { + // You received a response! Do something with it. + } + + DiagnosticRequestHandle handle = diagnostic_request_pid(&shims, + DIAGNOSTIC_STANDARD_PID, // this is a standard PID request, not an extended or enhanced one + OBD2_FUNCTIONAL_BROADCAST_ID, // the request is going out to the broadcast arbitration ID + 0x2, // we want PID 0x2 + response_received_handler); // our callback (optional, use NULL if you don't have one) + + if(handle.completed) { + if(!handle.success) { + // something happened and it already failed - possibly we aren't + // able to send CAN messages + return; + } else { + // this should never occur right away - you need to receive a fresh + // CAN message first + } + } else { + while(true) { + // Continue to read from CAN, passing off each message to the handle. + // This will return a 'completed' DiagnosticResponse when the when + // the request is completely sent and the response is received + // (which may take more than 1 CAN frames) + DiagnosticResponse response = diagnostic_receive_can_frame(&shims, + &handle, can_message_id, can_data, sizeof(can_data)); + + if(response.completed && handle.completed) { + if(handle.success) { + if(response.success) { + // The request was sent successfully, the response was + // received successfully, and it was a positive response - we + // got back some data! + } else { + // The request was sent successfully, the response was + // received successfully, BUT it was a negative response + // from the other node. + printf("This is the error code: %d", response.negative_response_code); + } + } else { + // Some other fatal error ocurred - we weren't able to send + // the request or receive the response. The CAN connection + // may be down. + } + } + } + } + +### Requests for other modes + +If you want to do more besides PID requests on mode 0x1 and 0x22, there's a +lower level API you can use. Here's how to make a mode 3 request to get DTCs. + + DiagnosticRequest request = { + arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID, + mode: OBD2_MODE_EMISSIONS_DTC_REQUEST + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, NULL); + + if(handle.completed) { + if(!handle.success) { + // something happened and it already failed - possibly we aren't + // able to send CAN messages + return; + } else { + // this should never occur right away - you need to receive a fresh + // CAN message first + } + } else { + while(true) { + // Continue to read from CAN, passing off each message to the handle. + // This will return a 'completed' DiagnosticResponse when the when + // the request is completely sent and the response is received + // (which may take more than 1 CAN frames) + DiagnosticResponse response = diagnostic_receive_can_frame(&shims, + &handle, can_message_id, can_data, sizeof(can_data)); + + if(response.completed && handle.completed) { + if(handle.success) { + if(response.success) { + // The request was sent successfully, the response was + // received successfully, and it was a positive response - we + // got back some data! + printf("The DTCs are: "); + for(int i = 0; i < response.payload_length; i++) { + printf("0x%x ", response.payload[i]); + } + } else { + // The request was sent successfully, the response was + // received successfully, BUT it was a negative response + // from the other node. + printf("This is the error code: %d", response.negative_response_code); + } + } else { + // Some other fatal error ocurred - we weren't able to send + // the request or receive the response. The CAN connection + // may be down. + } + } + } + } + +## Dependencies + +This library requires 2 dependencies: + +* [isotp-c](https://github.com/openxc/isotp-c) +* [bitfield-c](https://github.com/openxc/bitfield-c) + +## Testing + +The library includes a test suite that uses the `check` C unit test library. + + $ make test + +You can also see the test coverage if you have `lcov` installed and the +`BROWSER` environment variable set to your choice of web browsers: + + $ BROWSER=google-chrome-stable make coverage + +## OBD-II Basics + +TODO diagram out a request, response and error response + +* store the request arb id, mode, pid, and payload locally +* send a can message +* get all new can messages passed to it +* Check the incoming can message to see if it matches one of the standard ECU + response IDs, or our arb ID + 0x8 +* if it matches, parse the diagnostic response and call the callback + + +## Future Notes + +you're going to request a few PIDs over and over again at some frequency +you're going to request DTCs once and read the response +you're going to clear DTCs once + +we need another layer on top of that to handle the repeated requests. + +## Authors + +Chris Peplin cpeplin@ford.com + +## License + +Copyright (c) 2013 Ford Motor Company + +Licensed under the BSD license. diff --git a/CAN-binder/libs/uds-c/deps/bitfield-c b/CAN-binder/libs/uds-c/deps/bitfield-c new file mode 160000 +Subproject 6f243098abadbde2e9b2e5b13a94029960ea2e5 diff --git a/CAN-binder/libs/uds-c/deps/isotp-c b/CAN-binder/libs/uds-c/deps/isotp-c new file mode 160000 +Subproject ee24440b7c123ab1b0317e57be33e837a1cb51f diff --git a/CAN-binder/libs/uds-c/runtests.sh b/CAN-binder/libs/uds-c/runtests.sh new file mode 100644 index 0000000..4781636 --- /dev/null +++ b/CAN-binder/libs/uds-c/runtests.sh @@ -0,0 +1,17 @@ +echo "Running unit tests:" + +for i in $1/*.bin +do + if test -f $i + then + if ./$i + then + echo $i PASS + else + echo "ERROR in test $i:" + exit 1 + fi + fi +done + +echo "${txtbld}$(tput setaf 2)All unit tests passed.$(tput sgr0)" diff --git a/CAN-binder/libs/uds-c/src/uds/extras.c b/CAN-binder/libs/uds-c/src/uds/extras.c new file mode 100644 index 0000000..2be6bdd --- /dev/null +++ b/CAN-binder/libs/uds-c/src/uds/extras.c @@ -0,0 +1,39 @@ +#include <uds/extras.h> +#include <uds/uds.h> + +// TODO everything below here is for future work...not critical for now. + +DiagnosticRequestHandle diagnostic_request_malfunction_indicator_status( + DiagnosticShims* shims, + DiagnosticMilStatusReceived callback) { + // TODO request malfunction indicator light (MIL) status - request mode 1 + // pid 1, parse first bit + DiagnosticRequestHandle handle; + return handle; +} + +DiagnosticRequestHandle diagnostic_request_vin(DiagnosticShims* shims, + DiagnosticVinReceived callback) { + DiagnosticRequestHandle handle; + return handle; +} + +DiagnosticRequestHandle diagnostic_request_dtc(DiagnosticShims* shims, + DiagnosticTroubleCodeType dtc_type, + DiagnosticTroubleCodesReceived callback) { + DiagnosticRequestHandle handle; + return handle; +} + +bool diagnostic_clear_dtc(DiagnosticShims* shims) { + return false; +} + +DiagnosticRequestHandle diagnostic_enumerate_pids(DiagnosticShims* shims, + DiagnosticRequest* request, DiagnosticPidEnumerationReceived callback) { + // before calling the callback, split up the received bytes into 1 or 2 byte + // chunks depending on the mode so the final pid list is actual 1 or 2 byte PIDs + // TODO request supported PIDs - request PID 0 and parse 4 bytes in response + DiagnosticRequestHandle handle; + return handle; +} diff --git a/CAN-binder/libs/uds-c/src/uds/extras.h b/CAN-binder/libs/uds-c/src/uds/extras.h new file mode 100644 index 0000000..126e5d4 --- /dev/null +++ b/CAN-binder/libs/uds-c/src/uds/extras.h @@ -0,0 +1,71 @@ +#ifndef __EXTRAS_H__ +#define __EXTRAS_H__ + +#include <uds/uds_types.h> + +#ifdef __cplusplus +extern "C" { +#endif + +// TODO everything in here is unused for the moment! + +typedef enum { + POWERTRAIN = 0x0, + CHASSIS = 0x1, + BODY = 0x2, + NETWORK = 0x3 +} DiagnosticTroubleCodeGroup; + +typedef struct { + DiagnosticTroubleCodeGroup group; + uint8_t group_num; + uint8_t code; +} DiagnosticTroubleCode; + + +/* Private: TODO unused for now + */ +typedef enum { + DTC_EMISSIONS, + DTC_DRIVE_CYCLE, + DTC_PERMANENT +} DiagnosticTroubleCodeType; + + +// TODO should we enumerate every OBD-II PID? need conversion formulas, too +typedef struct { + uint16_t pid; + uint8_t bytes_returned; + float min_value; + float max_value; +} DiagnosticParameter; + +typedef void (*DiagnosticMilStatusReceived)(bool malfunction_indicator_status); +typedef void (*DiagnosticVinReceived)(uint8_t vin[]); +typedef void (*DiagnosticTroubleCodesReceived)( + DiagnosticMode mode, DiagnosticTroubleCode* codes); +typedef void (*DiagnosticPidEnumerationReceived)( + const DiagnosticResponse* response, uint16_t* pids); + +DiagnosticRequestHandle diagnostic_request_malfunction_indicator_status( + DiagnosticShims* shims, + DiagnosticMilStatusReceived callback); + +DiagnosticRequestHandle diagnostic_request_vin(DiagnosticShims* shims, + DiagnosticVinReceived callback); + +DiagnosticRequestHandle diagnostic_request_dtc(DiagnosticShims* shims, + DiagnosticTroubleCodeType dtc_type, + DiagnosticTroubleCodesReceived callback); + +bool diagnostic_clear_dtc(DiagnosticShims* shims); + +DiagnosticRequestHandle diagnostic_enumerate_pids(DiagnosticShims* shims, + DiagnosticRequest* request, DiagnosticPidEnumerationReceived callback); + + +#ifdef __cplusplus +} +#endif + +#endif // __EXTRAS_H__ 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 0000000..0114384 --- /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; +} 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 0000000..4305834 --- /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__ diff --git a/CAN-binder/libs/uds-c/src/uds/uds_types.h b/CAN-binder/libs/uds-c/src/uds/uds_types.h new file mode 100644 index 0000000..4ebc150 --- /dev/null +++ b/CAN-binder/libs/uds-c/src/uds/uds_types.h @@ -0,0 +1,200 @@ +#ifndef __UDS_TYPES_H__ +#define __UDS_TYPES_H__ + +#include <isotp/isotp.h> +#include <stdint.h> +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +// TODO This still doesn't have enough space for the largest possible +// multiframe response. May need to dynamically allocate in the future. +#define MAX_UDS_RESPONSE_PAYLOAD_LENGTH 127 +#define MAX_UDS_REQUEST_PAYLOAD_LENGTH 7 +#define MAX_RESPONDING_ECU_COUNT 8 +#define VIN_LENGTH 17 + +/* Private: The four main types of diagnositc requests that determine how the + * request should be parsed and what type of callback should be used. + * + * TODO this may not be used...yet? + */ +typedef enum { + DIAGNOSTIC_REQUEST_TYPE_PID, + DIAGNOSTIC_REQUEST_TYPE_DTC, + DIAGNOSTIC_REQUEST_TYPE_MIL_STATUS, + DIAGNOSTIC_REQUEST_TYPE_VIN +} DiagnosticRequestType; + +/* Public: A container for a single diagnostic request. + * + * The only required fields are the arbitration_id and mode. + * + * arbitration_id - The arbitration ID to send the request. + * mode - The OBD-II mode for the request. + * has_pid - (optional) If the requests uses a PID, this should be true. + * pid - (optional) The PID to request, if the mode requires one. has_pid must + * be true. + * pid_length - The length of the PID field, either 1 (standard) or 2 bytes + * (extended). If 0, it will be set automatically based on the request + * mode. + * payload - (optional) The payload for the request, if the request requires + * one. If payload_length is 0 this field is ignored. + * payload_length - The length of the payload, or 0 if no payload is used. + * no_frame_padding - false if sent CAN payloads should *not* be padded out to a + * full 8 byte CAN frame. Many ECUs require this, but others require the + * size of the CAN message to only be the actual data. By default padding + * is enabled (so this struct value can default to 0). + * type - the type of the request (TODO unused) + */ +typedef struct { + uint32_t arbitration_id; + uint8_t mode; + bool has_pid; + uint16_t pid; + uint8_t pid_length; + uint8_t payload[MAX_UDS_REQUEST_PAYLOAD_LENGTH]; + uint8_t payload_length; + bool no_frame_padding; + DiagnosticRequestType type; +} DiagnosticRequest; + +/* Public: All possible negative response codes that could be received from a + * requested node. + * + * When a DiagnosticResponse is received and the 'completed' field is true, but + * the 'success' field is false, the 'negative_response_code' field will contain + * one of these values as reported by the requested node. + * + * Thanks to canbushack.com for the list of NRCs. + */ +typedef enum { + NRC_SUCCESS = 0x0, + NRC_SERVICE_NOT_SUPPORTED = 0x11, + NRC_SUB_FUNCTION_NOT_SUPPORTED = 0x12, + NRC_INCORRECT_LENGTH_OR_FORMAT = 0x13, + NRC_CONDITIONS_NOT_CORRECT = 0x22, + NRC_REQUEST_OUT_OF_RANGE = 0x31, + NRC_SECURITY_ACCESS_DENIED = 0x33, + NRC_INVALID_KEY = 0x35, + NRC_TOO_MANY_ATTEMPS = 0x36, + NRC_TIME_DELAY_NOT_EXPIRED = 0x37, + NRC_RESPONSE_PENDING = 0x78 +} DiagnosticNegativeResponseCode; + +/* Public: A partially or fully completed response to a diagnostic request. + * + * completed - True if the request is complete - some functions return a + * DiagnosticResponse even when it's only partially completed, so be sure + * to check this field. + * success - True if the request was successful. The value if this + * field isn't valid if 'completed' isn't true. If this is 'false', check + * the negative_response_code field for the reason. + * arbitration_id - The arbitration ID the response was received on. + * multi_frame - True if this response (whether completed or not) required + * multi-frame CAN support. Can be used for updating time-out functions. + * mode - The OBD-II mode for the original request. + * has_pid - If this is a response to a PID request, this will be true and the + * 'pid' field will be valid. + * pid - If the request was for a PID, this is the PID echo. Only valid if + * 'has_pid' is true. + * negative_response_code - If the request was not successful, 'success' will be + * false and this will be set to a DiagnosticNegativeResponseCode returned + * by the other node. + * payload - An optional payload for the response - NULL if no payload. + * payload_length - The length of the payload or 0 if none. + */ +typedef struct { + bool completed; + bool success; + bool multi_frame; + uint32_t arbitration_id; + uint8_t mode; + bool has_pid; + uint16_t pid; + DiagnosticNegativeResponseCode negative_response_code; + uint8_t payload[MAX_UDS_RESPONSE_PAYLOAD_LENGTH]; + uint8_t payload_length; +} DiagnosticResponse; + +/* Public: Friendly names for all OBD-II modes. + */ +typedef enum { + OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST = 0x1, + OBD2_MODE_POWERTRAIN_FREEZE_FRAME_REQUEST = 0x2, + OBD2_MODE_EMISSIONS_DTC_REQUEST = 0x3, + OBD2_MODE_EMISSIONS_DTC_CLEAR = 0x4, + // 0x5 is for non-CAN only + // OBD2_MODE_OXYGEN_SENSOR_TEST = 0x5, + OBD2_MODE_TEST_RESULTS = 0x6, + OBD2_MODE_DRIVE_CYCLE_DTC_REQUEST = 0x7, + OBD2_MODE_CONTROL = 0x8, + OBD2_MODE_VEHICLE_INFORMATION = 0x9, + OBD2_MODE_PERMANENT_DTC_REQUEST = 0xa, + // this one isn't technically in uds, but both of the enhanced standards + // have their PID requests at 0x22 + OBD2_MODE_ENHANCED_DIAGNOSTIC_REQUEST = 0x22 +} DiagnosticMode; + +/* Public: The signature for an optional function to be called when a diagnostic + * request is complete, and a response is received or there is a fatal error. + * + * response - the completed DiagnosticResponse. + */ +typedef void (*DiagnosticResponseReceived)(const DiagnosticResponse* response); + +/* Public: A handle for initiating and continuing a single diagnostic request. + * + * A diagnostic request requires one or more CAN messages to be sent, and one + * or more CAN messages to be received before it is completed. This struct + * encapsulates the local state required to track the request while it is in + * progress. + * + * request - The original DiagnosticRequest that this handle was created for. + * completed - True if the request was completed successfully, or was otherwise + * cancelled. + * success - True if the request send and receive process was successful. The + * value if this field isn't valid if 'completed' isn't true. + */ +typedef struct { + DiagnosticRequest request; + bool success; + bool completed; + + // Private + IsoTpShims isotp_shims; + IsoTpSendHandle isotp_send_handle; + IsoTpReceiveHandle isotp_receive_handles[MAX_RESPONDING_ECU_COUNT]; + uint8_t isotp_receive_handle_count; + DiagnosticResponseReceived callback; + // DiagnosticMilStatusReceived mil_status_callback; + // DiagnosticVinReceived vin_callback; +} DiagnosticRequestHandle; + +/* Public: The two major types of PIDs that determine the OBD-II mode and PID + * field length. + */ +typedef enum { + DIAGNOSTIC_STANDARD_PID, + DIAGNOSTIC_ENHANCED_PID +} DiagnosticPidRequestType; + +/* Public: A container for the 3 shim functions used by the library to interact + * with the wider system. + * + * Use the diagnostic_init_shims(...) function to create an instance of this + * struct. + */ +typedef struct { + LogShim log; + SendCanMessageShim send_can_message; + SetTimerShim set_timer; +} DiagnosticShims; + +#ifdef __cplusplus +} +#endif + +#endif // __UDS_TYPES_H__ diff --git a/CAN-binder/libs/uds-c/tests/common.c b/CAN-binder/libs/uds-c/tests/common.c new file mode 100644 index 0000000..fd1e4b2 --- /dev/null +++ b/CAN-binder/libs/uds-c/tests/common.c @@ -0,0 +1,43 @@ +#include <uds/uds.h> +#include <stdint.h> +#include <stdio.h> +#include <stdlib.h> +#include <stdarg.h> +#include <string.h> + +DiagnosticShims SHIMS; + +uint32_t last_can_frame_sent_arb_id; +uint8_t last_can_payload_sent[8]; +uint8_t last_can_payload_size; +bool can_frame_was_sent; + +DiagnosticResponse last_response_received; +bool last_response_was_received; + +void debug(const char* format, ...) { + va_list args; + va_start(args, format); + vprintf(format, args); + printf("\r\n"); + va_end(args); +} + +bool mock_send_can(const uint32_t arbitration_id, const uint8_t* data, + const uint8_t size) { + can_frame_was_sent = true; + last_can_frame_sent_arb_id = arbitration_id; + last_can_payload_size = size; + if(size > 0) { + memcpy(last_can_payload_sent, data, size); + } + return true; +} + +void setup() { + SHIMS = diagnostic_init_shims(debug, mock_send_can, NULL); + memset(last_can_payload_sent, 0, sizeof(last_can_payload_sent)); + can_frame_was_sent = false; + last_response_was_received = false; +} + diff --git a/CAN-binder/libs/uds-c/tests/test_core.c b/CAN-binder/libs/uds-c/tests/test_core.c new file mode 100644 index 0000000..81200cc --- /dev/null +++ b/CAN-binder/libs/uds-c/tests/test_core.c @@ -0,0 +1,526 @@ +#include <uds/uds.h> +#include <check.h> +#include <stdint.h> +#include <stdio.h> +#include <stdbool.h> + +extern bool can_frame_was_sent; +extern void setup(); +extern bool last_response_was_received; +extern DiagnosticResponse last_response_received; +extern DiagnosticShims SHIMS; +extern uint16_t last_can_frame_sent_arb_id; +extern uint8_t last_can_payload_sent[8]; +extern uint8_t last_can_payload_size; + +void response_received_handler(const DiagnosticResponse* response) { + last_response_was_received = true; + last_response_received = *response; +} + +START_TEST (test_receive_wrong_arb_id) +{ + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, + response_received_handler); + + fail_if(last_response_was_received); + const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23}; + diagnostic_receive_can_frame(&SHIMS, &handle, request.arbitration_id, + can_data, sizeof(can_data)); + fail_if(last_response_was_received); +} +END_TEST + +START_TEST (test_send_diag_request_with_payload) +{ + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST, + payload: {0x12, 0x34}, + payload_length: 2, + no_frame_padding: true + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, + response_received_handler); + + fail_if(handle.completed); + // TODO it'd be better to check the ISO-TP message instead of the CAN frame, + // but we don't have a good way to do that + ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); + ck_assert_int_eq(last_can_payload_sent[1], request.mode); + ck_assert_int_eq(last_can_payload_size, 4); + ck_assert_int_eq(last_can_payload_sent[2], request.payload[0]); + ck_assert_int_eq(last_can_payload_sent[3], request.payload[1]); +} +END_TEST + +START_TEST (test_send_functional_request) +{ + DiagnosticRequest request = { + arbitration_id: OBD2_FUNCTIONAL_BROADCAST_ID, + mode: OBD2_MODE_EMISSIONS_DTC_REQUEST, + no_frame_padding: true + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, + response_received_handler); + + fail_if(handle.completed); + ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); + ck_assert_int_eq(last_can_payload_sent[1], request.mode); + ck_assert_int_eq(last_can_payload_size, 2); + + fail_if(last_response_was_received); + const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23}; + for(uint16_t filter = OBD2_FUNCTIONAL_RESPONSE_START; filter < + OBD2_FUNCTIONAL_RESPONSE_START + OBD2_FUNCTIONAL_RESPONSE_COUNT; + filter++) { + DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, + &handle, filter, can_data, sizeof(can_data)); + fail_unless(response.success); + fail_unless(response.completed); + fail_unless(handle.completed); + ck_assert(last_response_received.success); + ck_assert_int_eq(last_response_received.arbitration_id, + filter); + ck_assert_int_eq(last_response_received.mode, request.mode); + fail_if(last_response_received.has_pid); + ck_assert_int_eq(last_response_received.payload_length, 1); + ck_assert_int_eq(last_response_received.payload[0], can_data[2]); + } +} +END_TEST + +START_TEST (test_sent_message_no_padding) +{ + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: OBD2_MODE_EMISSIONS_DTC_REQUEST, + no_frame_padding: true + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, + response_received_handler); + + fail_if(handle.completed); + ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); + ck_assert_int_eq(last_can_payload_size, 2); +} +END_TEST + +START_TEST (test_sent_message_is_padded_by_default) +{ + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: OBD2_MODE_EMISSIONS_DTC_REQUEST + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, + response_received_handler); + + fail_if(handle.completed); + ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); + ck_assert_int_eq(last_can_payload_size, 8); +} +END_TEST + +START_TEST (test_sent_message_is_padded) +{ + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: OBD2_MODE_EMISSIONS_DTC_REQUEST, + no_frame_padding: false + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, + response_received_handler); + + fail_if(handle.completed); + ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); + ck_assert_int_eq(last_can_payload_size, 8); +} +END_TEST + +START_TEST (test_send_diag_request) +{ + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: OBD2_MODE_EMISSIONS_DTC_REQUEST, + no_frame_padding: true + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, + response_received_handler); + + fail_if(handle.completed); + fail_unless(can_frame_was_sent); + ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); + ck_assert_int_eq(last_can_payload_sent[1], request.mode); + ck_assert_int_eq(last_can_payload_size, 2); + + fail_if(last_response_was_received); + const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23}; + DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle, + request.arbitration_id + 0x8, can_data, sizeof(can_data)); + fail_unless(response.success); + fail_unless(response.completed); + fail_unless(handle.completed); + ck_assert(last_response_received.success); + ck_assert_int_eq(last_response_received.arbitration_id, + request.arbitration_id + 0x8); + ck_assert_int_eq(last_response_received.mode, request.mode); + fail_if(last_response_received.has_pid); + ck_assert_int_eq(last_response_received.payload_length, 1); + ck_assert_int_eq(last_response_received.payload[0], can_data[2]); +} +END_TEST + +START_TEST (test_generate_then_send_request) +{ + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: OBD2_MODE_EMISSIONS_DTC_REQUEST, + no_frame_padding: true + }; + DiagnosticRequestHandle handle = generate_diagnostic_request(&SHIMS, + &request, response_received_handler); + + fail_if(handle.completed); + fail_if(can_frame_was_sent); + + start_diagnostic_request(&SHIMS, &handle); + fail_unless(can_frame_was_sent); + ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); + ck_assert_int_eq(last_can_payload_sent[1], request.mode); + ck_assert_int_eq(last_can_payload_size, 2); + + fail_if(last_response_was_received); + const uint8_t can_data[] = {0x2, request.mode + 0x40, 0x23}; + DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle, + request.arbitration_id + 0x8, can_data, sizeof(can_data)); + fail_unless(response.success); + fail_unless(response.completed); + fail_unless(handle.completed); + ck_assert(last_response_received.success); + ck_assert_int_eq(last_response_received.arbitration_id, + request.arbitration_id + 0x8); + ck_assert_int_eq(last_response_received.mode, request.mode); + fail_if(last_response_received.has_pid); + ck_assert_int_eq(last_response_received.payload_length, 1); + ck_assert_int_eq(last_response_received.payload[0], can_data[2]); +} +END_TEST + +START_TEST (test_generate_diag_request) +{ + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: OBD2_MODE_EMISSIONS_DTC_REQUEST, + no_frame_padding: true + }; + DiagnosticRequestHandle handle = generate_diagnostic_request(&SHIMS, + &request, response_received_handler); + + fail_if(handle.completed); + fail_if(can_frame_was_sent); +} +END_TEST + +START_TEST (test_autoset_pid_length) +{ + uint16_t arb_id = OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST; + diagnostic_request_pid(&SHIMS, DIAGNOSTIC_STANDARD_PID, arb_id, 0x2, + response_received_handler); + + ck_assert_int_eq(last_can_frame_sent_arb_id, arb_id); + ck_assert_int_eq(last_can_payload_sent[1], 0x1); + ck_assert_int_eq(last_can_payload_sent[2], 0x2); + // padding is on for the diagnostic_request_pid helper function - if you + // need to turn it off, use the more manual diagnostic_request(...) + ck_assert_int_eq(last_can_payload_size, 8); + + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: 0x22, + has_pid: true, + pid: 0x1234, + no_frame_padding: true + }; + diagnostic_request(&SHIMS, &request, response_received_handler); + + ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); + ck_assert_int_eq(last_can_payload_sent[1], request.mode); + ck_assert_int_eq(last_can_payload_sent[2], (request.pid & 0xFF00) >> 8); + ck_assert_int_eq(last_can_payload_sent[3], request.pid & 0xFF); + ck_assert_int_eq(last_can_payload_size, 4); + + request.arbitration_id = 0x101; + request.pid = 0x12; + + diagnostic_request(&SHIMS, &request, response_received_handler); + + ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); + ck_assert_int_eq(last_can_payload_sent[1], request.mode); + ck_assert_int_eq(last_can_payload_sent[2], request.pid); + ck_assert_int_eq(last_can_payload_size, 3); +} +END_TEST + +START_TEST (test_request_pid_standard) +{ + uint16_t arb_id = OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST; + DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, + 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}; + 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, + arb_id + 0x8); + ck_assert_int_eq(last_response_received.mode, 0x1); + fail_unless(last_response_received.has_pid); + ck_assert_int_eq(last_response_received.pid, 0x2); + ck_assert_int_eq(last_response_received.payload_length, 1); + ck_assert_int_eq(last_response_received.payload[0], can_data[3]); +} +END_TEST + +START_TEST (test_request_pid_enhanced) +{ + uint16_t arb_id = 0x100; + DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, + DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler); + + fail_if(last_response_was_received); + const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x34, 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, + arb_id + 0x8); + ck_assert_int_eq(last_response_received.mode, 0x22); + fail_unless(last_response_received.has_pid); + ck_assert_int_eq(last_response_received.pid, 0x1234); + ck_assert_int_eq(last_response_received.payload_length, 1); + ck_assert_int_eq(last_response_received.payload[0], can_data[4]); +} +END_TEST + +START_TEST (test_wrong_mode_response) +{ + uint16_t arb_id = 0x100; + DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, + DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler); + + fail_if(last_response_was_received); + const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x12, 0x34, 0x45}; + diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, + sizeof(can_data)); + fail_if(last_response_was_received); + fail_if(handle.completed); +} +END_TEST + +START_TEST (test_missing_pid) +{ + uint16_t arb_id = 0x100; + DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, + DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler); + + fail_if(last_response_was_received); + const uint8_t can_data[] = {0x1, 0x22 + 0x40}; + diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, + sizeof(can_data)); + fail_if(last_response_was_received); + fail_if(handle.completed); +} +END_TEST + +START_TEST (test_wrong_pid_response) +{ + uint16_t arb_id = 0x100; + DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, + DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler); + + fail_if(last_response_was_received); + const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x33, 0x45}; + diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, + sizeof(can_data)); + fail_if(last_response_was_received); + fail_if(handle.completed); +} +END_TEST + +START_TEST (test_wrong_pid_then_right_completes) +{ + uint16_t arb_id = 0x100; + DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, + DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler); + + fail_if(last_response_was_received); + uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x33, 0x45}; + diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, + sizeof(can_data)); + fail_if(last_response_was_received); + fail_if(handle.completed); + + can_data[3] = 0x34; + diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data, + sizeof(can_data)); + fail_unless(last_response_was_received); + fail_unless(handle.completed); + fail_unless(handle.success); + fail_unless(last_response_received.success); + ck_assert_int_eq(last_response_received.pid, 0x1234); +} +END_TEST + +START_TEST (test_negative_response) +{ + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, + response_received_handler); + const uint8_t can_data[] = {0x3, 0x7f, request.mode, + NRC_SERVICE_NOT_SUPPORTED}; + DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle, + request.arbitration_id + 0x8, can_data, sizeof(can_data)); + fail_unless(response.completed); + fail_if(response.success); + fail_unless(handle.completed); + + fail_if(last_response_received.success); + ck_assert_int_eq(last_response_received.arbitration_id, + request.arbitration_id + 0x8); + ck_assert_int_eq(last_response_received.mode, request.mode); + ck_assert_int_eq(last_response_received.pid, 0); + ck_assert_int_eq(last_response_received.negative_response_code, + NRC_SERVICE_NOT_SUPPORTED); + ck_assert_int_eq(last_response_received.payload_length, 0); +} +END_TEST + +START_TEST (test_payload_to_integer) +{ + uint16_t arb_id = OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST; + DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS, + DIAGNOSTIC_STANDARD_PID, arb_id, 0x2, response_received_handler); + + fail_if(last_response_was_received); + const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x2, 0x45, 0x12}; + DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle, + arb_id + 0x8, can_data, sizeof(can_data)); + ck_assert_int_eq(diagnostic_payload_to_integer(&response), 0x4512); +} +END_TEST + +START_TEST (test_response_multi_frame) +{ + DiagnosticRequest request = { + arbitration_id: 0x100, + mode: OBD2_MODE_VEHICLE_INFORMATION, + has_pid: true, + pid: 0x2 + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, + response_received_handler); + + const uint8_t can_data[] = {0x10, 0x14, 0x9 + 0x40, 0x2, 0x1, 0x31, 0x46, 0x4d}; + DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle, + request.arbitration_id + 0x8, can_data, sizeof(can_data)); + + fail_unless(can_frame_was_sent); + fail_unless(!response.success); + fail_unless(!response.completed); + fail_unless(response.multi_frame); + ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id); + ck_assert_int_eq(last_can_payload_sent[0], 0x30); + + const uint8_t can_data_1[] = {0x21, 0x43, 0x55, 0x39, 0x4a, 0x39, 0x34, 0x48}; + response = diagnostic_receive_can_frame(&SHIMS, &handle, + request.arbitration_id + 0x8, can_data_1, sizeof(can_data_1)); + fail_unless(!response.success); + fail_unless(!response.completed); + fail_unless(response.multi_frame); + + const uint8_t can_data_2[] = {0x22, 0x55, 0x41, 0x30, 0x34, 0x35, 0x32, 0x34}; + response = diagnostic_receive_can_frame(&SHIMS, &handle, + request.arbitration_id + 0x8, can_data_2, sizeof(can_data_2)); + fail_unless(response.success); + fail_unless(response.completed); + fail_unless(response.multi_frame); + ck_assert_int_eq(response.mode, OBD2_MODE_VEHICLE_INFORMATION); + ck_assert_int_eq(response.pid, 0x2); + ck_assert_int_eq(response.payload_length, 18); + ck_assert_int_eq(response.payload[0], 0x01); + ck_assert_int_eq(response.payload[1], 0x31); + ck_assert_int_eq(response.payload[2], 0x46); + ck_assert_int_eq(response.payload[3], 0x4d); + ck_assert_int_eq(response.payload[4], 0x43); + ck_assert_int_eq(response.payload[5], 0x55); + ck_assert_int_eq(response.payload[6], 0x39); + ck_assert_int_eq(response.payload[7], 0x4a); + ck_assert_int_eq(response.payload[8], 0x39); + ck_assert_int_eq(response.payload[9], 0x34); + ck_assert_int_eq(response.payload[10], 0x48); + ck_assert_int_eq(response.payload[11], 0x55); + ck_assert_int_eq(response.payload[12], 0x41); + ck_assert_int_eq(response.payload[13], 0x30); + ck_assert_int_eq(response.payload[14], 0x34); + ck_assert_int_eq(response.payload[15], 0x35); + ck_assert_int_eq(response.payload[16], 0x32); + ck_assert_int_eq(response.payload[17], 0x34); +} +END_TEST + +Suite* testSuite(void) { + Suite* s = suite_create("uds"); + TCase *tc_core = tcase_create("core"); + tcase_add_checked_fixture(tc_core, setup, NULL); + tcase_add_test(tc_core, test_sent_message_no_padding); + tcase_add_test(tc_core, test_sent_message_is_padded); + tcase_add_test(tc_core, test_sent_message_is_padded_by_default); + tcase_add_test(tc_core, test_generate_diag_request); + tcase_add_test(tc_core, test_generate_then_send_request); + tcase_add_test(tc_core, test_send_diag_request); + tcase_add_test(tc_core, test_send_functional_request); + tcase_add_test(tc_core, test_send_diag_request_with_payload); + tcase_add_test(tc_core, test_receive_wrong_arb_id); + tcase_add_test(tc_core, test_autoset_pid_length); + 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); + tcase_add_test(tc_core, test_wrong_pid_response); + tcase_add_test(tc_core, test_missing_pid); + tcase_add_test(tc_core, test_wrong_pid_then_right_completes); + tcase_add_test(tc_core, test_negative_response); + tcase_add_test(tc_core, test_payload_to_integer); + tcase_add_test(tc_core, test_response_multi_frame); + + // TODO these are future work: + // TODO test request MIL + // TODO test request VIN + // TODO test request DTC + // TODO test clear DTC + // TODO test enumerate PIDs + suite_add_tcase(s, tc_core); + + return s; +} + +int main(void) { + int numberFailed; + Suite* s = testSuite(); + SRunner *sr = srunner_create(s); + // Don't fork so we can actually use gdb + srunner_set_fork_status(sr, CK_NOFORK); + srunner_run_all(sr, CK_NORMAL); + numberFailed = srunner_ntests_failed(sr); + srunner_free(sr); + return (numberFailed == 0) ? 0 : 1; +} |