Hi everybody,
We have a project which we have to use a steering angle sensor for. It is Bourns Type 6002 Non-contacting Steering Angle Sensor document . We use mcp2515 as CAN controller and did appropriate connections. But we cannot receive any data from sensor. Library from this link . We actually tried different libraries and no luck. We double-checked everything physically and sure that it is not a circuit issue. Also,we tried to set different clock speeds but again,nothing happens.
However, it send some data when we set MCP2515 to a Loopback mode in this library . But as far as I know,it is not the one we want and I guess that can work in previous library,too.
Here is 2 of the codes that we have tested:
/* CAN OBD & UDS Simple PID Request
*
* Currently requests PID 0x00 at a 1 second interval and
* displays all received CAN traffic to the terminal at 115200.
*
* Written By: Cory J. Fowler April 5th, 2017
*
* (Disclaimer: Standard IDs are currently UNTESTED against a vehicle)
*
*/
#include <mcp_can.h>
#include <SPI.h>
#define standard 0
// 7E0/8 = Engine ECM
// 7E1/9 = Transmission ECM
#if standard == 1
#define LISTEN_ID 0x7EA
#define REPLY_ID 0x7E0
#define FUNCTIONAL_ID 0x7DF
#else
#define LISTEN_ID 0x98DAF101
#define REPLY_ID 0x98DA01F1
#define FUNCTIONAL_ID 0x98DB33F1
#endif
// CAN TX Variables
unsigned long prevTx = 0;
unsigned int invlTx = 1000;
byte txData[] = {0x02,0x01,0x00,0x55,0x55,0x55,0x55,0x55};
// CAN RX Variables
unsigned long rxID;
byte dlc;
byte rxBuf[8];
char msgString[128]; // Array to store serial string
// CAN Interrupt and Chip Select Pins
#define CAN0_INT 2 /* Set INT to pin 2 (This rarely changes) */
MCP_CAN CAN0(10); /* Set CS to pin 10 (Old shields use pin 10) */
void setup(){
Serial.begin(115200);
while(!Serial);
// Initialize MCP2515 running at 16MHz with a baudrate of 500kb/s and the masks and filters disabled.
if(CAN0.begin(MCP_STDEXT, CAN_500KBPS, MCP_16MHZ) == CAN_OK)
Serial.println("MCP2515 Initialized Successfully!");
else{
Serial.println("Error Initializing MCP2515... Permanent failure! Check your code & connections");
while(1);
}
//
// // Allow all Standard IDs
// CAN0.init_Mask(0,0x00000000); // Init first mask...
// CAN0.init_Filt(0,0x00000000); // Init first filter...
// CAN0.init_Filt(1,0x00000000); // Init second filter...
// // Allow all Extended IDs
// CAN0.init_Mask(1,0x80000000); // Init second mask...
// CAN0.init_Filt(2,0x80000000); // Init third filter...
// CAN0.init_Filt(3,0x80000000); // Init fouth filter...
// CAN0.init_Filt(4,0x80000000); // Init fifth filter...
// CAN0.init_Filt(5,0x80000000); // Init sixth filter...
#if standard == 1
// Standard ID Filters
CAN0.init_Mask(0,0x7F00000); // Init first mask...
CAN0.init_Filt(0,0x7DF0000); // Init first filter...
CAN0.init_Filt(1,0x7E10000); // Init second filter...
CAN0.init_Mask(1,0x7F00000); // Init second mask...
CAN0.init_Filt(2,0x7DF0000); // Init third filter...
CAN0.init_Filt(3,0x7E10000); // Init fouth filter...
CAN0.init_Filt(4,0x7DF0000); // Init fifth filter...
CAN0.init_Filt(5,0x7E10000); // Init sixth filter...
#else
// Extended ID Filters
CAN0.init_Mask(0,0x90FF0000); // Init first mask...
CAN0.init_Filt(0,0x90DA0000); // Init first filter...
CAN0.init_Filt(1,0x90DB0000); // Init second filter...
CAN0.init_Mask(1,0x90FF0000); // Init second mask...
CAN0.init_Filt(2,0x90DA0000); // Init third filter...
CAN0.init_Filt(3,0x90DB0000); // Init fouth filter...
CAN0.init_Filt(4,0x90DA0000); // Init fifth filter...
CAN0.init_Filt(5,0x90DB0000); // Init sixth filter...
#endif
CAN0.setMode(MCP_NORMAL); // Set operation mode to normal so the MCP2515 sends acks to received data.
// Having problems? ======================================================
// If you are not receiving any messages, uncomment the setMode line below
// to test the wiring between the Ardunio and the protocol controller.
// The message that this sketch sends should be instantly received.
// ========================================================================
//CAN0.setMode(MCP_LOOPBACK);
pinMode(CAN0_INT, INPUT); // Configuring pin for /INT input
Serial.println("Simple CAN OBD-II PID Request");
}
void loop(){
if(!digitalRead(CAN0_INT)){ // If CAN0_INT pin is low, read receive buffer
CAN0.readMsgBuf(&rxID, &dlc, rxBuf); // Get CAN data
// Display received CAN data as we receive it.
if((rxID & 0x80000000) == 0x80000000) // Determine if ID is standard (11 bits) or extended (29 bits)
sprintf(msgString, "Extended ID: 0x%.8lX DLC: %1d Data:", (rxID & 0x1FFFFFFF), dlc);
else
sprintf(msgString, "Standard ID: 0x%.3lX DLC: %1d Data:", rxID, dlc);
Serial.print(msgString);
if((rxID & 0x40000000) == 0x40000000){ // Determine if message is a remote request frame.
sprintf(msgString, " REMOTE REQUEST FRAME");
Serial.print(msgString);
} else {
for(byte i = 0; i<dlc; i++){
sprintf(msgString, " 0x%.2X", rxBuf[i]);
Serial.print(msgString);
}
}
Serial.println();
}
/* Every 1000ms (One Second) send a request for PID 00 *
* This PID responds back with 4 data bytes indicating the PIDs *
* between 0x01 and 0x20 that are supported by the vehicle. */
if((millis() - prevTx) >= invlTx){
prevTx = millis();
if(CAN0.sendMsgBuf(FUNCTIONAL_ID, 8, txData) == CAN_OK){
Serial.println("Message Sent Successfully!");
} else {
Serial.println("Error Sending Message...");
}
}
}
// demo: CAN-BUS Shield, receive data with check mode
// send data coming to fast, such as less than 10ms, you can use this way
// loovee, 2014-6-13
#include <SPI.h>
#include "mcp_can.h"
// the cs pin of the version after v1.1 is default to D9
// v0.9b and v1.0 is default D10
const int SPI_CS_PIN = 9;
MCP_CAN CAN(SPI_CS_PIN); // Set CS pin
void setup()
{
Serial.begin(115200);
while (CAN_OK != CAN.begin(CAN_500KBPS)) // init can bus : baudrate = 500k
{
Serial.println("CAN BUS Shield init fail");
Serial.println(" Init CAN BUS Shield again");
delay(100);
}
Serial.println("CAN BUS Shield init ok!");
}
void loop()
{
unsigned char len = 0;
unsigned char buf[8];
if(CAN_MSGAVAIL == CAN.checkReceive()) // check if data coming
{
CAN.readMsgBuf(&len, buf); // read data, len: data length, buf: data buf
unsigned long canId = CAN.getCanId();
Serial.println("-----------------------------");
Serial.print("Get data from ID: 0x");
Serial.println(canId, HEX);
for(int i = 0; i<len; i++) // print the data
{
Serial.print(buf[i], HEX);
Serial.print("\t");
}
Serial.println();
}
}
/*********************************************************************************************************
END FILE
*********************************************************************************************************/
