src/obd2/obd2.h

   1 #ifndef __OBD2_H__
   2 #define __OBD2_H__
   3
   4 #include <isotp/isotp.h>
   5 #include <stdint.h>
   6 #include <stdbool.h>
   7
   8 #ifdef __cplusplus
   9 extern "C" {
  10 #endif
  11
  12 // TODO This isn't true for multi frame messages - we may need to dynamically
  13 // allocate this in the future
  14 #define MAX_OBD2_PAYLOAD_LENGTH 7
  15 #define VIN_LENGTH 17
  16
  17 typedef enum {
  18     DIAGNOSTIC_REQUEST_TYPE_PID,
  19     DIAGNOSTIC_REQUEST_TYPE_DTC,
  20     DIAGNOSTIC_REQUEST_TYPE_MIL_STATUS,
  21     DIAGNOSTIC_REQUEST_TYPE_VIN
  22 } DiagnosticRequestType;
  23
  24 typedef struct {
  25     DiagnosticRequestType type;
  26     uint16_t arbitration_id;
  27     uint8_t mode;
  28     uint16_t pid;
  29     uint8_t pid_length;
  30     uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
  31     uint8_t payload_length;
  32 } DiagnosticRequest;
  33
  34 // Thanks to
  35 // http://www.canbushack.com/blog/index.php?title=scanning-for-diagnostic-data&more=1&c=1&tb=1&pb=1
  36 // for the list of NRCs
  37 typedef enum {
  38     NRC_SUCCESS = 0x0,
  39     NRC_SERVICE_NOT_SUPPORTED = 0x11,
  40     NRC_SUB_FUNCTION_NOT_SUPPORTED = 0x12,
  41     NRC_CONDITIONS_NOT_CORRECT = 0x22,
  42     NRC_REQUEST_OUT_OF_RANGE = 0x31,
  43     NRC_SECURITY_ACCESS_DENIED = 0x33,
  44     NRC_INVALID_KEY = 0x35,
  45     NRC_TOO_MANY_ATTEMPS = 0x36,
  46     NRC_TIME_DELAY_NOT_EXPIRED = 0x37,
  47     NRC_RESPONSE_PENDING = 0x78
  48 } DiagnosticNegativeResponseCode;
  49
  50 typedef enum {
  51     OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST = 0x1,
  52     OBD2_MODE_POWERTRAIN_FREEZE_FRAME_REQUEST = 0x2,
  53     OBD2_MODE_EMISSIONS_DTC_REQUEST = 0x3,
  54     OBD2_MODE_EMISSIONS_DTC_CLEAR = 0x4,
  55     // 0x5 is for non-CAN only
  56     // OBD2_MODE_OXYGEN_SENSOR_TEST = 0x5,
  57     OBD2_MODE_TEST_RESULTS = 0x6,
  58     OBD2_MODE_DRIVE_CYCLE_DTC_REQUEST = 0x7,
  59     OBD2_MODE_CONTROL = 0x8,
  60     OBD2_MODE_VEHICLE_INFORMATION = 0x9,
  61     OBD2_MODE_PERMANENT_DTC_REQUEST = 0xa,
  62     // this one isn't technically in OBD2, but both of the enhanced standards
  63     // have their PID requests at 0x22
  64     OBD2_MODE_ENHANCED_DIAGNOSTIC_REQUEST = 0x22
  65 } DiagnosticMode;
  66
  67 typedef enum {
  68     DTC_EMISSIONS,
  69     DTC_DRIVE_CYCLE,
  70     DTC_PERMANENT
  71 } DiagnosticTroubleCodeType;
  72
  73 typedef struct {
  74     uint16_t arbitration_id;
  75     uint8_t mode;
  76     bool completed;
  77     bool success;
  78     uint16_t pid;
  79     DiagnosticNegativeResponseCode negative_response_code;
  80     uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
  81     uint8_t payload_length;
  82 } DiagnosticResponse;
  83
  84 typedef enum {
  85     POWERTRAIN = 0x0,
  86     CHASSIS = 0x1,
  87     BODY = 0x2,
  88     NETWORK = 0x3
  89 } DiagnosticTroubleCodeGroup;
  90
  91 typedef struct {
  92     DiagnosticTroubleCodeGroup group;
  93     uint8_t group_num;
  94     uint8_t code;
  95 } DiagnosticTroubleCode;
  96
  97 typedef void (*DiagnosticResponseReceived)(const DiagnosticResponse* response);
  98 typedef void (*DiagnosticMilStatusReceived)(bool malfunction_indicator_status);
  99 typedef void (*DiagnosticVinReceived)(uint8_t vin[]);
 100 typedef void (*DiagnosticTroubleCodesReceived)(
 101         DiagnosticMode mode, DiagnosticTroubleCode* codes);
 102 typedef void (*DiagnosticPidEnumerationReceived)(
 103         const DiagnosticResponse* response, uint16_t* pids);
 104
 105 // TODO should we enumerate every OBD-II PID? need conversion formulas, too
 106 typedef struct {
 107     uint16_t pid;
 108     uint8_t bytes_returned;
 109     float min_value;
 110     float max_value;
 111 } DiagnosticParameter;
 112
 113 typedef struct {
 114     DiagnosticRequest request;
 115     bool success;
 116     bool completed;
 117
 118     IsoTpShims isotp_shims;
 119     IsoTpSendHandle isotp_send_handle;
 120     IsoTpReceiveHandle isotp_receive_handle;
 121     DiagnosticResponseReceived callback;
 122     DiagnosticMilStatusReceived mil_status_callback;
 123     DiagnosticVinReceived vin_callback;
 124 } DiagnosticRequestHandle;
 125
 126 typedef enum {
 127     DIAGNOSTIC_STANDARD_PID,
 128     DIAGNOSTIC_ENHANCED_PID
 129 } DiagnosticPidRequestType;
 130
 131 typedef struct {
 132     LogShim log;
 133     SendCanMessageShim send_can_message;
 134     SetTimerShim set_timer;
 135 } DiagnosticShims;
 136
 137 DiagnosticShims diagnostic_init_shims(LogShim log,
 138         SendCanMessageShim send_can_message,
 139         SetTimerShim set_timer);
 140
 141 DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
 142         DiagnosticRequest* request, DiagnosticResponseReceived callback);
 143
 144 // decide mode 0x1 / 0x22 based on pid type
 145 DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims,
 146         DiagnosticPidRequestType pid_request_type, uint16_t arbitration_id,
 147         uint16_t pid, DiagnosticResponseReceived callback);
 148
 149 DiagnosticRequestHandle diagnostic_request_malfunction_indicator_status(
 150         DiagnosticShims* shims,
 151         DiagnosticMilStatusReceived callback);
 152
 153 DiagnosticRequestHandle diagnostic_request_vin(DiagnosticShims* shims,
 154         DiagnosticVinReceived callback);
 155
 156 DiagnosticRequestHandle diagnostic_request_dtc(DiagnosticShims* shims,
 157         DiagnosticTroubleCodeType dtc_type,
 158         DiagnosticTroubleCodesReceived callback);
 159
 160 bool diagnostic_clear_dtc(DiagnosticShims* shims);
 161
 162 DiagnosticRequestHandle diagnostic_enumerate_pids(DiagnosticShims* shims,
 163         DiagnosticRequest* request, DiagnosticPidEnumerationReceived callback);
 164
 165 DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims,
 166         DiagnosticRequestHandle* handle,
 167         const uint16_t arbitration_id, const uint8_t data[],
 168         const uint8_t size);
 169
 170 #ifdef __cplusplus
 171 }
 172 #endif
 173
 174 #endif // __OBD2_H__