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/*************************************************************************
* Arduino Library for Freematics OBD-II UART Adapter
* Distributed under BSD License
* Visit https://freematics.com for more information
* (C)2012-2019 Stanley Huang <stanley@freematics.com.au>
*************************************************************************/
#include <Arduino.h>
#define OBD_TIMEOUT_SHORT 1000 /* ms */
#define OBD_TIMEOUT_LONG 10000 /* ms */
#ifndef OBDUART
#if defined(__AVR_ATmega328P__) || defined(__AVR_ATmega168P__)
#define OBDUART Serial
#else
#define OBDUART Serial1
#endif
#endif
#ifdef ESP32
extern HardwareSerial Serial1;
#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
// non-OBD/custom PIDs (no mode number)
#define PID_ACC 0x20
#define PID_GYRO 0x21
#define PID_COMPASS 0x22
#define PID_MEMS_TEMP 0x23
#define PID_BATTERY_VOLTAGE 0x24
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:
// 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 uninit();
// 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 low power mode
virtual void enterLowPowerMode();
// wake up device from low power mode
virtual void leaveLowPowerMode();
// send AT command and receive response (return bytes received)
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 maxCodes = 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);
// 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);
// 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
virtual bool isValidPID(byte pid);
// get adapter firmware version
virtual byte getVersion();
// set current PID mode
byte dataMode = 1;
// occurrence of errors
byte errors = 0;
// bit map of supported PIDs
byte pidmap[4 * 4] = {0};
protected:
virtual char* getResponse(byte& pid, char* buffer, byte bufsize);
virtual int receive(char* buffer, int bufsize, unsigned int timeout = OBD_TIMEOUT_SHORT);
virtual void write(const char* s);
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:
void recover();
virtual void idleTasks() {}
bool m_fusion = false;
};
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