Christian Taedcke / Mbed 2 deprecated ObdDisplay

Small project to display some OBD values from the Toyota GT86/ Subaru BRZ/ Scion FRS on an OLED display.

Dependencies:   Adafruit_GFX MODSERIAL mbed-rtos mbed

IsoTpHandler.h@7:a19b63c0a0fa, 2014-05-11 (annotated)

Committer:
chrta
Date:
Sun May 11 09:05:37 2014 +0000
Revision:
7:a19b63c0a0fa
Parent:
3:eb807d330292 
Changed Adafruit_GFX to my own fork.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrta 0:6b1f6139fb25 1 #ifndef ISO_TP_HANDLER
chrta 0:6b1f6139fb25 2 #define ISO_TP_HANDLER
chrta 0:6b1f6139fb25 3
chrta 0:6b1f6139fb25 4 #include "mbed.h"
chrta 0:6b1f6139fb25 5
chrta 0:6b1f6139fb25 6 /**
chrta 0:6b1f6139fb25 7 * http://en.wikipedia.org/wiki/ISO_15765-2
chrta 0:6b1f6139fb25 8 */
chrta 0:6b1f6139fb25 9 class IsoTpHandler
chrta 0:6b1f6139fb25 10 {
chrta 0:6b1f6139fb25 11 private:
chrta 1:ca506b88b1d6 12
chrta 1:ca506b88b1d6 13 /**
chrta 1:ca506b88b1d6 14 * Represents a state.
chrta 1:ca506b88b1d6 15 */
chrta 0:6b1f6139fb25 16 class State
chrta 0:6b1f6139fb25 17 {
chrta 0:6b1f6139fb25 18 public:
chrta 1:ca506b88b1d6 19
chrta 1:ca506b88b1d6 20 /**
chrta 1:ca506b88b1d6 21 * Empty destructor.
chrta 1:ca506b88b1d6 22 */
chrta 0:6b1f6139fb25 23 virtual ~State() {}
chrta 1:ca506b88b1d6 24
chrta 1:ca506b88b1d6 25 /**
chrta 1:ca506b88b1d6 26 * Processes the received can message.
chrta 1:ca506b88b1d6 27 *
chrta 1:ca506b88b1d6 28 * \param[in] message This can message it processed.
chrta 1:ca506b88b1d6 29 * \param context This state machine (context) is used.
chrta 1:ca506b88b1d6 30 */
chrta 0:6b1f6139fb25 31 virtual void processInput(const CANMessage* message, IsoTpHandler* context) const = 0;
chrta 1:ca506b88b1d6 32
chrta 1:ca506b88b1d6 33 /**
chrta 1:ca506b88b1d6 34 * This method is called when this state is entered.
chrta 1:ca506b88b1d6 35 * \param context This state machine (context) is used.
chrta 1:ca506b88b1d6 36 */
chrta 0:6b1f6139fb25 37 virtual void onEnter(IsoTpHandler* context) const = 0;
chrta 1:ca506b88b1d6 38
chrta 1:ca506b88b1d6 39 /**
chrta 1:ca506b88b1d6 40 * This method is called when leaving this state.
chrta 1:ca506b88b1d6 41 * \param context This state machine (context) is used.
chrta 1:ca506b88b1d6 42 */
chrta 0:6b1f6139fb25 43 virtual void onLeave(IsoTpHandler* context) const = 0;
chrta 0:6b1f6139fb25 44 };
chrta 0:6b1f6139fb25 45
chrta 0:6b1f6139fb25 46 /**
chrta 0:6b1f6139fb25 47 * No special packet expected
chrta 0:6b1f6139fb25 48 */
chrta 0:6b1f6139fb25 49 class IdleState : public State
chrta 0:6b1f6139fb25 50 {
chrta 0:6b1f6139fb25 51 public:
chrta 0:6b1f6139fb25 52 IdleState();
chrta 0:6b1f6139fb25 53
chrta 0:6b1f6139fb25 54 virtual void processInput(const CANMessage* message, IsoTpHandler* context) const;
chrta 0:6b1f6139fb25 55 virtual void onEnter(IsoTpHandler* context) const;
chrta 0:6b1f6139fb25 56 virtual void onLeave(IsoTpHandler* context) const;
chrta 0:6b1f6139fb25 57 };
chrta 0:6b1f6139fb25 58
chrta 0:6b1f6139fb25 59 /**
chrta 0:6b1f6139fb25 60 * Expect packets of type "consecutive frame"
chrta 0:6b1f6139fb25 61 */
chrta 0:6b1f6139fb25 62 class ConsequtiveTransferState : public State
chrta 0:6b1f6139fb25 63 {
chrta 0:6b1f6139fb25 64 public:
chrta 0:6b1f6139fb25 65 ConsequtiveTransferState();
chrta 0:6b1f6139fb25 66
chrta 0:6b1f6139fb25 67 virtual void processInput(const CANMessage* message, IsoTpHandler* context) const;
chrta 0:6b1f6139fb25 68 virtual void onEnter(IsoTpHandler* context) const;
chrta 0:6b1f6139fb25 69 virtual void onLeave(IsoTpHandler* context) const;
chrta 0:6b1f6139fb25 70 };
chrta 0:6b1f6139fb25 71 public:
chrta 1:ca506b88b1d6 72
chrta 1:ca506b88b1d6 73 /**
chrta 1:ca506b88b1d6 74 * Constructor
chrta 1:ca506b88b1d6 75 *
chrta 1:ca506b88b1d6 76 * \param[in] canInterface The can interface the packets should be sent to. It must not be NULL.
chrta 1:ca506b88b1d6 77 */
chrta 0:6b1f6139fb25 78 IsoTpHandler(CAN* canInterface);
chrta 1:ca506b88b1d6 79
chrta 1:ca506b88b1d6 80 /**
chrta 1:ca506b88b1d6 81 * Processes the given can message.
chrta 1:ca506b88b1d6 82 *
chrta 1:ca506b88b1d6 83 * This is the main method. It must be called for every received IsoTp can packet.
chrta 1:ca506b88b1d6 84 * It updates the internal state and sends the can response.
chrta 1:ca506b88b1d6 85 *
chrta 1:ca506b88b1d6 86 * \param[in] message The received can message. It must not be NULL.
chrta 1:ca506b88b1d6 87 */
chrta 0:6b1f6139fb25 88 void processCanMessage(const CANMessage* message);
chrta 0:6b1f6139fb25 89
chrta 1:ca506b88b1d6 90 /**
chrta 1:ca506b88b1d6 91 * This method is called when a complete Iso Tp message was received.
chrta 1:ca506b88b1d6 92 *
chrta 1:ca506b88b1d6 93 * Currently the packet is only printed out.
chrta 3:eb807d330292 94 * Later a user callback must be executed from here.
chrta 1:ca506b88b1d6 95 *
chrta 1:ca506b88b1d6 96 * \param[in] data The content of the Iso Tp message.
chrta 1:ca506b88b1d6 97 * \param[in] length The amount of bytes in data.
chrta 1:ca506b88b1d6 98 */
chrta 0:6b1f6139fb25 99 void handle_decoded_packet(const uint8_t* data, uint16_t length);
chrta 0:6b1f6139fb25 100
chrta 0:6b1f6139fb25 101 /**
chrta 0:6b1f6139fb25 102 *
chrta 1:ca506b88b1d6 103 * \param[in] messageSize Total bytes included in the consequtive transfer.
chrta 0:6b1f6139fb25 104 * \param[in] data Always 6 bytes.
chrta 0:6b1f6139fb25 105 */
chrta 0:6b1f6139fb25 106 void init_consequtive_reading(uint16_t messageSize, const uint8_t* data);
chrta 1:ca506b88b1d6 107
chrta 1:ca506b88b1d6 108 /**
chrta 1:ca506b88b1d6 109 * Returns the next expected index value of the can packet.
chrta 1:ca506b88b1d6 110 *
chrta 1:ca506b88b1d6 111 * \return The next expected index value.
chrta 1:ca506b88b1d6 112 */
chrta 0:6b1f6139fb25 113 uint8_t getExpectedIndex() const;
chrta 1:ca506b88b1d6 114
chrta 1:ca506b88b1d6 115 /**
chrta 1:ca506b88b1d6 116 * Increments the expected index.
chrta 1:ca506b88b1d6 117 *
chrta 1:ca506b88b1d6 118 * This method ensures an automatic wrap around from 15 to 0.
chrta 1:ca506b88b1d6 119 */
chrta 0:6b1f6139fb25 120 void incrementExpectedIndex();
chrta 1:ca506b88b1d6 121
chrta 0:6b1f6139fb25 122 /**
chrta 1:ca506b88b1d6 123 * Appends the given data to the internal consequtive transfer buffer.
chrta 1:ca506b88b1d6 124 *
chrta 0:6b1f6139fb25 125 * \retval \c True if the state should be switched.
chrta 0:6b1f6139fb25 126 * \retval \c False if the state not change.
chrta 0:6b1f6139fb25 127 */
chrta 0:6b1f6139fb25 128 bool appendReceivedData(const uint8_t* data, uint8_t length);
chrta 0:6b1f6139fb25 129
chrta 1:ca506b88b1d6 130 /**
chrta 1:ca506b88b1d6 131 * Modifies the internal state.
chrta 1:ca506b88b1d6 132 *
chrta 1:ca506b88b1d6 133 * Should not be used externally.
chrta 1:ca506b88b1d6 134 *
chrta 1:ca506b88b1d6 135 * \param[in] The new state.
chrta 1:ca506b88b1d6 136 */
chrta 0:6b1f6139fb25 137 void setState(const State* state);
chrta 0:6b1f6139fb25 138
chrta 0:6b1f6139fb25 139 static const IdleState idleState;
chrta 0:6b1f6139fb25 140 static const ConsequtiveTransferState consequtiveTransferState;
chrta 0:6b1f6139fb25 141
chrta 0:6b1f6139fb25 142 static bool isValidIsoTpPacket(const CANMessage* message);
chrta 0:6b1f6139fb25 143
chrta 0:6b1f6139fb25 144 private:
chrta 1:ca506b88b1d6 145
chrta 1:ca506b88b1d6 146 /** The current state. */
chrta 0:6b1f6139fb25 147 const State* m_state;
chrta 0:6b1f6139fb25 148
chrta 1:ca506b88b1d6 149 /** The used can interface. */
chrta 0:6b1f6139fb25 150 CAN* m_canInterface;
chrta 0:6b1f6139fb25 151
chrta 1:ca506b88b1d6 152 /** This buffer must be able to store the maximum message size. */
chrta 0:6b1f6139fb25 153 uint8_t m_messageBuffer[256];
chrta 1:ca506b88b1d6 154
chrta 1:ca506b88b1d6 155 /** The expected size of the current message. */
chrta 0:6b1f6139fb25 156 uint16_t m_expectedMessageSize;
chrta 1:ca506b88b1d6 157
chrta 1:ca506b88b1d6 158 /** The current size of the message that is currently received. */
chrta 0:6b1f6139fb25 159 uint16_t m_currentMessageSize;
chrta 1:ca506b88b1d6 160
chrta 1:ca506b88b1d6 161 /** Stores the index that is expected in the next can packet. */
chrta 0:6b1f6139fb25 162 uint8_t m_expectedIndex;
chrta 0:6b1f6139fb25 163 };
chrta 0:6b1f6139fb25 164
chrta 0:6b1f6139fb25 165
chrta 1:ca506b88b1d6 166 #endif //ISO_TP_HANDLER