mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
synced 2026-07-27 19:55:59 +00:00
Micah MundyandGitHub
6dcfabc65e
maintains backward compatibility with previous versions of the function call
149 lines
3.8 KiB
Arduino
149 lines
3.8 KiB
Arduino
/*************************************************************************************************
|
||
OBD-II_PIDs TEST CODE
|
||
LOOVEE @ JUN24, 2017
|
||
|
||
Query
|
||
send id: 0x7df
|
||
dta: 0x02, 0x01, PID_CODE, 0, 0, 0, 0, 0
|
||
|
||
Response
|
||
From id: 0x7E9 or 0x7EA or 0x7EB
|
||
dta: len, 0x41, PID_CODE, byte0, byte1(option), byte2(option), byte3(option), byte4(option)
|
||
|
||
https://en.wikipedia.org/wiki/OBD-II_PIDs
|
||
|
||
Input a PID, then you will get reponse from vehicle, the input should be end with '\n'
|
||
***************************************************************************************************/
|
||
#include <SPI.h>
|
||
|
||
#define CAN_2515
|
||
// #define CAN_2518FD
|
||
|
||
// Set SPI CS Pin according to your hardware
|
||
|
||
#if defined(SEEED_WIO_TERMINAL) && defined(CAN_2518FD)
|
||
// For Wio Terminal w/ MCP2518FD RPi Hat：
|
||
// Channel 0 SPI_CS Pin: BCM 8
|
||
// Channel 1 SPI_CS Pin: BCM 7
|
||
// Interupt Pin: BCM25
|
||
const int SPI_CS_PIN = BCM8;
|
||
const int CAN_INT_PIN = BCM25;
|
||
#else
|
||
|
||
// For Arduino MCP2515 Hat:
|
||
// the cs pin of the version after v1.1 is default to D9
|
||
// v0.9b and v1.0 is default D10
|
||
const int SPI_CS_PIN = 9;
|
||
const int CAN_INT_PIN = 2;
|
||
#endif
|
||
|
||
|
||
#ifdef CAN_2518FD
|
||
#include "mcp2518fd_can.h"
|
||
mcp2518fd CAN(SPI_CS_PIN); // Set CS pin
|
||
#endif
|
||
|
||
#ifdef CAN_2515
|
||
#include "mcp2515_can.h"
|
||
mcp2515_can CAN(SPI_CS_PIN); // Set CS pin
|
||
#endif
|
||
|
||
#define PID_ENGIN_PRM 0x0C
|
||
#define PID_VEHICLE_SPEED 0x0D
|
||
#define PID_COOLANT_TEMP 0x05
|
||
|
||
#define CAN_ID_PID 0x7DF
|
||
|
||
unsigned char PID_INPUT;
|
||
unsigned char getPid = 0;
|
||
|
||
void set_mask_filt() {
|
||
/*
|
||
set mask, set both the mask to 0x3ff
|
||
*/
|
||
CAN.init_Mask(0, 0, 0x7FC);
|
||
CAN.init_Mask(1, 0, 0x7FC);
|
||
|
||
/*
|
||
set filter, we can receive id from 0x04 ~ 0x09
|
||
*/
|
||
CAN.init_Filt(0, 0, 0x7E8);
|
||
CAN.init_Filt(1, 0, 0x7E8);
|
||
|
||
CAN.init_Filt(2, 0, 0x7E8);
|
||
CAN.init_Filt(3, 0, 0x7E8);
|
||
CAN.init_Filt(4, 0, 0x7E8);
|
||
CAN.init_Filt(5, 0, 0x7E8);
|
||
}
|
||
|
||
void sendPid(unsigned char __pid) {
|
||
unsigned char tmp[8] = {0x02, 0x01, __pid, 0, 0, 0, 0, 0};
|
||
SERIAL_PORT_MONITOR.print("SEND PID: 0x");
|
||
SERIAL_PORT_MONITOR.println(__pid, HEX);
|
||
CAN.sendMsgBuf(CAN_ID_PID, 0, 8, tmp);
|
||
}
|
||
|
||
void setup() {
|
||
SERIAL_PORT_MONITOR.begin(115200);
|
||
while(!Serial){};
|
||
|
||
while (CAN_OK != CAN.begin(CAN_500KBPS)) { // init can bus : baudrate = 500k
|
||
SERIAL_PORT_MONITOR.println("CAN init fail, retry...");
|
||
delay(100);
|
||
}
|
||
SERIAL_PORT_MONITOR.println("CAN init ok!");
|
||
set_mask_filt();
|
||
}
|
||
|
||
|
||
void loop() {
|
||
taskCanRecv();
|
||
taskDbg();
|
||
|
||
if (getPid) { // GET A PID
|
||
getPid = 0;
|
||
sendPid(PID_INPUT);
|
||
PID_INPUT = 0;
|
||
}
|
||
}
|
||
|
||
void taskCanRecv() {
|
||
unsigned char len = 0;
|
||
unsigned char buf[8];
|
||
|
||
if (CAN_MSGAVAIL == CAN.checkReceive()) { // check if get data
|
||
CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
|
||
|
||
SERIAL_PORT_MONITOR.println("\r\n------------------------------------------------------------------");
|
||
SERIAL_PORT_MONITOR.print("Get Data From id: 0x");
|
||
SERIAL_PORT_MONITOR.println(CAN.getCanId(), HEX);
|
||
for (int i = 0; i < len; i++) { // print the data
|
||
SERIAL_PORT_MONITOR.print("0x");
|
||
SERIAL_PORT_MONITOR.print(buf[i], HEX);
|
||
SERIAL_PORT_MONITOR.print("\t");
|
||
}
|
||
SERIAL_PORT_MONITOR.println();
|
||
}
|
||
}
|
||
|
||
void taskDbg() {
|
||
while (SERIAL_PORT_MONITOR.available()) {
|
||
char c = SERIAL_PORT_MONITOR.read();
|
||
|
||
if (c >= '0' && c <= '9') {
|
||
PID_INPUT *= 0x10;
|
||
PID_INPUT += c - '0';
|
||
|
||
} else if (c >= 'A' && c <= 'F') {
|
||
PID_INPUT *= 0x10;
|
||
PID_INPUT += 10 + c - 'A';
|
||
} else if (c >= 'a' && c <= 'f') {
|
||
PID_INPUT *= 0x10;
|
||
PID_INPUT += 10 + c - 'a';
|
||
} else if (c == '\n') { // END
|
||
getPid = 1;
|
||
}
|
||
}
|
||
}
|
||
// END FILE
|