--- /dev/null
+#ifndef __UDS_TYPES_H__
+#define __UDS_TYPES_H__
+
+#include <isotp/isotp.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// TODO This still doesn't have enough space for the largest possible
+// multiframe response. May need to dynamically allocate in the future.
+#define MAX_UDS_RESPONSE_PAYLOAD_LENGTH 127
+#define MAX_UDS_REQUEST_PAYLOAD_LENGTH 7
+#define MAX_RESPONDING_ECU_COUNT 8
+#define VIN_LENGTH 17
+
+/* Private: The four main types of diagnositc requests that determine how the
+ * request should be parsed and what type of callback should be used.
+ *
+ * TODO this may not be used...yet?
+ */
+typedef enum {
+ DIAGNOSTIC_REQUEST_TYPE_PID,
+ DIAGNOSTIC_REQUEST_TYPE_DTC,
+ DIAGNOSTIC_REQUEST_TYPE_MIL_STATUS,
+ DIAGNOSTIC_REQUEST_TYPE_VIN
+} DiagnosticRequestType;
+
+/* Public: A container for a single diagnostic request.
+ *
+ * The only required fields are the arbitration_id and mode.
+ *
+ * arbitration_id - The arbitration ID to send the request.
+ * mode - The OBD-II mode for the request.
+ * has_pid - (optional) If the requests uses a PID, this should be true.
+ * pid - (optional) The PID to request, if the mode requires one. has_pid must
+ * be true.
+ * pid_length - The length of the PID field, either 1 (standard) or 2 bytes
+ * (extended). If 0, it will be set automatically based on the request
+ * mode.
+ * payload - (optional) The payload for the request, if the request requires
+ * one. If payload_length is 0 this field is ignored.
+ * payload_length - The length of the payload, or 0 if no payload is used.
+ * no_frame_padding - false if sent CAN payloads should *not* be padded out to a
+ * full 8 byte CAN frame. Many ECUs require this, but others require the
+ * size of the CAN message to only be the actual data. By default padding
+ * is enabled (so this struct value can default to 0).
+ * type - the type of the request (TODO unused)
+ */
+typedef struct {
+ uint32_t arbitration_id;
+ uint8_t mode;
+ bool has_pid;
+ uint16_t pid;
+ uint8_t pid_length;
+ uint8_t payload[MAX_UDS_REQUEST_PAYLOAD_LENGTH];
+ uint8_t payload_length;
+ bool no_frame_padding;
+ DiagnosticRequestType type;
+} DiagnosticRequest;
+
+/* Public: All possible negative response codes that could be received from a
+ * requested node.
+ *
+ * When a DiagnosticResponse is received and the 'completed' field is true, but
+ * the 'success' field is false, the 'negative_response_code' field will contain
+ * one of these values as reported by the requested node.
+ *
+ * Thanks to canbushack.com for the list of NRCs.
+ */
+typedef enum {
+ NRC_SUCCESS = 0x0,
+ NRC_SERVICE_NOT_SUPPORTED = 0x11,
+ NRC_SUB_FUNCTION_NOT_SUPPORTED = 0x12,
+ NRC_INCORRECT_LENGTH_OR_FORMAT = 0x13,
+ 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;
+
+/* Public: A partially or fully completed response to a diagnostic request.
+ *
+ * completed - True if the request is complete - some functions return a
+ * DiagnosticResponse even when it's only partially completed, so be sure
+ * to check this field.
+ * success - True if the request was successful. The value if this
+ * field isn't valid if 'completed' isn't true. If this is 'false', check
+ * the negative_response_code field for the reason.
+ * arbitration_id - The arbitration ID the response was received on.
+ * multi_frame - True if this response (whether completed or not) required
+ * multi-frame CAN support. Can be used for updating time-out functions.
+ * mode - The OBD-II mode for the original request.
+ * has_pid - If this is a response to a PID request, this will be true and the
+ * 'pid' field will be valid.
+ * pid - If the request was for a PID, this is the PID echo. Only valid if
+ * 'has_pid' is true.
+ * negative_response_code - If the request was not successful, 'success' will be
+ * false and this will be set to a DiagnosticNegativeResponseCode returned
+ * by the other node.
+ * payload - An optional payload for the response - NULL if no payload.
+ * payload_length - The length of the payload or 0 if none.
+ */
+typedef struct {
+ bool completed;
+ bool success;
+ bool multi_frame;
+ uint32_t arbitration_id;
+ uint8_t mode;
+ bool has_pid;
+ uint16_t pid;
+ DiagnosticNegativeResponseCode negative_response_code;
+ uint8_t payload[MAX_UDS_RESPONSE_PAYLOAD_LENGTH];
+ uint8_t payload_length;
+} DiagnosticResponse;
+
+/* Public: Friendly names for all OBD-II modes.
+ */
+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 uds, but both of the enhanced standards
+ // have their PID requests at 0x22
+ OBD2_MODE_ENHANCED_DIAGNOSTIC_REQUEST = 0x22
+} DiagnosticMode;
+
+/* Public: The signature for an optional function to be called when a diagnostic
+ * request is complete, and a response is received or there is a fatal error.
+ *
+ * response - the completed DiagnosticResponse.
+ */
+typedef void (*DiagnosticResponseReceived)(const DiagnosticResponse* response);
+
+/* Public: A handle for initiating and continuing a single diagnostic request.
+ *
+ * A diagnostic request requires one or more CAN messages to be sent, and one
+ * or more CAN messages to be received before it is completed. This struct
+ * encapsulates the local state required to track the request while it is in
+ * progress.
+ *
+ * request - The original DiagnosticRequest that this handle was created for.
+ * completed - True if the request was completed successfully, or was otherwise
+ * cancelled.
+ * success - True if the request send and receive process was successful. The
+ * value if this field isn't valid if 'completed' isn't true.
+ */
+typedef struct {
+ DiagnosticRequest request;
+ bool success;
+ bool completed;
+
+ // Private
+ IsoTpShims isotp_shims;
+ IsoTpSendHandle isotp_send_handle;
+ IsoTpReceiveHandle isotp_receive_handles[MAX_RESPONDING_ECU_COUNT];
+ uint8_t isotp_receive_handle_count;
+ DiagnosticResponseReceived callback;
+ // DiagnosticMilStatusReceived mil_status_callback;
+ // DiagnosticVinReceived vin_callback;
+} DiagnosticRequestHandle;
+
+/* Public: The two major types of PIDs that determine the OBD-II mode and PID
+ * field length.
+ */
+typedef enum {
+ DIAGNOSTIC_STANDARD_PID,
+ DIAGNOSTIC_ENHANCED_PID
+} DiagnosticPidRequestType;
+
+/* Public: A container for the 3 shim functions used by the library to interact
+ * with the wider system.
+ *
+ * Use the diagnostic_init_shims(...) function to create an instance of this
+ * struct.
+ */
+typedef struct {
+ LogShim log;
+ SendCanMessageShim send_can_message;
+ SetTimerShim set_timer;
+} DiagnosticShims;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __UDS_TYPES_H__
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