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 void (*LogShim)(const char* message);
  16 typedef bool (*SendCanMessageShim)(const uint16_t arbitration_id,
  17         const uint8_t* data, const uint8_t size);
  18 typedef bool (*SetTimerShim)(uint16_t time_ms, void (*callback));
  19
  20 typedef struct {
  21     uint16_t arbitration_id;
  22     uint8_t mode;
  23     uint16_t pid;
  24     uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
  25     uint8_t payload_length;
  26 } DiagnosticRequest;
  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_SERVICE_NOT_SUPPORTED = 0x11,
  33     NRC_SUB_FUNCTION_NOT_SUPPORTED = 0x12,
  34     NRC_CONDITIONS_NOT_CORRECT = 0x22,
  35     NRC_REQUEST_OUT_OF_RANGE = 0x31,
  36     NRC_SECURITY_ACCESS_DENIED = 0x33,
  37     NRC_INVALID_KEY = 0x35,
  38     NRC_TOO_MANY_ATTEMPS = 0x36,
  39     NRC_TIME_DELAY_NOT_EXPIRED = 0x37,
  40     NRC_RESPONSE_PENDING = 0x78
  41 } DiagnosticNegativeResponseCode;
  42
  43 typedef enum {
  44     OBD2_MODE_POWERTRAIN_DIAGNOSTIC_REQUEST = 0x1,
  45     OBD2_MODE_POWERTRAIN_FREEZE_FRAME_REQUEST = 0x2,
  46     OBD2_MODE_EMISSIONS_DTC_REQUEST = 0x3,
  47     OBD2_MODE_EMISSIONS_DTC_CLEAR = 0x4,
  48     // 0x5 is for non-CAN only
  49     // OBD2_MODE_OXYGEN_SENSOR_TEST = 0x5,
  50     OBD2_MODE_TEST_RESULTS = 0x6,
  51     OBD2_MODE_DRIVE_CYCLE_DTC_REQUEST = 0x7,
  52     OBD2_MODE_CONTROL = 0x8,
  53     OBD2_MODE_VEHICLE_INFORMATION = 0x9,
  54     OBD2_MODE_PERMANENT_DTC_REQUEST = 0xa,
  55     // this one isn't technically in OBD2, but both of the enhanced standards
  56     // have their PID requests at 0x22
  57     OBD2_MODE_ENHANCED_DIAGNOSTIC_REQUEST = 0x22
  58 } DiagnosticMode;
  59
  60 typedef enum {
  61     DTC_EMISSIONS,
  62     DTC_DRIVE_CYCLE,
  63     DTC_PERMANENT
  64 } DiagnosticTroubleCodeType;
  65
  66 typedef struct {
  67     uint16_t arbitration_id;
  68     uint8_t mode;
  69     bool success;
  70     // if mode is one with a PID, read the correct numbers of PID bytes (1 or 2)
  71     // into this field, then store the remainder of the payload in the payload
  72     // field
  73     uint16_t pid;
  74     DiagnosticNegativeResponseCode negative_response_code;
  75     // if response mode is a negative response, read first byte of payload into
  76     // NRC and store remainder of payload in payload field
  77     uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
  78     uint8_t payload_length;
  79 } DiagnosticResponse;
  80
  81 typedef enum {
  82     POWERTRAIN = 0x0,
  83     CHASSIS = 0x1,
  84     BODY = 0x2,
  85     NETWORK = 0x3
  86 } DiagnosticTroubleCodeGroup;
  87
  88 typedef struct {
  89     DiagnosticTroubleCodeGroup group;
  90     uint8_t group_num;
  91     uint8_t code;
  92 } DiagnosticTroubleCode;
  93
  94 typedef void (*DiagnosticResponseReceived)(const DiagnosticResponse* response);
  95 typedef void (*DiagnosticMilStatusReceived)(bool malfunction_indicator_status);
  96 typedef void (*DiagnosticVinReceived)(uint8_t vin[]);
  97 typedef void (*DiagnosticTroubleCodesReceived)(
  98         DiagnosticMode mode, DiagnosticTroubleCode* codes);
  99 typedef void (*DiagnosticPidEnumerationReceived)(
 100         const DiagnosticResponse* response, uint16_t* pids);
 101
 102 // TODO should we enumerate every OBD-II PID? need conversion formulas, too
 103 typedef struct {
 104     uint16_t pid;
 105     uint8_t bytes_returned;
 106     float min_value;
 107     float max_value;
 108 } DiagnosticParameter;
 109
 110 typedef enum {
 111     DIAGNOSTIC_REQUEST_TYPE_PID,
 112     DIAGNOSTIC_REQUEST_TYPE_DTC,
 113     DIAGNOSTIC_REQUEST_TYPE_MIL_STATUS,
 114     DIAGNOSTIC_REQUEST_TYPE_VIN
 115 } DiagnosticRequestType;
 116
 117 typedef struct {
 118     IsoTpHandler isotp_handler;
 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     SendCanMessageShim send_can_message;
 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 pid,
 147         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 void diagnostic_receive_can_frame(DiagnosticRequestHandle* handler,
 166         const uint16_t arbitration_id, const uint8_t data[],
 167         const uint8_t size);
 168
 169 #ifdef __cplusplus
 170 }
 171 #endif
 172
 173 #endif // __OBD2_H__