1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
|
/*************************************************************************
* Arduino Library for OBD-II UART/I2C Adapter
* Distributed under GPL v2.0
* Visit http://freematics.com for more information
* (C)2012-2015 Stanley Huang <stanleyhuangyc@gmail.com>
*************************************************************************/
#include <Arduino.h>
#define OBD_MODEL_UART 0
#define OBD_MODEL_I2C 1
#define OBD_TIMEOUT_SHORT 2000 /* ms */
#define OBD_TIMEOUT_LONG 7000 /* ms */
#define OBD_SERIAL_BAUDRATE 38400
#define OBD_RECV_BUF_SIZE 128
#ifndef OBDUART
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168P__)
#define OBDUART Serial
#else
#define OBDUART Serial1
#endif
#endif
// Mode 1 PIDs
#define PID_ENGINE_LOAD 0x04
#define PID_COOLANT_TEMP 0x05
#define PID_SHORT_TERM_FUEL_TRIM_1 0x06
#define PID_LONG_TERM_FUEL_TRIM_1 0x07
#define PID_SHORT_TERM_FUEL_TRIM_2 0x08
#define PID_LONG_TERM_FUEL_TRIM_2 0x09
#define PID_FUEL_PRESSURE 0x0A
#define PID_INTAKE_MAP 0x0B
#define PID_RPM 0x0C
#define PID_SPEED 0x0D
#define PID_TIMING_ADVANCE 0x0E
#define PID_INTAKE_TEMP 0x0F
#define PID_MAF_FLOW 0x10
#define PID_THROTTLE 0x11
#define PID_AUX_INPUT 0x1E
#define PID_RUNTIME 0x1F
#define PID_DISTANCE_WITH_MIL 0x21
#define PID_COMMANDED_EGR 0x2C
#define PID_EGR_ERROR 0x2D
#define PID_COMMANDED_EVAPORATIVE_PURGE 0x2E
#define PID_FUEL_LEVEL 0x2F
#define PID_WARMS_UPS 0x30
#define PID_DISTANCE 0x31
#define PID_EVAP_SYS_VAPOR_PRESSURE 0x32
#define PID_BAROMETRIC 0x33
#define PID_CATALYST_TEMP_B1S1 0x3C
#define PID_CATALYST_TEMP_B2S1 0x3D
#define PID_CATALYST_TEMP_B1S2 0x3E
#define PID_CATALYST_TEMP_B2S2 0x3F
#define PID_CONTROL_MODULE_VOLTAGE 0x42
#define PID_ABSOLUTE_ENGINE_LOAD 0x43
#define PID_RELATIVE_THROTTLE_POS 0x45
#define PID_AMBIENT_TEMP 0x46
#define PID_ABSOLUTE_THROTTLE_POS_B 0x47
#define PID_ABSOLUTE_THROTTLE_POS_C 0x48
#define PID_ACC_PEDAL_POS_D 0x49
#define PID_ACC_PEDAL_POS_E 0x4A
#define PID_ACC_PEDAL_POS_F 0x4B
#define PID_COMMANDED_THROTTLE_ACTUATOR 0x4C
#define PID_TIME_WITH_MIL 0x4D
#define PID_TIME_SINCE_CODES_CLEARED 0x4E
#define PID_ETHANOL_FUEL 0x52
#define PID_FUEL_RAIL_PRESSURE 0x59
#define PID_HYBRID_BATTERY_PERCENTAGE 0x5B
#define PID_ENGINE_OIL_TEMP 0x5C
#define PID_FUEL_INJECTION_TIMING 0x5D
#define PID_ENGINE_FUEL_RATE 0x5E
#define PID_ENGINE_TORQUE_DEMANDED 0x61
#define PID_ENGINE_TORQUE_PERCENTAGE 0x62
#define PID_ENGINE_REF_TORQUE 0x63
typedef enum {
PROTO_AUTO = 0,
PROTO_ISO_9141_2 = 3,
PROTO_KWP2000_5KBPS = 4,
PROTO_KWP2000_FAST = 5,
PROTO_CAN_11B_500K = 6,
PROTO_CAN_29B_500K = 7,
PROTO_CAN_29B_250K = 8,
PROTO_CAN_11B_250K = 9,
} OBD_PROTOCOLS;
// states
typedef enum {
OBD_DISCONNECTED = 0,
OBD_CONNECTING = 1,
OBD_CONNECTED = 2
} OBD_STATES;
typedef struct {
uint32_t date;
uint32_t time;
int32_t lat;
int32_t lon;
int alt;
float speed;
int heading;
int sat;
} GPS_DATA;
uint16_t hex2uint16(const char *p);
uint8_t hex2uint8(const char *p);
class COBD
{
public:
COBD():dataMode(1),errors(0),m_state(OBD_DISCONNECTED) {}
/*
Serial baudrate is only adjustable for Arduino OBD-II Adapters V2
Check out http://freematics.com/pages/products/arduino-obd-adapter
*/
virtual void begin();
// initialize OBD-II connection
virtual bool init(OBD_PROTOCOLS protocol = PROTO_AUTO);
// un-initialize OBD-II connection
virtual void end();
// set serial baud rate
virtual bool setBaudRate(unsigned long baudrate);
// get connection state
virtual OBD_STATES getState() { return m_state; }
// read specified OBD-II PID value
virtual bool read(byte pid, int& result);
// set device into
virtual void sleep();
// wake up device from previous sleep
virtual void wakeup();
// set working protocol (default auto)
virtual bool setProtocol(OBD_PROTOCOLS h = PROTO_AUTO);
// send AT command and receive response
virtual byte sendCommand(const char* cmd, char* buf);
// clear diagnostic trouble code
virtual void clearDTC();
// get battery voltage (in 0.1V, e.g. 125 for 12.5V, works without ECU)
virtual float getVoltage();
// get VIN as a string, buffer length should be >= OBD_RECV_BUF_SIZE
virtual bool getVIN(char* buffer);
// send query for specified PID
virtual void sendQuery(byte pid);
// retrive and parse the response of specifie PID
virtual bool getResult(byte& pid, int& result);
// determine if the PID is supported
virtual bool isValidPID(byte pid);
// init GPS module
virtual bool initGPS(unsigned long baudrate = 38400);
// parse GPS data
virtual bool getGPSData(GPS_DATA* gdata);
// set current PID mode
byte dataMode;
// occurrence of errors
byte errors;
// bit map of supported PIDs
byte pidmap[4 * 4];
protected:
virtual char* getResponse(byte& pid, char* buffer);
virtual byte receive(char* buffer = 0, int timeout = OBD_TIMEOUT_SHORT);
virtual bool available();
virtual char read();
virtual void write(const char* s);
virtual void write(char c);
virtual void dataIdleLoop() {}
void recover();
void debugOutput(const char* s);
int normalizeData(byte pid, char* data);
OBD_STATES m_state;
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;
}
};
#define I2C_ADDR 0x62
#define MAX_PAYLOAD_SIZE 32
#define MAX_PIDS 8
#define CMD_QUERY_STATUS 0x10
#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
typedef struct {
uint16_t age;
uint16_t value;
} PID_INFO;
typedef struct {
uint16_t time;
uint8_t message;
uint8_t data;
} COMMAND_BLOCK;
class COBDI2C : public COBD {
public:
void begin();
void end();
bool read(byte pid, int& result);
void write(const char* s);
// API not applicable
bool setBaudRate(unsigned long baudrate) { return false; }
// Asynchronized access API
void setPID(byte pid);
void applyPIDs();
void loadData();
uint16_t getData(byte pid, int& result);
protected:
byte receive(char* buffer, int timeout = OBD_TIMEOUT_LONG);
byte m_addr;
PID_INFO obdInfo[MAX_PIDS];
byte obdPid[MAX_PIDS];
private:
bool sendCommandBlock(byte cmd, uint8_t data = 0, byte* payload = 0, byte payloadBytes = 0);
};
|
