char CanbusClass::message_rx(unsigned char *buffer) {
tCAN message;
if (mcp2515_check_message()) {
// Lese die Nachricht aus dem Puffern des MCP2515
if (mcp2515_get_message(&message)) {
// print_can_message(&message);
// PRINT("\n");
buffer[0] = message.data[0];
buffer[1] = message.data[1];
buffer[2] = message.data[2];
buffer[3] = message.data[3];
buffer[4] = message.data[4];
buffer[5] = message.data[5];
buffer[6] = message.data[6];
buffer[7] = message.data[7];
// buffer[] = message[];
// buffer[] = message[];
// buffer[] = message[];
// buffer[] = message[];
}
else {
// PRINT("Kann die Nachricht nicht auslesen\n\n");
}
}
}
char CanbusClass::message_rx(unsigned char *buffer) {
tCAN message;
if (mcp2515_check_message()) {
// Read the message from the buffer of MCP2515
if (mcp2515_get_message(&message)) {
// print_can_message(&message);
// PRINT("\n");
buffer[0] = message.data[0];
buffer[1] = message.data[1];
buffer[2] = message.data[2];
buffer[3] = message.data[3];
buffer[4] = message.data[4];
buffer[5] = message.data[5];
buffer[6] = message.data[6];
buffer[7] = message.data[7];
// buffer[] = message[];
// buffer[] = message[];
// buffer[] = message[];
// buffer[] = message[];
}
else {
// PRINT("Error" Message could not be read!\n\n");
}
}
}
/**
* Removes all message from the receive buffer
*/
void clear_receive_buffer(void) {
tExtendedCAN reply;
while (mcp2515_check_message())
mcp2515_get_extmessage(&reply);
}
char CanbusClass::message_rx(tCAN *msg) {
tCAN message;
if (mcp2515_check_message()) {
if (mcp2515_get_message(&message)) {
*msg = message;
return 1;
}
}
return 0;
}
/**
* Recieve CAN Messages
*/
void can_receive_handler(void) {
tExtendedCAN reply;
if (mcp2515_check_message()) {
mcp2515_get_extmessage(&reply);
//char buf[10];
//sprintf(buf,"id:%i",reply.id[3]);
//uart1_puts(buf);
// soft-CAN_ID-filter
if (reply.id[3] == SENSORBOARD_ID) {
parse_data(&reply);
}
}
}
int CanbusClass::read_msg( int &a, int &b, int &c, int &d)
{
tCAN message;
int timeout;
while(timeout < 4000)
{
timeout++;
if (mcp2515_check_message())
{
mcp2515_get_message(&message);
int tps = (message.data[1]*256 + message.data[0]);
a = (message.data[1]*256 + message.data[0]);
b = (message.data[3]*256 + message.data[2]);
c = (message.data[5]*256 + message.data[4]);
d = (message.data[7]*256 + message.data[6]);
return 1;
} else {
}
}
return 0;
}
char CanbusClass::ecu_req(unsigned char pid, char *buffer)
{
tCAN message;
float engine_data;
int timeout = 0;
char message_ok = 0;
// Prepair message
message.id = PID_REQUEST;
message.header.rtr = 0;
message.header.length = 8;
message.data[0] = 0x02;
message.data[1] = 0x01;
message.data[2] = pid;
message.data[3] = 0x00;
message.data[4] = 0x00;
message.data[5] = 0x00;
message.data[6] = 0x00;
message.data[7] = 0x00;
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
if (mcp2515_send_message(&message)) {
}
if (mcp2515_check_message())
{
if (mcp2515_get_message(&message))
{
switch(message.data[2])
{ /* Details from http://en.wikipedia.org/wiki/OBD-II_PIDs */
case ENGINE_LOAD: // Throttle Position
engine_data = (message.data[3]*100)/255;
sprintf(buffer,"%d %% ",(int) engine_data);
break;
case ENGINE_RPM: // ((A*256)+B)/4 [RPM]
engine_data = ((message.data[3]*256) + message.data[4])/4;
sprintf(buffer,"%d rpm ",(int) engine_data);
break;
case ENGINE_COOLANT_TEMP: // A-40 [degree C]
engine_data = message.data[3] - 40;
sprintf(buffer,"%d degC",(int) engine_data);
break;
case VEHICLE_SPEED: // A [km]
engine_data = message.data[3];
sprintf(buffer,"%d km ",(int) engine_data);
break;
case MAF_SENSOR: // ((256*A)+B) / 100 [g/s]
engine_data = ((message.data[3]*256) + message.data[4])/100;
sprintf(buffer,"%d g/s",(int) engine_data);
break;
case O2_VOLTAGE: // A * 0.005 (B-128) * 100/128 (if B==0xFF, sensor is not used in trim calc)
engine_data = message.data[3]*0.005;
sprintf(buffer,"%d V",(int) engine_data);
break;
case THROTTLE: // Throttle Position
engine_data = (message.data[3]*100)/255;
sprintf(buffer,"%d %% ",(int) engine_data);
break;
case INTAKE_AIR_TEMP: // A-40 [degree C]
engine_data = message.data[3] - 40;
sprintf(buffer,"%d degC",(int) engine_data);
break;
case FUEL_TAKE_LEVEL: // Fuel Tank Level
engine_data = (message.data[3]*100)/255;
sprintf(buffer,"%d %% ",(int) engine_data);
break;
case OBD_STANDARD: // OBD_STD
sprintf(buffer,"%d ",(int) message.data[3]);
break;
}
}
}
}
char CanbusClass::ecu_req(unsigned char pid, char *buffer)
{
tCAN message;
float engine_data;
int timeout = 0;
char message_ok = 0;
// Prepair message
message.id = PID_REQUEST;
message.header.rtr = 0;
message.header.length = 8;
message.data[0] = 0x02;
message.data[1] = 0x01;
message.data[2] = pid;
message.data[3] = 0x00;
message.data[4] = 0x00;
message.data[5] = 0x00;
message.data[6] = 0x00;
message.data[7] = 0x00;
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
// SET(LED2_HIGH);
if (mcp2515_send_message(&message)) {
}
while(timeout < 4000)
{
timeout++;
if (mcp2515_check_message())
{
if (mcp2515_get_message(&message))
{
if((message.id == PID_REPLY) && (message.data[2] == pid)) // Check message is the reply and its the right PID
{
switch(message.data[2])
{ /* Details from http://en.wikipedia.org/wiki/OBD-II_PIDs */
case ENGINE_RPM: // ((A*256)+B)/4 [RPM]
engine_data = ((message.data[3]*256) + message.data[4])/4;
sprintf(buffer,"%d rpm ",(int) engine_data);
break;
case ENGINE_COOLANT_TEMP: // A-40 [degree C]
engine_data = message.data[3] - 40;
sprintf(buffer,"%d degC",(int) engine_data);
break;
case VEHICLE_SPEED: // A [km]
engine_data = message.data[3];
sprintf(buffer,"%d km ",(int) engine_data);
break;
case MAF_SENSOR: // ((256*A)+B) / 100 [g/s]
engine_data = ((message.data[3]*256) + message.data[4])/100;
sprintf(buffer,"%d g/s",(int) engine_data);
break;
case O2_VOLTAGE: // A * 0.005 (B-128) * 100/128 (if B==0xFF, sensor is not used in trim calc)
engine_data = message.data[3]*0.005;
sprintf(buffer,"%d v",(int) engine_data);
case THROTTLE: // Throttle Position
engine_data = (message.data[3]*100)/255;
sprintf(buffer,"%d %% ",(int) engine_data);
break;
}
message_ok = 1;
}
}
}
if(message_ok == 1) return 1;
}
return 0;
}
int main(void)
{
// Initialisiere die UART Schnittstelle
uart_init(UART_BAUD_SELECT(9600UL, F_CPU));
// Aktiviere Interrupts
sei();
// Umleiten der Standardausgabe => ab jetzt koennen wir printf() verwenden
stdout = &mystdout;
// Versuche den MCP2515 zu initilaisieren
if (!mcp2515_init()) {
PRINT("Fehler: kann den MCP2515 nicht ansprechen!\n");
for (;;);
}
else {
PRINT("MCP2515 is aktiv\n\n");
}
PRINT("Erzeuge Nachricht\n");
tCAN message;
// einige Testwerte
message.id = 0x123;
message.header.rtr = 0;
message.header.length = 2;
message.data[0] = 0xab;
message.data[1] = 0xcd;
print_can_message(&message);
PRINT("\nwechsle zum Loopback-Modus\n\n");
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), (1<<REQOP1));
// Sende eine Nachricht
if (mcp2515_send_message(&message)) {
PRINT("Nachricht wurde in die Puffer geschrieben\n");
}
else {
PRINT("Fehler: konnte die Nachricht nicht senden\n");
}
// warte ein bisschen
_delay_ms(10);
if (mcp2515_check_message()) {
PRINT("Nachricht empfangen!\n");
// read the message from the buffers
if (mcp2515_get_message(&message)) {
print_can_message(&message);
PRINT("\n");
}
else {
PRINT("Fehler: konnte die Nachricht nicht auslesen\n\n");
}
}
else {
PRINT("Fehler: keine Nachricht empfangen\n\n");
}
PRINT("zurueck zum normalen Modus\n\n");
mcp2515_bit_modify(CANCTRL, (1<<REQOP2)|(1<<REQOP1)|(1<<REQOP0), 0);
// wir sind ab hier wieder mit dem CAN Bus verbunden
PRINT("Versuche die Nachricht per CAN zu verschicken\n");
// Versuche nochmal die Nachricht zu verschicken, diesmal per CAN
if (mcp2515_send_message(&message)) {
PRINT("Nachricht wurde in die Puffer geschrieben\n\n");
}
else {
PRINT("Fehler: konnte die Nachricht nicht senden\n\n");
}
PRINT("Warte auf den Empfang von Nachrichten\n\n");
while (1) {
// warten bis wir eine Nachricht empfangen
if (mcp2515_check_message()) {
PRINT("Nachricht empfangen!\n");
// Lese die Nachricht aus dem Puffern des MCP2515
if (mcp2515_get_message(&message)) {
print_can_message(&message);
PRINT("\n");
}
else {
PRINT("Kann die Nachricht nicht auslesen\n\n");
}
}
}
return 0;
}