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-rw-r--r--libraries/OBD/OBD.cpp397
-rw-r--r--libraries/OBD/OBD.h43
2 files changed, 258 insertions, 182 deletions
diff --git a/libraries/OBD/OBD.cpp b/libraries/OBD/OBD.cpp
index 95c1463..b02cea9 100644
--- a/libraries/OBD/OBD.cpp
+++ b/libraries/OBD/OBD.cpp
@@ -75,7 +75,7 @@ void COBD::sendQuery(unsigned char pid)
write(cmd);
}
-bool COBD::read(byte pid, int& result, bool passive)
+bool COBD::read(byte pid, int& result)
{
// send a query command
sendQuery(pid);
@@ -90,7 +90,7 @@ bool COBD::read(byte pid, int& result, bool passive)
return false;
}
// receive and parse the response
- return getResponseParsed(pid, result);
+ return getResult(pid, result);
}
bool COBD::available()
@@ -133,21 +133,19 @@ int COBD::normalizeData(byte pid, char* data)
case PID_ENGINE_OIL_TEMP:
result = getTemperatureValue(data);
break;
+ case PID_THROTTLE:
+ case PID_ENGINE_LOAD:
+ case PID_FUEL_LEVEL:
case PID_ABSOLUTE_ENGINE_LOAD:
case PID_ETHANOL_PERCENTAGE:
case PID_HYBRID_BATTERY_PERCENTAGE:
- result = getLargeValue(data) * 100 / 255; // %
+ result = getPercentageValue(data);
break;
case PID_MAF_FLOW:
result = getLargeValue(data) / 100;
break;
- case PID_THROTTLE:
- case PID_ENGINE_LOAD:
- case PID_FUEL_LEVEL:
- result = getPercentageValue(data);
- break;
case PID_TIMING_ADVANCE:
- result = (getSmallValue(data) - 128) >> 1;
+ result = (int)(getSmallValue(data) / 2) - 64;
break;
case PID_DISTANCE: // km
case PID_RUNTIME: // second
@@ -158,8 +156,8 @@ int COBD::normalizeData(byte pid, char* data)
case PID_CONTROL_MODULE_VOLTAGE: // V
result = getLargeValue(data) / 1000;
break;
- case PID_ENGINE_FUEL_RATE: // L/min
- result = getLargeValue(data) * 3;
+ case PID_ENGINE_FUEL_RATE: // L/h
+ result = getLargeValue(data) / 20;
break;
case PID_ENGINE_TORQUE_PERCENTAGE: // %
result = (int)getSmallValue(data) - 125;
@@ -172,31 +170,31 @@ int COBD::normalizeData(byte pid, char* data)
char* COBD::getResponse(byte& pid, char* buffer)
{
- byte n = receive(buffer);
- if (n > 6) {
- char *p = buffer;
- while ((p = strstr(p, "41 "))) {
- p += 3;
- byte curpid = hex2uint8(p);
- if (pid == 0) pid = curpid;
- if (curpid == pid) {
- errors = 0;
- p += 2;
- if (*p == ' ')
- return p + 1;
- }
- };
+ receive(buffer);
+ char *p = buffer;
+ while ((p = strstr(p, "41 "))) {
+ p += 3;
+ byte curpid = hex2uint8(p);
+ if (pid == 0) pid = curpid;
+ if (curpid == pid) {
+ errors = 0;
+ p += 2;
+ if (*p == ' ')
+ return p + 1;
+ } else {
+ receive(buffer);
+ p = buffer;
+ }
}
return 0;
}
-bool COBD::getResponseParsed(byte& pid, int& result)
+bool COBD::getResult(byte& pid, int& result)
{
char buffer[OBD_RECV_BUF_SIZE];
char* data = getResponse(pid, buffer);
if (!data) {
- // try recover next time
- //write('\r');
+ recover();
return false;
}
result = normalizeData(pid, data);
@@ -229,65 +227,64 @@ void COBD::begin()
OBDUART.begin(OBD_SERIAL_BAUDRATE);
}
-byte COBD::receive(char* buffer)
+byte COBD::receive(char* buffer, int timeout)
{
- unsigned long startTime = millis();
+ unsigned long startTime = millis();
unsigned char n = 0;
- int timeout = OBD_TIMEOUT_SHORT;
- bool prompted = false;
-
- buffer[0] = 0;
- for (;;) {
- if (available()) {
- char c = read();
- if (n > 2 && c == '>') {
- // prompt char received
- prompted = true;
- } else if (n < OBD_RECV_BUF_SIZE - 1) {
- buffer[n++] = c;
- buffer[n] = 0;
- if (strstr(buffer, STR_SEARCHING)) {
- strcpy(buffer, buffer + sizeof(STR_SEARCHING));
- n -= sizeof(STR_SEARCHING);
- timeout = OBD_TIMEOUT_LONG;
- }
- }
- } else if (prompted) {
- break;
- } else {
- if (millis() - startTime > timeout) {
- // timeout
- return 0;
- }
- dataIdleLoop();
- }
- }
+ bool prompted = false;
+
+ buffer[0] = 0;
+ for (;;) {
+ if (available()) {
+ char c = read();
+ if (n > 2 && c == '>') {
+ // prompt char received
+ prompted = true;
+ } else if (n < OBD_RECV_BUF_SIZE - 1) {
+ buffer[n++] = c;
+ buffer[n] = 0;
+ if (strstr(buffer, STR_SEARCHING)) {
+ strcpy(buffer, buffer + sizeof(STR_SEARCHING));
+ n -= sizeof(STR_SEARCHING);
+ timeout = OBD_TIMEOUT_LONG;
+ }
+ }
+ } else if (prompted) {
+ break;
+ } else {
+ if (millis() - startTime > timeout) {
+ // timeout
+ return 0;
+ }
+ dataIdleLoop();
+ }
+ }
+ return n;
+}
- return n;
+void COBD::recover()
+{
+ write('\r');
+ delay(50);
+ while (available()) read();
}
-bool COBD::init(bool passive)
+bool COBD::init()
{
- unsigned long currentMillis;
char buffer[OBD_RECV_BUF_SIZE];
- m_state = OBD_CONNECTING;
-
- write('\r');
- delay(100);
- while (available()) read();
+ m_state = OBD_CONNECTING;
+ recover();
for (unsigned char i = 0; i < sizeof(s_initcmd) / sizeof(s_initcmd[0]); i++) {
- if (!passive) {
- char cmd[MAX_CMD_LEN];
- strcpy_P(cmd, s_initcmd[i]);
+ char cmd[MAX_CMD_LEN];
+ strcpy_P(cmd, s_initcmd[i]);
#ifdef DEBUG
- debugOutput(cmd);
+ debugOutput(cmd);
#endif
- write(cmd);
- }
+ write(cmd);
if (receive(buffer) == 0) {
- return false;
+ return false;
}
}
while (available()) read();
@@ -295,20 +292,20 @@ bool COBD::init(bool passive)
// load pid map
memset(pidmap, 0, sizeof(pidmap));
for (byte i = 0; i < 4; i++) {
- byte pid = i * 0x20;
- sendQuery(pid);
- char* data = getResponse(pid, buffer);
- if (!data) break;
- data--;
- for (byte n = 0; n < 4; n++) {
- if (data[n * 3] != ' ')
- break;
- pidmap[i * 4 + n] = hex2uint8(data + n * 3 + 1);
- }
+ byte pid = i * 0x20;
+ sendQuery(pid);
+ char* data = getResponse(pid, buffer);
+ if (!data) break;
+ data--;
+ for (byte n = 0; n < 4; n++) {
+ if (data[n * 3] != ' ')
+ break;
+ pidmap[i * 4 + n] = hex2uint8(data + n * 3 + 1);
+ }
}
while (available()) read();
- m_state = OBD_CONNECTED;
+ m_state = OBD_CONNECTED;
errors = 0;
return true;
}
@@ -316,10 +313,10 @@ bool COBD::init(bool passive)
#ifdef DEBUG
void COBD::debugOutput(const char *s)
{
- DEBUG.print('[');
- DEBUG.print(millis());
- DEBUG.print(']');
- DEBUG.print(s);
+ DEBUG.print('[');
+ DEBUG.print(millis());
+ DEBUG.print(']');
+ DEBUG.print(s);
}
#endif
@@ -329,124 +326,196 @@ void COBD::debugOutput(const char *s)
void COBDI2C::begin(byte addr)
{
- m_addr = addr;
- Wire.begin();
+ m_addr = addr;
+ Wire.begin();
+ memset(obdPid, 0, sizeof(obdPid));
+ memset(obdInfo, 0, sizeof(obdInfo));
}
bool COBDI2C::init()
{
- m_state = OBD_CONNECTING;
- sendCommand(CMD_QUERY_STATUS);
-
- char recvbuf[MAX_PAYLOAD_SIZE];
- for (byte n = 0; n < 3; n++) {
- memset(recvbuf, 0, sizeof(recvbuf));
- receive(recvbuf);
- if (!memcmp(recvbuf, "OBD ", 4))
- break;
- }
- if (recvbuf[4] == 'Y') {
- memcpy(pidmap, recvbuf + 16, sizeof(pidmap));
- m_state = OBD_CONNECTED;
- return true;
- } else {
- m_state = OBD_DISCONNECTED;
- return false;
- }
+ m_state = OBD_CONNECTING;
+ sendCommand(CMD_QUERY_STATUS);
+
+ char recvbuf[MAX_PAYLOAD_SIZE];
+ for (byte n = 0; n < 3; n++) {
+ memset(recvbuf, 0, sizeof(recvbuf));
+ receive(recvbuf);
+ if (!memcmp(recvbuf, "OBD ", 4))
+ break;
+ }
+ if (recvbuf[4] == 'Y') {
+ memcpy(pidmap, recvbuf + 16, sizeof(pidmap));
+ m_state = OBD_CONNECTED;
+ return true;
+ } else {
+ m_state = OBD_DISCONNECTED;
+ return false;
+ }
}
-bool COBDI2C::read(byte pid, int& result, bool passive)
+bool COBDI2C::read(byte pid, int& result)
{
- uint32_t t = millis();
- sendQuery(pid);
- dataIdleLoop();
- return getResponseParsed(pid, result);
+ sendQuery(pid);
+ dataIdleLoop();
+ return getResult(pid, result);
}
void COBDI2C::write(char* s)
{
- COMMAND_BLOCK cmdblock = {millis(), CMD_SEND_COMMAND};
- Wire.beginTransmission(m_addr);
- Wire.write((byte*)&cmdblock, sizeof(cmdblock));
- Wire.write(s);
- Wire.endTransmission();
+ COMMAND_BLOCK cmdblock = {millis(), CMD_SEND_AT_COMMAND};
+ Wire.beginTransmission(m_addr);
+ Wire.write((byte*)&cmdblock, sizeof(cmdblock));
+ Wire.write(s);
+ Wire.endTransmission();
}
bool COBDI2C::sendCommand(byte cmd, uint8_t data, byte* payload, byte payloadBytes)
{
- COMMAND_BLOCK cmdblock = {millis(), cmd, data};
- Wire.beginTransmission(m_addr);
- bool success = Wire.write((byte*)&cmdblock, sizeof(COMMAND_BLOCK)) == sizeof(COMMAND_BLOCK);
- if (payload) Wire.write(payload, payloadBytes);
- Wire.endTransmission();
- return success;
+ COMMAND_BLOCK cmdblock = {millis(), cmd, data};
+ Wire.beginTransmission(m_addr);
+ bool success = Wire.write((byte*)&cmdblock, sizeof(COMMAND_BLOCK)) == sizeof(COMMAND_BLOCK);
+ if (payload) Wire.write(payload, payloadBytes);
+ Wire.endTransmission();
+ return success;
}
-byte COBDI2C::receive(char* buffer)
+byte COBDI2C::receive(char* buffer, int timeout)
{
- uint32_t start = millis();
- byte offset = 0;
- do {
- Wire.requestFrom((byte)m_addr, (byte)MAX_PAYLOAD_SIZE, (byte)1);
+ uint32_t start = millis();
+ byte offset = 0;
+ do {
+ Wire.requestFrom((byte)m_addr, (byte)MAX_PAYLOAD_SIZE, (byte)1);
- bool hasEnd = false;
- for (byte i = 0; i < MAX_PAYLOAD_SIZE; i++) {
- if ((buffer[offset + i] = Wire.read()) == 0)
- hasEnd = true;
- }
+ bool hasEnd = false;
+ for (byte i = 0; i < MAX_PAYLOAD_SIZE; i++) {
+ if ((buffer[offset + i] = Wire.read()) == 0)
+ hasEnd = true;
+ }
- if (buffer[0] == 0) {
- // data not ready
- dataIdleLoop();
- continue;
- }
+ if (buffer[0] == 0) {
+ // data not ready
+ dataIdleLoop();
+ continue;
+ }
- offset += MAX_PAYLOAD_SIZE;
- if (!hasEnd) {
- continue;
- }
+ offset += MAX_PAYLOAD_SIZE;
+ if (!hasEnd) {
+ continue;
+ }
- return offset;
- } while(millis() - start < OBD_TIMEOUT_LONG);
- return 0;
+ return offset;
+ } while(millis() - start < OBD_TIMEOUT_LONG);
+ return 0;
}
bool COBDI2C::btInit(uint16_t baudrate)
{
- return sendCommand(CMD_UART_BEGIN, baudrate / 1200);
+ return sendCommand(CMD_UART_BEGIN, baudrate / 1200);
}
bool COBDI2C::btSend(byte* data, byte length)
{
- return sendCommand(CMD_UART_SEND, 0, data, length);
+ return sendCommand(CMD_UART_SEND, 0, data, length);
}
bool COBDI2C::btReceive(byte* buffer, byte bufsize)
{
- if (!sendCommand(CMD_UART_RECV, bufsize)) return false;
- memset(buffer, 0, MAX_PAYLOAD_SIZE);
- delay(10);
- Wire.requestFrom((byte)m_addr, (byte)MAX_PAYLOAD_SIZE, (byte)1);
- Wire.readBytes((char*)buffer, MAX_PAYLOAD_SIZE);
- return true;
+ if (!sendCommand(CMD_UART_RECV, bufsize)) return false;
+ memset(buffer, 0, MAX_PAYLOAD_SIZE);
+ delay(10);
+ Wire.requestFrom((byte)m_addr, (byte)MAX_PAYLOAD_SIZE, (byte)1);
+ Wire.readBytes((char*)buffer, MAX_PAYLOAD_SIZE);
+ return true;
}
bool COBDI2C::gpsQuery(GPS_DATA* gpsdata)
{
- if (!sendCommand(CMD_GPS_QUERY, 0)) return false;
- delay(1);
- Wire.requestFrom((byte)m_addr, (byte)MAX_PAYLOAD_SIZE, (byte)1);
- Wire.readBytes((char*)gpsdata, MAX_PAYLOAD_SIZE);
- return true;
+ if (!sendCommand(CMD_GPS_QUERY, 0)) return false;
+ Wire.requestFrom((byte)m_addr, (byte)MAX_PAYLOAD_SIZE, (byte)1);
+ Wire.readBytes((char*)gpsdata, MAX_PAYLOAD_SIZE);
+ return true;
+}
+
+void COBDI2C::gpsSetup(uint32_t baudrate, const char* cmds)
+{
+ sendCommand(CMD_GPS_SETUP, baudrate / 1200, (byte*)cmds, cmds ? strlen(cmds) : 0);
+}
+
+void COBDI2C::setPID(byte pid)
+{
+ byte n = 0;
+ for (; n < MAX_PIDS && obdPid[n]; n++) {
+ if (obdPid[n] == pid)
+ return;
+ }
+ if (n == MAX_PIDS) {
+ memmove(obdPid, obdPid + 1, sizeof(obdPid[0]) * (MAX_PIDS - 1));
+ n = MAX_PIDS - 1;
+ }
+ obdPid[n] = pid;
+}
+void COBDI2C::applyPIDs()
+{
+ sendCommand(CMD_APPLY_OBD_PIDS, 0, (byte*)obdPid, sizeof(obdPid));
+ delay(200);
}
-void COBDI2C::gpsStart(uint32_t baudrate, const char* cmds)
+void COBDI2C::loadData()
{
- sendCommand(CMD_GPS_START, baudrate / 1200, (byte*)cmds, strlen(cmds));
+ sendCommand(CMD_LOAD_OBD_DATA);
+ dataIdleLoop();
+ Wire.requestFrom((byte)m_addr, (byte)MAX_PAYLOAD_SIZE, (byte)0);
+ Wire.readBytes((char*)obdInfo, MAX_PAYLOAD_SIZE);
}
-void COBDI2C::gpsStop()
+uint16_t COBDI2C::getData(byte pid, int& result)
{
- sendCommand(CMD_GPS_STOP);
+ byte n;
+ for (n = 0; n < MAX_PIDS && obdPid[n] != pid; n++);
+ if (n == MAX_PIDS)
+ return -1;
+
+ PID_INFO* pi = obdInfo + n;
+ switch (pid) {
+ case PID_RPM:
+ result = pi->value >> 2;
+ break;
+ case PID_FUEL_PRESSURE:
+ result = (int)pi->value * 3;
+ break;
+ case PID_COOLANT_TEMP:
+ case PID_INTAKE_TEMP:
+ case PID_AMBIENT_TEMP:
+ case PID_ENGINE_OIL_TEMP:
+ result = (int)pi->value - 40;
+ break;
+ case PID_THROTTLE:
+ case PID_ENGINE_LOAD:
+ case PID_FUEL_LEVEL:
+ case PID_ABSOLUTE_ENGINE_LOAD:
+ case PID_ETHANOL_PERCENTAGE:
+ case PID_HYBRID_BATTERY_PERCENTAGE:
+ result = pi->value * 100 / 255; // %
+ break;
+ case PID_MAF_FLOW:
+ result = pi->value / 100;
+ break;
+ case PID_TIMING_ADVANCE:
+ result = (int)pi->value / 2 - 64;
+ break;
+ case PID_CONTROL_MODULE_VOLTAGE: // V
+ result = pi->value / 1000;
+ break;
+ case PID_ENGINE_FUEL_RATE: // L/h
+ result = pi->value / 20;
+ break;
+ case PID_ENGINE_TORQUE_PERCENTAGE: // %
+ result = (int)pi->value - 125;
+ break;
+ default:
+ result = pi->value;
+ }
+ return result;
}
diff --git a/libraries/OBD/OBD.h b/libraries/OBD/OBD.h
index 2c0f670..ba44f20 100644
--- a/libraries/OBD/OBD.h
+++ b/libraries/OBD/OBD.h
@@ -57,11 +57,12 @@ class COBD
public:
COBD():dataMode(1),errors(0),m_state(OBD_DISCONNECTED) {}
virtual void begin();
- virtual bool init(bool passive = false);
- virtual bool read(byte pid, int& result, bool passive = false);
+ virtual bool init();
+ virtual bool read(byte pid, int& result);
virtual void sleep(int seconds);
// Query and GetResponse for advanced usage only
virtual void sendQuery(byte pid);
+ virtual bool getResult(byte& pid, int& result);
bool isValidPID(byte pid);
byte getState() { return m_state; }
byte dataMode;
@@ -70,13 +71,13 @@ public:
byte vin[17];
protected:
virtual char* getResponse(byte& pid, char* buffer);
- virtual bool getResponseParsed(byte& pid, int& result);
- virtual byte receive(char* buffer);
+ virtual byte receive(char* buffer, int timeout = OBD_TIMEOUT_SHORT);
virtual bool available();
virtual char read();
virtual void write(char* s);
virtual void write(char c);
virtual void dataIdleLoop() {}
+ void recover();
void debugOutput(const char* s);
int normalizeData(byte pid, char* data);
byte m_state;
@@ -102,21 +103,21 @@ private:
#define I2C_ADDR 0x62
#define MAX_PAYLOAD_SIZE 32
+#define MAX_PIDS 8
#define CMD_QUERY_STATUS 0x10
-#define CMD_SEND_COMMAND 0x11
-#define CMD_QUERY_DATA 0x12
-#define CMD_UART_BEGIN 0x13
-#define CMD_UART_SEND 0x14
-#define CMD_UART_RECV 0x15
-#define CMD_GPS_START 0x20
-#define CMD_GPS_STOP 0x21
+#define CMD_SEND_AT_COMMAND 0x11
+#define CMD_APPLY_OBD_PIDS 0x12
+#define CMD_LOAD_OBD_DATA 0x13
+#define CMD_GPS_SETUP 0x20
#define CMD_GPS_QUERY 0x22
+#define CMD_UART_BEGIN 0x30
+#define CMD_UART_SEND 0x31
+#define CMD_UART_RECV 0x32
typedef struct {
- uint32_t time;
- uint16_t pid;
- float value;
+ uint16_t age;
+ uint16_t value;
} PID_INFO;
typedef struct {
@@ -142,18 +143,24 @@ class COBDI2C : public COBD {
public:
void begin(byte addr = I2C_ADDR);
bool init();
- bool read(byte pid, int& result, bool passive = false);
+ bool read(byte pid, int& result);
void write(char* s);
+ // Asynchronized access API
+ void setPID(byte pid);
+ void applyPIDs();
+ void loadData();
+ uint16_t getData(byte pid, int& result);
// Bluetooth communication API
bool btInit(uint16_t baudrate = 9600);
bool btSend(byte* data, byte length);
bool btReceive(byte* buffer, byte bufsize);
// GPS API
bool gpsQuery(GPS_DATA* gpsdata);
- void gpsStart(uint32_t baudrate = 38400, const char* cmds = 0);
- void gpsStop();
+ void gpsSetup(uint32_t baudrate, const char* cmds = 0);
private:
bool sendCommand(byte cmd, uint8_t data = 0, byte* payload = 0, byte payloadBytes = 0);
- byte receive(char* buffer);
+ byte receive(char* buffer, int timeout = OBD_TIMEOUT_SHORT);
byte m_addr;
+ PID_INFO obdInfo[MAX_PIDS];
+ byte obdPid[MAX_PIDS];
};
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-24 13:12:13 +0000