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