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-rw-r--r--src/obd2/obd2.c39
-rw-r--r--src/obd2/obd2.h8
2 files changed, 24 insertions, 23 deletions
diff --git a/src/obd2/obd2.c b/src/obd2/obd2.c
index d8ef190..1dcb827 100644
--- a/src/obd2/obd2.c
+++ b/src/obd2/obd2.c
@@ -1,4 +1,5 @@
#include <obd2/obd2.h>
+#include <arpa/inet.h>
#define MODE_RESPONSE_OFFSET 0x40
#define NEGATIVE_RESPONSE_MODE 0x7f
@@ -12,9 +13,9 @@ 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,
- log: log
+ set_timer: set_timer
};
return shims;
}
@@ -32,11 +33,11 @@ DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
uint8_t payload[MAX_DIAGNOSTIC_PAYLOAD_SIZE];
payload[MODE_BYTE_INDEX] = request->mode;
if(request->pid_length > 0) {
- copy_bytes_right_aligned(request->pid, sizeof(request->pid),
+ copy_bytes_right_aligned(&request->pid, sizeof(request->pid),
PID_BYTE_INDEX, request->pid_length, payload, sizeof(payload));
}
if(request->payload_length > 0) {
- memcpy(payload[PID_BYTE_INDEX + request->pid_length],
+ memcpy(&payload[PID_BYTE_INDEX + request->pid_length],
request->payload, request->payload_length);
}
@@ -46,15 +47,11 @@ DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
handle.isotp_send_handle = isotp_send(&handle.isotp_shims,
request->arbitration_id, payload,
1 + request->payload_length + request->pid_length,
- // TODO is this ok to pass null here?
NULL);
handle.isotp_receive_handle = isotp_receive(&handle.isotp_shims,
// TODO need to either always add 0x8 or let the user specify
request->arbitration_id + 0x8,
- // TODO this callback is mostly useful for debugging stuff as it
- // doesn't have the internal state we need to complete the
- // diagnositc request - can we pass NULL or will that 'splode?
NULL);
// when a can frame is received and passes to the diagnostic handle
@@ -117,20 +114,21 @@ DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
}
DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims,
- DiagnosticPidRequestType pid_request_type, uint16_t pid,
- DiagnosticResponseReceived callback) {
+ DiagnosticPidRequestType pid_request_type, uint16_t arbitration_id,
+ uint16_t pid, DiagnosticResponseReceived callback) {
DiagnosticRequest request = {
+ arbitration_id: arbitration_id,
mode: pid_request_type == DIAGNOSTIC_STANDARD_PID ? 0x1 : 0x22,
- pid: pid
+ pid: pid,
+ pid_length: pid_request_type == DIAGNOSTIC_STANDARD_PID ? 1 : 2
};
return diagnostic_request(shims, &request, callback);
}
DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims,
- DiagnosticRequestHandle* handle,
- const uint16_t arbitration_id, const uint8_t data[],
- const uint8_t size) {
+ DiagnosticRequestHandle* handle, const uint16_t arbitration_id,
+ const uint8_t data[], const uint8_t size) {
DiagnosticResponse response = {
arbitration_id: arbitration_id,
@@ -169,12 +167,15 @@ DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims,
// if it matched
response.mode = handle->request.mode;
if(handle->request.pid_length > 0 && message.size > 1) {
- copy_bytes_right_aligned(handle->request.pid, sizeof(handle->request.pid),
- PID_BYTE_INDEX, handle->request.pid_length, response.pid,
- sizeof(response.pid));
+ if(handle->request.pid_length == 2) {
+ response.pid = *(uint16_t*)&message.payload[PID_BYTE_INDEX];
+ response.pid = ntohs(response.pid);
+ } else {
+ response.pid = message.payload[PID_BYTE_INDEX];
+ }
}
- uint8_t payload_index = 1 + handle->request.pid_length;
+ uint8_t payload_index = 1 + handle->request.pid_length;
response.payload_length = message.size - payload_index;
if(response.payload_length > 0) {
memcpy(response.payload, &message.payload[payload_index],
@@ -182,7 +183,7 @@ DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims,
}
response.success = true;
} else {
- shims->log("Response was for a mode %d request, not our mode %d request",
+ shims->log("Response was for a mode 0x%x request, not our mode 0x%x request",
response.mode - MODE_RESPONSE_OFFSET,
handle->request.mode);
}
diff --git a/src/obd2/obd2.h b/src/obd2/obd2.h
index 7589483..2bb6c77 100644
--- a/src/obd2/obd2.h
+++ b/src/obd2/obd2.h
@@ -133,9 +133,9 @@ typedef enum {
} DiagnosticPidRequestType;
typedef struct {
- SetTimerShim set_timer;
- SendCanMessageShim send_can_message;
LogShim log;
+ SendCanMessageShim send_can_message;
+ SetTimerShim set_timer;
} DiagnosticShims;
DiagnosticShims diagnostic_init_shims(LogShim log,
@@ -147,8 +147,8 @@ DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
// decide mode 0x1 / 0x22 based on pid type
DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims,
- DiagnosticPidRequestType pid_request_type, uint16_t pid,
- DiagnosticResponseReceived callback);
+ DiagnosticPidRequestType pid_request_type, uint16_t arbitration_id,
+ uint16_t pid, DiagnosticResponseReceived callback);
DiagnosticRequestHandle diagnostic_request_malfunction_indicator_status(
DiagnosticShims* shims,