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/*************************************************************************
* Arduino Library for OBD-II UART/I2C Adapter
* Distributed under BSD License
* Visit http://freematics.com for more information
* (C)2012-2016 Stanley Huang <stanleyhuangyc@gmail.com>
*************************************************************************/
#include <Arduino.h>
#define OBD_MODEL_UART 0
#define OBD_MODEL_I2C 1
#define OBD_TIMEOUT_SHORT 1000 /* ms */
#define OBD_TIMEOUT_LONG 5000 /* ms */
#define OBD_TIMEOUT_GPS 200 /* ms */
#define OBD_SERIAL_BAUDRATE 38400
#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_AIR_FUEL_EQUIV_RATIO 0x44
#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_FAILED = 3
} OBD_STATES;
uint16_t hex2uint16(const char *p);
uint8_t hex2uint8(const char *p);
class COBD
{
public:
COBD():dataMode(1),errors(0),m_state(OBD_DISCONNECTED) {}
// begin serial UART
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 readPID(byte pid, int& result);
// read multiple (up to 8) OBD-II PID values, return number of values obtained
virtual byte readPID(const byte pid[], byte count, int result[]);
// set device into
virtual void sleep();
// send AT command and receive response
virtual byte sendCommand(const char* cmd, char* buf, byte bufsize, int timeout = OBD_TIMEOUT_LONG);
// read diagnostic trouble codes (return number of DTCs read)
virtual byte readDTC(uint16_t codes[], byte count = 1);
// clear diagnostic trouble code
virtual void clearDTC();
// get battery voltage (works without ECU)
virtual float getVoltage();
// get VIN as a string, buffer length should be >= OBD_RECV_BUF_SIZE
virtual bool getVIN(char* buffer, byte bufsize);
// get device temperature
virtual float getTemperature();
// get accelerometer data
virtual bool readAccel(int& x, int& y, int& z);
// get gyroscope data
virtual bool readGyro(int& x, int& y, int& z);
// 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
// parse GPS data
// set current PID mode
byte dataMode;
// occurrence of errors
byte errors;
// bit map of supported PIDs
byte pidmap[4 * 4];
// adapter version
byte version;
protected:
virtual char* getResponse(byte& pid, char* buffer, byte bufsize);
virtual byte receive(char* buffer, byte bufsize, 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;
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);
};
#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 0x14
#define CMD_GPS_QUERY 0x15
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 readPID(byte pid, int& result);
byte readPID(const byte pid[], byte count, int result[]);
void write(const char* s);
// API not applicable
bool setBaudRate(unsigned long baudrate) { return false; }
// Asynchronized access API
void setQueryPID(byte pid, byte obdPid[]);
void applyQueryPIDs(byte obdPid[]);
void loadQueryData(PID_INFO obdInfo[]);
protected:
byte receive(char* buffer, byte bufsize, int timeout = OBD_TIMEOUT_SHORT);
bool sendCommandBlock(byte cmd, uint8_t data = 0, byte* payload = 0, byte payloadBytes = 0);
};
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