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Major refactoring of ISOTP and UDS code to be more generic and have

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better functionality.
This commit is contained in:
Collin Kidder
2017-05-15 22:38:59 -04:00
parent d766d442b9
commit 1ccb9bac2e
15 changed files with 494 additions and 206 deletions
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bus_protocols/isotp_handler.cpp
+83 -114
View File
@@ -1,124 +1,23 @@
#include "isotp_handler.h"
#include "connections/canconmanager.h"
CODE_STRUCT OBDII_FUNCTS[] =
{
{1, "UDS_OBDII_SHOW_CURRENT", "OBDII - Show current data"},
{2, "UDS_OBDII_SHOW_FREEZE", "OBDII - Show freeze data"},
{3, "UDS_OBDII_SHOW_STORED_DTC", "OBDII - Show stored DTC codes"},
{4, "UDS_OBDII_CLEAR_DTC", "OBDII - Clear current DTC codes"},
{5, "UDS_OBDII_TEST_O2", "OBDII - O2 sensor testing"},
{6, "UDS_OBDII_TEST_RESULTS", "OBDII - Show emissions testing results"},
{7, "UDS_OBDII_SHOW_PENDING_DTC", "OBDII - Show pending DTC codes"},
{8, "UDS_OBDII_CONTROL_DEVICES", "OBDII - Control vehicle devices"},
{9, "UDS_OBDII_VEH_INFO", "OBDII - Retrieve vehicle information"},
{0xA, "UDS_OBDII_PERM_DTC", "OBDII - Show permanent DTC codes"},
{0xFF, "UDS_UNKNOWN", "Unknown OBDII code - Likely proprietary"}
};
ISOTP_HANDLER* ISOTP_HANDLER::mInstance = NULL;
CODE_STRUCT UDS_FUNCS[] =
ISOTP_HANDLER* ISOTP_HANDLER::getInstance()
{
{0x10, "UDS_DIAG_CONTROL", "Diagnostic session control"},
{0x11, "UDS_ECU_RESET", "Reset ECU"},
{0x14, "UDS_CLEAR_DIAG", "Clear diagnostic trouble codes"},
{0x19, "UDS_READ_DTC", "Read diagnostic trouble codes"},
{0x22, "UDS_READ_BY_ID", "Read data by ID"},
{0x23, "UDS_READ_BY_ADDR", "Read data by address"},
{0x24, "UDS_READ_SCALING_ID", "Read scaling data by ID"},
{0x27, "UDS_SECURITY_ACCESS", "Request security access"},
{0x28, "UDS_COMM_CTRL", "Communication control"},
{0x2A, "UDS_READ_DATA_ID_PERIODIC", "Read data by ID periodically"},
{0x2C, "UDS_DYNAMIC_DATA_DEFINE", "Create dynamic data ID"},
{0x2E, "UDS_WRITE_BY_ID", "Write data by ID"},
{0x2F, "UDS_IO_CTRL", "Input/Output control (force)"},
{0x31, "UDS_ROUTINE_CTRL", "Call a service routine"},
{0x34, "UDS_REQUEST_DOWNLOAD", "Request data download (from PC to ECU)"},
{0x35, "UDS_REQUEST_UPLOAD", "Request data upload (from ECU to PC)"},
{0x36, "UDS_TRANSFER_DATA", "Transfer data"},
{0x37, "UDS_REQ_TRANS_EXIT", "Request that data transfer cease"},
{0x38, "UDS_REQ_FILE_TRANS", "Request file transfer"},
{0x3D, "UDS_WRITE_BY_ADDR", "Write data by address"},
{0x3E, "UDS_TESTER_PRESENT", "Tester is present"},
{0x83, "UDS_ACCESS_TIMING", "Read or write comm timing parameters"},
{0x84, "UDS_SECURED_DATA_TRANS", "Secured data transmission"},
{0x85, "UDS_CTRL_DTC_SETTINGS", "Control DTC settings"},
{0x86, "UDS_RESPONSE_ON_EVENT", "Request start/stop transmission on event"},
{0x87, "UDS_RESPONSE_LINK_CTRL", "Control comm link"},
{0xFF, "UDS_UNKNOWN_CODE", "Unknown, likely proprietary UDS function code"}
};
if(!mInstance)
{
mInstance = new ISOTP_HANDLER();
mInstance->modelFrames = MainWindow::getReference()->getCANFrameModel()->getListReference();
}
CODE_STRUCT UDS_NEG_RESPONSE[] =
{
{0x10, "UDS_NEG_GENERAL_REJECT", "General rejection (no other codes matched)"},
{0x11, "UDS_NEG_SERVICE_NOTSUPP", "ECU does not support this service code"},
{0x12, "UDS_NEG_SUBFUNCT_NOTSUPP", "ECU does not support the requested sub function"},
{0x13, "UDS_NEG_INVALID_FORMAT", "Invalid request length or format error"},
{0x14, "UDS_NEG_RESPONSE_TOOLONG", "Response would be too long to send"},
{0x21, "UDS_NEG_BUSY", "ECU is busy. Try again later"},
{0x22, "UDS_NEG_COND_INCORR", "A prereq. condition was not met"},
{0x24, "UDS_NEG_REQ_SEQ_ERR", "Invalid sequence of requests"},
{0x25, "UDS_NEG_SUBNET_NORESP", "ECU tried to gateway request but response timed out"},
{0x26, "UDS_NEG_FAILURE", "A failure (indicated in a DTC) is preventing a reply"},
{0x31, "UDS_NEG_REQ_OUTOFRANGE", "A parameter is outside of the valid range"},
{0x33, "UDS_NEG_SECURITY_DENIED", "Security access was denied. (invalid seq or ECU not unlocked?)"},
{0x35, "UDS_NEG_INVALID_KEY", "Key passed was invalid. Failure counter has been incremented."},
{0x36, "UDS_NEG_EXCEED_ATTEMPTS", "Key failed too many times. ECU security access locked out"},
{0x37, "UDS_NEG_TIMEDELAY", "Security access too soon after last attempt"},
{0x38, "UDS_NEG_EXT_SECUR_1", "Extended security failure code 1"},
{0x39, "UDS_NEG_EXT_SECUR_2", "Extended security failure code 2"},
{0x3A, "UDS_NEG_EXT_SECUR_3", "Extended security failure code 3"},
{0x3B, "UDS_NEG_EXT_SECUR_4", "Extended security failure code 4"},
{0x3C, "UDS_NEG_EXT_SECUR_5", "Extended security failure code 5"},
{0x3D, "UDS_NEG_EXT_SECUR_6", "Extended security failure code 6"},
{0x3E, "UDS_NEG_EXT_SECUR_7", "Extended security failure code 7"},
{0x3F, "UDS_NEG_EXT_SECUR_8", "Extended security failure code 8"},
{0x40, "UDS_NEG_EXT_SECUR_9", "Extended security failure code 9"},
{0x41, "UDS_NEG_EXT_SECUR_10", "Extended security failure code 10"},
{0x42, "UDS_NEG_EXT_SECUR_11", "Extended security failure code 11"},
{0x43, "UDS_NEG_EXT_SECUR_12", "Extended security failure code 12"},
{0x44, "UDS_NEG_EXT_SECUR_13", "Extended security failure code 13"},
{0x45, "UDS_NEG_EXT_SECUR_14", "Extended security failure code 14"},
{0x46, "UDS_NEG_EXT_SECUR_15", "Extended security failure code 15"},
{0x47, "UDS_NEG_EXT_SECUR_16", "Extended security failure code 16"},
{0x48, "UDS_NEG_EXT_SECUR_17", "Extended security failure code 17"},
{0x49, "UDS_NEG_EXT_SECUR_18", "Extended security failure code 18"},
{0x4A, "UDS_NEG_EXT_SECUR_19", "Extended security failure code 19"},
{0x4B, "UDS_NEG_EXT_SECUR_20", "Extended security failure code 20"},
{0x4C, "UDS_NEG_EXT_SECUR_21", "Extended security failure code 21"},
{0x4D, "UDS_NEG_EXT_SECUR_22", "Extended security failure code 22"},
{0x4E, "UDS_NEG_EXT_SECUR_23", "Extended security failure code 23"},
{0x4F, "UDS_NEG_EXT_SECUR_24", "Extended security failure code 24"},
{0x70, "UDS_NEG_UPLOAD_DOWNLOAD", "Fault when attempting to start upload/download"},
{0x71, "UDS_NEG_TRX_SUSPENDED", "Transfer aborting due to a fault"},
{0x72, "UDS_NEG_GEN_PROGRAMMING", "Fault while attempting to write to ECU memory"},
{0x73, "UDS_NEG_WRONG_BLOCK_SEQ", "Invalid sequence value detected during transfer"},
{0x78, "UDS_NEG_RESP_PENDING", "Request successful but ECU still busy - Response pending"},
{0x7E, "UDS_NEG_SUBFUNCT_CURRSESS", "ECU does not support this subfunction in current session type"},
{0x7F, "UDS_NEG_SERVICE_CURRSESS", "ECU does not support this service in current session type"},
{0x81, "UDS_NEG_RPM_TOOHIGH", "RPM is too high to execute request"},
{0x82, "UDS_NEG_RPM_TOOLOW", "RPM is too low to execute request"},
{0x83, "UDS_NEG_ENGINE_RUNNING", "Cannot execute request while engine is running"},
{0x84, "UDS_NEG_ENGINE_NOTRUNNING", "Cannot execute request while engine is off"},
{0x85, "UDS_NEG_ENG_RUNTIME_LOW", "Cannot execute request until engine has run for longer"},
{0x86, "UDS_NEG_TEMPERATURE_HIGH", "Cannot execute request until temperature is lower"},
{0x87, "UDS_NEG_TEMPERATURE_LOW", "Cannot execute request until temperature is higher"},
{0x88, "UDS_NEG_SPEED_HIGH", "Cannot execute request until vehicle slows down"},
{0x89, "UDS_NEG_SPEED_LOW", "Cannot execute request until vehicle is going faster"},
{0x8A, "UDS_NEG_PEDAL_HIGH", "Cannot execute request until throttle is lower"},
{0x8B, "UDS_NEG_PEDAL_LOW", "Cannot execute request until throttle is higher"},
{0x8C, "UDS_NEG_NOT_NEUTRAL", "Cannot execute request until transmission is in neutral"},
{0x8D, "UDS_NEG_NOT_INGEAR", "Cannot execute request until vehicle is in gear"},
{0x8F, "UDS_NEG_BRAKE_NOTPRESSED", "Cannot execute request until brake pedal is pressed (Hold down)"},
{0x90, "UDS_NEG_NOT_PARK", "Cannot execute request until vehicle is in park"},
{0x91, "UDS_NEG_CLUTCH_LOCKED", "Cannot execute request while clutch is locked"},
{0x92, "UDS_NEG_VOLTAGE_HIGH", "Cannot execute request until voltage is lower"},
{0x93, "UDS_NEG_VOLTAGE_LOW", "Cannot execute request until voltage is higher"},
};
return mInstance;
}
ISOTP_HANDLER::ISOTP_HANDLER(const QVector<CANFrame> *frames, QObject *parent)
: QObject(parent)
ISOTP_HANDLER::ISOTP_HANDLER()
{
modelFrames = frames;
useExtendedAddressing = false;
isReceiving = false;
}
void ISOTP_HANDLER::setExtendedAddressing(bool mode)
@@ -126,6 +25,64 @@ void ISOTP_HANDLER::setExtendedAddressing(bool mode)
useExtendedAddressing = mode;
}
void ISOTP_HANDLER::setReception(bool mode)
{
if (isReceiving == mode) return;
isReceiving = mode;
if (isReceiving)
{
connect(CANConManager::getInstance(), &CANConManager::framesReceived, this, &ISOTP_HANDLER::rapidFrames);
qDebug() << "Enabling reception in ISOTP handler";
}
else
{
disconnect(CANConManager::getInstance(), &CANConManager::framesReceived, this, &ISOTP_HANDLER::rapidFrames);
qDebug() << "Disabling reception in ISOTP handler";
}
}
void ISOTP_HANDLER::sendISOTPFrame(int bus, int ID, QVector<unsigned char> data)
{
CANFrame frame;
int currByte = 0;
int index = 0;
if (bus < 0) return;
if (bus >= CANConManager::getInstance()->getNumBuses()) return;
if (data.length() < 8)
{
frame.bus = bus;
frame.extended = false;
frame.ID = ID;
frame.len = data.length() + 1;
frame.data[0] = frame.len - 1;
for (int i = 0; i < frame.data[0]; i++) frame.data[i + 1] = data[i];
CANConManager::getInstance()->sendFrame(frame);
}
else //need to send a multi-part ISO_TP message - no flow control possible right now. TODO - Add flow control
{
frame.bus = bus;
frame.ID = ID;
frame.extended = false;
frame.len = 8;
frame.data[0] = 0x10 + (data.length() / 256);
frame.data[1] = data.length() & 0xFF;
for (int i = 0; i < 6; i++) frame.data[2 + i] = data[currByte++];
CANConManager::getInstance()->sendFrame(frame);
while (currByte < data.length())
{
frame.data[0] = 0x20 + index;
index = (index + 1) & 0xF;
int bytesToGo = data.length() - currByte;
if (bytesToGo > 7) bytesToGo = 7;
for (int i = 0; i < bytesToGo; i++) frame.data[1 + i] = data[currByte++];
frame.len = 1 + bytesToGo;
CANConManager::getInstance()->sendFrame(frame);
}
}
}
//remember, negative numbers are special -1 = all frames deleted, -2 = totally new set of frames.
void ISOTP_HANDLER::updatedFrames(int numFrames)
{
@@ -140,11 +97,23 @@ void ISOTP_HANDLER::updatedFrames(int numFrames)
{
for (int i = modelFrames->count() - numFrames; i < modelFrames->count(); i++)
{
processFrame(modelFrames->at(i));
//processFrame(modelFrames->at(i));
}
}
}
void ISOTP_HANDLER::rapidFrames(const CANConnection* conn, const QVector<CANFrame>& pFrames)
{
if (pFrames.length() <= 0) return;
qDebug() << "received messages in ISOTP handler";
foreach(const CANFrame& thisFrame, pFrames)
{
processFrame(thisFrame);
}
}
void ISOTP_HANDLER::processFrame(const CANFrame &frame)
{
uint64_t ID = frame.ID;