Arduino CAN BUS Data on Harley Davidson

Projects Programming
1

Hi !

My name is Marcos and I´m new with arduino. I´m trying to get data from CAN BUS from my motorcycle (2019 Harley Davidson Low Rider S).

I´m using arduino UNO and MCP2515, I can connect and see can bus data flowing. But, when I send a request for RPM (PID 0x0C), I can see a lot of messages and very rarely I got a response with 0 value with PID 0x5C1.

I don´t know if Harley Davidson uses a different encoding for this messages, so, if somebody haves experience with this and can give me a clue, I will be vare grateful.

Here is my code :

// Service 01 PIDs (more detail: https://en.wikipedia.org/wiki/OBD-II_PIDs)
#define PID_ENGINE_LOAD 0x04
#define PID_COOLANT_TEMP 0x05
#define PID_SHORT_TERM_FUEL_TRIM_1 0x06
#define PID_LONG_TERM_FUEL_TRIM_1 0x07
#define PID_SHORT_TERM_FUEL_TRIM_2 0x08
#define PID_LONG_TERM_FUEL_TRIM_2 0x09
#define PID_FUEL_PRESSURE 0x0A
#define PID_INTAKE_MAP 0x0B
#define PID_ENGINE_RPM  0x0C
#define PID_VEHICLE_SPEED 0x0D
#define PID_TIMING_ADVANCE 0x0E
#define PID_INTAKE_TEMP 0x0F
#define PID_MAF_FLOW 0x10
#define PID_THROTTLE 0x11
#define PID_AUX_INPUT 0x1E
#define PID_RUNTIME 0x1F
#define PID_DISTANCE_WITH_MIL 0x21
#define PID_COMMANDED_EGR 0x2C
#define PID_EGR_ERROR 0x2D
#define PID_COMMANDED_EVAPORATIVE_PURGE 0x2E
#define PID_FUEL_LEVEL 0x2F
#define PID_WARMS_UPS 0x30
#define PID_DISTANCE 0x31
#define PID_EVAP_SYS_VAPOR_PRESSURE 0x32
#define PID_BAROMETRIC 0x33
#define PID_CATALYST_TEMP_B1S1 0x3C
#define PID_CATALYST_TEMP_B2S1 0x3D
#define PID_CATALYST_TEMP_B1S2 0x3E
#define PID_CATALYST_TEMP_B2S2 0x3F
#define PID_CONTROL_MODULE_VOLTAGE 0x42
#define PID_ABSOLUTE_ENGINE_LOAD 0x43
#define PID_AIR_FUEL_EQUIV_RATIO 0x44
#define PID_RELATIVE_THROTTLE_POS 0x45
#define PID_AMBIENT_TEMP 0x46
#define PID_ABSOLUTE_THROTTLE_POS_B 0x47
#define PID_ABSOLUTE_THROTTLE_POS_C 0x48
#define PID_ACC_PEDAL_POS_D 0x49
#define PID_ACC_PEDAL_POS_E 0x4A
#define PID_ACC_PEDAL_POS_F 0x4B
#define PID_COMMANDED_THROTTLE_ACTUATOR 0x4C
#define PID_TIME_WITH_MIL 0x4D
#define PID_TIME_SINCE_CODES_CLEARED 0x4E
#define PID_ETHANOL_FUEL 0x52
#define PID_FUEL_RAIL_PRESSURE 0x59
#define PID_HYBRID_BATTERY_PERCENTAGE 0x5B
#define PID_ENGINE_OIL_TEMP 0x5C
#define PID_FUEL_INJECTION_TIMING 0x5D
#define PID_ENGINE_FUEL_RATE 0x5E
#define PID_ENGINE_TORQUE_DEMANDED 0x61
#define PID_ENGINE_TORQUE_PERCENTAGE 0x62
#define PID_ENGINE_REF_TORQUE 0x63

//----------------------------------------------

#define CAN_ID_PID 0x7DF //OBD-II CAN frame ID

#include <mcp_can.h>
#include <SPI.h>

#define CAN0_INT 2                              // Set INT to pin 2  <--------- CHANGE if using different pin number
MCP_CAN CAN0(10);                               // Set CS to pin 10 <--------- CHANGE if using different pin number

long unsigned int rxId;
unsigned char len = 0;
unsigned char rxBuf[8];
char msgString[128];                        // Array to store serial string

void sendPID(unsigned char __pid)
{
  unsigned char tmp[8] = {0x02, 0x01, __pid, 0, 0, 0, 0, 0};

  byte sndStat = CAN0.sendMsgBuf(CAN_ID_PID, 0, 8, tmp);

  if (sndStat == CAN_OK) {
    Serial.print("PID sent: 0x");
    Serial.println(__pid, HEX);
  }
  else {
    Serial.println("Error Sending Message...");
  }
}

void receivePID(unsigned char __pid)
{
    if (!digitalRead(CAN0_INT)) {                      // If CAN0_INT pin is low, read receive buffer
    CAN0.readMsgBuf(&rxId, &len, rxBuf);      // Read data: len = data length, buf = data byte(s)

    sprintf(msgString, "Received -> Standard ID: 0x%.3lX, DLC: %1d, Data: ", rxId, len);
    Serial.print(msgString);

    for (byte i = 0; i < len; i++) {
      sprintf(msgString, " 0x%.2X", rxBuf[i]);
      Serial.print(msgString);
    }
    Serial.println("");

    switch (__pid) {
      case PID_THROTTLE:
        if(rxBuf[2] == PID_THROTTLE){
          uint8_t percent;
          percent = (100 / 255) * rxBuf[3];
          Serial.print("Throttle position (%): ");
          Serial.println(percent, DEC);
        }
      break;

      case PID_ENGINE_RPM:
        if(rxBuf[2] == PID_ENGINE_RPM){
          uint16_t rpm;
          rpm = ((256 * rxBuf[3]) + rxBuf[4]) / 4;
          Serial.print("Engine Speed (rpm): ");
          Serial.println(rpm, DEC);
        }
      break;
    }
    
  }
}

void setup()
{
  Serial.begin(9600);

  // Initialize MCP2515 running at 8MHz with a baudrate of 500kb/s and the masks and filters disabled.
  if (CAN0.begin(MCP_STDEXT, CAN_500KBPS, MCP_8MHZ) == CAN_OK) { //< -------- - CHANGE if using different board
    Serial.println("MCP2515 Initialized Successfully!");
  }
  else {
    Serial.println("Error Initializing MCP2515...");
    while (1);
  }

  //initialise mask and filter to allow only receipt of 0x5xx CAN IDs

  CAN0.init_Mask(0, 0, 0x05000000);              // Init first mask...
  CAN0.init_Mask(1, 0, 0x05000000);              // Init second mask...

  
  for (uint8_t i = 0; i < 6; ++i) {
    CAN0.init_Filt(i, 0, 0x05000000);           //Init filters
  }

  CAN0.setMode(MCP_NORMAL);                     // Set operation mode to normal so the MCP2515 sends acks to received data.

  pinMode(CAN0_INT, INPUT);                    // Configuring pin for /INT input

  Serial.println("Sending and Receiving OBD-II_PIDs Example...");
}

void loop()
{
  //request Throttle %
  sendPID(PID_THROTTLE);

  delay(40); //to allow time for ECU to reply

  receivePID(PID_THROTTLE);

  //request engine speed
  sendPID (PID_ENGINE_RPM);

  delay(40); //to allow time for ECU to reply

  receivePID(PID_ENGINE_RPM);

  //abitrary loop delay
  delay(40);

}

And my output :

20:44:51.382 -> Entering Configuration Mode Successful!
20:44:51.414 -> Setting Baudrate Successful!
20:44:51.446 -> MCP2515 Initialized Successfully!
20:44:51.486 -> Sending and Receiving OBD-II_PIDs Example...
20:44:51.526 -> PID sent: 0x11
20:44:51.561 -> Received -> Standard ID: 0x543, DLC: 2, Data:  0x2D 0x1A
20:44:51.628 -> PID sent: 0xC
20:44:51.628 -> Received -> Standard ID: 0x5C1, DLC: 8, Data:  0x00 0x00 0x0C 0x00 0x00 0x37 0x00 0x00
20:44:51.728 -> Engine Speed (rpm): 0
20:44:51.762 -> PID sent: 0x11
20:44:51.762 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:51.827 -> PID sent: 0xC
20:44:51.861 -> Received -> Standard ID: 0x544, DLC: 8, Data:  0x0D 0xBB 0x40 0xFF 0x00 0x00 0x00 0x00
20:44:51.960 -> PID sent: 0x11
20:44:51.960 -> Received -> Standard ID: 0x530, DLC: 8, Data:  0x11 0xA2 0x82 0x80 0xFF 0x7F 0x20 0x10
20:44:52.061 -> PID sent: 0xC
20:44:52.061 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:52.160 -> PID sent: 0x11
20:44:52.160 -> Received -> Standard ID: 0x543, DLC: 2, Data:  0x2D 0x1A
20:44:52.227 -> PID sent: 0xC
20:44:52.260 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:52.327 -> PID sent: 0x11
20:44:52.360 -> Received -> Standard ID: 0x535, DLC: 8, Data:  0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00
20:44:52.426 -> PID sent: 0xC
20:44:52.460 -> Received -> Standard ID: 0x570, DLC: 6, Data:  0x01 0x00 0x00 0x00 0x00 0x00
20:44:52.526 -> PID sent: 0x11
20:44:52.559 -> Received -> Standard ID: 0x5C1, DLC: 8, Data:  0x00 0x00 0x0C 0x00 0x00 0x37 0x00 0x00
20:44:52.625 -> PID sent: 0xC
20:44:52.659 -> Received -> Standard ID: 0x544, DLC: 8, Data:  0x0D 0xBB 0x40 0xFF 0x00 0x00 0x00 0x00
20:44:52.759 -> PID sent: 0x11
20:44:52.759 -> Received -> Standard ID: 0x530, DLC: 8, Data:  0x11 0xA2 0x82 0x80 0xFF 0x7F 0x20 0x10
20:44:52.859 -> PID sent: 0xC
20:44:52.859 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:52.959 -> PID sent: 0x11
20:44:52.959 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:53.059 -> PID sent: 0xC
20:44:53.059 -> Received -> Standard ID: 0x543, DLC: 2, Data:  0x2D 0x1A
20:44:53.125 -> PID sent: 0x11
20:44:53.158 -> Received -> Standard ID: 0x501, DLC: 1, Data:  0x01
20:44:53.192 -> PID sent: 0xC
20:44:53.225 -> Received -> Standard ID: 0x535, DLC: 8, Data:  0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00
20:44:53.292 -> PID sent: 0x11
20:44:53.325 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:53.391 -> PID sent: 0xC
20:44:53.425 -> Received -> Standard ID: 0x530, DLC: 8, Data:  0x11 0xA2 0x82 0x80 0xFF 0x7F 0x20 0x10
20:44:53.525 -> PID sent: 0x11
20:44:53.525 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:53.625 -> PID sent: 0xC
20:44:53.625 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:53.739 -> PID sent: 0x11
20:44:53.746 -> Received -> Standard ID: 0x540, DLC: 8, Data:  0x01 0x11 0x57 0xCF 0xFF 0x00 0x00 0x00
20:44:53.814 -> PID sent: 0xC
20:44:53.814 -> Received -> Standard ID: 0x543, DLC: 2, Data:  0x2D 0x1A
20:44:53.891 -> PID sent: 0x11
20:44:53.891 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:53.991 -> PID sent: 0xC
20:44:53.991 -> Received -> Standard ID: 0x541, DLC: 8, Data:  0x00 0x00 0x00 0x00 0x00 0x50 0x00 0xFF
20:44:54.090 -> PID sent: 0x11
20:44:54.125 -> Received -> Standard ID: 0x5C1, DLC: 8, Data:  0x00 0x00 0x0C 0x00 0x00 0x37 0x00 0x00
20:44:54.222 -> Received -> Standard ID: 0x542, DLC: 8, Data:  0x20 0xA2 0x00 0x08 0x4B 0x10 0xA0 0x00
20:44:54.324 -> PID sent: 0x11
20:44:54.324 -> Received -> Standard ID: 0x532, DLC: 8, Data:  0xA0 0xAA 0xAA 0xA0 0x00 0x00 0x00 0x00
20:44:54.423 -> PID sent: 0xC
20:44:54.423 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:54.523 -> PID sent: 0x11
20:44:54.523 -> Received -> Standard ID: 0x543, DLC: 2, Data:  0x2D 0x1A
20:44:54.591 -> PID sent: 0xC
20:44:54.636 -> Received -> Standard ID: 0x5C1, DLC: 8, Data:  0x00 0x00 0x0C 0x00 0x00 0x37 0x00 0x00
20:44:54.690 -> Engine Speed (rpm): 0
20:44:54.723 -> PID sent: 0x11
20:44:54.723 -> Received -> Standard ID: 0x535, DLC: 8, Data:  0x08 0x00 0x00 0x00 0x00 0x00 0x00 0x00
20:44:54.823 -> PID sent: 0xC
20:44:54.856 -> Received -> Standard ID: 0x543, DLC: 2, Data:  0x2D 0x1A
20:44:54.920 -> PID sent: 0x11
20:44:54.920 -> Received -> Standard ID: 0x530, DLC: 8, Data:  0xFF 0xFF 0x81 0x83 0xFF 0x7C 0x60 0x10
20:44:55.022 -> PID sent: 0xC
20:44:55.022 -> Received -> Standard ID: 0x535, DLC: 8, Data:  0x04 0x00 0x00 0x00 0x00 0x00 0x00 0x00
20:44:55.122 -> PID sent: 0x11
20:44:55.122 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:55.222 -> PID sent: 0xC
20:44:55.222 -> Received -> Standard ID: 0x521, DLC: 7, Data:  0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF
20:44:55.322 -> PID sent: 0x11
20:44:55.322 -> Received -> Standard ID: 0x521, DLC: 7, Data:  0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF
20:44:55.422 -> PID sent: 0xC
20:44:55.455 -> Received -> Standard ID: 0x521, DLC: 7, Data:  0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF
20:44:55.522 -> PID sent: 0x11
20:44:55.555 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:55.322 -> Received -> Standard ID: 0x521, DLC: 7, Data:  0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF
20:44:55.422 -> PID sent: 0xC
20:44:55.455 -> Received -> Standard ID: 0x521, DLC: 7, Data:  0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF
20:44:55.522 -> PID sent: 0x11
20:44:55.555 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:55.621 -> PID sent: 0xC
20:44:55.655 -> Received -> Standard ID: 0x535, DLC: 8, Data:  0x04 0x00 0x00 0x00 0x00 0x00 0x00 0x00
20:44:55.721 -> PID sent: 0x11
20:44:55.754 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:55.821 -> PID sent: 0xC
20:44:55.854 -> Received -> Standard ID: 0x521, DLC: 7, Data:  0xFF 0xFF 0xFF 0xFF 0xFF 0xFF 0xFF
20:44:55.922 -> PID sent: 0x11
20:44:55.954 -> Received -> Standard ID: 0x5C1, DLC: 8, Data:  0x00 0x00 0x0C 0x00 0x00 0x37 0x00 0x10
20:44:56.054 -> PID sent: 0xC
20:44:56.054 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:56.120 -> PID sent: 0x11
20:44:56.155 -> Received -> Standard ID: 0x543, DLC: 2, Data:  0x2D 0x1A
20:44:56.221 -> PID sent: 0xC
20:44:56.221 -> Received -> Standard ID: 0x530, DLC: 8, Data:  0xFF 0xFF 0x81 0x83 0xFF 0x7B 0x60 0x10
20:44:56.320 -> PID sent: 0x11
20:44:56.320 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:56.420 -> PID sent: 0xC
20:44:56.420 -> Received -> Standard ID: 0x550, DLC: 6, Data:  0x00 0x00 0x02 0x00 0x00 0x00
20:44:56.520 -> PID sent: 0x11
20:44:56.520 -> Received -> Standard ID: 0x543, DLC: 2, Data:  0x2D 0x1A
20:44:56.587 -> PID sent: 0xC
20:44:56.619 -> Received -> Standard ID: 0x521, DLC: 7, Data:  0x00 0x00 0xFF 0xFF 0xFF 0xFF 0xFF
20:44:56.687 -> PID sent: 0x11
20:44:56.718 -> Received -> Standard ID: 0x535, DLC: 8, Data:  0x04 0x00 0x00 0x00 0x00 0x00 0x00 0x00
20:44:56.786 -> PID sent: 0xC
20:44:56.820 -> Received -> Standard ID: 0x521, DLC: 7, Data:  0x00 0x00 0xFF 0xFF 0xFF 0xFF 0xFF
20:44:56.919 -> PID sent: 0x11
20:44:56.919 -> Received -> Standard ID: 0x532, DLC: 8, Data:  0xA0 0xAA 0xAA 0xA0 0xE6 0x5D 0x00 0x00
20:44:57.019 -> PID sent: 0xC
20:44:57.019 -> Received -> Standard ID: 0x5C1, DLC: 8, Data:  0x00 0x00 0x0C 0x00 0x00 0x37 0x00 0x10
20:44:57.119 -> Engine Speed (rpm): 0
20:44:57.153 -> PID sent: 0x11
20:44:57.153 -> Received -> Standard ID: 0x541, DLC: 8, Data:  0x00 0x00 0x00 0x00 0x00 0x50 0x00 0xFF
20:44:57.252 -> PID sent: 0xC
20:44:57.252 -> Received -> Standard ID: 0x521, DLC: 7, Data:  0x00 0x00 0xFF 0xFF 0xFF 0xFF 0xFF
20:44:57.352 -> PID sent: 0x11
20:44:57.385 -> Received -> Standard ID: 0x535, DLC: 8, Data:  0x04 0x00 0x00 0x00 0x00 0x00 0x00 0x00
20:44:57.451 -> PID sent: 0xC
20:44:57.484 -> Received -> Standard ID: 0x520, DLC: 5, Data:  0x00 0x00 0x00 0x00 0x00
20:44:57.554 -> PID sent: 0x11
20:44:57.585 -> Received -> Standard ID: 0x542, DLC: 8, Data:  0x20 0x82 0x00 0x08 0x4B 0x10 0xA0 0x00
20:44:57.650 -> PID sent: 0xC
20:44:57.685 -> Received -> Standard ID: 0x520, DLC: 5, Data:  0x00 0x00 0x00 0x00 0x00
20:44:57.753 -> PID sent: 0x11
20:44:57.786 -> Received -> Standard ID: 0x530, DLC: 8, Data:  0xFF 0xFF 0x81 0x83 0xFF 0x7B 0x60 0x10
20:44:57.851 -> PID sent: 0xC
20:44:57.884 -> Received -> Standard ID: 0x520, DLC: 5, Data:  0x00 0x00 0x00 0x00 0x00
20:44:57.949 -> PID sent: 0x11
20:44:57.984 -> Received -> Standard ID: 0x530, DLC: 8, Data:  0xFF 0xFF 0x81 0x83 0xFF 0x7B 0x60 0x10
20:44:58.051 -> PID sent: 0xC
20:44:58.084 -> Received -> Standard ID: 0x520, DLC: 5, Data:  0x00 0x00 0x00 0x00 0x40
20:44:58.153 -> PID sent: 0x11
20:44:58.183 -> Received -> Standard ID: 0x530, DLC: 8, Data:  0xFF 0xFF 0x81 0x83 0xFF 0x7B 0x60 0x10
20:44:58.251 -> PID sent: 0xC
20:44:58.284 -> Received -> Standard ID: 0x520, DLC: 5, Data:  0x00 0x00 0x00 0x00 0x40
20:44:58.350 -> PID sent: 0x11
20:44:58.384 -> Received -> Standard ID: 0x530, DLC: 8, Data:  0xFF 0xFF 0x81 0x83 0xFF 0x7B 0x60 0x10
20:44:58.449 -> PID sent: 0xC
20:44:58.483 -> Received -> Standard ID: 0x5C1, DLC: 8, Data:  0x00 0x00 0x0C 0x00 0x00 0x37 0x00 0x10
20:44:58.550 -> Engine Speed (rpm): 0
20:44:58.583 -> PID sent: 0x11
20:44:58.617 -> Received -> Standard ID: 0x530, DLC: 8, Data:  0xFF 0xFF 0x81 0x83 0xFF 0x7B 0x60 0x10

Thanks !

2

Note :

The code and hardware works well on my car (2009 Ford Fusion).

Probally Harley change the PIDs...

3

those PIDs are standard OBDII diagnostics which is a standard for cars.

I doubt that motorbikes apply this standard....

however if it does happen that it used OBDII standard, try sending:

sendPID(0x00);

and see what reply you get.

if it reply positively, you should get a list of PIDs supported by your bike.

hope that helps....

4

I will make a try. Thanks sherzaad !

5

I found the pid. It´s the 0x7E8. But I think something is going wrong. I´m using one board arduino Uno and the MCP2515 with 8MHZ crystal. When I run the code, I have a lot of messages sended and only sometimes I got an answer.

The is my code updated :slight_smile:

// Service 01 PIDs (more detail: https://en.wikipedia.org/wiki/OBD-II_PIDs)

#define PID_ENGINE_LOAD 0x04
#define PID_COOLANT_TEMP 0x05
#define PID_SHORT_TERM_FUEL_TRIM_1 0x06
#define PID_LONG_TERM_FUEL_TRIM_1 0x07
#define PID_SHORT_TERM_FUEL_TRIM_2 0x08
#define PID_LONG_TERM_FUEL_TRIM_2 0x09
#define PID_FUEL_PRESSURE 0x0A
#define PID_INTAKE_MAP 0x0B
#define PID_ENGINE_RPM  0x0C
#define PID_VEHICLE_SPEED 0x0D
#define PID_TIMING_ADVANCE 0x0E
#define PID_INTAKE_TEMP 0x0F
#define PID_MAF_FLOW 0x10
#define PID_THROTTLE 0x11
#define PID_AUX_INPUT 0x1E
#define PID_RUNTIME 0x1F
#define PID_DISTANCE_WITH_MIL 0x21
#define PID_COMMANDED_EGR 0x2C
#define PID_EGR_ERROR 0x2D
#define PID_COMMANDED_EVAPORATIVE_PURGE 0x2E
#define PID_FUEL_LEVEL 0x2F
#define PID_WARMS_UPS 0x30
#define PID_DISTANCE 0x31
#define PID_EVAP_SYS_VAPOR_PRESSURE 0x32
#define PID_BAROMETRIC 0x33
#define PID_CATALYST_TEMP_B1S1 0x3C
#define PID_CATALYST_TEMP_B2S1 0x3D
#define PID_CATALYST_TEMP_B1S2 0x3E
#define PID_CATALYST_TEMP_B2S2 0x3F
#define PID_CONTROL_MODULE_VOLTAGE 0x42
#define PID_ABSOLUTE_ENGINE_LOAD 0x43
#define PID_AIR_FUEL_EQUIV_RATIO 0x44
#define PID_RELATIVE_THROTTLE_POS 0x45
#define PID_AMBIENT_TEMP 0x46
#define PID_ABSOLUTE_THROTTLE_POS_B 0x47
#define PID_ABSOLUTE_THROTTLE_POS_C 0x48
#define PID_ACC_PEDAL_POS_D 0x49
#define PID_ACC_PEDAL_POS_E 0x4A
#define PID_ACC_PEDAL_POS_F 0x4B
#define PID_COMMANDED_THROTTLE_ACTUATOR 0x4C
#define PID_TIME_WITH_MIL 0x4D
#define PID_TIME_SINCE_CODES_CLEARED 0x4E
#define PID_ETHANOL_FUEL 0x52
#define PID_FUEL_RAIL_PRESSURE 0x59
#define PID_HYBRID_BATTERY_PERCENTAGE 0x5B
#define PID_ENGINE_OIL_TEMP 0x5C
#define PID_FUEL_INJECTION_TIMING 0x5D
#define PID_ENGINE_FUEL_RATE 0x5E
#define PID_ENGINE_TORQUE_DEMANDED 0x61
#define PID_ENGINE_TORQUE_PERCENTAGE 0x62
#define PID_ENGINE_REF_TORQUE 0x63

//----------------------------------------------

#define CAN_ID_PID 0x7DF //OBD-II CAN frame ID

#include <mcp_can.h>
#include <SPI.h>

#define CAN0_INT 2                             // Set INT to pin 2  <--------- CHANGE if using different pin number
MCP_CAN CAN0(10);                               // Set CS to pin 10 <--------- CHANGE if using different pin number

long unsigned int rxId;
unsigned char len = 0;
unsigned char rxBuf[8];
char msgString[128];                        // Array to store serial string

void setup()

  {
  
  Serial.begin(9600);

  // Initialize MCP2515 running at 8MHz with a baudrate of 500kb/s and the masks and filters disabled.

  if (CAN0.begin(MCP_STDEXT, CAN_500KBPS, MCP_8MHZ) == CAN_OK) 
    {
      Serial.println("MCP2515 Initialized Successfully!");
    }
  else 
    {
      Serial.println("Error Initializing MCP2515...");
      while (1);
    }

  //initialise mask and filter to allow only receipt of 0x7xx CAN IDs

  CAN0.init_Mask(0, 0, 0x07E00000);              // Init first mask...
  CAN0.init_Mask(1, 0, 0x07E00000);              // Init second mask...
 
  for (uint8_t i = 0; i < 6; ++i) 
    {
    CAN0.init_Filt(i, 0, 0x07E00000);           //Init filters
    }

  CAN0.setMode(MCP_NORMAL);                     // Set operation mode to normal so the MCP2515 sends acks to received data.

  pinMode(CAN0_INT, INPUT);                    // Configuring pin for /INT input

  Serial.println("Sending and Receiving OBD-II_PIDs Example...");

}

void loop()

  {

  //request throttle %
  sendPID(PID_THROTTLE);
  receivePID(PID_THROTTLE);

  // request throttle actuator %
  sendPID(PID_COMMANDED_THROTTLE_ACTUATOR);
  receivePID(PID_COMMANDED_THROTTLE_ACTUATOR);

  //request engine speed rpm
  sendPID (PID_ENGINE_RPM);
  receivePID(PID_ENGINE_RPM);

  //request timing advance 
  sendPID (PID_TIMING_ADVANCE);
  receivePID(PID_TIMING_ADVANCE);

  }

void sendPID(unsigned char __pid)
  
  {
  
  unsigned char tmp[8] = {0x02, 0x01, __pid, 0, 0, 0, 0, 0};

  byte sndStat = CAN0.sendMsgBuf(CAN_ID_PID, 0, 8, tmp);

  if (sndStat == CAN_OK) 
    {
      Serial.print("PID sent: 0x");
      Serial.println(__pid, HEX);
    }
  else 
    {
      Serial.println("Error Sending Message...");
    }

}

void receivePID(unsigned char __pid)

{
    int vResultI = 0;
    double vResultD = 0;

    if (!digitalRead(CAN0_INT)) 

      {

        CAN0.readMsgBuf(&rxId, &len, rxBuf);      // Read data: len = data length, buf = data byte(s)

        if (rxId == 0x7E8)

          {

            sprintf(msgString, "Received -> Standard ID: 0x%.3lX, DLC: %1d, Data: ", rxId, len);
            Serial.print(msgString);

            for (byte i = 0; i < len; i++)
              {
                sprintf(msgString, " 0x%.2X", rxBuf[i]);
                Serial.print(msgString);
              }
  
            Serial.println("");

            switch (__pid) 
              {
                case PID_THROTTLE:
                  if(rxBuf[2] == PID_THROTTLE)
                    {
                      vResultD = double(100.0 / 255.0) * rxBuf[3];
                      vResultI = vResultD;
                      Serial.print("Posição de TPS (%): ");
                      Serial.println(vResultI);
                    }
                  break;
                case PID_COMMANDED_THROTTLE_ACTUATOR:
                  if(rxBuf[2] == PID_COMMANDED_THROTTLE_ACTUATOR)
                    {
                      vResultD = double(100.0 / 255.0) * rxBuf[3];
                      vResultI = vResultD;
                      Serial.print("Posição do atuador do acelerador (%): ");
                      Serial.println(vResultI);
                    }
                  break;
                case PID_ENGINE_RPM:
                  if(rxBuf[2] == PID_ENGINE_RPM)
                    {
                      vResultI = ((256 * rxBuf[3]) + rxBuf[4]) / 4;
                      Serial.print("RPM : ");
                      Serial.println(vResultI, DEC);
                    }
                  break;
                case PID_FUEL_PRESSURE:
                  if(rxBuf[2] == PID_FUEL_PRESSURE)
                    {
                      vResultD = (double(rxBuf[3]) * 3) / 100.0;
                      vResultI = vResultD;
                      Serial.print("Pressão de combustível (bar) : ");
                      Serial.println(vResultI, DEC);
                    }
                 break;
                case PID_ENGINE_OIL_TEMP:
                  if(rxBuf[2] == PID_ENGINE_OIL_TEMP)
                    {
                      vResultI = rxBuf[3] - 40;
                      Serial.print("Temperatura do óleo (c) : ");
                      Serial.println(vResultI, DEC);
                    }
                break;
                case PID_TIMING_ADVANCE:
                  if(rxBuf[2] == PID_TIMING_ADVANCE)
                    {
                      vResultD = (double(rxBuf[3]) / 2.0) - 64.0;
                      vResultI = vResultD;
                      Serial.print("Avanço da ignição : ");
                      Serial.println(vResultI, DEC);
                    }
                break;
            }

          }
      }

}

And there is the log printed on Serial window :

23:43:37.947 -> Entering Configuration Mode Successful!
23:43:37.978 -> Setting Baudrate Successful!
23:43:38.011 -> MCP2515 Initialized Successfully!
23:43:38.044 -> Starting to Set Mask!
23:43:38.078 -> Setting Mask Successful!
23:43:38.078 -> Starting to Set Mask!
23:43:38.111 -> Setting Mask Successful!
23:43:38.144 -> Starting to Set Filter!
23:43:38.178 -> Setting Filter Successful!
23:43:38.211 -> Starting to Set Filter!
23:43:38.211 -> Setting Filter Successful!
23:43:38.244 -> Starting to Set Filter!
23:43:38.278 -> Setting Filter Successful!
23:43:38.310 -> Starting to Set Filter!
23:43:38.345 -> Setting Filter Successful!
23:43:38.377 -> Starting to Set Filter!
23:43:38.377 -> Setting Filter Successful!
23:43:38.411 -> Starting to Set Filter!
23:43:38.445 -> Setting Filter Successful!
23:43:38.478 -> Sending and Receiving OBD-II_PIDs Example...
23:43:38.511 -> PID sent: 0x11
23:43:38.545 -> PID sent: 0x4C
23:43:38.545 -> PID sent: 0xC
23:43:38.578 -> PID sent: 0xE
23:43:38.578 -> PID sent: 0x11
23:43:38.611 -> PID sent: 0x4C
23:43:38.611 -> PID sent: 0xC
23:43:38.643 -> PID sent: 0xE
23:43:38.643 -> PID sent: 0x11
23:43:38.677 -> PID sent: 0x4C
23:43:38.677 -> PID sent: 0xC
23:43:38.710 -> PID sent: 0xE
23:43:38.710 -> PID sent: 0x11
23:43:38.743 -> PID sent: 0x4C
23:43:38.743 -> PID sent: 0xC
23:43:38.777 -> PID sent: 0xE
23:43:38.777 -> PID sent: 0x11
23:43:38.810 -> PID sent: 0x4C
23:43:38.810 -> PID sent: 0xC
23:43:38.810 -> PID sent: 0xE
23:43:38.843 -> PID sent: 0x11
23:43:38.843 -> PID sent: 0x4C
23:43:38.876 -> PID sent: 0xC
23:43:38.876 -> PID sent: 0xE
23:43:38.910 -> PID sent: 0x11
23:43:38.910 -> PID sent: 0x4C
23:43:38.943 -> PID sent: 0xC
23:43:38.943 -> PID sent: 0xE
23:43:38.976 -> PID sent: 0x11
23:43:38.976 -> PID sent: 0x4C
23:43:39.010 -> PID sent: 0xC
23:43:39.010 -> PID sent: 0xE
23:43:39.043 -> PID sent: 0x11
23:43:39.043 -> PID sent: 0x4C
23:43:39.076 -> PID sent: 0xC
23:43:39.076 -> PID sent: 0xE
23:43:39.108 -> PID sent: 0x11
23:43:39.108 -> PID sent: 0x4C
23:43:39.143 -> PID sent: 0xC
23:43:39.143 -> PID sent: 0xE
23:43:39.176 -> PID sent: 0x11
23:43:39.176 -> PID sent: 0x4C
23:43:39.209 -> PID sent: 0xC
23:43:39.209 -> PID sent: 0xE
23:43:39.242 -> PID sent: 0x11
23:43:39.242 -> PID sent: 0x4C
23:43:39.276 -> PID sent: 0xC
23:43:39.276 -> PID sent: 0xE
23:43:39.309 -> PID sent: 0x11
23:43:39.309 -> PID sent: 0x4C
23:43:39.342 -> PID sent: 0xC
23:43:39.342 -> PID sent: 0xE
23:43:39.342 -> PID sent: 0x11
23:43:39.375 -> PID sent: 0x4C
23:43:39.375 -> PID sent: 0xC
23:43:39.409 -> PID sent: 0xE
23:43:39.409 -> PID sent: 0x11
23:43:39.442 -> PID sent: 0x4C
23:43:39.442 -> PID sent: 0xC
23:43:39.476 -> PID sent: 0xE
23:43:39.476 -> PID sent: 0x11
23:43:39.509 -> PID sent: 0x4C
23:43:39.509 -> PID sent: 0xC
23:43:39.542 -> PID sent: 0xE
23:43:39.542 -> PID sent: 0x11
23:43:39.576 -> PID sent: 0x4C
23:43:39.576 -> PID sent: 0xC
23:43:39.609 -> PID sent: 0xE
23:43:39.609 -> PID sent: 0x11
23:43:39.642 -> PID sent: 0x4C
23:43:39.642 -> PID sent: 0xC
23:43:39.675 -> PID sent: 0xE
23:43:39.675 -> PID sent: 0x11
23:43:39.709 -> PID sent: 0x4C
23:43:39.709 -> PID sent: 0xC
23:43:39.743 -> PID sent: 0xE
23:43:39.743 -> PID sent: 0x11
23:43:39.776 -> PID sent: 0x4C
23:43:39.776 -> PID sent: 0xC
23:43:39.809 -> PID sent: 0xE
23:43:39.809 -> PID sent: 0x11
23:43:39.842 -> PID sent: 0x4C
23:43:39.842 -> PID sent: 0xC
23:43:39.842 -> PID sent: 0xE
23:43:39.876 -> PID sent: 0x11
23:43:39.876 -> PID sent: 0x4C
23:43:39.908 -> PID sent: 0xC
23:43:39.908 -> PID sent: 0xE
23:43:39.942 -> PID sent: 0x11
23:43:39.942 -> PID sent: 0x4C
23:43:39.975 -> PID sent: 0xC
23:43:39.975 -> PID sent: 0xE
23:43:40.010 -> PID sent: 0x11
23:43:40.010 -> PID sent: 0x4C
23:43:40.043 -> PID sent: 0xC
23:43:40.043 -> PID sent: 0xE
23:43:40.076 -> PID sent: 0x11
23:43:40.076 -> PID sent: 0x4C
23:43:40.109 -> PID sent: 0xC
23:43:40.109 -> PID sent: 0xE
23:43:40.143 -> PID sent: 0x11
23:43:40.143 -> PID sent: 0x4C
23:43:40.176 -> PID sent: 0xC
23:43:40.176 -> PID sent: 0xE
23:43:40.209 -> PID sent: 0x11
23:43:40.209 -> PID sent: 0x4C
23:43:40.242 -> PID sent: 0xC
23:43:40.242 -> PID sent: 0xE
23:43:40.275 -> PID sent: 0x11
23:43:40.275 -> PID sent: 0x4C
23:43:40.310 -> PID sent: 0xC
23:43:40.310 -> PID sent: 0xE
23:43:40.342 -> PID sent: 0x11
23:43:40.342 -> PID sent: 0x4C
23:43:40.375 -> PID sent: 0xC
23:43:40.375 -> PID sent: 0xE
23:43:40.375 -> PID sent: 0x11
23:43:40.409 -> PID sent: 0x4C
23:43:40.409 -> PID sent: 0xC
23:43:40.442 -> PID sent: 0xE
23:43:40.442 -> PID sent: 0x11
23:43:40.475 -> PID sent: 0x4C
23:43:40.475 -> PID sent: 0xC
23:43:40.508 -> PID sent: 0xE
23:43:40.509 -> PID sent: 0x11
23:43:40.542 -> PID sent: 0x4C
23:43:40.542 -> PID sent: 0xC
23:43:40.577 -> PID sent: 0xE
23:43:40.577 -> PID sent: 0x11
23:43:40.609 -> PID sent: 0x4C
23:43:40.609 -> PID sent: 0xC
23:43:40.642 -> PID sent: 0xE
23:43:40.642 -> PID sent: 0x11
23:43:40.675 -> PID sent: 0x4C
23:43:40.675 -> Received -> Standard ID: 0x7E8, DLC: 8, Data:  0x03 0x41 0x4C 0x22 0x00 0x00 0x00 0x00

After a lot of requests without response, there is another sample :

23:43:44.002 -> PID sent: 0xE
23:43:44.002 -> PID sent: 0x11
23:43:44.036 -> PID sent: 0x4C
23:43:44.036 -> PID sent: 0xC
23:43:44.069 -> PID sent: 0xE
23:43:44.069 -> PID sent: 0x11
23:43:44.103 -> PID sent: 0x4C
23:43:44.103 -> PID sent: 0xC
23:43:44.135 -> PID sent: 0xE
23:43:44.135 -> PID sent: 0x11
23:43:44.168 -> PID sent: 0x4C
23:43:44.168 -> PID sent: 0xC
23:43:44.202 -> PID sent: 0xE
23:43:44.202 -> PID sent: 0x11
23:43:44.235 -> PID sent: 0x4C
23:43:44.235 -> PID sent: 0xC
23:43:44.235 -> PID sent: 0xE
23:43:44.269 -> PID sent: 0x11
23:43:44.269 -> PID sent: 0x4C
23:43:44.301 -> PID sent: 0xC
23:43:44.301 -> PID sent: 0xE
23:43:44.335 -> PID sent: 0x11
23:43:44.335 -> PID sent: 0x4C
23:43:44.368 -> PID sent: 0xC
23:43:44.368 -> PID sent: 0xE
23:43:44.402 -> PID sent: 0x11
23:43:44.402 -> PID sent: 0x4C
23:43:44.435 -> PID sent: 0xC
23:43:44.435 -> PID sent: 0xE
23:43:44.468 -> PID sent: 0x11
23:43:44.468 -> PID sent: 0x4C
23:43:44.501 -> PID sent: 0xC
23:43:44.501 -> PID sent: 0xE
23:43:44.534 -> PID sent: 0x11
23:43:44.534 -> PID sent: 0x4C
23:43:44.566 -> PID sent: 0xC
23:43:44.566 -> PID sent: 0xE
23:43:44.601 -> PID sent: 0x11
23:43:44.601 -> PID sent: 0x4C
23:43:44.634 -> PID sent: 0xC
23:43:44.634 -> PID sent: 0xE
23:43:44.667 -> PID sent: 0x11
23:43:44.667 -> PID sent: 0x4C
23:43:44.701 -> PID sent: 0xC
23:43:44.701 -> PID sent: 0xE
23:43:44.734 -> PID sent: 0x11
23:43:44.734 -> PID sent: 0x4C
23:43:44.767 -> PID sent: 0xC
23:43:44.767 -> PID sent: 0xE
23:43:44.767 -> PID sent: 0x11
23:43:44.801 -> PID sent: 0x4C
23:43:44.801 -> PID sent: 0xC
23:43:44.834 -> PID sent: 0xE
23:43:44.834 -> PID sent: 0x11
23:43:44.867 -> PID sent: 0x4C
23:43:44.867 -> PID sent: 0xC
23:43:44.909 -> PID sent: 0xE
23:43:44.909 -> PID sent: 0x11
23:43:44.954 -> PID sent: 0x4C
23:43:44.954 -> PID sent: 0xC
23:43:44.954 -> PID sent: 0xE
23:43:44.954 -> PID sent: 0x11
23:43:44.987 -> PID sent: 0x4C
23:43:44.987 -> PID sent: 0xC
23:43:45.023 -> PID sent: 0xE
23:43:45.023 -> PID sent: 0x11
23:43:45.063 -> PID sent: 0x4C
23:43:45.063 -> PID sent: 0xC
23:43:45.100 -> PID sent: 0xE
23:43:45.100 -> PID sent: 0x11
23:43:45.133 -> PID sent: 0x4C
23:43:45.133 -> PID sent: 0xC
23:43:45.167 -> PID sent: 0xE
23:43:45.167 -> PID sent: 0x11
23:43:45.200 -> PID sent: 0x4C
23:43:45.200 -> PID sent: 0xC
23:43:45.233 -> Received -> Standard ID: 0x7E8, DLC: 8, Data:  0x04 0x41 0x0C 0x00 0x00 0x00 0x00 0x00

As you can see, I´m sending a lot of messages, but only few have responses. The curious is, when I got a response, sometimes is on the exactly same time of the request and sometimes is about 330 milliseconds after. If I put a delay after the sendMessage, no requests are displayed. So, I´m thinking : it could be my hardware not fast enough to got the response and because of that, I´m loosing the data ? Or something on the code is wrong.... Any suggestions will be welcome.

Thanks a lot !

6

This topic was automatically closed 180 days after the last reply. New replies are no longer allowed.