275 lines
12 KiB
C++
275 lines
12 KiB
C++
#include "isotp_handler.h"
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CODE_STRUCT OBDII_FUNCTS[] =
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{
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{1, "UDS_OBDII_SHOW_CURRENT", "OBDII - Show current data"},
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{2, "UDS_OBDII_SHOW_FREEZE", "OBDII - Show freeze data"},
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{3, "UDS_OBDII_SHOW_STORED_DTC", "OBDII - Show stored DTC codes"},
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{4, "UDS_OBDII_CLEAR_DTC", "OBDII - Clear current DTC codes"},
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{5, "UDS_OBDII_TEST_O2", "OBDII - O2 sensor testing"},
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{6, "UDS_OBDII_TEST_RESULTS", "OBDII - Show emissions testing results"},
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{7, "UDS_OBDII_SHOW_PENDING_DTC", "OBDII - Show pending DTC codes"},
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{8, "UDS_OBDII_CONTROL_DEVICES", "OBDII - Control vehicle devices"},
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{9, "UDS_OBDII_VEH_INFO", "OBDII - Retrieve vehicle information"},
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{0xA, "UDS_OBDII_PERM_DTC", "OBDII - Show permanent DTC codes"},
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{0xFF, "UDS_UNKNOWN", "Unknown OBDII code - Likely proprietary"}
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};
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CODE_STRUCT UDS_FUNCS[] =
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{
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{0x10, "UDS_DIAG_CONTROL", "Diagnostic session control"},
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{0x11, "UDS_ECU_RESET", "Reset ECU"},
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{0x14, "UDS_CLEAR_DIAG", "Clear diagnostic trouble codes"},
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{0x19, "UDS_READ_DTC", "Read diagnostic trouble codes"},
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{0x22, "UDS_READ_BY_ID", "Read data by ID"},
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{0x23, "UDS_READ_BY_ADDR", "Read data by address"},
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{0x24, "UDS_READ_SCALING_ID", "Read scaling data by ID"},
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{0x27, "UDS_SECURITY_ACCESS", "Request security access"},
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{0x28, "UDS_COMM_CTRL", "Communication control"},
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{0x2A, "UDS_READ_DATA_ID_PERIODIC", "Read data by ID periodically"},
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{0x2C, "UDS_DYNAMIC_DATA_DEFINE", "Create dynamic data ID"},
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{0x2E, "UDS_WRITE_BY_ID", "Write data by ID"},
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{0x2F, "UDS_IO_CTRL", "Input/Output control (force)"},
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{0x31, "UDS_ROUTINE_CTRL", "Call a service routine"},
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{0x34, "UDS_REQUEST_DOWNLOAD", "Request data download (from PC to ECU)"},
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{0x35, "UDS_REQUEST_UPLOAD", "Request data upload (from ECU to PC)"},
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{0x36, "UDS_TRANSFER_DATA", "Transfer data"},
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{0x37, "UDS_REQ_TRANS_EXIT", "Request that data transfer cease"},
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{0x38, "UDS_REQ_FILE_TRANS", "Request file transfer"},
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{0x3D, "UDS_WRITE_BY_ADDR", "Write data by address"},
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{0x3E, "UDS_TESTER_PRESENT", "Tester is present"},
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{0x83, "UDS_ACCESS_TIMING", "Read or write comm timing parameters"},
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{0x84, "UDS_SECURED_DATA_TRANS", "Secured data transmission"},
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{0x85, "UDS_CTRL_DTC_SETTINGS", "Control DTC settings"},
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{0x86, "UDS_RESPONSE_ON_EVENT", "Request start/stop transmission on event"},
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{0x87, "UDS_RESPONSE_LINK_CTRL", "Control comm link"},
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{0xFF, "UDS_UNKNOWN_CODE", "Unknown, likely proprietary UDS function code"}
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};
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CODE_STRUCT UDS_NEG_RESPONSE[] =
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{
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{0x10, "UDS_NEG_GENERAL_REJECT", "General rejection (no other codes matched)"},
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{0x11, "UDS_NEG_SERVICE_NOTSUPP", "ECU does not support this service code"},
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{0x12, "UDS_NEG_SUBFUNCT_NOTSUPP", "ECU does not support the requested sub function"},
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{0x13, "UDS_NEG_INVALID_FORMAT", "Invalid request length or format error"},
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{0x14, "UDS_NEG_RESPONSE_TOOLONG", "Response would be too long to send"},
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{0x21, "UDS_NEG_BUSY", "ECU is busy. Try again later"},
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{0x22, "UDS_NEG_COND_INCORR", "A prereq. condition was not met"},
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{0x24, "UDS_NEG_REQ_SEQ_ERR", "Invalid sequence of requests"},
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{0x25, "UDS_NEG_SUBNET_NORESP", "ECU tried to gateway request but response timed out"},
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{0x26, "UDS_NEG_FAILURE", "A failure (indicated in a DTC) is preventing a reply"},
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{0x31, "UDS_NEG_REQ_OUTOFRANGE", "A parameter is outside of the valid range"},
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{0x33, "UDS_NEG_SECURITY_DENIED", "Security access was denied. (invalid seq or ECU not unlocked?)"},
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{0x35, "UDS_NEG_INVALID_KEY", "Key passed was invalid. Failure counter has been incremented."},
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{0x36, "UDS_NEG_EXCEED_ATTEMPTS", "Key failed too many times. ECU security access locked out"},
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{0x37, "UDS_NEG_TIMEDELAY", "Security access too soon after last attempt"},
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{0x38, "UDS_NEG_EXT_SECUR_1", "Extended security failure code 1"},
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{0x39, "UDS_NEG_EXT_SECUR_2", "Extended security failure code 2"},
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{0x3A, "UDS_NEG_EXT_SECUR_3", "Extended security failure code 3"},
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{0x3B, "UDS_NEG_EXT_SECUR_4", "Extended security failure code 4"},
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{0x3C, "UDS_NEG_EXT_SECUR_5", "Extended security failure code 5"},
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{0x3D, "UDS_NEG_EXT_SECUR_6", "Extended security failure code 6"},
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{0x3E, "UDS_NEG_EXT_SECUR_7", "Extended security failure code 7"},
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{0x3F, "UDS_NEG_EXT_SECUR_8", "Extended security failure code 8"},
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{0x40, "UDS_NEG_EXT_SECUR_9", "Extended security failure code 9"},
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{0x41, "UDS_NEG_EXT_SECUR_10", "Extended security failure code 10"},
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{0x42, "UDS_NEG_EXT_SECUR_11", "Extended security failure code 11"},
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{0x43, "UDS_NEG_EXT_SECUR_12", "Extended security failure code 12"},
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{0x44, "UDS_NEG_EXT_SECUR_13", "Extended security failure code 13"},
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{0x45, "UDS_NEG_EXT_SECUR_14", "Extended security failure code 14"},
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{0x46, "UDS_NEG_EXT_SECUR_15", "Extended security failure code 15"},
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{0x47, "UDS_NEG_EXT_SECUR_16", "Extended security failure code 16"},
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{0x48, "UDS_NEG_EXT_SECUR_17", "Extended security failure code 17"},
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{0x49, "UDS_NEG_EXT_SECUR_18", "Extended security failure code 18"},
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{0x4A, "UDS_NEG_EXT_SECUR_19", "Extended security failure code 19"},
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{0x4B, "UDS_NEG_EXT_SECUR_20", "Extended security failure code 20"},
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{0x4C, "UDS_NEG_EXT_SECUR_21", "Extended security failure code 21"},
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{0x4D, "UDS_NEG_EXT_SECUR_22", "Extended security failure code 22"},
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{0x4E, "UDS_NEG_EXT_SECUR_23", "Extended security failure code 23"},
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{0x4F, "UDS_NEG_EXT_SECUR_24", "Extended security failure code 24"},
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{0x70, "UDS_NEG_UPLOAD_DOWNLOAD", "Fault when attempting to start upload/download"},
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{0x71, "UDS_NEG_TRX_SUSPENDED", "Transfer aborting due to a fault"},
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{0x72, "UDS_NEG_GEN_PROGRAMMING", "Fault while attempting to write to ECU memory"},
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{0x73, "UDS_NEG_WRONG_BLOCK_SEQ", "Invalid sequence value detected during transfer"},
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{0x78, "UDS_NEG_RESP_PENDING", "Request successful but ECU still busy - Response pending"},
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{0x7E, "UDS_NEG_SUBFUNCT_CURRSESS", "ECU does not support this subfunction in current session type"},
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{0x7F, "UDS_NEG_SERVICE_CURRSESS", "ECU does not support this service in current session type"},
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{0x81, "UDS_NEG_RPM_TOOHIGH", "RPM is too high to execute request"},
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{0x82, "UDS_NEG_RPM_TOOLOW", "RPM is too low to execute request"},
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{0x83, "UDS_NEG_ENGINE_RUNNING", "Cannot execute request while engine is running"},
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{0x84, "UDS_NEG_ENGINE_NOTRUNNING", "Cannot execute request while engine is off"},
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{0x85, "UDS_NEG_ENG_RUNTIME_LOW", "Cannot execute request until engine has run for longer"},
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{0x86, "UDS_NEG_TEMPERATURE_HIGH", "Cannot execute request until temperature is lower"},
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{0x87, "UDS_NEG_TEMPERATURE_LOW", "Cannot execute request until temperature is higher"},
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{0x88, "UDS_NEG_SPEED_HIGH", "Cannot execute request until vehicle slows down"},
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{0x89, "UDS_NEG_SPEED_LOW", "Cannot execute request until vehicle is going faster"},
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{0x8A, "UDS_NEG_PEDAL_HIGH", "Cannot execute request until throttle is lower"},
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{0x8B, "UDS_NEG_PEDAL_LOW", "Cannot execute request until throttle is higher"},
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{0x8C, "UDS_NEG_NOT_NEUTRAL", "Cannot execute request until transmission is in neutral"},
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{0x8D, "UDS_NEG_NOT_INGEAR", "Cannot execute request until vehicle is in gear"},
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{0x8F, "UDS_NEG_BRAKE_NOTPRESSED", "Cannot execute request until brake pedal is pressed (Hold down)"},
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{0x90, "UDS_NEG_NOT_PARK", "Cannot execute request until vehicle is in park"},
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{0x91, "UDS_NEG_CLUTCH_LOCKED", "Cannot execute request while clutch is locked"},
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{0x92, "UDS_NEG_VOLTAGE_HIGH", "Cannot execute request until voltage is lower"},
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{0x93, "UDS_NEG_VOLTAGE_LOW", "Cannot execute request until voltage is higher"},
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};
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ISOTP_HANDLER::ISOTP_HANDLER(const QVector<CANFrame> *frames, QObject *parent)
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: QObject(parent)
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{
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modelFrames = frames;
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useExtendedAddressing = false;
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}
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void ISOTP_HANDLER::setExtendedAddressing(bool mode)
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{
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useExtendedAddressing = mode;
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}
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//remember, negative numbers are special -1 = all frames deleted, -2 = totally new set of frames.
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void ISOTP_HANDLER::updatedFrames(int numFrames)
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{
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if (numFrames == -1) //all frames deleted. Kill the display
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{
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}
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else if (numFrames == -2) //all new set of frames. Reset
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{
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for (int i = 0; i < modelFrames->length(); i++) processFrame(modelFrames->at(i));
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}
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else //just got some new frames. See if they are relevant.
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{
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for (int i = modelFrames->count() - numFrames; i < modelFrames->count(); i++)
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{
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processFrame(modelFrames->at(i));
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}
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}
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}
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void ISOTP_HANDLER::processFrame(const CANFrame &frame)
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{
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uint64_t ID = frame.ID;
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int frameType;
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int frameLen;
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int ln;
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//int offset;
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ISOTP_MESSAGE msg;
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ISOTP_MESSAGE *pMsg;
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frameType = 0;
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frameLen = 0;
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if (useExtendedAddressing)
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{
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ID = ID << 8;
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ID += frame.data[0];
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frameType = frame.data[1] >> 4;
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frameLen = frame.data[1] & 0xF;
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}
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else
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{
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frameType = frame.data[0] >> 4;
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frameLen = frame.data[0] & 0xF;
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}
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switch(frameType)
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{
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case 0: //single frame message
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checkNeedFlush(ID);
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if (frameLen == 0) return; //length of zero isn't valid.
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if (frameLen > 6 && useExtendedAddressing) return; //impossible
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if (frameLen > 7) return;
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msg.bus = frame.bus;
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msg.extended = frame.extended;
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msg.ID = ID;
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msg.isReceived = frame.isReceived;
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msg.len = frameLen;
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msg.data.reserve(frameLen);
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msg.timestamp = frame.timestamp;
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if (useExtendedAddressing) for (int j = 0; j < frameLen; j++) msg.data.append(frame.data[j+2]);
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else for (int j = 0; j < frameLen; j++) msg.data.append(frame.data[j+1]);
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qDebug() << "Emitting single frame ISOTP message";
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emit newISOMessage(msg);
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break;
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case 1: //first frame of a multi-frame message
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checkNeedFlush(ID);
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msg.bus = frame.bus;
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msg.extended = frame.extended;
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msg.ID = ID;
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msg.timestamp = frame.timestamp;
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msg.isReceived = frame.isReceived;
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frameLen = frameLen << 8;
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if (useExtendedAddressing)
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{
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frameLen += frame.data[2];
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frameLen = frameLen & 0xFFF;
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msg.len = frameLen;
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msg.data.reserve(frameLen);
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for (int j = 0; j < 5; j++) msg.data.append(frame.data[3 + j]);
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}
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else
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{
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frameLen += frame.data[1];
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frameLen = frameLen & 0xFFF;
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msg.len = frameLen;
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msg.data.reserve(frameLen);
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for (int j = 0; j < 6; j++) msg.data.append(frame.data[2 + j]);
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}
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messageBuffer.append(msg);
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break;
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case 2: //subsequent frames for multi-frame messages
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pMsg = NULL;
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for (int i = 0; i < messageBuffer.length(); i++)
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{
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if (messageBuffer[i].ID == ID)
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{
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pMsg = &messageBuffer[i];
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break;
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}
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}
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if (!pMsg) return;
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ln = pMsg->len - pMsg->data.count();
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//offset = pMsg->data.count();
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if (useExtendedAddressing)
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{
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if (ln > 6) ln = 6;
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for (int j = 0; j < ln; j++) pMsg->data.append(frame.data[j+2]);
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}
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else
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{
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if (ln > 7) ln = 7;
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for (int j = 0; j < ln; j++) pMsg->data.append(frame.data[j+1]);
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}
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if (pMsg->len <= pMsg->data.count())
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{
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qDebug() << "Emitting multiframe ISOTP message";
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emit newISOMessage(*pMsg);
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}
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break;
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case 3: //flow control messages -ignored for now
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break;
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}
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}
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void ISOTP_HANDLER::checkNeedFlush(uint64_t ID)
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{
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for (int i = 0; i < messageBuffer.length(); i++)
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{
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if (messageBuffer[i].ID == ID)
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{
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//warning... this code will work for direct signals as emit turns into a function call
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//and thus the other side will have time to do its processing before control returns
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//and we delete the message on our side. But, if this code were used cross thread the
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//emit would be a queued message instead and control would immediately return
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//here and then the message would be deleted before being delivered.
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//To fix that the message would have to be passed by value instead which I'd like to avoid.
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//Thus, don't use this across threads unless you like to debug strange issues.
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qDebug() << "Flushing a partial frame";
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emit newISOMessage(messageBuffer[i]);
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messageBuffer.removeAt(i);
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return;
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}
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}
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}
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