#ifndef __OBD2_H__
#define __OBD2_H__
-#include <isotp/isotp.h>
+#include <obd2/obd2_types.h>
#include <stdint.h>
#include <stdbool.h>
extern "C" {
#endif
-// TODO This isn't true for multi frame messages - we may need to dynamically
-// allocate this in the future
-#define MAX_OBD2_PAYLOAD_LENGTH 7
-#define VIN_LENGTH 17
-
-typedef enum {
- DIAGNOSTIC_REQUEST_TYPE_PID,
- DIAGNOSTIC_REQUEST_TYPE_DTC,
- DIAGNOSTIC_REQUEST_TYPE_MIL_STATUS,
- DIAGNOSTIC_REQUEST_TYPE_VIN
-} DiagnosticRequestType;
-
-typedef struct {
- DiagnosticRequestType type;
- uint16_t arbitration_id;
- uint8_t mode;
- uint16_t pid;
- uint8_t pid_length;
- uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
- uint8_t payload_length;
-} DiagnosticRequest;
-
-// Thanks to
-// http://www.canbushack.com/blog/index.php?title=scanning-for-diagnostic-data&more=1&c=1&tb=1&pb=1
-// for the list of NRCs
-typedef enum {
- NRC_SUCCESS = 0x0,
- NRC_SERVICE_NOT_SUPPORTED = 0x11,
- NRC_SUB_FUNCTION_NOT_SUPPORTED = 0x12,
- 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;
-
-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 OBD2, but both of the enhanced standards
- // have their PID requests at 0x22
- OBD2_MODE_ENHANCED_DIAGNOSTIC_REQUEST = 0x22
-} DiagnosticMode;
-
-typedef enum {
- DTC_EMISSIONS,
- DTC_DRIVE_CYCLE,
- DTC_PERMANENT
-} DiagnosticTroubleCodeType;
-
-typedef struct {
- uint16_t arbitration_id;
- uint8_t mode;
- bool completed;
- bool success;
- uint16_t pid;
- DiagnosticNegativeResponseCode negative_response_code;
- uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
- uint8_t payload_length;
-} DiagnosticResponse;
-
-typedef enum {
- POWERTRAIN = 0x0,
- CHASSIS = 0x1,
- BODY = 0x2,
- NETWORK = 0x3
-} DiagnosticTroubleCodeGroup;
-
-typedef struct {
- DiagnosticTroubleCodeGroup group;
- uint8_t group_num;
- uint8_t code;
-} DiagnosticTroubleCode;
-
-typedef void (*DiagnosticResponseReceived)(const DiagnosticResponse* response);
-typedef void (*DiagnosticMilStatusReceived)(bool malfunction_indicator_status);
-typedef void (*DiagnosticVinReceived)(uint8_t vin[]);
-typedef void (*DiagnosticTroubleCodesReceived)(
- DiagnosticMode mode, DiagnosticTroubleCode* codes);
-typedef void (*DiagnosticPidEnumerationReceived)(
- const DiagnosticResponse* response, uint16_t* pids);
-
-// TODO should we enumerate every OBD-II PID? need conversion formulas, too
-typedef struct {
- uint16_t pid;
- uint8_t bytes_returned;
- float min_value;
- float max_value;
-} DiagnosticParameter;
-
-typedef struct {
- DiagnosticRequest request;
- bool success;
- bool completed;
-
- IsoTpShims isotp_shims;
- IsoTpSendHandle isotp_send_handle;
- IsoTpReceiveHandle isotp_receive_handle;
- DiagnosticResponseReceived callback;
- DiagnosticMilStatusReceived mil_status_callback;
- DiagnosticVinReceived vin_callback;
-} DiagnosticRequestHandle;
-
-typedef enum {
- DIAGNOSTIC_STANDARD_PID,
- DIAGNOSTIC_ENHANCED_PID
-} DiagnosticPidRequestType;
-
-typedef struct {
- LogShim log;
- SendCanMessageShim send_can_message;
- SetTimerShim set_timer;
-} DiagnosticShims;
-
+/* Public: Initialize an DiagnosticShims with the given callback functions.
+ *
+ * If any callbacks are not to be used, set them to NULL. For documentation of
+ * the function type signatures, see higher up in this header file. This struct
+ * is a handy encapsulation used to pass the shims around to the various
+ * diagnostic_* functions.
+ *
+ * Returns a struct with the fields initailized to the callbacks.
+ */
DiagnosticShims diagnostic_init_shims(LogShim log,
SendCanMessageShim send_can_message,
SetTimerShim set_timer);
+/* Public: Initiate a diagnostic request and return a handle, ready to completly
+ * send the request and process the response via
+ * diagnostic_receive_can_frame(...).
+ *
+ * shims - Low-level shims required to send CAN messages, etc.
+ * request -
+ * callback - an optional function to be called when the response is receved
+ * (use NULL if no callback is required).
+ *
+ * Returns a handle to be used with diagnostic_receive_can_frame to complete
+ * sending the request and receive the response. The 'completed' field in the
+ * returned DiagnosticRequestHandle will be true when the message is completely
+ * sent.
+ */
DiagnosticRequestHandle diagnostic_request(DiagnosticShims* shims,
DiagnosticRequest* request, DiagnosticResponseReceived callback);
-// decide mode 0x1 / 0x22 based on pid type
+/* Public: Request a PID from the given arbitration ID, determining the mode
+ * automatically based on the PID type.
+ *
+ * shims - Low-level shims required to send CAN messages, etc.
+ * pid_request_type - either DIAGNOSTIC_STANDARD_PID (will use mode 0x1 and 1
+ * byte PIDs) or DIAGNOSTIC_ENHANCED_PID (will use mode 0x22 and 2 byte
+ * PIDs)
+ * arbitration_id - The arbitration ID to send the request to.
+ * pid - The PID to request from the other node.
+ * callback - an optional function to be called when the response is receved
+ * (use NULL if no callback is required).
+ *
+ * Returns a handle to be used with diagnostic_receive_can_frame to complete
+ * sending the request and receive the response. The 'completed' field in the
+ * returned DiagnosticRequestHandle will be true when the message is completely
+ * sent.
+ */
DiagnosticRequestHandle diagnostic_request_pid(DiagnosticShims* shims,
DiagnosticPidRequestType pid_request_type, uint16_t arbitration_id,
uint16_t pid, DiagnosticResponseReceived callback);
-DiagnosticRequestHandle diagnostic_request_malfunction_indicator_status(
- DiagnosticShims* shims,
- DiagnosticMilStatusReceived callback);
-
-DiagnosticRequestHandle diagnostic_request_vin(DiagnosticShims* shims,
- DiagnosticVinReceived callback);
-
-DiagnosticRequestHandle diagnostic_request_dtc(DiagnosticShims* shims,
- DiagnosticTroubleCodeType dtc_type,
- DiagnosticTroubleCodesReceived callback);
-
-bool diagnostic_clear_dtc(DiagnosticShims* shims);
-
-DiagnosticRequestHandle diagnostic_enumerate_pids(DiagnosticShims* shims,
- DiagnosticRequest* request, DiagnosticPidEnumerationReceived callback);
-
+/* Public: Continue to send and receive a single diagnostic request, based on a
+ * freshly received CAN message.
+ *
+ * shims - Low-level shims required to send CAN messages, etc.
+ * handle - A DiagnosticRequestHandle previously returned by one of the
+ * diagnostic_request*(..) functions.
+ * arbitration_id - The arbitration_id of the received CAN message.
+ * data - The data of the received CAN message.
+ * size - The size of the data in the received CAN message.
+ *
+ * Returns true if the request was completed and response received, or the
+ * request was otherwise cancelled. Check the 'success' field of the handle to
+ * see if it was successful.
+ */
DiagnosticResponse diagnostic_receive_can_frame(DiagnosticShims* shims,
DiagnosticRequestHandle* handle,
const uint16_t arbitration_id, const uint8_t data[],
const uint8_t size);
+/* Public: Render a DiagnosticResponse as a string into the given buffer.
+ *
+ * TODO implement this
+ *
+ * message - the response to convert to a string, for debug logging.
+ * destination - the target string buffer.
+ * destination_length - the size of the destination buffer, i.e. the max size
+ * for the rendered string.
+ */
+// void diagnostic_response_to_string(const DiagnosticResponse* response,
+ // char* destination, size_t destination_length);
+
#ifdef __cplusplus
}
#endif
--- /dev/null
+#ifndef __OBD2_TYPES_H__
+#define __OBD2_TYPES_H__
+
+#include <isotp/isotp.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// TODO This isn't true for multi frame messages - we may need to dynamically
+// allocate this in the future
+#define MAX_OBD2_PAYLOAD_LENGTH 7
+#define VIN_LENGTH 17
+
+typedef enum {
+ DIAGNOSTIC_REQUEST_TYPE_PID,
+ DIAGNOSTIC_REQUEST_TYPE_DTC,
+ DIAGNOSTIC_REQUEST_TYPE_MIL_STATUS,
+ DIAGNOSTIC_REQUEST_TYPE_VIN
+} DiagnosticRequestType;
+
+typedef struct {
+ DiagnosticRequestType type;
+ uint16_t arbitration_id;
+ uint8_t mode;
+ uint16_t pid;
+ uint8_t pid_length;
+ uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
+ uint8_t payload_length;
+} DiagnosticRequest;
+
+// Thanks to
+// http://www.canbushack.com/blog/index.php?title=scanning-for-diagnostic-data&more=1&c=1&tb=1&pb=1
+// for the list of NRCs
+typedef enum {
+ NRC_SUCCESS = 0x0,
+ NRC_SERVICE_NOT_SUPPORTED = 0x11,
+ NRC_SUB_FUNCTION_NOT_SUPPORTED = 0x12,
+ 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;
+
+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 OBD2, but both of the enhanced standards
+ // have their PID requests at 0x22
+ OBD2_MODE_ENHANCED_DIAGNOSTIC_REQUEST = 0x22
+} DiagnosticMode;
+
+typedef enum {
+ DTC_EMISSIONS,
+ DTC_DRIVE_CYCLE,
+ DTC_PERMANENT
+} DiagnosticTroubleCodeType;
+
+typedef struct {
+ uint16_t arbitration_id;
+ uint8_t mode;
+ bool completed;
+ bool success;
+ uint16_t pid;
+ DiagnosticNegativeResponseCode negative_response_code;
+ uint8_t payload[MAX_OBD2_PAYLOAD_LENGTH];
+ uint8_t payload_length;
+} DiagnosticResponse;
+
+typedef enum {
+ POWERTRAIN = 0x0,
+ CHASSIS = 0x1,
+ BODY = 0x2,
+ NETWORK = 0x3
+} DiagnosticTroubleCodeGroup;
+
+typedef struct {
+ DiagnosticTroubleCodeGroup group;
+ uint8_t group_num;
+ uint8_t code;
+} DiagnosticTroubleCode;
+
+typedef void (*DiagnosticResponseReceived)(const DiagnosticResponse* response);
+typedef void (*DiagnosticMilStatusReceived)(bool malfunction_indicator_status);
+typedef void (*DiagnosticVinReceived)(uint8_t vin[]);
+typedef void (*DiagnosticTroubleCodesReceived)(
+ DiagnosticMode mode, DiagnosticTroubleCode* codes);
+typedef void (*DiagnosticPidEnumerationReceived)(
+ const DiagnosticResponse* response, uint16_t* pids);
+
+// TODO should we enumerate every OBD-II PID? need conversion formulas, too
+typedef struct {
+ uint16_t pid;
+ uint8_t bytes_returned;
+ float min_value;
+ float max_value;
+} DiagnosticParameter;
+
+typedef struct {
+ DiagnosticRequest request;
+ bool success;
+ bool completed;
+
+ IsoTpShims isotp_shims;
+ IsoTpSendHandle isotp_send_handle;
+ IsoTpReceiveHandle isotp_receive_handle;
+ DiagnosticResponseReceived callback;
+ // DiagnosticMilStatusReceived mil_status_callback;
+ // DiagnosticVinReceived vin_callback;
+} DiagnosticRequestHandle;
+
+typedef enum {
+ DIAGNOSTIC_STANDARD_PID,
+ DIAGNOSTIC_ENHANCED_PID
+} DiagnosticPidRequestType;
+
+typedef struct {
+ LogShim log;
+ SendCanMessageShim send_can_message;
+ SetTimerShim set_timer;
+} DiagnosticShims;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // __OBD2_TYPES_H__
Code Review / apps / agl-service-can-low-level.git / commitdiff