mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-09-14 18:42:56 +00:00
146 lines
3.6 KiB
Arduino
146 lines
3.6 KiB
Arduino
/*************************************************************************************************
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OBD-II_PIDs TEST CODE
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LOOVEE @ JUN24, 2017
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Query
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send id: 0x7df
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dta: 0x02, 0x01, PID_CODE, 0, 0, 0, 0, 0
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Response
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From id: 0x7E9 or 0x7EA or 0x7EB
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dta: len, 0x41, PID_CODE, byte0, byte1(option), byte2(option), byte3(option), byte4(option)
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https://en.wikipedia.org/wiki/OBD-II_PIDs
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Input a PID, then you will get reponse from vehicle, the input should be end with '\n'
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***************************************************************************************************/
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#include <SPI.h>
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/*SAMD core*/
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#ifdef ARDUINO_SAMD_VARIANT_COMPLIANCE
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#define SERIAL SerialUSB
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#else
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#define SERIAL Serial
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#endif
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#define CAN_2518FD
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//#define CAN_2515
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// the cs pin of the version after v1.1 is default to D9
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// v0.9b and v1.0 is default D10
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#ifdef CAN_2518FD
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#include "mcp2518fd_can.h"
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const int SPI_CS_PIN = BCM8;
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mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
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#endif
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#ifdef CAN_2515
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#include "mcp2515_can.h"
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const int SPI_CS_PIN = 9;
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mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
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#endif
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#define PID_ENGIN_PRM 0x0C
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#define PID_VEHICLE_SPEED 0x0D
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#define PID_COOLANT_TEMP 0x05
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#define CAN_ID_PID 0x7DF
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unsigned char PID_INPUT;
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unsigned char getPid = 0;
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void set_mask_filt() {
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/*
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set mask, set both the mask to 0x3ff
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*/
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CAN.init_Mask(0, 0, 0x7FC);
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CAN.init_Mask(1, 0, 0x7FC);
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/*
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set filter, we can receive id from 0x04 ~ 0x09
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*/
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CAN.init_Filt(0, 0, 0x7E8);
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CAN.init_Filt(1, 0, 0x7E8);
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CAN.init_Filt(2, 0, 0x7E8);
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CAN.init_Filt(3, 0, 0x7E8);
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CAN.init_Filt(4, 0, 0x7E8);
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CAN.init_Filt(5, 0, 0x7E8);
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}
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void sendPid(unsigned char __pid) {
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unsigned char tmp[8] = {0x02, 0x01, __pid, 0, 0, 0, 0, 0};
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SERIAL.print("SEND PID: 0x");
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SERIAL.println(__pid, HEX);
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CAN.sendMsgBuf(CAN_ID_PID, 0, 8, tmp);
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}
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void setup() {
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SERIAL.begin(115200);
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while(!Serial){};
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#ifdef CAN_2518FD
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while (0 != CAN.begin((byte)CAN_500K_1M)) { // init can bus : baudrate = 500k
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#else
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while (CAN_OK != CAN.begin(CAN_500KBPS)) { // init can bus : baudrate = 500k
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#endif
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SERIAL.println("CAN BUS Shield init fail");
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SERIAL.println(" Init CAN BUS Shield again");
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delay(100);
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}
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SERIAL.println("CAN BUS Shield init ok!");
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set_mask_filt();
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}
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void loop() {
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taskCanRecv();
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taskDbg();
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if (getPid) { // GET A PID
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getPid = 0;
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sendPid(PID_INPUT);
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PID_INPUT = 0;
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}
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}
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void taskCanRecv() {
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unsigned char len = 0;
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unsigned char buf[8];
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if (CAN_MSGAVAIL == CAN.checkReceive()) { // check if get data
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CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
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SERIAL.println("\r\n------------------------------------------------------------------");
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SERIAL.print("Get Data From id: 0x");
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SERIAL.println(CAN.getCanId(), HEX);
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for (int i = 0; i < len; i++) { // print the data
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SERIAL.print("0x");
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SERIAL.print(buf[i], HEX);
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SERIAL.print("\t");
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}
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SERIAL.println();
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}
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}
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void taskDbg() {
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while (SERIAL.available()) {
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char c = SERIAL.read();
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if (c >= '0' && c <= '9') {
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PID_INPUT *= 0x10;
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PID_INPUT += c - '0';
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} else if (c >= 'A' && c <= 'F') {
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PID_INPUT *= 0x10;
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PID_INPUT += 10 + c - 'A';
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} else if (c >= 'a' && c <= 'f') {
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PID_INPUT *= 0x10;
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PID_INPUT += 10 + c - 'a';
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} else if (c == '\n') { // END
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getPid = 1;
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}
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}
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}
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// END FILE
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