mirror of
https://github.com/Seeed-Studio/Seeed_Arduino_CAN.git
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140 lines
3.3 KiB
Arduino
140 lines
3.3 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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#include "mcp_can.h"
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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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const int SPI_CS_PIN = 9;
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MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
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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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/*
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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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{
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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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{
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Serial.begin(115200);
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while (CAN_OK != CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
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{
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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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{
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taskCanRecv();
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taskDbg();
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if(getPid) // GET A PID
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{
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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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{
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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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{
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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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{
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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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{
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while(Serial.available())
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{
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char c = Serial.read();
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if(c>='0' && c<='9')
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{
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PID_INPUT *= 0x10;
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PID_INPUT += c-'0';
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}
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else if(c>='A' && c<='F')
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{
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PID_INPUT *= 0x10;
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PID_INPUT += 10+c-'A';
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}
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else if(c>='a' && c<='f')
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{
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PID_INPUT *= 0x10;
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PID_INPUT += 10+c-'a';
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}
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else if(c == '\n') // END
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{
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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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