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Revert "improve stability"
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This reverts commit 32d6eae.
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@stanleyhuangyc
stanleyhuangyc committed Sep 7, 2013
1 parent 32d6eae commit 2887361
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Showing 2 changed files with 69 additions and 80 deletions.
135 changes: 65 additions & 70 deletions libraries/OBD/OBD.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,15 +9,13 @@
#include <avr/pgmspace.h>
#include "OBD.h"

//#define DEBUG
#define DEBUG_SERIAL Serial

#define MAX_CMD_LEN 6

const char PROGMEM s_initcmd[][MAX_CMD_LEN] = {"ATZ\r","ATE0\r","ATL1\r","0902\r"};
const char PROGMEM s_initcmd[][MAX_CMD_LEN] = {"ATZ\r","ATE0\r","ATL1\r"};
const char PROGMEM s_searching[] = "SEARCHING";
const char PROGMEM s_cmd_fmt[] = "%02X%02X 1\r";
const char PROGMEM s_cmd_sleep[] = "atlp\r";
#define STR_SEARCHING "SEARCHING..."
const char PROGMEM s_cmd_vin[] = "0902\r";

unsigned int hex2uint16(const char *p)
{
Expand Down Expand Up @@ -64,9 +62,6 @@ void COBD::sendQuery(unsigned char pid)
{
char cmd[8];
sprintf_P(cmd, s_cmd_fmt, dataMode, pid);
#ifdef DEBUG
debugOutput(cmd);
#endif
write(cmd);
}

Expand All @@ -81,6 +76,7 @@ bool COBD::readSensor(byte pid, int& result, bool passive)
dataIdleLoop();
} while (!(hasData = available()) && millis() - tick < OBD_TIMEOUT_SHORT);
if (!hasData) {
write('\r');
errors++;
return false;
}
Expand All @@ -96,9 +92,6 @@ bool COBD::available()
char COBD::read()
{
char c = OBDUART.read();
#ifdef DEBUG
DEBUG_SERIAL.print(c);
#endif
return c;
}

Expand Down Expand Up @@ -153,10 +146,43 @@ int COBD::normalizeData(byte pid, char* data)

char* COBD::getResponse(byte& pid, char* buffer)
{
byte n = receive(buffer);
if (n > 6) {
unsigned long startTime = millis();
static const char responseSign[3] = {'4', '1', ' '};
byte i = 0;

for (;;) {
if (available()) {
char c = read();
buffer[i] = c;
if (++i == OBD_RECV_BUF_SIZE - 1) {
// buffer overflow
break;
}
if (c == '>' && i > 6) {
// prompt char reached
break;
}
} else {
buffer[i] = 0;
unsigned int timeout;
if (dataMode != 1 || strstr_P(buffer, s_searching)) {
timeout = OBD_TIMEOUT_LONG;
} else {
timeout = OBD_TIMEOUT_SHORT;
}
if (millis() - startTime > timeout) {
// timeout
errors++;
break;
}
dataIdleLoop();
}
}
buffer[i] = 0;

if (i > 6) {
char *p = buffer;
while ((p = strstr(p, "41 "))) {
while ((p = strstr(p, responseSign))) {
p += 3;
byte curpid = hex2uint8(p);
if (pid == 0) pid = curpid;
Expand Down Expand Up @@ -210,62 +236,42 @@ void COBD::begin()
OBDUART.begin(OBD_SERIAL_BAUDRATE);
}

byte COBD::receive(char* buffer)
{
unsigned long startTime = millis();
unsigned char n = 0;
int timeout = OBD_TIMEOUT_SHORT;

buffer[0] = 0;
for (;;) {
if (available()) {
char c = read();
if (n > 2 && c == '>') {
// prompt char received
break;
} 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 (millis() - startTime > timeout) {
// timeout
return 0;
}
dataIdleLoop();
}
}

return n;
}

bool COBD::init(bool passive)
{
unsigned long currentMillis;
unsigned char n;
char prompted;
char buffer[OBD_RECV_BUF_SIZE];

state = STATE_CONNECTING;

write('\r');
delay(100);
while (available()) read();

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]);
#ifdef DEBUG
debugOutput(cmd);
#endif
write(cmd);
}
if (receive(buffer) == 0) {
return false;
n = 0;
prompted = 0;
currentMillis = millis();
for (;;) {
if (available()) {
char c = read();
if (n > 2 && c == '>') {
buffer[n] = 0;
prompted++;
} else if (n < OBD_RECV_BUF_SIZE - 1) {
buffer[n++] = c;
}
} else if (prompted) {
break;
} else {
unsigned long elapsed = millis() - currentMillis;
if (elapsed > OBD_TIMEOUT_INIT) {
// init timeout
//WriteData("\r");
return false;
}
initIdleLoop();
}
}
}
while (available()) read();
Expand All @@ -286,17 +292,6 @@ bool COBD::init(bool passive)
}
while (available()) read();

state = STATE_CONNECTED;
errors = 0;
return true;
}

#ifdef DEBUG
void COBD::debugOutput(const char *s)
{
DEBUG_SERIAL.print('[');
DEBUG_SERIAL.print(millis());
DEBUG_SERIAL.print(']');
DEBUG_SERIAL.print(s);
}
#endif
14 changes: 4 additions & 10 deletions libraries/OBD/OBD.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,9 @@

#define OBD_TIMEOUT_SHORT 2000 /* ms */
#define OBD_TIMEOUT_LONG 7000 /* ms */
#define OBD_TIMEOUT_INIT 3000 /* ms */
#define OBD_SERIAL_BAUDRATE 38400
#define OBD_RECV_BUF_SIZE 128
#define OBD_RECV_BUF_SIZE 64

#ifndef OBDUART
#if defined(__AVR_ATmega32U4__) || defined(__AVR_ATmega2560__) || defined(__AVR_ATmega1280__) || defined(__AVR_ATmega644P__)
Expand Down Expand Up @@ -36,18 +37,13 @@
#define PID_RUNTIME 0x1F
#define PID_DISTANCE 0x31

// states
#define STATE_DISCONNECTED 0
#define STATE_CONNECTING 1
#define STATE_CONNECTED 2

unsigned int hex2uint16(const char *p);
unsigned char hex2uint8(const char *p);

class COBD
{
public:
COBD():dataMode(1),errors(0),state(STATE_DISCONNECTED) {}
COBD():dataMode(1),errors(0) {}
void begin();
bool init(bool passive = false);
bool readSensor(byte pid, int& result, bool passive = false);
Expand All @@ -61,11 +57,8 @@ class COBD
byte errors;
byte pidmap[4 * 4];
byte vin[17];
byte state;
//char recvBuf[OBD_RECV_BUF_SIZE];
protected:
byte receive(char* buffer);
void debugOutput(const char* s);
static int normalizeData(byte pid, char* data);
static int getPercentageValue(char* data)
{
Expand All @@ -87,5 +80,6 @@ class COBD
virtual char read();
virtual void write(const char* s);
virtual void write(const char c);
virtual void initIdleLoop() {}
virtual void dataIdleLoop() {}
};

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