656d335e05
https://github.com/apache/nuttx-apps/pull/2635 replaced ch_unused with ch_tcf Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>
139 lines
3.8 KiB
C
139 lines
3.8 KiB
C
/****************************************************************************
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* apps/canutils/libobd2/obd_sendrequest.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/ioctl.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <unistd.h>
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#include <nuttx/can/can.h>
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#include "canutils/obd.h"
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#include "canutils/obd_pid.h"
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#include "canutils/obd_frame.h"
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: obd_sent_request
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*
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* Description:
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* Send a "Request Message" to ECUs with requested PID.
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*
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* It will return an error case the message fails to be sent.
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*
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****************************************************************************/
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int obd_send_request(FAR struct obd_dev_s *dev, uint8_t opmode, uint8_t pid)
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{
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int nbytes;
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int msgdlc;
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int msgsize;
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uint8_t extended;
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#ifdef CONFIG_DEBUG_INFO
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printf("Going SendRequest opmode=%d pid=%d\n", opmode, pid);
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#endif
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/* Verify what is the current mode */
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if (dev->can_mode == CAN_EXT)
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{
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extended = 1;
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}
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else
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{
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extended = 0;
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}
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/* Define the CAN Data Length */
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msgdlc = 8;
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/* Construct the TX message header */
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if (extended)
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{
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dev->can_txmsg.cm_hdr.ch_id = OBD_PID_STD_REQUEST; /* MSG ID for PID Request */
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}
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else
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{
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#ifdef CONFIG_CAN_EXTID
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dev->can_txmsg.cm_hdr.ch_id = OBD_PID_EXT_REQUEST; /* MSG ID for PID Request */
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#endif
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}
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dev->can_txmsg.cm_hdr.ch_rtr = false; /* Not a Remote Frame */
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dev->can_txmsg.cm_hdr.ch_dlc = msgdlc; /* Data length is 8 bytes */
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#ifdef CONFIG_CAN_EXTID
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dev->can_txmsg.cm_hdr.ch_extid = extended; /* Standard/Extend mode */
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#endif
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dev->can_txmsg.cm_hdr.ch_tcf = 0; /* Unused */
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/* Single Frame with two bytes data */
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dev->can_txmsg.cm_data[0] = OBD_SINGLE_FRAME | OBD_SF_DATA_LEN(2);
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/* Setup the Operation Mode */
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dev->can_txmsg.cm_data[1] = opmode;
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/* Setup the PID we are requesting */
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dev->can_txmsg.cm_data[2] = pid;
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/* Padding */
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dev->can_txmsg.cm_data[3] = 0;
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dev->can_txmsg.cm_data[4] = 0;
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dev->can_txmsg.cm_data[5] = 0;
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dev->can_txmsg.cm_data[6] = 0;
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dev->can_txmsg.cm_data[7] = 0;
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/* Send the TX message */
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msgsize = CAN_MSGLEN(msgdlc);
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nbytes = write(dev->can_fd, &dev->can_txmsg, msgsize);
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if (nbytes != msgsize)
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{
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printf("ERROR: write(%ld) returned %ld\n",
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(long)msgsize, (long)nbytes);
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return -EAGAIN;
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}
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#ifdef CONFIG_DEBUG_INFO
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printf("PID Request sent correctly!\n");
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fflush(stdout);
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#endif
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return OK;
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}
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