diff options
| -rw-r--r-- | README.mkd | 196 | ||||
| m--------- | deps/isotp-c | 6 | ||||
| -rw-r--r-- | src/obd2/obd2.h | 2 | ||||
| -rw-r--r-- | tests/test_core.c | 2 |
4 files changed, 155 insertions, 51 deletions
@@ -1,42 +1,17 @@ OBD-II Support Library in C ============================= -TODO diagram out a request, response and error response - -TODO isotp needs to accept responses on an ID other that the request's arb id - -or maybe we have 2 isotp instances, for rx and tx. - -* Response's arb id is assigned ID plus 0x8 -* Functional daignostic request (Broadcast), 0x7df arb id -* Standard ECU requests to 0x7e0 - 0x7e7 - -* Some requests don't need PIDs - e.g. mode 3 - * some responses don't have PIDs, just payload - e.g. mode 3 - -* Service ID + 0x40 == positive response -* Response includes PID echo - use this to match up request/response -* Response ID, ISO-TP PCI, ISO-TP length, service response ID, PID echo, data - -I send the request and give a callback -when the response arrives for the matchin service and PID - on any arb id, since -this may be a broadcast - call my callback. - - -TODO do you want to provide the callback to the Handler, or to each -individual send?o -ok, what are the use cases here. - -you're going to request a few PIDs over and over again at some frequency -you're going to request DTCs once and read the response -you're going to clear DTCs once +This is a platform agnostic C library that implements the standard On Board +Diagnostics system for vehicles. It currently supports OBD-II running over CAN +(ISO 15765-4), which uses the ISO-TP (ISO 15765-2) protocol underneath. -i'd rather use the same diagnostic handler to send all of the differet messages -rather than create one for each use. that way ai can +This library doesn't assume anything about the source of your diagnostic message +requests or underlying interface to the CAN bus. It uses dependency injection to +give you complete control. -but that does complicate the memory management because it'll need to create -some internal data structures. +## OBD-II Basics -at the simplest, what does this handler have to do? +TODO diagram out a request, response and error response * store the request arb id, mode, pid, and payload locally * send a can message @@ -45,31 +20,141 @@ at the simplest, what does this handler have to do? response IDs, or our arb ID + 0x8 * if it matches, parse the diagnostic response and call the callback -that seems pretty simple and not worth greatly increasing the internal state to -handle multiple requests +## Usage -what we need is another layer on top of that to handle the repeated requests. +First, create some shim functions to let this library use your lower level +system: -## API + // required, this must send a single CAN message with the given arbitration + // ID (i.e. the CAN message ID) and data. The size will never be more than 8 + // bytes. + void send_can(const uint16_t arbitration_id, const uint8_t* data, + const uint8_t size) { + ... + } - void my_callback(const DiagnosticResponse* response) { + // optional, provide to receive debugging log messages + void debug(const char* format, ...) { + ... } - DiagnosticRequestHandle handle = diagnostic_init(my_callback); - DiagnosticRequest request = { - arbitratin_id: 0x7df, - mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST, - pid: 3 - }; - diagnostic_send(&handle, &request); - while(true) { - diagnostic_handle_can_frame(&handle, 42, data, 8); + // not used in the current version + void set_timer(uint16_t time_ms, void (*callback)) { + ... } - diagnostic_request_pid(&handle, DIAGNOSTIC_STANDARD_PID, 42 +With your shims in place, create a `DiagnosticShims` object to pass them around: - diagnostic_destroy(&handle); + DiagnosticShims shims = diagnostic_init_shims(debug, send_can, set_timer); + +With your shims in hand, send a simple PID request to the stadnard broadcast +address, `0x7df`: + + // Optional: This is your callback that will be called the response to your + // diagnostic request is received. + void response_received_handler(const DiagnosticResponse* response) { + // You received a response! Do something with it. + } + + DiagnosticRequestHandle handle = diagnostic_request_pid(&shims, + DIAGNOSTIC_STANDARD_PID, // this is a standard PID request, not an extended or enhanced one + 0x7df, // the request is going out to the broadcast arbitration ID + 0x2, // we want PID 0x2 + response_received_handler); // our callback (optional, use NULL if you don't have one) + + if(handle.completed) { + if(!handle.success) { + // something happened and it already failed - possibly we aren't + // able to send CAN messages + return; + } else { + // this should never occur right away - you need to receive a fresh + // CAN message first + } + } else { + while(true) { + // Continue to read from CAN, passing off each message to the handle. + // This will return a 'completed' DiagnosticResponse when the when + // the request is completely sent and the response is received + // (which may take more than 1 CAN frames) + DiagnosticResponse response = diagnostic_receive_can_frame(&shims, + &handle, can_message_id, can_data, sizeof(can_data)); + + if(response.completed && handle.completed) { + if(handle.success) { + if(response.success) { + // The request was sent successfully, the response was + // received successfully, and it was a positive response - we + // got back some data! + } else { + // The request was sent successfully, the response was + // received successfully, BUT it was a negative response + // from the other node. + printf("This is the error code: %d", response.negative_response_code); + } + } else { + // Some other fatal error ocurred - we weren't able to send + // the request or receive the response. The CAN connection + // may be down. + } + } + } + } + +## Requests for other modes + +If you want to do more besides PID requests on mode 0x1 and 0x22, there's a +lower level API you can use. Here's how to make a mode 3 request to get DTCs. + + DiagnosticRequest request = { + arbitration_id: 0x7df, + mode: OBD2_MODE_EMISSIONS_DTC_REQUEST + }; + DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, NULL); + + if(handle.completed) { + if(!handle.success) { + // something happened and it already failed - possibly we aren't + // able to send CAN messages + return; + } else { + // this should never occur right away - you need to receive a fresh + // CAN message first + } + } else { + while(true) { + // Continue to read from CAN, passing off each message to the handle. + // This will return a 'completed' DiagnosticResponse when the when + // the request is completely sent and the response is received + // (which may take more than 1 CAN frames) + DiagnosticResponse response = diagnostic_receive_can_frame(&shims, + &handle, can_message_id, can_data, sizeof(can_data)); + + if(response.completed && handle.completed) { + if(handle.success) { + if(response.success) { + // The request was sent successfully, the response was + // received successfully, and it was a positive response - we + // got back some data! + printf("The DTCs are: "); + for(int i = 0; i < response.payload_length; i++) { + printf("0x%x ", response.payload[i]); + } + } else { + // The request was sent successfully, the response was + // received successfully, BUT it was a negative response + // from the other node. + printf("This is the error code: %d", response.negative_response_code); + } + } else { + // Some other fatal error ocurred - we weren't able to send + // the request or receive the response. The CAN connection + // may be down. + } + } + } + } ## Testing @@ -77,6 +162,19 @@ The library includes a test suite that uses the `check` C unit test library. $ make test +You can also see the test coverage if you have `lcov` installed and the +`BROWSER` environment variable set to your choice of web browsers: + + $ BROWSER=google-chrome-stable make coverage + +## Future Notes + +you're going to request a few PIDs over and over again at some frequency +you're going to request DTCs once and read the response +you're going to clear DTCs once + +we need another layer on top of that to handle the repeated requests. + ## Authors Chris Peplin cpeplin@ford.com diff --git a/deps/isotp-c b/deps/isotp-c -Subproject 101d36e65bc7cb2b1fc8e4dbae4eacf749c98b0 +Subproject 8922abb7ff8c30e1fa5af078284eb6aebf0052e diff --git a/src/obd2/obd2.h b/src/obd2/obd2.h index a2ea033c..8cdd4a1b 100644 --- a/src/obd2/obd2.h +++ b/src/obd2/obd2.h @@ -73,8 +73,8 @@ typedef enum { typedef struct { uint16_t arbitration_id; uint8_t mode; - bool success; bool completed; + bool success; uint16_t pid; DiagnosticNegativeResponseCode negative_response_code; uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH]; diff --git a/tests/test_core.c b/tests/test_core.c index 16863a97..cf8673ae 100644 --- a/tests/test_core.c +++ b/tests/test_core.c @@ -60,7 +60,7 @@ START_TEST (test_send_diag_request) { DiagnosticRequest request = { arbitration_id: 0x7df, - mode: OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST + mode: OBD2_MODE_EMISSIONS_DTC_REQUEST }; DiagnosticRequestHandle handle = diagnostic_request(&SHIMS, &request, response_received_handler); |