Merge branch 'master' of https://github.com/stanleyhuangyc/ArduinoOBD

1 files changed, 29 insertions, 45 deletions

diff --git a/libraries/OBD2UART/OBD2UART.h b/libraries/OBD2UART/OBD2UART.h
index 62ac18b..2674274 100644
--- a/libraries/OBD2UART/OBD2UART.h
+++ b/libraries/OBD2UART/OBD2UART.h
@@ -8,8 +8,7 @@
 #include <Arduino.h>
 
 #define OBD_TIMEOUT_SHORT 1000 /* ms */
-#define OBD_TIMEOUT_LONG 5000 /* ms */
-#define OBD_TIMEOUT_GPS 200 /* ms */
+#define OBD_TIMEOUT_LONG 10000 /* ms */
 
 #ifndef OBDUART
 #if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168P__)
@@ -19,6 +18,10 @@
 #endif
 #endif
 
+#ifdef ESP32
+extern HardwareSerial Serial1;
+#endif
+
 // Mode 1 PIDs
 #define PID_ENGINE_LOAD 0x04
 #define PID_COOLANT_TEMP 0x05
@@ -73,23 +76,12 @@
 #define PID_ENGINE_REF_TORQUE 0x63
 
 // non-OBD/custom PIDs (no mode number)
-#define PID_GPS_LATITUDE 0xA
-#define PID_GPS_LONGITUDE 0xB
-#define PID_GPS_ALTITUDE 0xC
-#define PID_GPS_SPEED 0xD
-#define PID_GPS_HEADING 0xE
-#define PID_GPS_SAT_COUNT 0xF
-#define PID_GPS_TIME 0x10
-#define PID_GPS_DATE 0x11
 #define PID_ACC 0x20
 #define PID_GYRO 0x21
 #define PID_COMPASS 0x22
 #define PID_MEMS_TEMP 0x23
 #define PID_BATTERY_VOLTAGE 0x24
 
-// custom PIDs for calculated data
-#define PID_TRIP_DISTANCE 0x30
-
 typedef enum {
     PROTO_AUTO = 0,
     PROTO_ISO_9141_2 = 3,
@@ -115,13 +107,16 @@ uint8_t hex2uint8(const char *p);
 class COBD
 {
 public:
-	COBD():dataMode(1),errors(0),m_state(OBD_DISCONNECTED) {}
 	// begin serial UART
 	virtual byte begin();
+	// terminate communication channel
+	virtual void end();
 	// initialize OBD-II connection
 	virtual bool init(OBD_PROTOCOLS protocol = PROTO_AUTO);
+	// reset OBD-II connection
+	virtual void reset();
 	// un-initialize OBD-II connection
-	virtual void end();
+	virtual void uninit();
 	// set serial baud rate
 	virtual bool setBaudRate(unsigned long baudrate);
 	// get connection state
@@ -144,12 +139,12 @@ public:
 	virtual float getVoltage();
 	// get VIN as a string, buffer length should be >= OBD_RECV_BUF_SIZE
 	virtual bool getVIN(char* buffer, byte bufsize);
-	// initialize MEMS sensor
-	virtual bool memsInit();
+	// initialize MEMS sensor (enable or disable sensor fusion by quanterion algorithm)
+	virtual bool memsInit(bool fusion = false);
 	// read out MEMS data (acc for accelerometer, gyr for gyroscope, temp in 0.1 celcius degree)
 	virtual bool memsRead(int16_t* acc, int16_t* gyr = 0, int16_t* mag = 0, int16_t* temp = 0);
-	// send query for specified PID
-	virtual void sendQuery(byte pid);
+	// get computed orientation values
+	virtual bool memsOrientation(float& yaw, float& pitch, float& roll);
 	// retrive and parse the response of specifie PID
 	virtual bool getResult(byte& pid, int& result);
 	// determine if the PID is supported
@@ -157,37 +152,26 @@ public:
 	// get adapter firmware version
 	virtual byte getVersion();
 	// set current PID mode
-	byte dataMode;
+	byte dataMode = 1;
 	// occurrence of errors
-	byte errors;
+	byte errors = 0;
 	// bit map of supported PIDs
-	byte pidmap[4 * 4];
+	byte pidmap[4 * 4] = {0};
 protected:
 	virtual char* getResponse(byte& pid, char* buffer, byte bufsize);
-	virtual byte receive(char* buffer, byte bufsize, int timeout = OBD_TIMEOUT_SHORT);
+	virtual int receive(char* buffer, int bufsize, unsigned int timeout = OBD_TIMEOUT_SHORT);
 	virtual void write(const char* s);
-	virtual void dataIdleLoop() {}
-	void recover();
-	void debugOutput(const char* s);
-	int normalizeData(byte pid, char* data);
-	OBD_STATES m_state;
+	virtual uint8_t getPercentageValue(char* data);
+	virtual uint16_t getLargeValue(char* data);
+	virtual uint8_t getSmallValue(char* data);
+	virtual int16_t getTemperatureValue(char* data);
+	virtual int normalizeData(byte pid, char* data);
+	virtual byte checkErrorMessage(const char* buffer);
+	virtual char* getResultValue(char* buf);
+	OBD_STATES m_state = OBD_DISCONNECTED;
 private:
-	virtual uint8_t getPercentageValue(char* data)
-	{
-		return (uint16_t)hex2uint8(data) * 100 / 255;
-	}
-	virtual uint16_t getLargeValue(char* data)
-	{
-		return hex2uint16(data);
-	}
-	virtual uint8_t getSmallValue(char* data)
-	{
-		return hex2uint8(data);
-	}
-	virtual int16_t getTemperatureValue(char* data)
-	{
-		return (int)hex2uint8(data) - 40;
-	}
-	char* getResultValue(char* buf);
+	void recover();
+	virtual void idleTasks() {}
+	bool m_fusion = false;
 };