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Add CAN BUS Serial monitor example
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Baozhu Zuo
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# arduino-canbus-monitor [](https://travis-ci.org/latonita/arduino-canbus-monitor) [](https://scan.coverity.com/projects/latonita-arduino-canbus-monitor) [](https://github.com/igrigorik/ga-beacon)
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CAN BUS monitoring software based on Arduino with Seeduino/ElecFreaks CAN BUS shield based on MCP2515 (Numerous other MCP2515 based CAN BUS modules from ebay and aliexpress work well to).
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This software implements CAN ASCII / Serial CAN / SLCAN protocol compatible with Lawicel CAN232/CANUSB.
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As for PC counterpart software I personally used and can recommend two tools:
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1) [Windows] CANHacker tool v.2.00.01 (by fuchs) to sniff and visualize data on the bus. You can download CANHacker tool from this forum page: http://www.canhack.net/viewforum.php?f=25&sid=ac01d465f19e088cb160cab630561607
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2) [Windows] CAN-COOL (by MHS Elektronik), open source, but unfortunaly available only in German. Download link: http://www.mhs-elektronik.de/index.php?module=content&action=show&page=can_cool (Make sure you select RS232 and SL-CAN protocol and then click hardware bus reset icon on a toolbar)
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3) [Linux] Please dig into direction of SLCAN/SocketCAN, but start from https://github.com/linux-can/can-utils
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This monitor uses CAN BUS library forked from https://github.com/Seeed-Studio/CAN_BUS_Shield.
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Copyright (C) 2015,2016 Anton Viktorov <latonita@yandex.ru>
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You can buy me a beer if you like the tool :o) [](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=4JPDVHYWUY3LW)
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See protocol definition here http://www.can232.com/docs/can232_v3.pdf and here http://www.can232.com/docs/canusb_manual.pdf
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Commands not supported/not implemented:
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- s, W, M, m, U.
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Commands modified:
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- S - supports not declared 83.3 rate
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- F - returns MCP2515 error flags
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- Z - extra Z2 option enables 4 byte timestamp vs standard 2 byte (60000ms max)
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```
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CMD | IMPLEMENTED | SYNTAX | DESCRIPTION
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------------------------------------------------------------------------------------------------------------
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'S' | YES+ | Sn[CR] Setup with standard CAN bit-rates where n is 0-8.
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| | S0 10Kbit S4 125Kbit S8 1Mbit
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| | S1 20Kbit S5 250Kbit S9 83.3Kbit
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| | S2 50Kbit S6 500Kbit
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| | S3 100Kbit S7 800Kbit
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's' | - | sxxyy[CR] Setup with BTR0/BTR1 CAN bit-rates where xx and yy is a hex value.
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'O' | YES | O[CR] Open the CAN channel in normal mode (sending & receiving).
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'L' | YES | L[CR] Open the CAN channel in listen only mode (receiving).
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'C' | YES | C[CR] Close the CAN channel.
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't' | YES | tiiildd...[CR] Transmit a standard (11bit) CAN frame.
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'T' | YES | Tiiiiiiiildd...[CR] Transmit an extended (29bit) CAN frame
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'r' | YES | riiil[CR] Transmit an standard RTR (11bit) CAN frame.
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'R' | YES | Riiiiiiiil[CR] Transmit an extended RTR (29bit) CAN frame.
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'P' | YES | P[CR] Poll incomming FIFO for CAN frames (single poll)
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'A' | YES | A[CR] Polls incomming FIFO for CAN frames (all pending frames)
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'F' | YES+ | F[CR] Read Status Flags.
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'X' | YES | Xn[CR] Sets Auto Poll/Send ON/OFF for received frames.
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'W' | - | Wn[CR] Filter mode setting. By default CAN232 works in dual filter mode (0) and is backwards compatible with previous CAN232 versions.
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'M' | - | Mxxxxxxxx[CR] Sets Acceptance Code Register (ACn Register of SJA1000). // we use MCP2515, not supported
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'm' | - | mxxxxxxxx[CR] Sets Acceptance Mask Register (AMn Register of SJA1000). // we use MCP2515, not supported
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'U' | YES | Un[CR] Setup UART with a new baud rate where n is 0-6.
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'V' | YES | v[CR] Get Version number of both CAN232 hardware and software
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'v' | YES | V[CR] Get Version number of both CAN232 hardware and software
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'N' | YES | N[CR] Get Serial number of the CAN232.
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'Z' | YES+ | Zn[CR] Sets Time Stamp ON/OFF for received frames only. EXTENSION to LAWICEL: Z2 - millis() timestamp w/o standard 60000ms cycle
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'Q' | YES todo | Qn[CR] Auto Startup feature (from power on).
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```
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/*****************************************************************************************
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* This is implementation of CAN BUS ASCII protocol based on LAWICEL v1.3 serial protocol
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* of CAN232/CANUSB device (http://www.can232.com/docs/can232_v3.pdf)
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*
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* Made for Arduino with Seeduino/ElecFreaks CAN BUS Shield based on MCP2515
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*
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* Copyright (C) 2015 Anton Viktorov <latonita@yandex.ru>
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* https://github.com/latonita/arduino-canbus-monitor
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*
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* This library is free software. You may use/redistribute it under The MIT License terms.
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*
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*****************************************************************************************/
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#include <SPI.h>
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#include "mcp_can.h"
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#include "can-serial.h"
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void setup() {
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Serial.begin(LWUART_DEFAULT_BAUD_RATE); // default COM baud rate is 115200.
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// Can232::init (RATE, CLOCK)
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// Rates: CAN_10KBPS, CAN_20KBPS, CAN_50KBPS, CAN_100KBPS, CAN_125KBPS, CAN_250KBPS, CAN_500KBPS, CAN_500KBPS, CAN_1000KBPS, CAN_83K3BPS
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// Default is CAN_83K3BPS ;)))))))))
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// Clock: MCP_16MHz or MCP_8MHz.
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// Default is MCP_16MHz. Please note, not all CAN speeds supported. check big switch in mcp_can.cpp
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// defaults can be changed in mcp_can.h
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// Can232::init(); // rate and clock = LW232_DEFAULT_CAN_RATE and LW232_DEFAULT_CLOCK_FREQ
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// Can232::init(CAN_125KBPS); // rate = 125, clock = LW232_DEFAULT_CLOCK_FREQ
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CanSerial::init(CAN_125KBPS, MCP_16MHz); // set default rate you need here and clock frequency of CAN shield. Typically it is 16MHz, but on some MCP2515 + TJA1050 it is 8Mhz
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// optional custom packet filter to reduce number of messages comingh through to canhacker
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// Can232::setFilter(myCustomAddressFilter);
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}
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INT8U myCustomAddressFilter(INT32U addr) {
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INT8U ret = LWUART_FILTER_SKIP; //LW232_FILTER_PROCESS or LW232_FILTER_SKIP
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switch(addr) {
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// case 0x01b: //VIN
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// case 0x1C8: //lights
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// case 0x2C0: // pedals
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case 0x3d0: // sound vol, treb..
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ret = LWUART_FILTER_PROCESS;
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// case 0x000: // ?
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// case 0x003: //shifter
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// case 0x015: // dor open close affects this as well
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// case 0x02c: // ???
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// ret = 0;
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// break;
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// case 0x002:
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// case 0x1a7: //fuel cons or some other
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// ret = 1;
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// break;
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// default:
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// ret = 0;
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}
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return ret;
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}
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void loop() {
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CanSerial::loop();
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}
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void serialEvent() {
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CanSerial::serialEvent();
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}
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