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 #define MAX_OBD2_PAYLOAD_LENGTH 7
  13 #define VIN_LENGTH 17
  14
  15 typedef struct {
  16     uint16_t arbitration_id;
  17     uint8_t mode;
  18     uint16_t pid;
  19     uint8_t pid_length;
  20     uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
  21     uint8_t payload_length;
  22 } DiagnosticRequest;
  23
  24 // TODO I don't like this, it's hard coding isotp library stuff here
  25 typedef bool (*SendIsoTpMessageShim)(IsoTpHandler* handler,
  26         const uint8_t* payload, uint16_t payload_size);
  27
  28 // Thanks to
  29 // http://www.canbushack.com/blog/index.php?title=scanning-for-diagnostic-data&more=1&c=1&tb=1&pb=1
  30 // for the list of NRCs
  31 typedef enum {
  32     NRC_SUCCESS = 0x0,
  33     NRC_SERVICE_NOT_SUPPORTED = 0x11,
  34     NRC_SUB_FUNCTION_NOT_SUPPORTED = 0x12,
  35     NRC_CONDITIONS_NOT_CORRECT = 0x22,
  36     NRC_REQUEST_OUT_OF_RANGE = 0x31,
  37     NRC_SECURITY_ACCESS_DENIED = 0x33,
  38     NRC_INVALID_KEY = 0x35,
  39     NRC_TOO_MANY_ATTEMPS = 0x36,
  40     NRC_TIME_DELAY_NOT_EXPIRED = 0x37,
  41     NRC_RESPONSE_PENDING = 0x78
  42 } DiagnosticNegativeResponseCode;
  43
  44 typedef enum {
  45     OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST = 0x1,
  46     OBD2_MODE_POWERTRAIN_FREEZE_FRAME_REQUEST = 0x2,
  47     OBD2_MODE_EMISSIONS_DTC_REQUEST = 0x3,
  48     OBD2_MODE_EMISSIONS_DTC_CLEAR = 0x4,
  49     // 0x5 is for non-CAN only
  50     // OBD2_MODE_OXYGEN_SENSOR_TEST = 0x5,
  51     OBD2_MODE_TEST_RESULTS = 0x6,
  52     OBD2_MODE_DRIVE_CYCLE_DTC_REQUEST = 0x7,
  53     OBD2_MODE_CONTROL = 0x8,
  54     OBD2_MODE_VEHICLE_INFORMATION = 0x9,
  55     OBD2_MODE_PERMANENT_DTC_REQUEST = 0xa,
  56     // this one isn't technically in OBD2, but both of the enhanced standards
  57     // have their PID requests at 0x22
  58     OBD2_MODE_ENHANCED_DIAGNOSTIC_REQUEST = 0x22
  59 } DiagnosticMode;
  60
  61 typedef enum {
  62     DTC_EMISSIONS,
  63     DTC_DRIVE_CYCLE,
  64     DTC_PERMANENT
  65 } DiagnosticTroubleCodeType;
  66
  67 typedef struct {
  68     uint16_t arbitration_id;
  69     uint8_t mode;
  70     bool success;
  71     // if mode is one with a PID, read the correct numbers of PID bytes (1 or 2)
  72     // into this field, then store the remainder of the payload in the payload
  73     // field
  74     uint16_t pid;
  75     DiagnosticNegativeResponseCode negative_response_code;
  76     // if response mode is a negative response, read first byte of payload into
  77     // NRC and store remainder of payload in payload field
  78     uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
  79     uint8_t payload_length;
  80 } DiagnosticResponse;
  81
  82 typedef enum {
  83     POWERTRAIN = 0x0,
  84     CHASSIS = 0x1,
  85     BODY = 0x2,
  86     NETWORK = 0x3
  87 } DiagnosticTroubleCodeGroup;
  88
  89 typedef struct {
  90     DiagnosticTroubleCodeGroup group;
  91     uint8_t group_num;
  92     uint8_t code;
  93 } DiagnosticTroubleCode;
  94
  95 typedef void (*DiagnosticResponseReceived)(const DiagnosticResponse* response);
  96 typedef void (*DiagnosticMilStatusReceived)(bool malfunction_indicator_status);
  97 typedef void (*DiagnosticVinReceived)(uint8_t vin[]);
  98 typedef void (*DiagnosticTroubleCodesReceived)(
  99         DiagnosticMode mode, DiagnosticTroubleCode* codes);
 100 typedef void (*DiagnosticPidEnumerationReceived)(
 101         const DiagnosticResponse* response, uint16_t* pids);
 102
 103 // TODO should we enumerate every OBD-II PID? need conversion formulas, too
 104 typedef struct {
 105     uint16_t pid;
 106     uint8_t bytes_returned;
 107     float min_value;
 108     float max_value;
 109 } DiagnosticParameter;
 110
 111 typedef enum {
 112     DIAGNOSTIC_REQUEST_TYPE_PID,
 113     DIAGNOSTIC_REQUEST_TYPE_DTC,
 114     DIAGNOSTIC_REQUEST_TYPE_MIL_STATUS,
 115     DIAGNOSTIC_REQUEST_TYPE_VIN
 116 } DiagnosticRequestType;
 117
 118 typedef struct {
 119     IsoTpHandler isotp_handler;
 120     // TODO the Handle may need to keep the original request, otherwise we can't
 121     // compare an incoming CAN message to see if it matches the service / PID!
 122     // TODO i'm not sure this type/callback in here is too useful - see the
 123     // comments in obd2.c:diagnostic_request
 124
 125     DiagnosticRequestType type;
 126     DiagnosticResponseReceived callback;
 127     DiagnosticMilStatusReceived mil_status_callback;
 128     DiagnosticVinReceived vin_callback;
 129     bool status;
 130 } DiagnosticRequestHandle;
 131
 132 typedef enum {
 133     DIAGNOSTIC_STANDARD_PID,
 134     DIAGNOSTIC_ENHANCED_PID
 135 } DiagnosticPidRequestType;
 136
 137 typedef struct {
 138     SetTimerShim set_timer;
 139     SendCanMessageShim send_can_message;
 140     LogShim log;
 141 } DiagnosticShims;
 142
 143 DiagnosticShims diagnostic_init_shims(LogShim log,
 144         SendCanMessageShim send_can_message,
 145         SetTimerShim set_timer);
 146
 147 DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
 148         DiagnosticRequest* request, DiagnosticResponseReceived callback);
 149
 150 // decide mode 0x1 / 0x22 based on pid type
 151 DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims,
 152         DiagnosticPidRequestType pid_request_type, uint16_t pid,
 153         DiagnosticResponseReceived callback);
 154
 155 DiagnosticRequestHandle diagnostic_request_malfunction_indicator_status(
 156         DiagnosticShims* shims,
 157         DiagnosticMilStatusReceived callback);
 158
 159 DiagnosticRequestHandle diagnostic_request_vin(DiagnosticShims* shims,
 160         DiagnosticVinReceived callback);
 161
 162 DiagnosticRequestHandle diagnostic_request_dtc(DiagnosticShims* shims,
 163         DiagnosticTroubleCodeType dtc_type,
 164         DiagnosticTroubleCodesReceived callback);
 165
 166 bool diagnostic_clear_dtc(DiagnosticShims* shims);
 167
 168 DiagnosticRequestHandle diagnostic_enumerate_pids(DiagnosticShims* shims,
 169         DiagnosticRequest* request, DiagnosticPidEnumerationReceived callback);
 170
 171 // TODO
 172 // void diagnostic_receive_isotp_message(DiagnosticRequestHandle* handle,
 173         // const IsoTpMessage* message);
 174 void diagnostic_receive_isotp_message(const IsoTpMessage* message);
 175
 176 void diagnostic_receive_can_frame(DiagnosticRequestHandle* handle,
 177         const uint16_t arbitration_id, const uint8_t data[],
 178         const uint8_t size);
 179
 180 #ifdef __cplusplus
 181 }
 182 #endif
 183
 184 #endif // __OBD2_H__