OBD9141.h

/*
 *  Copyright (c) 2015, Ivor Wanders
 *  MIT License, see the LICENSE.md file in the root folder.
*/

#ifndef OBD9141_H
#define OBD9141_H
#include "Arduino.h"

// to do some debug printing.
// #define OBD9141_DEBUG

//#define OBD9141_USE_ALTSOFTSERIAL
// use AltSoftSerial.h instead of the hardware Serial

// AltSoftSerial is automatically selected when an Arduino is used:
#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
// Be sure that this library is available, download from http://www.pjrc.com/teensy/td_libs_AltSoftSerial.html"
#define OBD9141_USE_ALTSOFTSERIAL
#endif

#define OBD9141_KLINE_BAUD 10400 
// as per spec.


#define OBD9141_BUFFER_SIZE 16
// maximum possible as per protocol is 256 payload, the buffer also contains
// request and checksum, add 5 + 1 for those on top of the max desired length.
// User needs to guarantee that the ret_len never exceeds the buffer size.

#define OBD9141_INTERSYMBOL_WAIT 5
// Milliseconds delay between writing of subsequent bytes on the bus.
// Is 5ms according to the specification.


// When data is sent over the serial port to the K-line transceiver, an echo of
// this data is heard on the Rx pin; this determines the timeout of readBytes
// used after sending data and trying to read the same number of bytes from the
// serial port to discard the echo.
// The total timeout for reading the echo is:
// (OBD9141_REQUEST_ECHO_TIMEOUT_MS * sent_len + 
//                      OBD9141_WAIT_FOR_ECHO_TIMEOUT) milliseconds.
#define OBD9141_WAIT_FOR_ECHO_TIMEOUT 5
// Time added to the timeout to read the echo.
#define OBD9141_REQUEST_ECHO_MS_PER_BYTE 3
// Time added per byte sent to wait for the echo.


// When a request is to be made, request bytes are pushed on the bus with
// OBD9141_INTERSYMBOL_WAIT delay between them. After the transmission of the
// request has been completed, there is a delay of OBD9141_AFTER_REQUEST_DELAY
// milliseconds. Then the readBytes method is used  with a timeout of
// (OBD9141_REQUEST_ANSWER_MS_PER_BYTE * ret_len + 
//                      OBD9141_WAIT_FOR_REQUEST_ANSWER_TIMEOUT) milliseconds.

#define OBD9141_REQUEST_ANSWER_MS_PER_BYTE 3
// The ECU might not push all bytes on the bus immediately, but wait several ms
// between the bytes, this is the time allowed per byte for the answer

#define OBD9141_WAIT_FOR_REQUEST_ANSWER_TIMEOUT (30 + 20)
// Time added to the read timeout when reading the response to a request. 
// This should incorporate the 30 ms that's between the request and answer
// according to the specification.



#define OBD9141_INIT_IDLE_BUS_BEFORE 3000
// Before the init sequence; the bus is kept idle for this duration in ms.

#define OBD9141_INIT_POST_INIT_DELAY 50
// This is a delay after the initialisation has been completed successfully.
// It is not present in the spec, but prevents a request immediately after the
// init has succeeded when the other side might not yet be ready.


#ifdef OBD9141_DEBUG
  #ifdef ARDUINO_SAM_DUE
    #define OBD9141print(a) SerialUSB.print(a);
    #define OBD9141println(a) SerialUSB.println(a);
  #else
    #define OBD9141print(a) Serial.print(a);
    #define OBD9141println(a) Serial.println(a);
  #endif

#else
    #define OBD9141print(a)
    #define OBD9141println(a)
#endif

// use the correct Serial datatype.
#ifdef OBD9141_USE_ALTSOFTSERIAL
// Be sure that this library is available, download it from http://www.pjrc.com/teensy/td_libs_AltSoftSerial.html"
#include <AltSoftSerial.h>
#define OBD_SERIAL_DATA_TYPE AltSoftSerial
#else
#define OBD_SERIAL_DATA_TYPE HardwareSerial
#endif
// OBD_SERIAL_DATA_TYPE needs to have begin() as well as read(), available() and write() from Stream.


class OBD9141{
    private:
        OBD_SERIAL_DATA_TYPE* serial;

        void kline(bool); // sets the state of the Tx pin.
        uint8_t tx_pin;
        uint8_t rx_pin;

        void write(uint8_t b);
        // writes a byte and removes the echo.

        void write(void* b, uint8_t len);
        // writes an array and removes the echo.


        uint8_t buffer[OBD9141_BUFFER_SIZE]; // internal buffer.

        bool use_kwp_;

        bool initImpl(bool check_v1_v2);
    public:
        OBD9141();

        void begin(OBD_SERIAL_DATA_TYPE & serial_port, uint8_t rx_pin, uint8_t tx_pin);
        // begin method which allows setting the serial port and pins.


        bool getCurrentPID(uint8_t pid, uint8_t return_length);
        // The standard PID request on the current state, this is what you
        // probably want to use.
        // actually calls: getPID(pid, 0x01, return_length)

        bool getPID(uint8_t pid, uint8_t mode, uint8_t return_length);
        // Sends a request containing {0x68, 0x6A, 0xF1, mode, pid}
        // Returns whether the request was answered with a correct answer
        // (correct PID and checksum)

        /**
         * @brief Send a request to the ECU, includes header bytes. For KWP the
         *        first two header bytes will be corrected before transmission.
         * @param request Pointer to the request bytes.
         * @param request_len The number of bytes that make up the request.
         * @param ret_len The expected return length.
         *
         * Sends buffer at request, up to request_len, adds a checksum.
         * Needs to know the returned number of bytes, checks if the appropiate
         * length was returned and if the checksum matches.
         * User needs to ensure that the ret_len never exceeds the buffer size.
         * if initKWP has been called, the requestKWP will be called.
         */
        bool request(void* request, uint8_t request_len, uint8_t ret_len);
        bool request9141(void* request, uint8_t request_len, uint8_t ret_len);

        /**
         * @brief Send a request with a variable number of return bytes.
         * @param request The pointer to read the address from.
         * @param request_len the length of the request.
         * @return the number of bytes read if checksum matches.
         * @note If checksum doesn't match return will be zero, but bytes will
         *       still be written to the internal buffer.
         */
        uint8_t request(void* request, uint8_t request_len);

        /**
         * @brief Send a request and read return bytes according to KWP protocol
         * @param request The pointer to read the address from.
         * @param request_len the length of the request.
         * @return the number of bytes read if checksum matches.
         * @note If checksum doesn't match return will be zero, but bytes will
         *       still be written to the internal buffer.
         */
        uint8_t requestKWP(void* request, uint8_t request_len);

        // The following methods only work to read values from PID mode 0x01
        uint8_t readUint8(); // returns right part from the buffer as uint8_t
        uint16_t readUint16(); // idem...
        uint32_t readUint32();
        uint8_t readUint8(uint8_t index); // returns byte on index.

        /**
         * @brief This method allows raw access to the buffer, the return header
         *        is 4 bytes, so data starts on index 4.
         */
        uint8_t readBuffer(uint8_t index);

        /**
         * @brief Obtain the two bytes representing the trouble code from the
         *        buffer.
         * @param index The index of the trouble code.
         * @return Two byte data to be used by decodeDTC.
         */
        uint16_t getTroubleCode(uint8_t index);


        void set_port(bool enabled);
        // need to disable the port before init.
        // need to enable the port if we want to skip the init.

        bool init(); // attempts 'slow' ISO9141 5 baud init.
        bool initKWP();  // attempts kwp2000 fast init.
        bool initKWPSlow(); // attempts 'slow' 5 baud kwp init, v1 = 233, v2 = 143.
        // returns whether the procedure was finished correctly.
        // The class keeps no track of whether this was successful or not.
        // It is up to the user to ensure that the initialisation is called.

        bool clearTroubleCodes();
        // Attempts to Clear trouble codes / Malfunction indicator lamp (MIL)
        // Check engine light.
        // Returns whether the request was successful.

        /**
         * @brief Attempts to read the diagnostic trouble codes using the
         *        variable read method.
         * @return The number of trouble codes read.
         */
        uint8_t readTroubleCodes();   // mode 0x03, stored codes
        uint8_t readPendingTroubleCodes();  // mode 0x07, pending codes

        static uint8_t checksum(void* b, uint8_t len); // public for sim.

        /**
         *  Decodes the two bytes at input_bytes into the diagnostic trouble
         *  code, written in printable format to output_string.
         * @param input_bytes Two input bytes that represent the trouble code.
         * @param output_string Writes 5 bytes to this pointer representing the
         *        human readable DTC string.
         */
        static void decodeDTC(uint16_t input_bytes, uint8_t* output_string);

};



#endif