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#ifndef __OBD2_H__
#define __OBD2_H__
#include <isotp/isotp.h>
#include <stdint.h>
#include <stdbool.h>
#ifdef __cplusplus
extern "C" {
#endif
#define MAX_OBD2_PAYLOAD_LENGTH 7
#define VIN_LENGTH 17
typedef struct {
uint16_t arbitration_id;
uint8_t mode;
uint16_t pid;
uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
uint8_t payload_length;
} DiagnosticRequest;
// Thanks to
// http://www.canbushack.com/blog/index.php?title=scanning-for-diagnostic-data&more=1&c=1&tb=1&pb=1
// for the list of NRCs
typedef enum {
NRC_SUCCESS = 0x0,
NRC_SERVICE_NOT_SUPPORTED = 0x11,
NRC_SUB_FUNCTION_NOT_SUPPORTED = 0x12,
NRC_CONDITIONS_NOT_CORRECT = 0x22,
NRC_REQUEST_OUT_OF_RANGE = 0x31,
NRC_SECURITY_ACCESS_DENIED = 0x33,
NRC_INVALID_KEY = 0x35,
NRC_TOO_MANY_ATTEMPS = 0x36,
NRC_TIME_DELAY_NOT_EXPIRED = 0x37,
NRC_RESPONSE_PENDING = 0x78
} DiagnosticNegativeResponseCode;
typedef enum {
OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST = 0x1,
OBD2_MODE_POWERTRAIN_FREEZE_FRAME_REQUEST = 0x2,
OBD2_MODE_EMISSIONS_DTC_REQUEST = 0x3,
OBD2_MODE_EMISSIONS_DTC_CLEAR = 0x4,
// 0x5 is for non-CAN only
// OBD2_MODE_OXYGEN_SENSOR_TEST = 0x5,
OBD2_MODE_TEST_RESULTS = 0x6,
OBD2_MODE_DRIVE_CYCLE_DTC_REQUEST = 0x7,
OBD2_MODE_CONTROL = 0x8,
OBD2_MODE_VEHICLE_INFORMATION = 0x9,
OBD2_MODE_PERMANENT_DTC_REQUEST = 0xa,
// this one isn't technically in OBD2, but both of the enhanced standards
// have their PID requests at 0x22
OBD2_MODE_ENHANCED_DIAGNOSTIC_REQUEST = 0x22
} DiagnosticMode;
typedef enum {
DTC_EMISSIONS,
DTC_DRIVE_CYCLE,
DTC_PERMANENT
} DiagnosticTroubleCodeType;
typedef struct {
uint16_t arbitration_id;
uint8_t mode;
bool success;
// if mode is one with a PID, read the correct numbers of PID bytes (1 or 2)
// into this field, then store the remainder of the payload in the payload
// field
uint16_t pid;
DiagnosticNegativeResponseCode negative_response_code;
// if response mode is a negative response, read first byte of payload into
// NRC and store remainder of payload in payload field
uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
uint8_t payload_length;
} DiagnosticResponse;
typedef enum {
POWERTRAIN = 0x0,
CHASSIS = 0x1,
BODY = 0x2,
NETWORK = 0x3
} DiagnosticTroubleCodeGroup;
typedef struct {
DiagnosticTroubleCodeGroup group;
uint8_t group_num;
uint8_t code;
} DiagnosticTroubleCode;
typedef void (*DiagnosticResponseReceived)(const DiagnosticResponse* response);
typedef void (*DiagnosticMilStatusReceived)(bool malfunction_indicator_status);
typedef void (*DiagnosticVinReceived)(uint8_t vin[]);
typedef void (*DiagnosticTroubleCodesReceived)(
DiagnosticMode mode, DiagnosticTroubleCode* codes);
typedef void (*DiagnosticPidEnumerationReceived)(
const DiagnosticResponse* response, uint16_t* pids);
// TODO should we enumerate every OBD-II PID? need conversion formulas, too
typedef struct {
uint16_t pid;
uint8_t bytes_returned;
float min_value;
float max_value;
} DiagnosticParameter;
typedef enum {
DIAGNOSTIC_REQUEST_TYPE_PID,
DIAGNOSTIC_REQUEST_TYPE_DTC,
DIAGNOSTIC_REQUEST_TYPE_MIL_STATUS,
DIAGNOSTIC_REQUEST_TYPE_VIN
} DiagnosticRequestType;
typedef struct {
IsoTpHandler isotp_handler;
// TODO the Handle may need to keep the original request, otherwise we can't
// compare an incoming CAN message to see if it matches the service / PID!
DiagnosticRequestType type;
DiagnosticResponseReceived callback;
DiagnosticMilStatusReceived mil_status_callback;
DiagnosticVinReceived vin_callback;
bool status;
} DiagnosticRequestHandle;
typedef enum {
DIAGNOSTIC_STANDARD_PID,
DIAGNOSTIC_ENHANCED_PID
} DiagnosticPidRequestType;
typedef struct {
IsoTpShims isotp_shims;
LogShim log;
SendCanMessageShim send_can_message;
} DiagnosticShims;
DiagnosticShims diagnostic_init_shims(LogShim log,
SendCanMessageShim send_can_message,
SetTimerShim set_timer);
DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
DiagnosticRequest* request, DiagnosticResponseReceived callback);
// decide mode 0x1 / 0x22 based on pid type
DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims,
DiagnosticPidRequestType pid_request_type, uint16_t pid,
DiagnosticResponseReceived callback);
DiagnosticRequestHandle diagnostic_request_malfunction_indicator_status(
DiagnosticShims* shims,
DiagnosticMilStatusReceived callback);
DiagnosticRequestHandle diagnostic_request_vin(DiagnosticShims* shims,
DiagnosticVinReceived callback);
DiagnosticRequestHandle diagnostic_request_dtc(DiagnosticShims* shims,
DiagnosticTroubleCodeType dtc_type,
DiagnosticTroubleCodesReceived callback);
bool diagnostic_clear_dtc(DiagnosticShims* shims);
DiagnosticRequestHandle diagnostic_enumerate_pids(DiagnosticShims* shims,
DiagnosticRequest* request, DiagnosticPidEnumerationReceived callback);
void diagnostic_receive_can_frame(DiagnosticRequestHandle* handle,
const uint16_t arbitration_id, const uint8_t data[],
const uint8_t size);
#ifdef __cplusplus
}
#endif
#endif // __OBD2_H__
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