152 lines
4.6 KiB
C
152 lines
4.6 KiB
C
/****************************************************************************
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* canutils/libobd2/obd_sendrequest.c
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*
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* Copyright (C) 2017 Alan Carvalho de Assis. All rights reserved.
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* Author: Alan Carvalho de Assis <acassis@gmail.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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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 <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_unused = 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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