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Fixes to UDS related code

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This commit is contained in:
Collin Kidder
2017-08-20 18:22:10 -04:00
parent 0ab6fdd411
commit 4b73cb2e26
5 changed files with 47 additions and 6 deletions
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bus_protocols/isotp_handler.cpp
+30 -3
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@@ -18,6 +18,10 @@ ISOTP_HANDLER::ISOTP_HANDLER()
{
useExtendedAddressing = false;
isReceiving = false;
issueFlowMsgs = false;
processAll = false;
lastSenderBus = 0;
lastSenderID = 0;
connect(&frameTimer, SIGNAL(timeout()), this, SLOT(frameTimerTick()));
}
@@ -27,6 +31,11 @@ void ISOTP_HANDLER::setExtendedAddressing(bool mode)
useExtendedAddressing = mode;
}
void ISOTP_HANDLER::setFlowCtrl(bool state)
{
issueFlowMsgs = state;
}
void ISOTP_HANDLER::setReception(bool mode)
{
if (isReceiving == mode) return;
@@ -52,13 +61,16 @@ void ISOTP_HANDLER::sendISOTPFrame(int bus, int ID, QVector<unsigned char> data)
if (bus < 0) return;
if (bus >= CANConManager::getInstance()->getNumBuses()) return;
lastSenderID = ID;
lastSenderBus = bus;
if (data.length() < 8)
{
frame.bus = bus;
frame.extended = false;
frame.ID = ID;
frame.len = 8;
for (int b = 0; b < 8; b++) frame.data[b] = 0xAA;
for (int b = 0; b < 8; b++) frame.data[b] = 0x00;
frame.data[0] = data.length();
for (int i = 0; i < frame.data[0]; i++) frame.data[i + 1] = data[i];
CANConManager::getInstance()->sendFrame(frame);
@@ -69,7 +81,7 @@ void ISOTP_HANDLER::sendISOTPFrame(int bus, int ID, QVector<unsigned char> data)
frame.ID = ID;
frame.extended = false;
frame.len = 8;
for (int b = 0; b < 8; b++) frame.data[b] = 0xAA;
for (int b = 0; b < 8; b++) frame.data[b] = 0x00;
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++];
@@ -81,7 +93,7 @@ void ISOTP_HANDLER::sendISOTPFrame(int bus, int ID, QVector<unsigned char> data)
frameTimer.start();
while (currByte < data.length())
{
for (int b = 0; b < 8; b++) frame.data[b] = 0xAA;
for (int b = 0; b < 8; b++) frame.data[b] = 0x00;
frame.data[0] = 0x20 + index;
index = (index + 1) & 0xF;
int bytesToGo = data.length() - currByte;
@@ -200,6 +212,21 @@ void ISOTP_HANDLER::processFrame(const CANFrame &frame)
for (int j = 0; j < 6; j++) msg.data.append(frame.data[2 + j]);
}
messageBuffer.append(msg);
//The sending ID is set to the last ID we used to send from this class which is
//very likely to be correct. But, caution, there is a chance that it isn't. Beware.
if (issueFlowMsgs && lastSenderID > 0)
{
CANFrame outFrame;
outFrame.bus = lastSenderBus;
outFrame.extended = false;
outFrame.ID = lastSenderID;
outFrame.len = 8;
for (int b = 0; b < 8; b++) outFrame.data[b] = 0x00;
outFrame.data[0] = 0x30; //flow control, go ahead and send
outFrame.data[1] = 0; //dont ask again about flow control
outFrame.data[2] = 3; //separation time in milliseconds between messages.
CANConManager::getInstance()->sendFrame(outFrame);
}
break;
case 2: //subsequent frames for multi-frame messages
pMsg = NULL;