Multi frame (openxc#6)

* increase payload size just for diag responses to support multi-frame responses. limited to 255 bytes for now.

* not all diag requests with modes greater than 0xa have a 2 byte pid. need to check was pid_length should be based on the size of the pid.

* remove line that does nothing.

* add multi_frame field to DiagnosticResponse and update based on IsoTpMessage. Need this upstream for timeout calls specific to multi frame.

* update isotp-c submodule.

* update autoset_pid tests. check that pid_length is dynamically set based on pid value. adjust other tests to use 2-byte pid for enhanced diagnostic mode requests.

* add test for multi-frame response.

* update changelog.

Author: Zac Nelson

CHANGELOG.mkd

@@ -1,5 +1,9 @@
 # OBD-II Support Library in C
 
+## v0.2
+
+* Add support for multi-frame diagnostic responses.
+
 ## v0.1
 
 * Initial release

deps/isotp-c

@@ -53,7 +53,9 @@ static void setup_receive_handle(DiagnosticRequestHandle* handle) {
 static uint16_t autoset_pid_length(uint8_t mode, uint16_t pid,
         uint8_t pid_length) {
     if(pid_length == 0) {
-        if(pid > 0xffff || (mode != 0x3e && mode > 0xa)) {
+        if(mode <= 0xa || mode == 0x3e ) {
+            pid_length = 1;
+        } else if(pid > 0xffff || ((pid & 0xFF00) > 0x0)) {
             pid_length = 2;
         } else {
             pid_length = 1;
@@ -69,7 +71,6 @@ static void send_diagnostic_request(DiagnosticShims* shims,
     if(handle->request.has_pid) {
         handle->request.pid_length = autoset_pid_length(handle->request.mode,
                 handle->request.pid, handle->request.pid_length);
-        handle->request.pid_length = handle->request.pid_length;
         set_bitfield(handle->request.pid, PID_BYTE_INDEX * CHAR_BIT,
                 handle->request.pid_length * CHAR_BIT, payload,
                 sizeof(payload));
@@ -233,6 +234,7 @@ DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims,
 
     DiagnosticResponse response = {
         arbitration_id: arbitration_id,
+        multi_frame: false,
         success: false,
         completed: false
     };
@@ -246,6 +248,7 @@ DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims,
             IsoTpMessage message = isotp_continue_receive(&handle->isotp_shims,
                     &handle->isotp_receive_handles[i], arbitration_id, data,
                     size);
+            response.multi_frame = message.multi_frame;
 
             if(message.completed) {
                 if(message.size > 0) {

src/uds/uds.c

@@ -9,9 +9,10 @@
 extern "C" {
 #endif
 
-// TODO This isn't true for multi frame messages - we may need to dynamically
-// allocate this in the future
-#define MAX_UDS_PAYLOAD_LENGTH 7
+// TODO This still doesn't have enough space for the largest possible 
+// multiframe response. May need to dynamically allocate in the future.
+#define MAX_UDS_RESPONSE_PAYLOAD_LENGTH 255
+#define MAX_UDS_REQUEST_PAYLOAD_LENGTH 7
 #define MAX_RESPONDING_ECU_COUNT 8
 #define VIN_LENGTH 17
 
@@ -54,7 +55,7 @@ typedef struct {
     bool has_pid;
     uint16_t pid;
     uint8_t pid_length;
-    uint8_t payload[MAX_UDS_PAYLOAD_LENGTH];
+    uint8_t payload[MAX_UDS_REQUEST_PAYLOAD_LENGTH];
     uint8_t payload_length;
     bool no_frame_padding;
     DiagnosticRequestType type;
@@ -92,6 +93,8 @@ typedef enum {
  *      field isn't valid if 'completed' isn't true. If this is 'false', check
  *      the negative_response_code field for the reason.
  * arbitration_id - The arbitration ID the response was received on.
+ * multi_frame - True if this response (whether completed or not) required
+ *      multi-frame CAN support. Can be used for updating time-out functions.
  * mode - The OBD-II mode for the original request.
  * has_pid - If this is a response to a PID request, this will be true and the
  *      'pid' field will be valid.
@@ -106,12 +109,13 @@ typedef enum {
 typedef struct {
     bool completed;
     bool success;
+    bool multi_frame;
     uint32_t arbitration_id;
     uint8_t mode;
     bool has_pid;
     uint16_t pid;
     DiagnosticNegativeResponseCode negative_response_code;
-    uint8_t payload[MAX_UDS_PAYLOAD_LENGTH];
+    uint8_t payload[MAX_UDS_RESPONSE_PAYLOAD_LENGTH];
     uint8_t payload_length;
 } DiagnosticResponse;
 

src/uds/uds_types.h

@@ -242,14 +242,26 @@ START_TEST (test_autoset_pid_length)
         arbitration_id: 0x100,
         mode: 0x22,
         has_pid: true,
-        pid: 2,
+        pid: 0x1234,
         no_frame_padding: true
     };
     diagnostic_request(&SHIMS, &request, response_received_handler);
 
     ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
     ck_assert_int_eq(last_can_payload_sent[1], request.mode);
+    ck_assert_int_eq(last_can_payload_sent[2], (request.pid & 0xFF00) >> 8);
+    ck_assert_int_eq(last_can_payload_sent[3], request.pid & 0xFF);
     ck_assert_int_eq(last_can_payload_size, 4);
+
+    request.arbitration_id = 0x101;
+    request.pid = 0x12;
+
+    diagnostic_request(&SHIMS, &request, response_received_handler);
+
+    ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
+    ck_assert_int_eq(last_can_payload_sent[1], request.mode);
+    ck_assert_int_eq(last_can_payload_sent[2], request.pid);
+    ck_assert_int_eq(last_can_payload_size, 3);
 }
 END_TEST
 
@@ -279,10 +291,10 @@ START_TEST (test_request_pid_enhanced)
 {
     uint16_t arb_id = 0x100;
     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
-            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
+            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler);
 
     fail_if(last_response_was_received);
-    const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x2, 0x45};
+    const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x34, 0x45};
     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
             sizeof(can_data));
     fail_unless(last_response_was_received);
@@ -291,7 +303,7 @@ START_TEST (test_request_pid_enhanced)
             arb_id + 0x8);
     ck_assert_int_eq(last_response_received.mode, 0x22);
     fail_unless(last_response_received.has_pid);
-    ck_assert_int_eq(last_response_received.pid, 0x2);
+    ck_assert_int_eq(last_response_received.pid, 0x1234);
     ck_assert_int_eq(last_response_received.payload_length, 1);
     ck_assert_int_eq(last_response_received.payload[0], can_data[4]);
 }
@@ -301,10 +313,10 @@ START_TEST (test_wrong_mode_response)
 {
     uint16_t arb_id = 0x100;
     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
-            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
+            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler);
 
     fail_if(last_response_was_received);
-    const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x0, 0x2, 0x45};
+    const uint8_t can_data[] = {0x4, 0x1 + 0x40, 0x12, 0x34, 0x45};
     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
             sizeof(can_data));
     fail_if(last_response_was_received);
@@ -316,7 +328,7 @@ START_TEST (test_missing_pid)
 {
     uint16_t arb_id = 0x100;
     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
-            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
+            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler);
 
     fail_if(last_response_was_received);
     const uint8_t can_data[] = {0x1, 0x22 + 0x40};
@@ -331,10 +343,10 @@ START_TEST (test_wrong_pid_response)
 {
     uint16_t arb_id = 0x100;
     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
-            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
+            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler);
 
     fail_if(last_response_was_received);
-    const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x3, 0x45};
+    const uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x33, 0x45};
     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
             sizeof(can_data));
     fail_if(last_response_was_received);
@@ -346,23 +358,23 @@ START_TEST (test_wrong_pid_then_right_completes)
 {
     uint16_t arb_id = 0x100;
     DiagnosticRequestHandle handle = diagnostic_request_pid(&SHIMS,
-            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x2, response_received_handler);
+            DIAGNOSTIC_ENHANCED_PID, arb_id, 0x1234, response_received_handler);
 
     fail_if(last_response_was_received);
-    uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x0, 0x3, 0x45};
+    uint8_t can_data[] = {0x4, 0x22 + 0x40, 0x12, 0x33, 0x45};
     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
             sizeof(can_data));
     fail_if(last_response_was_received);
     fail_if(handle.completed);
 
-    can_data[3] = 0x2;
+    can_data[3] = 0x34;
     diagnostic_receive_can_frame(&SHIMS, &handle, arb_id + 0x8, can_data,
             sizeof(can_data));
     fail_unless(last_response_was_received);
     fail_unless(handle.completed);
     fail_unless(handle.success);
     fail_unless(last_response_received.success);
-    ck_assert_int_eq(last_response_received.pid, 0x2);
+    ck_assert_int_eq(last_response_received.pid, 0x1234);
 }
 END_TEST
 
@@ -407,6 +419,65 @@ START_TEST (test_payload_to_integer)
 }
 END_TEST
 
+START_TEST (test_response_multi_frame)
+{
+    DiagnosticRequest request = {
+        arbitration_id: 0x100,
+        mode: OBD2_MODE_VEHICLE_INFORMATION,
+        has_pid: true,
+        pid: 0x2
+    };
+    DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request,
+            response_received_handler);
+
+    const uint8_t can_data[] = {0x10, 0x14, 0x9 + 0x40, 0x2, 0x1, 0x31, 0x46, 0x4d};
+    DiagnosticResponse response = diagnostic_receive_can_frame(&SHIMS, &handle,
+            request.arbitration_id + 0x8, can_data, sizeof(can_data));
+
+    fail_unless(can_frame_was_sent);
+    fail_unless(!response.success);
+    fail_unless(!response.completed);
+    fail_unless(response.multi_frame);
+    ck_assert_int_eq(last_can_frame_sent_arb_id, request.arbitration_id);
+    ck_assert_int_eq(last_can_payload_sent[0], 0x30);
+
+    const uint8_t can_data_1[] = {0x21, 0x43, 0x55, 0x39, 0x4a, 0x39, 0x34, 0x48};
+    response = diagnostic_receive_can_frame(&SHIMS, &handle,
+            request.arbitration_id + 0x8, can_data_1, sizeof(can_data_1));
+    fail_unless(!response.success);
+    fail_unless(!response.completed);
+    fail_unless(response.multi_frame);
+
+    const uint8_t can_data_2[] = {0x22, 0x55, 0x41, 0x30, 0x34, 0x35, 0x32, 0x34};
+    response = diagnostic_receive_can_frame(&SHIMS, &handle,
+            request.arbitration_id + 0x8, can_data_2, sizeof(can_data_2));
+    fail_unless(response.success);
+    fail_unless(response.completed);
+    fail_unless(response.multi_frame);
+    ck_assert_int_eq(response.mode, OBD2_MODE_VEHICLE_INFORMATION);
+    ck_assert_int_eq(response.pid, 0x2);
+    ck_assert_int_eq(response.payload_length, 18);
+    ck_assert_int_eq(response.payload[0], 0x01);
+    ck_assert_int_eq(response.payload[1], 0x31);
+    ck_assert_int_eq(response.payload[2], 0x46);
+    ck_assert_int_eq(response.payload[3], 0x4d);
+    ck_assert_int_eq(response.payload[4], 0x43);
+    ck_assert_int_eq(response.payload[5], 0x55);
+    ck_assert_int_eq(response.payload[6], 0x39);
+    ck_assert_int_eq(response.payload[7], 0x4a);
+    ck_assert_int_eq(response.payload[8], 0x39);
+    ck_assert_int_eq(response.payload[9], 0x34);
+    ck_assert_int_eq(response.payload[10], 0x48);
+    ck_assert_int_eq(response.payload[11], 0x55);
+    ck_assert_int_eq(response.payload[12], 0x41);
+    ck_assert_int_eq(response.payload[13], 0x30);
+    ck_assert_int_eq(response.payload[14], 0x34);
+    ck_assert_int_eq(response.payload[15], 0x35);
+    ck_assert_int_eq(response.payload[16], 0x32);
+    ck_assert_int_eq(response.payload[17], 0x34);
+}
+END_TEST
+
 Suite* testSuite(void) {
     Suite* s = suite_create("uds");
     TCase *tc_core = tcase_create("core");
@@ -429,6 +500,7 @@ Suite* testSuite(void) {
     tcase_add_test(tc_core, test_wrong_pid_then_right_completes);
     tcase_add_test(tc_core, test_negative_response);
     tcase_add_test(tc_core, test_payload_to_integer);
+    tcase_add_test(tc_core, test_response_multi_frame);
 
     // TODO these are future work:
     // TODO test request MIL