Bobcat Racing
Sample code for Arduino CAN
Dependencies: mbed
arduinoCAN.h
- Committer:
- jedh
- Date:
- 2016-02-29
- Revision:
- 0:6ed8574c6258
File content as of revision 0:6ed8574c6258:
/*! \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