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
//! Functions for reading DTCs from ECU
use crate::{
dtc::{DTCFormatType, DTCStatus, DTC},
DiagError, {DiagServerResult, DiagnosticServer},
};
use super::{KWP2000Command, KWP2000Error, Kwp2000DiagnosticServer};
#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord)]
/// Represents a range of DTCs to query from the ECU
///
/// DTC Range support matrix
///
/// | DTCRange | Support by ECUs |
/// |--|--|
/// |[DTCRange::Powertrain] | Optional |
/// |[DTCRange::Chassis] | Optional |
/// |[DTCRange::Body] | Optional |
/// |[DTCRange::Network] | Optional |
/// |[DTCRange::All] | Mandatory |
pub enum DTCRange {
/// All powertrain related DTCs
Powertrain,
/// All Chassis related DTCs
Chassis,
/// All Body related DTCs
Body,
/// All Network related DTCs
Network,
/// All DTCs from all groups
All,
}
impl DTCRange {
pub(crate) fn as_args(&self, pid: u8) -> [u8; 3] {
match self {
DTCRange::Powertrain => [pid, 0x00, 0x00],
DTCRange::Chassis => [pid, 0x40, 0x00],
DTCRange::Body => [pid, 0x80, 0x00],
DTCRange::Network => [pid, 0xC0, 0x00],
DTCRange::All => [pid, 0xFF, 0x00],
}
}
}
impl Kwp2000DiagnosticServer {
/// Returns a list of stored DTCs on the ECU in ISO15031-6 format
pub fn read_stored_dtcs_iso15031(&mut self, range: DTCRange) -> DiagServerResult<Vec<DTC>> {
let mut res = self.execute_command_with_response(
KWP2000Command::ReadDiagnosticTroubleCodesByStatus,
&range.as_args(0x00),
)?;
if res.len() < 5 {
// No DTCs stored
return Ok(Vec::new());
}
let num_dtcs = res[1];
res.drain(0..2); // Remove everything up to the first DTC
if res.len() % 3 != 0 {
// Each DTC is 3 bytes, so this should divide by 0 if ECU response is valid
return Err(DiagError::InvalidResponseLength);
}
let mut ret: Vec<DTC> = Vec::with_capacity(num_dtcs as usize); // Pre-allocate
for x in (0..res.len()).step_by(3) {
let status = res[x + 2];
ret.push(DTC {
format: DTCFormatType::Iso15031_6,
raw: (res[x] as u32) << 8 | res[x + 1] as u32,
status: DTCStatus::from_kwp_status(status),
mil_on: status & 0b10000000 != 0,
readiness_flag: status & 0b00010000 != 0,
})
}
Ok(ret)
}
/// Returns a list of all supported DTCs on the ECU regardless of their status in ISO15031-6 format
pub fn read_supported_dtcs_iso15031(&mut self, range: DTCRange) -> DiagServerResult<Vec<DTC>> {
let res: Vec<DTC> = Vec::new();
loop {
let res_bytes = self.execute_command_with_response(
KWP2000Command::ReadDiagnosticTroubleCodesByStatus,
&range.as_args(0x01),
)?;
println!("RES: {:02X?}", res_bytes);
match self.read_extended_supported_dtcs(range) {
Ok(x) => {
if x == 0 {
break; // Completed reading!
}
// Else keep looping to read DTCs
}
Err(_) => break, // Return what we have
}
}
Ok(res)
}
/// Returns a list of stored DTCs on the ECU in KWP2000 format
pub fn read_stored_dtcs(&mut self, range: DTCRange) -> DiagServerResult<Vec<DTC>> {
let mut res = self.execute_command_with_response(
KWP2000Command::ReadDiagnosticTroubleCodesByStatus,
&range.as_args(0x02),
)?;
if res.len() < 5 {
// No DTCs stored
return Ok(Vec::new());
}
let num_dtcs = res[1];
res.drain(0..2); // Remove everything up to the first DTC
if res.len() % 3 != 0 {
// Each DTC is 3 bytes, so this should divide by 0 if ECU response is valid
return Err(DiagError::InvalidResponseLength);
}
let mut ret: Vec<DTC> = Vec::with_capacity(num_dtcs as usize); // Pre-allocate
for x in (0..res.len()).step_by(3) {
let status = res[x + 2];
ret.push(DTC {
format: DTCFormatType::TwoByteHexKwp,
raw: (res[x] as u32) << 8 | res[x + 1] as u32,
status: DTCStatus::from_kwp_status(status),
mil_on: status & 0b10000000 != 0,
readiness_flag: status & 0b00010000 != 0,
})
}
Ok(ret)
}
/// Returns a list of all supported DTCs on the ECU regardless of their status, in KWP2000 format.
///
/// NOTE: Internally, this function will call [Kwp2000DiagnosticServer::read_extended_supported_dtcs] in a loop in order
/// to read all DTCs regardless of transport layer limitations
pub fn read_supported_dtcs(&mut self, range: DTCRange) -> DiagServerResult<Vec<DTC>> {
let mut res: Vec<DTC> = Vec::new();
loop {
let mut res_bytes = self.execute_command_with_response(
KWP2000Command::ReadDiagnosticTroubleCodesByStatus,
&range.as_args(0x03),
)?;
if res_bytes.len() < 5 {
// No DTCs stored
return Ok(Vec::new());
}
res_bytes.drain(0..2); // Remove everything up to the first DTC
if res_bytes.len() % 3 != 0 {
// Each DTC is 3 bytes, so this should divide by 0 if ECU response is valid
return Err(DiagError::InvalidResponseLength);
}
for x in (0..res_bytes.len()).step_by(3) {
let status = res_bytes[x + 2];
res.push(DTC {
format: DTCFormatType::TwoByteHexKwp,
raw: (res_bytes[x] as u32) << 8 | res_bytes[x + 1] as u32,
status: DTCStatus::from_kwp_status(status),
mil_on: status & 0b10000000 != 0,
readiness_flag: status & 0b00010000 != 0,
})
}
match self.read_extended_supported_dtcs(range) {
Ok(x) => {
if x == 0 || x as usize == res.len() {
return Ok(res); // Completed reading!
}
// Else keep looping to read DTCs
}
Err(_) => return Ok(res), // Return what we have
}
}
}
/// Asks the ECU to report its most recent DTCs that has been stored.
/// Only one DTC is returned if stored, otherwise no DTC is returned.
pub fn get_most_recent_dtc(&mut self, range: DTCRange) -> DiagServerResult<Option<DTC>> {
let req = self.execute_command_with_response(
KWP2000Command::ReadDiagnosticTroubleCodesByStatus,
&range.as_args(0x04),
)?;
todo!("ECU Response: {:02X?}", req)
}
/// Upon execution of [Kwp2000DiagnosticServer::read_supported_dtcs] or [Kwp2000DiagnosticServer::read_supported_dtcs_iso15031],
/// if the transport layer restricts the number of DTCs that can be read, or the number of DTCs exceeds 255,
/// then this function will return the number of remaining supported of DTCs to read. [Kwp2000DiagnosticServer::read_supported_dtcs] or [Kwp2000DiagnosticServer::read_supported_dtcs_iso15031]
/// should be executed to read the rest of the DTCs again within the ECUs P3-MAX time window
pub fn read_extended_supported_dtcs(&mut self, range: DTCRange) -> DiagServerResult<u16> {
match self.execute_command_with_response(
KWP2000Command::ReadDiagnosticTroubleCodesByStatus,
&range.as_args(0xE0),
) {
Ok(x) => {
if x.len() == 3 {
Ok((x[1] as u16) << 8 | x[2] as u16)
} else {
Ok(0)
}
}
Err(e) => {
if let DiagError::ECUError { code, def } = e {
// ECU error, check if sub function not supported, in which case just return 0!
if KWP2000Error::from(code)
== KWP2000Error::SubFunctionNotSupportedInvalidFormat
{
Ok(0)
} else {
Err(DiagError::ECUError { code, def })
}
} else {
Err(e)
}
}
}
}
}