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IsoTpMessage: parameterize separation time (#1088) 

* parameterize separation time

* take in seconds and convert

* fix

* define once
This commit is contained in:
Shane Smiskol 2022-10-05 16:35:28 -07:00 committed by GitHub
parent cffc41e878
commit 3334dc21f5
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 20 additions and 9 deletions
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29
python/uds.py
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@ -376,13 +376,30 @@ class CanClient():
self._recv_buffer()
class IsoTpMessage():
def __init__(self, can_client: CanClient, timeout: float = 1, single_frame_mode: bool = False, debug: bool = False, max_len: int = 8):
def __init__(self, can_client: CanClient, timeout: float = 1, single_frame_mode: bool = False, separation_time: float = 0,
debug: bool = False, max_len: int = 8):
self._can_client = can_client
self.timeout = timeout
self.single_frame_mode = single_frame_mode
self.debug = debug
self.max_len = max_len
# <= 127, separation time in milliseconds
# 0xF1 to 0xF9 UF, 100 to 900 microseconds
if 1e-4 <= separation_time <= 9e-4:
offset = int(round(separation_time, 4) * 1e4) - 1
separation_time = 0xF1 + offset
elif 0 <= separation_time <= 0.127:
separation_time = round(separation_time * 1000)
else:
raise Exception("Separation time not in range")
self.flow_control_msg = bytes([
0x30, # flow control
0x01 if self.single_frame_mode else 0x00, # block size
separation_time,
]).ljust(self.max_len, b"\x00")
def send(self, dat: bytes, setup_only: bool = False) -> None:
# throw away any stale data
self._can_client.recv(drain=True)
@ -461,12 +478,7 @@ class IsoTpMessage():
if self.debug:
print(f"ISO-TP: TX - flow control continue - {hex(self._can_client.tx_addr)}")
# send flow control message
msg = bytes([
0x30, # flow control
0x01 if self.single_frame_mode else 0x00, # block size
0x0a, # 10 ms separation time
]).ljust(self.max_len, b"\x00")
self._can_client.send([msg])
self._can_client.send([self.flow_control_msg])
return
# consecutive rx frame
@ -480,8 +492,7 @@ class IsoTpMessage():
self.rx_done = True
elif self.single_frame_mode:
# notify ECU to send next frame
msg = b"\x30\x01\x0a".ljust(self.max_len, b"\x00")
self._can_client.send([msg])
self._can_client.send([self.flow_control_msg])
if self.debug:
print(f"ISO-TP: RX - consecutive frame - {hex(self._can_client.rx_addr)} idx={self.rx_idx} done={self.rx_done}")
return