aed0e2873e
Add missing FAR and CODE to pointers
Remove FAR for non-pointer variables
Remove extra spaces and align the parameters
Add do {} while(0) wrapper in macro
Use nitems to calculate number of elements in arrays
Signed-off-by: Petro Karashchenko <petro.karashchenko@gmail.com>
148 lines
4.0 KiB
C
148 lines
4.0 KiB
C
/****************************************************************************
|
|
* apps/canutils/libobd2/obd_waitresponse.c
|
|
*
|
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
|
* contributor license agreements. See the NOTICE file distributed with
|
|
* this work for additional information regarding copyright ownership. The
|
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
|
* "License"); you may not use this file except in compliance with the
|
|
* License. You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
|
* License for the specific language governing permissions and limitations
|
|
* under the License.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
|
|
#include <sys/ioctl.h>
|
|
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
#include <fcntl.h>
|
|
#include <errno.h>
|
|
#include <unistd.h>
|
|
|
|
#include <nuttx/can/can.h>
|
|
|
|
#include "canutils/obd.h"
|
|
#include "canutils/obd_pid.h"
|
|
#include "canutils/obd_frame.h"
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: obd_wait_response
|
|
*
|
|
* Description:
|
|
* Wait for a message from ECUs with requested PID that was sent using
|
|
* obd_send_request().
|
|
*
|
|
* It will return an error case it doesn't receive the msg after the
|
|
* elapsed "timeout" time.
|
|
*
|
|
****************************************************************************/
|
|
|
|
int obd_wait_response(FAR struct obd_dev_s *dev, uint8_t opmode, uint8_t pid,
|
|
int timeout)
|
|
{
|
|
int i;
|
|
int nbytes;
|
|
int msgdlc;
|
|
int msgsize;
|
|
uint8_t extended;
|
|
|
|
#ifdef CONFIG_DEBUG_INFO
|
|
printf("Waiting Response for pid=%d\n", pid);
|
|
#endif
|
|
|
|
/* Verify what is the current mode */
|
|
|
|
if (dev->can_mode == CAN_EXT)
|
|
{
|
|
extended = 1;
|
|
}
|
|
else
|
|
{
|
|
extended = 0;
|
|
}
|
|
|
|
for (; ; )
|
|
{
|
|
/* Read the RX message */
|
|
|
|
msgsize = sizeof(struct can_msg_s);
|
|
nbytes = read(dev->can_fd, &dev->can_rxmsg, msgsize);
|
|
if (nbytes < CAN_MSGLEN(0) || nbytes > msgsize)
|
|
{
|
|
printf("ERROR: read(%ld) returned %ld\n",
|
|
(long)msgsize, (long)nbytes);
|
|
return -EAGAIN;
|
|
}
|
|
|
|
#ifdef CONFIG_DEBUG_INFO
|
|
printf(" ID: %4u DLC: %u\n",
|
|
dev->can_rxmsg.cm_hdr.ch_id, dev->can_rxmsg.cm_hdr.ch_dlc);
|
|
#endif
|
|
|
|
msgdlc = dev->can_rxmsg.cm_hdr.ch_dlc;
|
|
|
|
#ifdef CONFIG_DEBUG_INFO
|
|
printf("Data received:\n");
|
|
for (i = 0; i < msgdlc; i++)
|
|
{
|
|
printf(" %d: 0x%02x\n", i, dev->can_rxmsg.cm_data[i]);
|
|
}
|
|
|
|
fflush(stdout);
|
|
#endif
|
|
|
|
/* Check if we received a Response Message */
|
|
|
|
if ((extended &&
|
|
dev->can_rxmsg.cm_hdr.ch_id == OBD_PID_EXT_RESPONSE) ||
|
|
(!extended && dev->can_rxmsg.cm_hdr.ch_id == OBD_PID_STD_RESPONSE))
|
|
{
|
|
/* Check if the Response if for the PID we are interested! */
|
|
|
|
if (dev->can_rxmsg.cm_data[1] == (opmode + OBD_RESP_BASE) && \
|
|
dev->can_rxmsg.cm_data[2] == pid)
|
|
{
|
|
/* Save received data (important for multi-frame mode) */
|
|
|
|
memcpy(dev->data, dev->can_rxmsg.cm_data, msgdlc);
|
|
return OK;
|
|
}
|
|
}
|
|
|
|
/* Verify if we timed out */
|
|
|
|
timeout--;
|
|
if (timeout < 0)
|
|
{
|
|
printf("Timeout trying to receive PID %d\n", pid);
|
|
return -ETIMEDOUT;
|
|
}
|
|
|
|
/* Wait 10ms */
|
|
|
|
usleep(10000);
|
|
}
|
|
|
|
/* Never should come here */
|
|
|
|
return OK;
|
|
}
|