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OBD9141.h
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/*
* Copyright (c) 2015, Ivor Wanders
* MIT License, see the LICENSE.md file in the root folder.
*/
#ifndef OBD9141_H
#define OBD9141_H
#include "Arduino.h"
// to do some debug printing.
// #define OBD9141_DEBUG
//#define OBD9141_USE_ALTSOFTSERIAL
// use AltSoftSerial.h instead of the hardware Serial
// AltSoftSerial is automatically selected when an Arduino is used:
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
// Be sure that this library is available, download from http://www.pjrc.com/teensy/td_libs_AltSoftSerial.html"
#define OBD9141_USE_ALTSOFTSERIAL
#endif
#define OBD9141_KLINE_BAUD 10400
// as per spec.
#define OBD9141_BUFFER_SIZE 16
// maximum possible as per protocol is 256 payload, the buffer also contains
// request and checksum, add 5 + 1 for those on top of the max desired length.
// User needs to guarantee that the ret_len never exceeds the buffer size.
#define OBD9141_INTERSYMBOL_WAIT 5
// Milliseconds delay between writing of subsequent bytes on the bus.
// Is 5ms according to the specification.
// When data is sent over the serial port to the K-line transceiver, an echo of
// this data is heard on the Rx pin; this determines the timeout of readBytes
// used after sending data and trying to read the same number of bytes from the
// serial port to discard the echo.
// The total timeout for reading the echo is:
// (OBD9141_REQUEST_ECHO_TIMEOUT_MS * sent_len +
// OBD9141_WAIT_FOR_ECHO_TIMEOUT) milliseconds.
#define OBD9141_WAIT_FOR_ECHO_TIMEOUT 5
// Time added to the timeout to read the echo.
#define OBD9141_REQUEST_ECHO_MS_PER_BYTE 3
// Time added per byte sent to wait for the echo.
// When a request is to be made, request bytes are pushed on the bus with
// OBD9141_INTERSYMBOL_WAIT delay between them. After the transmission of the
// request has been completed, there is a delay of OBD9141_AFTER_REQUEST_DELAY
// milliseconds. Then the readBytes method is used with a timeout of
// (OBD9141_REQUEST_ANSWER_MS_PER_BYTE * ret_len +
// OBD9141_WAIT_FOR_REQUEST_ANSWER_TIMEOUT) milliseconds.
#define OBD9141_REQUEST_ANSWER_MS_PER_BYTE 3
// The ECU might not push all bytes on the bus immediately, but wait several ms
// between the bytes, this is the time allowed per byte for the answer
#define OBD9141_WAIT_FOR_REQUEST_ANSWER_TIMEOUT (30 + 20)
// Time added to the read timeout when reading the response to a request.
// This should incorporate the 30 ms that's between the request and answer
// according to the specification.
#define OBD9141_INIT_IDLE_BUS_BEFORE 3000
// Before the init sequence; the bus is kept idle for this duration in ms.
#define OBD9141_INIT_POST_INIT_DELAY 50
// This is a delay after the initialisation has been completed successfully.
// It is not present in the spec, but prevents a request immediately after the
// init has succeeded when the other side might not yet be ready.
#ifdef OBD9141_DEBUG
#ifdef ARDUINO_SAM_DUE
#define OBD9141print(a) SerialUSB.print(a);
#define OBD9141println(a) SerialUSB.println(a);
#else
#define OBD9141print(a) Serial.print(a);
#define OBD9141println(a) Serial.println(a);
#endif
#else
#define OBD9141print(a)
#define OBD9141println(a)
#endif
// use the correct Serial datatype.
#ifdef OBD9141_USE_ALTSOFTSERIAL
// Be sure that this library is available, download it from http://www.pjrc.com/teensy/td_libs_AltSoftSerial.html"
#include <AltSoftSerial.h>
#define OBD_SERIAL_DATA_TYPE AltSoftSerial
#else
#define OBD_SERIAL_DATA_TYPE HardwareSerial
#endif
// OBD_SERIAL_DATA_TYPE needs to have begin() as well as read(), available() and write() from Stream.
class OBD9141{
private:
OBD_SERIAL_DATA_TYPE* serial;
void kline(bool); // sets the state of the Tx pin.
uint8_t tx_pin;
uint8_t rx_pin;
void write(uint8_t b);
// writes a byte and removes the echo.
void write(void* b, uint8_t len);
// writes an array and removes the echo.
uint8_t buffer[OBD9141_BUFFER_SIZE]; // internal buffer.
bool use_kwp_;
public:
OBD9141();
void begin(OBD_SERIAL_DATA_TYPE & serial_port, uint8_t rx_pin, uint8_t tx_pin);
// begin method which allows setting the serial port and pins.
bool getCurrentPID(uint8_t pid, uint8_t return_length);
// The standard PID request on the current state, this is what you
// probably want to use.
// actually calls: getPID(pid, 0x01, return_length)
bool getPID(uint8_t pid, uint8_t mode, uint8_t return_length);
// Sends a request containing {0x68, 0x6A, 0xF1, mode, pid}
// Returns whether the request was answered with a correct answer
// (correct PID and checksum)
/**
* @brief Send a request to the ECU, includes header bytes. For KWP the
* first two header bytes will be corrected before transmission.
* @param request Pointer to the request bytes.
* @param request_len The number of bytes that make up the request.
* @param ret_len The expected return length.
*
* Sends buffer at request, up to request_len, adds a checksum.
* Needs to know the returned number of bytes, checks if the appropiate
* length was returned and if the checksum matches.
* User needs to ensure that the ret_len never exceeds the buffer size.
* if initKWP has been called, the requestKWP will be called.
*/
bool request(void* request, uint8_t request_len, uint8_t ret_len);
bool request9141(void* request, uint8_t request_len, uint8_t ret_len);
/**
* @brief Send a request with a variable number of return bytes.
* @param request The pointer to read the address from.
* @param request_len the length of the request.
* @return the number of bytes read if checksum matches.
* @note If checksum doesn't match return will be zero, but bytes will
* still be written to the internal buffer.
*/
uint8_t request(void* request, uint8_t request_len);
/**
* @brief Send a request and read return bytes according to KWP protocol
* @param request The pointer to read the address from.
* @param request_len the length of the request.
* @return the number of bytes read if checksum matches.
* @note If checksum doesn't match return will be zero, but bytes will
* still be written to the internal buffer.
*/
uint8_t requestKWP(void* request, uint8_t request_len);
// The following methods only work to read values from PID mode 0x01
uint8_t readUint8(); // returns right part from the buffer as uint8_t
uint16_t readUint16(); // idem...
uint32_t readUint32();
uint8_t readUint8(uint8_t index); // returns byte on index.
/**
* @brief This method allows raw access to the buffer, the return header
* is 4 bytes, so data starts on index 4.
*/
uint8_t readBuffer(uint8_t index);
/**
* @brief Obtain the two bytes representing the trouble code from the
* buffer.
* @param index The index of the trouble code.
* @return Two byte data to be used by decodeDTC.
*/
uint16_t getTroubleCode(uint8_t index);
void set_port(bool enabled);
// need to disable the port before init.
// need to enable the port if we want to skip the init.
bool init(); // attempts 'slow' ISO9141 5 baud init.
bool initKWP(); // attempts kwp2000 fast init.
// returns whether the procedure was finished correctly.
// The class keeps no track of whether this was successful or not.
// It is up to the user to ensure that the initialisation is called.
bool clearTroubleCodes();
// Attempts to Clear trouble codes / Malfunction indicator lamp (MIL)
// Check engine light.
// Returns whether the request was successful.
/**
* @brief Attempts to read the diagnostic trouble codes using the
* variable read method.
* @return The number of trouble codes read.
*/
uint8_t readTroubleCodes(); // mode 0x03, stored codes
uint8_t readPendingTroubleCodes(); // mode 0x07, pending codes
static uint8_t checksum(void* b, uint8_t len); // public for sim.
/**
* Decodes the two bytes at input_bytes into the diagnostic trouble
* code, written in printable format to output_string.
* @param input_bytes Two input bytes that represent the trouble code.
* @param output_string Writes 5 bytes to this pointer representing the
* human readable DTC string.
*/
static void decodeDTC(uint16_t input_bytes, uint8_t* output_string);
};
#endif