8ea16655a6
error: Path relative to repository other than nuttx must begin with the root directory Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>
146 lines
4.0 KiB
C
146 lines
4.0 KiB
C
/****************************************************************************
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* apps/canutils/libobd2/obd_waitresponse.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 <string.h>
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#include <fcntl.h>
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#include <errno.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_wait_response
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*
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* Description:
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* Wait for a message from ECUs with requested PID that was sent using
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* obd_send_request().
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*
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* It will return an error case it doesn't receive the msg after the elapsed
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* "timeout" time.
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*
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****************************************************************************/
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int obd_wait_response(FAR struct obd_dev_s *dev, uint8_t opmode, uint8_t pid,
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int timeout)
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{
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int i;
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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("Waiting Response for pid=%d\n", 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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for (; ; )
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{
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/* Read the RX message */
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msgsize = sizeof(struct can_msg_s);
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nbytes = read(dev->can_fd, &dev->can_rxmsg, msgsize);
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if (nbytes < CAN_MSGLEN(0) || nbytes > msgsize)
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{
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printf("ERROR: read(%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(" ID: %4u DLC: %u\n",
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dev->can_rxmsg.cm_hdr.ch_id, dev->can_rxmsg.cm_hdr.ch_dlc);
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#endif
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msgdlc = dev->can_rxmsg.cm_hdr.ch_dlc;
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#ifdef CONFIG_DEBUG_INFO
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printf("Data received:\n");
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for (i = 0; i < msgdlc; i++)
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{
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printf(" %d: 0x%02x\n", i, dev->can_rxmsg.cm_data[i]);
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}
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fflush(stdout);
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#endif
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/* Check if we received a Response Message */
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if ((extended && dev->can_rxmsg.cm_hdr.ch_id == OBD_PID_EXT_RESPONSE) || \
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(!extended && dev->can_rxmsg.cm_hdr.ch_id == OBD_PID_STD_RESPONSE))
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{
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/* Check if the Response if for the PID we are interested! */
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if (dev->can_rxmsg.cm_data[1] == (opmode + OBD_RESP_BASE) && \
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dev->can_rxmsg.cm_data[2] == pid)
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{
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/* Save received data (important for multi-frame mode) */
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memcpy(dev->data, dev->can_rxmsg.cm_data, msgdlc);
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return OK;
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}
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}
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/* Verify if we timed out */
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timeout--;
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if (timeout < 0)
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{
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printf("Timeout trying to receive PID %d\n", pid);
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return -ETIMEDOUT;
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}
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/* Wait 10ms */
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usleep(10000);
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}
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/* Never should come here */
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return OK;
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}
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