diff options
Diffstat (limited to 'src/obd2')
| -rw-r--r-- | src/obd2/extras.h | 30 | ||||
| -rw-r--r-- | src/obd2/obd2.h | 210 | ||||
| -rw-r--r-- | src/obd2/obd2_types.h | 141 |
3 files changed, 238 insertions, 143 deletions
diff --git a/src/obd2/extras.h b/src/obd2/extras.h new file mode 100644 index 0000000..e411307 --- /dev/null +++ b/src/obd2/extras.h @@ -0,0 +1,30 @@ +#ifndef __EXTRAS_H__ +#define __EXTRAS_H__ + +#include <isotp/isotp.h> + +#ifdef __cplusplus +extern "C" { +#endif + +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); + +#ifdef __cplusplus +} +#endif + +#endif // __EXTRAS_H__ diff --git a/src/obd2/obd2.h b/src/obd2/obd2.h index 8cdd4a1..7dfdb59 100644 --- a/src/obd2/obd2.h +++ b/src/obd2/obd2.h @@ -1,7 +1,7 @@ #ifndef __OBD2_H__ #define __OBD2_H__ -#include <isotp/isotp.h> +#include <obd2/obd2_types.h> #include <stdint.h> #include <stdbool.h> @@ -9,164 +9,88 @@ extern "C" { #endif -// TODO This isn't true for multi frame messages - we may need to dynamically -// allocate this in the future -#define MAX_OBD2_PAYLOAD_LENGTH 7 -#define VIN_LENGTH 17 - -typedef enum { - DIAGNOSTIC_REQUEST_TYPE_PID, - DIAGNOSTIC_REQUEST_TYPE_DTC, - DIAGNOSTIC_REQUEST_TYPE_MIL_STATUS, - DIAGNOSTIC_REQUEST_TYPE_VIN -} DiagnosticRequestType; - -typedef struct { - DiagnosticRequestType type; - uint16_t arbitration_id; - uint8_t mode; - uint16_t pid; - uint8_t pid_length; - 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 completed; - bool success; - uint16_t pid; - DiagnosticNegativeResponseCode negative_response_code; - 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 struct { - DiagnosticRequest request; - bool success; - bool completed; - - IsoTpShims isotp_shims; - IsoTpSendHandle isotp_send_handle; - IsoTpReceiveHandle isotp_receive_handle; - DiagnosticResponseReceived callback; - DiagnosticMilStatusReceived mil_status_callback; - DiagnosticVinReceived vin_callback; -} DiagnosticRequestHandle; - -typedef enum { - DIAGNOSTIC_STANDARD_PID, - DIAGNOSTIC_ENHANCED_PID -} DiagnosticPidRequestType; - -typedef struct { - LogShim log; - SendCanMessageShim send_can_message; - SetTimerShim set_timer; -} DiagnosticShims; - +/* Public: Initialize an DiagnosticShims with the given callback functions. + * + * If any callbacks are not to be used, set them to NULL. For documentation of + * the function type signatures, see higher up in this header file. This struct + * is a handy encapsulation used to pass the shims around to the various + * diagnostic_* functions. + * + * Returns a struct with the fields initailized to the callbacks. + */ DiagnosticShims diagnostic_init_shims(LogShim log, SendCanMessageShim send_can_message, SetTimerShim set_timer); +/* Public: Initiate a diagnostic request and return a handle, ready to completly + * send the request and process the response via + * diagnostic_receive_can_frame(...). + * + * shims - Low-level shims required to send CAN messages, etc. + * request - + * callback - an optional function to be called when the response is receved + * (use NULL if no callback is required). + * + * Returns a handle to be used with diagnostic_receive_can_frame to complete + * sending the request and receive the response. The 'completed' field in the + * returned DiagnosticRequestHandle will be true when the message is completely + * sent. + */ DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims, DiagnosticRequest* request, DiagnosticResponseReceived callback); -// decide mode 0x1 / 0x22 based on pid type +/* Public: Request a PID from the given arbitration ID, determining the mode + * automatically based on the PID type. + * + * shims - Low-level shims required to send CAN messages, etc. + * pid_request_type - either DIAGNOSTIC_STANDARD_PID (will use mode 0x1 and 1 + * byte PIDs) or DIAGNOSTIC_ENHANCED_PID (will use mode 0x22 and 2 byte + * PIDs) + * arbitration_id - The arbitration ID to send the request to. + * pid - The PID to request from the other node. + * callback - an optional function to be called when the response is receved + * (use NULL if no callback is required). + * + * Returns a handle to be used with diagnostic_receive_can_frame to complete + * sending the request and receive the response. The 'completed' field in the + * returned DiagnosticRequestHandle will be true when the message is completely + * sent. + */ DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims, DiagnosticPidRequestType pid_request_type, uint16_t arbitration_id, 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); - +/* Public: Continue to send and receive a single diagnostic request, based on a + * freshly received CAN message. + * + * shims - Low-level shims required to send CAN messages, etc. + * handle - A DiagnosticRequestHandle previously returned by one of the + * diagnostic_request*(..) functions. + * arbitration_id - The arbitration_id of the received CAN message. + * data - The data of the received CAN message. + * size - The size of the data in the received CAN message. + * + * Returns true if the request was completed and response received, or the + * request was otherwise cancelled. Check the 'success' field of the handle to + * see if it was successful. + */ DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims, DiagnosticRequestHandle* handle, const uint16_t arbitration_id, const uint8_t data[], const uint8_t size); +/* Public: Render a DiagnosticResponse as a string into the given buffer. + * + * TODO implement this + * + * message - the response to convert to a string, for debug logging. + * destination - the target string buffer. + * destination_length - the size of the destination buffer, i.e. the max size + * for the rendered string. + */ +// void diagnostic_response_to_string(const DiagnosticResponse* response, + // char* destination, size_t destination_length); + #ifdef __cplusplus } #endif diff --git a/src/obd2/obd2_types.h b/src/obd2/obd2_types.h new file mode 100644 index 0000000..247f80c --- /dev/null +++ b/src/obd2/obd2_types.h @@ -0,0 +1,141 @@ +#ifndef __OBD2_TYPES_H__ +#define __OBD2_TYPES_H__ + +#include <isotp/isotp.h> +#include <stdint.h> +#include <stdbool.h> + +#ifdef __cplusplus +extern "C" { +#endif + +// TODO This isn't true for multi frame messages - we may need to dynamically +// allocate this in the future +#define MAX_OBD2_PAYLOAD_LENGTH 7 +#define VIN_LENGTH 17 + +typedef enum { + DIAGNOSTIC_REQUEST_TYPE_PID, + DIAGNOSTIC_REQUEST_TYPE_DTC, + DIAGNOSTIC_REQUEST_TYPE_MIL_STATUS, + DIAGNOSTIC_REQUEST_TYPE_VIN +} DiagnosticRequestType; + +typedef struct { + DiagnosticRequestType type; + uint16_t arbitration_id; + uint8_t mode; + uint16_t pid; + uint8_t pid_length; + 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 completed; + bool success; + uint16_t pid; + DiagnosticNegativeResponseCode negative_response_code; + 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 struct { + DiagnosticRequest request; + bool success; + bool completed; + + IsoTpShims isotp_shims; + IsoTpSendHandle isotp_send_handle; + IsoTpReceiveHandle isotp_receive_handle; + DiagnosticResponseReceived callback; + // DiagnosticMilStatusReceived mil_status_callback; + // DiagnosticVinReceived vin_callback; +} DiagnosticRequestHandle; + +typedef enum { + DIAGNOSTIC_STANDARD_PID, + DIAGNOSTIC_ENHANCED_PID +} DiagnosticPidRequestType; + +typedef struct { + LogShim log; + SendCanMessageShim send_can_message; + SetTimerShim set_timer; +} DiagnosticShims; + +#ifdef __cplusplus +} +#endif + +#endif // __OBD2_TYPES_H__ |