Bobcat Racing
Sample code for Arduino CAN
Dependencies: mbed
Diff: arduinoCAN.h
- Revision:
- 0:6ed8574c6258
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/arduinoCAN.h Mon Feb 29 19:33:12 2016 +0000
@@ -0,0 +1,501 @@
+/*! \file CAN.h
+ \brief Library for managing CAN-bus modules
+
+ Copyright (C) 2011 Libelium Comunicaciones Distribuidas S.L.
+ http://www.libelium.com
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU Lesser General Public License as published by
+ the Free Software Foundation, either version 2.1 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU Lesser General Public License for more details.
+
+ You should have received a copy of the GNU Lesser General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+ Version: 0.3
+ Design: David Gascón
+ Implementation: Luis Antonio Martín Nuez
+
+ */
+
+/*! \def WaspCAN_h
+ \brief The library flag
+ */
+
+#ifndef ARDUINOCAN_h
+#define ARDUINOCAN_h
+
+
+/******************************************************************************
+ * Includes
+ ******************************************************************************/
+
+
+
+/******************************************************************************
+ * Definitions & Declarations
+ ******************************************************************************/
+
+//CAN-bus connection pins
+
+#define CAN_CS 6
+#define CAN_INT 4
+
+//MCP2515 Opcodes
+
+#define SPI_RESET 0xC0
+#define SPI_READ 0x03
+#define SPI_READ_RX 0x90
+#define SPI_WRITE 0x02
+#define SPI_WRITE_TX 0x40
+#define SPI_RTS 0x80
+#define SPI_READ_STATUS 0xA0
+#define SPI_RX_STATUS 0xB0
+#define SPI_BIT_MODIFY 0x05
+
+#define LISTEN_ONLY_MODE 0x01
+#define LOOPBACK_MODE 0x02
+#define SLEEP_MODE 0x03
+#define NORMAL_MODE 0x04
+
+/****************************************************************************
+ MCP2515 REGISTERS
+ ****************************************************************************/
+
+//Message acceptance filters registers - Buffer 0
+
+#define RXF0SIDH 0x00
+#define RXF0SIDL 0x01
+#define RXF0EID8 0x02
+#define RXF0EID0 0x03
+#define RXF1SIDH 0x04
+#define RXF1SIDL 0x05
+#define RXF1EID8 0x06
+#define RXF1EID0 0x07
+#define RXF2SIDH 0x08
+#define RXF2SIDL 0x09
+#define RXF2EID8 0x0A
+#define RXF2EID0 0x0B
+
+//Digital outputs/inputs registers
+
+#define BFPCTRL 0x0C
+#define TXRTSCTRL 0x0D
+
+//CAN-bus control and status registers
+
+#define CANSTAT 0x0E
+#define CANCTRL 0x0F
+
+//Message acceptance filters registerts - Buffer 1
+
+#define RXF3SIDH 0x10
+#define RXF3SIDL 0x11
+#define RXF3EID8 0x12
+#define RXF3EID0 0x13
+#define RXF4SIDH 0x14
+#define RXF4SIDL 0x15
+#define RXF4EID8 0x16
+#define RXF4EID0 0x17
+#define RXF5SIDH 0x18
+#define RXF5SIDL 0x19
+#define RXF5EID8 0x1A
+#define RXF5EID0 0x1B
+
+//Error counters registers
+
+#define TEC 0x1C
+#define REC 0x1D
+
+//Message acceptance masks registers
+
+#define RXM0SIDH 0x20
+#define RXM0SIDL 0x21
+#define RXM0EID8 0x22
+#define RXM0EID0 0x23
+#define RXM1SIDH 0x24
+#define RXM1SIDL 0x25
+#define RXM1EID8 0x26
+#define RXM1EID0 0x27
+
+//Bit timing registers
+
+#define CNF3 0x28
+#define CNF2 0x29
+#define CNF1 0x2A
+
+//Interrups registers
+
+#define CANINTE 0x2B
+#define CANINTF 0x2C
+
+//Error flags registers
+
+#define EFLG 0x2D
+
+//Message transmission registers - buffer --> 0
+
+#define TXB0CTRL 0x30
+#define TXB0SIDH 0x31
+#define TXB0SIDL 0x32
+#define TXB0EID8 0x33
+#define TXB0EID0 0x34
+#define TXB0DLC 0x35
+#define TXB0D0 0x36
+#define TXB0D1 0x37
+#define TXB0D2 0x38
+#define TXB0D3 0x39
+#define TXB0D4 0x3A
+#define TXB0D5 0x3B
+#define TXB0D6 0x3C
+#define TXB0D7 0x3D
+
+//Message transmission registers - buffer --> 1
+
+#define TXB1CTRL 0x40
+#define TXB1SIDH 0x41
+#define TXB1SIDL 0x42
+#define TXB1EID8 0x43
+#define TXB1EID0 0x44
+#define TXB1DLC 0x45
+#define TXB1D0 0x46
+#define TXB1D1 0x47
+#define TXB1D2 0x48
+#define TXB1D3 0x49
+#define TXB1D4 0x4A
+#define TXB1D5 0x4B
+#define TXB1D6 0x4C
+#define TXB1D7 0x4D
+
+//Message transmission registers - buffer --> 2
+
+#define TXB2CTRL 0x50
+#define TXB2SIDH 0x51
+#define TXB2SIDL 0x52
+#define TXB2EID8 0x53
+#define TXB2EID0 0x54
+#define TXB2DLC 0x55
+#define TXB2D0 0x56
+#define TXB2D1 0x57
+#define TXB2D2 0x58
+#define TXB2D3 0x59
+#define TXB2D4 0x5A
+#define TXB2D5 0x5B
+#define TXB2D6 0x5C
+#define TXB2D7 0x5D
+
+//Message reception registers - buffer --> 0
+
+#define RXB0CTRL 0x60
+#define RXB0SIDH 0x61
+#define RXB0SIDL 0x62
+#define RXB0EID8 0x63
+#define RXB0EID0 0x64
+#define RXB0DLC 0x65
+#define RXB0D0 0x66
+#define RXB0D1 0x67
+#define RXB0D2 0x68
+#define RXB0D3 0x69
+#define RXB0D4 0x6A
+#define RXB0D5 0x6B
+#define RXB0D6 0x6C
+#define RXB0D7 0x6D
+
+//Message reception registers - buffer --> 1
+
+#define RXB1CTRL 0x70
+#define RXB1SIDH 0x71
+#define RXB1SIDL 0x72
+#define RXB1EID8 0x73
+#define RXB1EID0 0x74
+#define RXB1DLC 0x75
+#define RXB1D0 0x76
+#define RXB1D1 0x77
+#define RXB1D2 0x78
+#define RXB1D3 0x79
+#define RXB1D4 0x7A
+#define RXB1D5 0x7B
+#define RXB1D6 0x7C
+#define RXB1D7 0x7D
+
+//Control registers
+
+/** BFPCTRL **/
+#define B1BFS 5
+#define B0BFS 4
+#define B1BFE 3
+#define B0BFE 2
+#define B1BFM 1
+#define B0BFM 0
+
+/** TXRTSCTRL **/
+#define B2RTS 5
+#define B1RTS 4
+#define B0RTS 3
+#define B2RTSM 2
+#define B1RTSM 1
+#define B0RTSM 0
+
+/** CANSTAT **/
+#define OPMOD2 7
+#define OPMOD1 6
+#define OPMOD0 5
+#define ICOD2 3
+#define ICOD1 2
+#define ICOD0 1
+
+/** CANCTRL **/
+#define REQOP2 7
+#define REQOP1 6
+#define REQOP0 5
+#define ABAT 4
+#define CLKEN 2
+#define CLKPRE1 1
+#define CLKPRE0 0
+
+/** CNF3 **/
+#define SOF 7
+#define WAKFIL 6
+#define PHSEG22 2
+#define PHSEG21 1
+#define PHSEG20 0
+
+/** CNF2 **/
+#define BTLMODE 7
+#define SAM 6
+#define PHSEG12 5
+#define PHSEG11 4
+#define PHSEG10 3
+#define PHSEG2 2
+#define PHSEG1 1
+#define PHSEG0 0
+
+/** CNF1 **/
+#define SJW1 7
+#define SJW0 6
+#define BRP5 5
+#define BRP4 4
+#define BRP3 3
+#define BRP2 2
+#define BRP1 1
+#define BRP0 0
+
+/** CANINTE **/
+#define MERRE 7
+#define WAKIE 6
+#define ERRIE 5
+#define TX2IE 4
+#define TX1IE 3
+#define TX0IE 2
+#define RX1IE 1
+#define RX0IE 0
+
+/** CANINTF */
+#define MERRF 7
+#define WAKIF 6
+#define ERRIF 5
+#define TX2IF 4
+#define TX1IF 3
+#define TX0IF 2
+#define RX1IF 1
+#define RX0IF 0
+
+/** EFLG **/
+#define RX1OVR 7
+#define RX0OVR 6
+#define TXB0 5
+#define TXEP 4
+#define RXEP 3
+#define TXWAR 2
+#define RXWAR 1
+#define EWARN 0
+
+/** TXBnCTRL (n = 0, 1, 2) **/
+#define ABTF 6
+#define MLOA 5
+#define TXERR 4
+#define TXREQ 3
+#define TXP1 1
+#define TXP0 0
+
+/** RXB0CTRL **/
+#define RXM1 6
+#define RXM0 5
+#define RXRTR 3
+#define BUKT 2
+#define BUKT1 1
+#define FILHIT0 0
+
+/** RXB1CTRL **/
+#define RSM1 6
+#define FILHIT2 2
+#define FILHIT1 1
+
+/** TXBnSIDL (n = 0, 1) **/
+#define EXIDE 3
+
+/** RXBnSIDL (n = 0, 1) **/
+#define SRR 4
+#define IDE 3
+
+/** RXBnDLC (n = 0, 1) / TXBnDLC **/
+#define RTR 6
+#define DLC3 3
+#define DLC2 2
+#define DLC1 1
+#define DLC0 0
+
+
+/******************************************************************************
+ CAN in Automation (CiA)
+ ******************************************************************************/
+
+//Standard OBD requests and responses
+
+#define ID_QUERY 0x7DF
+#define ID_RESPONSE 0x7E8
+
+
+//Standars PIDs
+
+ //Mode PID Data ret......Description...............min_val...max_val..units...formula
+
+#define CALC_ENGINE_LOAD 0X04 //01 04 1 Calculated engine load value 0 100 % A*100/255
+#define ENGINE_COOLANT_TEMP 0x05 //01 05 1 Engine coolant temperature -40 215 °C A-40
+#define SHORT_TERM_FUEL_1 0x06 //01 06 1 Short term fuel % trim—Bank 1 -100 (Rich) 99.22 (Lean) % (A-128) * 100/128
+#define LONG_TERM_FUEL_1 0x07 //01 07 1 Long term fuel % trim—Bank 1 -100 (Rich) 99.22 (Lean) % (A-128) * 100/128
+#define SHORT_TERM_FUEL_2 0x08 //01 08 1 Short term fuel % trim—Bank 2 -100 (Rich) 99.22 (Lean) % (A-128) * 100/128
+#define LONG_TERM_FUEL_2 0x09 //01 09 1 Long term fuel % trim—Bank 2 -100 (Rich) 99.22 (Lean) % (A-128) * 100/128
+#define O2_B1_S1_VOLTAGE 0x14 //01 14 2 Bank 1, Sensor 1:Oxygen sensor voltage,Short term fuel trim 0-100(lean) 1.275 99.2(rich) Volts % A/200(B-128) * 100/128 (if B==0xFF, sensor is not used in trim calc)
+#define FUEL_PRESSURE 0x0A //01 0A 1 Fuel pressure 0 765 kPa (gauge) A*3
+#define INTAKE_M_A_PRESSURE 0x0B //01 0B 1 Intake manifold absolute pressure 0 255 kPa (absolute) A
+#define ENGINE_RPM 0x0C //01 0C 2 Engine RPM 0 16,383.75 rpm ((A*256)+B)/4
+#define VEHICLE_SPEED 0x0D //01 0D 1 Vehicle speed 0 255 km/h A
+#define TIMING_ADVANCE 0x0E //01 0E 1 Timing advance -64 63.5 ° relative to #1 cylinder A/2 - 64
+#define INTAKE_AIR_TEMP 0x0F //01 0F 1 Intake air temperature -40 215 °C A-40
+#define MAF_AIR_FLOW_RATE 0x10 //01 10 2 MAF air flow rate 0 655.35 g/s ((A*256)+B) / 100
+#define THROTTLE_POSITION 0x11 //01 11 1 Throttle position 0 100 % A*100/255
+#define RUNTIME_SINCE_START 0x1F //01 1F 2 Run time since engine start 0 65,535 seconds (A*256)+B
+#define DISTANCE_WITH_MALF 0x21 //01 21 2 Distance traveled with malfunction indicator lamp (MIL) on 0 65,535 km (A*256)+B
+#define FUEL_RAIL_PRESSURE_RELATIVE 0x22 //01 22 2 Fuel Rail Pressure (relative to manifold vacuum) 0 5177.265 kPa (((A*256)+B) * 10) / 128
+#define FUEL_RAIL_PRESSURE_DIESEL 0x23 //01 23 2 Fuel Rail Pressure (diesel) 0 655350 kPa (gauge) ((A*256)+B) * 10
+#define FUEL_LEVEL 0x2F //01 2F 1 Fuel Level Input 0 100 % 100*A/255
+#define NUM_WARMUPS_SINCE_CODES 0x30 //01 30 1 # of warm-ups since codes cleared 0 255 N/A A
+#define DISTANCE_SINCE_CODES 0x31 //01 31 2 Distance traveled since codes cleared 0 65,535 km (A*256)+B
+#define EVAP_SYSTEM_VAPOR_PRESSURE 0x32 //01 32 2 Evap. System Vapor Pressure -8,192 8,192 Pa ((A*256)+B)/4 (A is signed)
+#define BAROMETRIC_PRESSURE 0x33 //01 33 1 Barometric pressure 0 255 kPa (Absolute) A
+#define CONTROL_MODULE_VOLTAGE 0x42 //01 42 2 Control module voltage 0 65.535 V ((A*256)+B)/1000
+#define ABSOLUTE_LOAD_VALUE 0x43 //01 43 2 Absolute load value 0 25,700 % ((A*256)+B)*100/255
+#define COMMAND_EQUIV_RATIO 0x44 //01 44 2 Command equivalence ratio 0 2 N/A ((A*256)+B)/32768
+#define REL_THROTTLE_POSITION 0x45 //01 45 1 Relative throttle position 0 100 % A*100/255
+#define AMBIENT_AIR_TEMPERATURE 0x46 //01 46 1 Ambient air temperature -40 215 °C A-40
+#define ABS_THROTTLE_POSITION_B 0x47 //01 47 1 Absolute throttle position B 0 100 % A*100/255
+#define ABS_THROTTLE_POSITION_C 0x48 //01 48 1 Absolute throttle position C 0 100 % A*100/255
+#define ABS_THROTTLE_POSITION_D 0x49 //01 49 1 Accelerator pedal position D 0 100 % A*100/255
+#define ABS_THROTTLE_POSITION_E 0x4A //01 4A 1 Accelerator pedal position E 0 100 % A*100/255
+#define ABS_THROTTLE_POSITION_F 0x4B //01 4B 1 Accelerator pedal position F 0 100 % A*100/255
+#define COMMANDED_THROTTLE_ACTUATOR 0x4C //01 4C 1 Commanded throttle actuator 0 100 % A*100/255
+#define TIME_RUN_WITH_MIL_ON 0x4D //01 4D 2 Time run with MIL on 0 65,535 minutes (A*256)+B
+#define TIME_SINCE_T_CODES_CLEAR 0x4E //01 4E 2 Time since trouble codes cleared 0 65,535 minutes (A*256)+B
+#define FUEL_TYPE 0x51 //01 51 1 Fuel Type From fuel type table see below
+#define ETHANOL_FUEL 0x52 //01 52 1 Ethanol fuel % 0 100 % A*100/255
+#define ABS_EVAP_SYST_VAPOUR_PRESS 0x53 //01 53 2 Absoulute Evap system Vapour Pressure 0 327675 kpa 1/200 per bit
+#define ENGINE_FUEL_RATE 0x5E //01 5E 2 Engine fuel rate 0 - 3212.75 L/h ((A*256)+B)*0.05
+
+
+#include <inttypes.h>
+
+
+/******************************************************************************
+ * Class
+ ******************************************************************************/
+
+ //! CAN Class
+/*!
+ CAN Class defines all the variables and functions used to manage CAN-bus modules
+ */
+
+class CAN
+{
+
+ private:
+ // Write a register of the MCP2515 using SPI
+ void writeRegister( char direction, char data );
+ // Read a register of the MCP2515 using SPI
+ char readRegister(char direction);
+ // Modify a bit of the MCP2515 using SPI
+ void bitModify(char direction, char mask, char data);
+ // Check the status of the MCP2515 registers
+ char readStatus(char type);
+ // Check if the buffers are empty
+ bool checkFreeBuffer(void);
+ // Reset MCP2515
+ void reset(void);
+
+
+ public:
+
+ // Data structure
+ typedef struct{
+ unsigned int id;
+ struct
+ {
+ char rtr : 1;
+ char length : 4;
+ }header;
+
+ uint8_t data[8];
+ }messageCAN;
+
+ // Receive buffer
+ messageCAN messageRx;
+ // Trasmit buffer
+ messageCAN messageTx;
+ // Empty constructor
+ CAN(void);
+ // Powers the CANBus module and opens the SPI
+ bool begin(uint16_t speed);
+ // Check if there is any message
+ uint8_t messageAvailable(void);
+ // Take the CAN message
+ char getMessage(messageCAN *msje);
+ // Send the CAN message
+ char sendMessage(messageCAN *msje);
+ // CAN message print out the serial port
+ void printMessage(messageCAN *msje);
+ // Configure the MCP2515
+ void setMode(uint8_t mode);
+
+/***********************************************************************
+ CAN in Automation (CiA)
+***********************************************************************/
+
+ unsigned int getEngineLoad();
+ unsigned int getEngineCoolantTemp();
+ unsigned int getFuelPressure();
+ unsigned int getIntakeMAPressure();
+ unsigned int getEngineRPM();
+ unsigned int getVehicleSpeed();
+ unsigned int getTimingAdvance();
+ unsigned int getIntankeAirTemp();
+ unsigned int getMAFairFlowRate();
+ unsigned int getThrottlePosition();
+ unsigned int getFuelLevel();
+ unsigned int getBarometricPressure();
+ unsigned int getEngineFuelRate();
+
+ // General Function
+ void CiARequest(uint8_t PID);
+
+
+};
+
+
+#endif
+
+