**EDIT**
I’ve had a couple of questions around the CAN library I use. It seems I’ve probably been using a very out of date version of the Seeed Studios library for some time now but selecting “Seeed Library” in the declarations in this code as it is set above makes it compatible with the latest (tested on Seeed CAN-BUS Shield Library 2.3.1). I suggest using the most recent version available which can be installed from the Arduino library manager or from GitHub. If you’re having problems with this code but didn’t previously with my older code it’s likely this is your problem. The code should still work with the older library with the “MCP_Library” option selected but there’s not much point.
I’ve also just noticed the code on this page seems to have some issue being copied/pasted from this page so here’s a link to the Arduino INO file:
The original post starts below:
Following a couple requests recently from people I’ve decided to post my code as it currently stands. I’ve been meaning to tidy it up and crop out all the extraneous bits but I’ve just not had time so here we go. I describe this as “working code” simply because it’s the one I’m still working on!
There’s a lot going on here so don’t expect it to be an immediate plug and play and additionally there are extra variables and things that I’ve used for testing with no purpose otherwise so don’t be surprised if you can’t work out what all of it is for. One trick bit I’ve added is if a specified digital input is tied to 0V when the Arduino powers up it starts in a listen mode where if the ECU is still connected it logs the exchange between it an the immobiliser and stores the data to the internal EEPROM memory. If you then disconnect the ECU and remove the 0V jumper it will wait for the immobiliser to try to initialise by matching its code to the one logged and sent the stored response. I don’t know if this will work correctly on all cars but it should. As per one of my previous posts you can actually just write random data in this exchange as long as the packet structure is right and it’ll work.
Similarly the code also includes the update for the ODO and trip meters based on ABS speed data so that should all work ok hopefully.
The latest section I was working on when other things started taking all my time again is to decode CAN packets from a Megasquirt ECU to control. Generally this should work but you might want to modify this to either not overwrite certain if you are getting them from elsewhere such as temperature for the cluster reading from an analogue input rather than CAN. There is an enable boolean for this (MSCAN) at the top of variable declaration but it’s defaulted to false to stop it messing with anything normally.
As ever if anyone wants to know any more about what’s going on just post a comment at the bottom. Sometimes it takes me a while to respond but I try to answer everyone.
My only other request is if you link to this page when sharing this elsewhere, mostly because I find it really interesting to see how it’s being used!
// Code modified by Jonathan Coe (www.chamberofunderstanding.co.uk) 2021 with the following:
//
// Fixed variable rollover issue with speeds over 163
// Added new definitions to allow switching to Leonardo CAN hardware
// Added new definitions to allow use of Seeed CAN library rather than MCP_CAN clones
// Added startup LED blink to confirm unit powered
// Added two short LED blinks when can chip started successfully
// Added slow LED blinking when CAN chip failed to start
// Added function to pull immobiliser challenge/response packets from existing vehicle
// Added EEPROM functions to store config data
// Added Code to check immobiliser requests against data from previous scans (retained through power cycle) and respond with stored answer
// Added Code to increment the Odometer/Trip based on live speed from ABS system
// Added Code to decode Megasquirt CAN data for engine.
//
// This code is a development from the work done by Dave Blackhurst (details below) which in itself was based
// on earlier work from this website which in itself included research done by others before on the ID's
//
// **************************************************************************************
// Arduino Leonardo code for replacing the PCM within a Mark 1 RX8
// This code allows you to leave the CANBUS in place, just removing the PCM
// There are plenty of ID's on the CANBUS I do not understand, and any use of this code is strictly at your own risk
//
// Features turned on, possibly working - at least they do not complain on the dashboard,
// ABS / DSC
// Traction Control
// Immobiliser Deactivated
// Power Steering Enabled
// RPM Controllable
// Vehicle Speed set by Wheel Sensors
// Warning lights turned off (you can turn them on in the code if you wish)
//
// Written by David Blackhurst, dave@blackhurst.co.uk 06/10/2019
//
// Some parts of this code have been dissected from other sources - in researching this project I copied a lot of code to play with
// Sorry if some of this is yours - just let me know and I will attribute it to you.
//
// I have throttle pedal code in here to translate the output of the primary throttle signal to the range my controller required. This is unlikely to be helpful to anyone else
// unless you happen to have the dodgy chinese controller I have.
//
// Again use AT YOUR OWN RISK
#include <Arduino.h>
/// ********************* Option Selection *********************
// JC 21/01/20 - Updates to select hardware version to allow support for Leonardo CAN
// and preferred CAN library (either the standard MCP-CAN versions or SEEED version) for compiler
// Comment out to select correct hardware
#define LEO_CAN
// #define Seeed_CAN
// Comment out to select correct CAN library
#define Seeed_Library
//#define MCP_Library
#ifdef Seeed_CAN // Configure Pins for Seeed CAN Shield
#define CANint 2
#define LED 13
#define CAN_CS 10
#define Set_Immobiliser 1
#endif
#ifdef LEO_CAN // Configure Pins for Leonardo CAN
#define CANint 7
#define LED 23
#define CAN_CS 17
#define Set_Immobiliser 4
#endif
#ifdef Seeed_Library
#include "mcp2515_can.h"
mcp2515_can CAN0(CAN_CS); // Configure CAN SPI Chip Select
#endif
#ifdef MCP_Library
#include <mcp_can.h>
#include <mcp_can_dfs.h>
MCP_CAN CAN0(CAN_CS); // Configure CAN SPI Chip Select
#endif
#include <EEPROM.h> // Load EEPROM library to save configuration data
/// ********************* End of Option Selection *********************
// Enable MS_CAN Decode
bool MSCAN = false;
// Variables for Throttle Pedal
int analogPin = A1;
int outputPin = 5;
int val = 0;
int lowPedal = 0;
int highPedal = 0;
int convertThrottle = 0;
int base = 0;
int output = 0;
// Declarations for loop delays
long lastRefreshTime = 0;
long ODORefreshTime = 0;
// Variables for PCM, Only overrideable if PCM removed from CAN
bool checkEngineMIL;
bool checkEngineBL;
byte engTemp;
byte odo;
bool oilPressure;
bool lowWaterMIL;
bool batChargeMIL;
bool oilPressureMIL;
// Variables for PCM, Only overrideable if PCM removed from CAN
int engineRPM;
int vehicleSpeed;
byte throttlePedal;
// Variables for ABS/DSC, Only overrideable if ABS/DSC removed from CAN
bool dscOff;
bool absMIL;
bool brakeFailMIL;
bool etcActiveBL;
bool etcDisabled;
// Variables for Wheel Speed
// JC 21/01/20 - changed from int to long as variable rollover was causing speeds over 163 to go negative
long frontLeft;
long frontRight;
long rearLeft;
long rearRight;
//Variables for reading in from the CANBUS
unsigned char len = 0;
unsigned char buf[8];
unsigned long ID = 0;
//Setup Array's to store bytes to send to CAN on Various ID's
byte send201[8] = {0, 0, 255, 255, 0, 0, 0, 255};
byte send420[7] = {0, 0, 0, 0, 0, 0, 0};
byte send212[7] = {0, 0, 0, 0, 0, 0, 0};
//Setup PCM Status's required to fool all other CAN devices that everything is OK, just send these out continuously
byte send203[7] = {19,19,19,19,175,3,00}; // {19,19,19,19,175,3,19} data to do with traction control
byte send215[8] = {2,45,2,45,2,42,6,129}; // {2,45,2,45,2,42,6,129}, experimented with {2,0,2,0,2,0,0,0} but no idea
byte send231[5] = {15,0,255,255,0}; // {15,0,255,255,0} or {255,0,255,255,0}
byte send240[8] = {4,0,40,0,2,55,6,129}; // No idea what this is for
byte send620[7] = {0,0,0,0,0,0,4}; //needed for abs light to go off, byte 7 is different on different cars, sometimes 2,3 or 4 {0,0,0,0,16,0,4}
byte send630[8] = {8,0,0,0,0,0,106,106}; //needed for abs light to go off, AT/MT and Wheel Size
byte send650[1] = {0}; //Cruise Light, 0 = Off, Bit 6 = Green "Cruise", Bit 7 = Yellow "Cruise Main"
// Declarations for testing 4B0/4B1 VSS Rx on Megasquirt.
// 180 mph
//byte send4b1[8] = {113, 40, 113, 40, 113, 40, 113, 40};
// 180 mph rear, 160mph front
//byte send4b1[8] = {100, 149, 100, 149, 113, 40, 113, 40};
// 100 mph
//byte send4b1[8] = {62, 221, 62, 221, 62, 221, 62, 221};
// 10 mph
//byte send4b1[8] = {6, 73, 6, 73, 6, 73, 6, 73};
//KCM / Immobiliser replies for Dave Blackhurst
//byte send41a[8] = {7,12,48,242,23,0,0,0}; // Reply to 47 first : 0x 07 0C 30 F2 17 00 00 00
//byte send41b[8] = {129,127,0,0,0,0,0,0}; // Reply to 47 second : 0x 81 7F
// Immobiliser replies for Jon Coe
byte send41a[8] = {7,120,192,226,94,0,0,0}; // Reply to 47 first : 0x 07 78 C0 E2 5E 00 00 00
// Bytes 0 is the same, bytes 3 & 4 dont seem to matter, 5,6,7 are zero
byte send41b[8] = {129,127,0,0,0,0,0,0}; // Reply to 47 second : 0x 81 7F
// Immobiliser Blank
byte response_a[8] = {7,0,0,0,0,0,0,0};
byte response_b[8] = {129,127,0,0,0,0,0,0}; // This always seems to be this value (0x 81 7F) so used as default
byte request_a[8] = {6,127,0,0,0,0,0,0};
byte request_b[8] = {8,0,0,0,1,0,0,0};
// Time delay for Odo
long ODOus = 4500000; // Set to max 4,500,000 to keep dash MIL warning lights awake at 0 speed
void printhex( byte [], int ); // JC - Prototype for function to send byte array to serial monitor as HEX pairs
// Actual function is later in code - prototypes not technically required in Arduino IDE
void setup() {
Serial.begin(115200);
Serial.println("Start Setup");
// Give a Wakeup Blink - Disabled to speed up boot
/*
pinMode(LED, OUTPUT);
digitalWrite(LED, HIGH);
delay(500);
digitalWrite(LED, LOW);
*/
pinMode(CANint, INPUT); // Set CAN interrupt pin as input
pinMode(Set_Immobiliser, INPUT_PULLUP); // Configure Button to setup immobiliser as input with pullup enabled
if (CAN0.begin(CAN_500KBPS) == CAN_OK) { // Connect to CAN chip
Serial.println("Found High Speed CAN");
// JC 21/01/20 - Added two short blinks of LED to identify CAN chip started
// Disabled to improve speed
/*
digitalWrite(LED, HIGH);
delay(200);
digitalWrite(LED, LOW);
delay(100);
digitalWrite(LED, HIGH);
delay(200);
digitalWrite(LED, LOW);
*/
} else {
Serial.println("Failed to find High Speed CAN");
while (1) {
Serial.println("Loop Forever");
// JC 21/01/20 - Added long blinking of LED to identify CAN chip fault
digitalWrite(LED, HIGH);
delay(1000);
digitalWrite(LED, LOW);
delay(1000);
}
}
// Populates CAN buffers with meaningful initial data
// for live use this will prevent dash lights defaulting to ON etc
setDefaults(); // JC - Sets up some default values to fill CAN registers with sensible data in case nothing else is written later
//******* JC 25/01/21 Immobiliser Compatibility Mods *******
// Check if First Run Immobiliser Code Scanning is Enabled
if (digitalRead(Set_Immobiliser) == 0){
immobiliserCodeSet();
}
// Check if stored values exist in EEPROM and if not setup from program defaults
if (EEPROM.read(0) == 0 && EEPROM.read(1) == 0){
writeByteArrayIntoEEPROM(0, request_a, 16);
writeByteArrayIntoEEPROM(16, response_a, 16);
writeByteArrayIntoEEPROM(32, request_b, 16);
}
// Pull Immobiliser codes from EEPROM
//delay(5000); delay to allow serial startup - disabled for speed
readByteArrayFromEEPROM(0, request_a, 8);
Serial.print("Request A from EEPROM : ");
printhex(request_a,8);
readByteArrayFromEEPROM(16, response_a, 8);
Serial.print("Response A from EEPROM : ");
printhex(response_a,8);
readByteArrayFromEEPROM(32, request_b, 8);
Serial.print("Request B from EEPROM : ");
printhex(request_b,8);
}
// ******* JC 25/01/21 Code to write Hex array to Serial *******
void printhex(byte b[], int sizeOfArray){
Serial.print("0x ");
for (int i=0;i<sizeOfArray;i++){
if(b[i]<10){
Serial.print("0");
}
Serial.print(b[i],HEX);
Serial.print(" ");
}
Serial.println("");
}
//////////////////////////////////////////////////////////////////////////////////////
//
// ******* JC 25/01/21 Code to Scan Immobiliser codes from a working system *******
// Set_Immobiliser is a digital input which is configured as
// INPUT_PULLUP and tied to ground to enable this mode.
//
//////////////////////////////////////////////////////////////////////////////////////
void immobiliserCodeSet(){
digitalWrite(LED, HIGH);
delay(3000);
digitalWrite(LED, LOW);
Serial.println("Immobiliser Code Read Mode");
//immobiliserCodeSet;
int immSet1 = 0;
do
if(CAN_MSGAVAIL == CAN0.checkReceive()) { // Check to see whether data is read
CAN0.readMsgBufID(&ID, &len, buf); // Read data
if(ID == 0x47) { //71 Dec is 47 Hex - Keyless Chat
if(buf[0] == 0x6 && buf[1] == 0x7F){
memcpy(request_a, buf, 8);
immSet1++;
Serial.print("Request 1 Found! - ");
printhex(buf,8);
}
if (buf[0] == 0x8){
memcpy(request_b, buf, 8);
immSet1++;
Serial.print("Request 2 Found! - ");
printhex(buf,8);
}
}
if(ID == 0x41) {
if(buf[0] == 0x07){
memcpy(response_a, buf, 8);
immSet1++;
Serial.print("Response 1 Found! - ");
printhex(buf,8);
}
}
Serial.print("CAN Data Received - Found ");
Serial.println(immSet1);
} while (immSet1 < 3);
digitalWrite(LED, HIGH);
delay(200);
digitalWrite(LED, LOW);
delay(100);
digitalWrite(LED, HIGH);
delay(200);
digitalWrite(LED, LOW);
delay(100);
digitalWrite(LED, HIGH);
delay(200);
digitalWrite(LED, LOW);
Serial.print("All Codes Found - Saving...");
writeByteArrayIntoEEPROM(0, request_a, 16);
writeByteArrayIntoEEPROM(16, response_a, 16);
writeByteArrayIntoEEPROM(32, request_b, 16);
Serial.println("Ok!");
Serial.println("");
Serial.println(" Turn off ignition, reset to normal mode and reboot");
while (digitalRead(Set_Immobiliser) == 0); // Halt here as long as input held low
}
// ******* End of Immobiliser Scan Routine *******
void setDefaults() {
Serial.println("Setup Started");
// StatusMIL
engTemp = 145; //Roughly in the middle
odo = 0;
oilPressure = 1; // For the gauge, 1 is OK, 0 is L
checkEngineMIL = 0;
checkEngineBL = 0;
lowWaterMIL = 0;
batChargeMIL = 0;
oilPressureMIL = 0;
// StatusPCM
engineRPM = 1000; // RPM
vehicleSpeed = 0; // km/h + 10000
throttlePedal = 0; // %
// StatusDSC
dscOff = 0;
absMIL = 0;
etcActiveBL = 0;
etcDisabled = 0;
brakeFailMIL = 0;
/*
Serial.println("Start wait to ensure Throttle Pedal is on");
delay(500);
lowPedal = 341; //analogRead(analogPin) - 40; Temporary fixed value //read the throttle pedal, should be around 1.7v minus 40 to ensure no small throttle inputs
highPedal = 803; //4v
// Voltage to read from Pedal 1.64v - 4.04v
// Going to use a safe range 1.7v to 4v
// Low of 1.7v has been read above as can fluctuate
// 1.7v = INT 341
// 4v = INT 803
// (highPedal - lowPedal) = RANGE FROM RX8 PEDAL
// out for 1024 (5v max), controller wants 4.5v max = 920 (adding 40 to help stabilise)
convertThrottle = 960 / (highPedal - lowPedal);
Serial.print("Low Pedal ");
Serial.print(lowPedal);
Serial.print(", High Pedal ");
Serial.println(highPedal);
Serial.println("Setup Complete");
*/
}
// ********** JC 25/01/21 - Add Functionality to read/write arrays from EEPROM **********
// Taken from www.roboticsbackend.com and expanded for byte arrays
void writeIntArrayIntoEEPROM(int address, int numbers[], int arraySize)
{
int addressIndex = address;
for (int i = 0; i < arraySize; i++)
{
EEPROM.write(addressIndex, numbers[i] >> 8);
EEPROM.write(addressIndex + 1, numbers[i] & 0xFF);
addressIndex += 2;
}
}
void readIntArrayFromEEPROM(int address, int numbers[], int arraySize)
{
int addressIndex = address;
for (int i = 0; i < arraySize; i++)
{
numbers[i] = (EEPROM.read(addressIndex) << 8) + EEPROM.read(addressIndex + 1);
addressIndex += 2;
}
}
void writeByteArrayIntoEEPROM(int address, byte numbers[], int arraySize)
{
int addressIndex = address;
for (int i = 0; i < arraySize; i++)
{
EEPROM.write(addressIndex, numbers[i] >> 8);
EEPROM.write(addressIndex + 1, numbers[i] & 0xFF);
addressIndex += 2;
}
}
void readByteArrayFromEEPROM(int address, byte numbers[], int arraySize)
{
int addressIndex = address;
for (int i = 0; i < arraySize; i++)
{
numbers[i] = (EEPROM.read(addressIndex) << 8) + EEPROM.read(addressIndex + 1);
addressIndex += 2;
}
}
// ********** End of EEPROM Section **********
void updateMIL() {
send420[0] = engTemp;
//send420[1] = odo;
send420[4] = oilPressure;
if (checkEngineMIL == 1) {
send420[5] = send420[5] | 0b01000000;
} else {
send420[5] = send420[5] & 0b10111111;
}
if (checkEngineBL == 1) {
send420[5] = send420[5] | 0b10000000;
} else {
send420[5] = send420[5] & 0b01111111;
}
if (lowWaterMIL == 1) {
send420[6] = send420[6] | 0b00000010;
} else {
send420[6] = send420[6] & 0b11111101;
}
if (batChargeMIL == 1) {
send420[6] = send420[6] | 0b01000000;
} else {
send420[6] = send420[6] & 0b10111111;
}
if (oilPressureMIL == 1) {
send420[6] = send420[6] | 0b10000000;
} else {
send420[6] = send420[6] & 0b01111111;
}
}
void updatePCM() {
int tempEngineRPM = engineRPM * 3.85;
int tempVehicleSpeed = (vehicleSpeed * 100) + 10000;
send201[0] = highByte(tempEngineRPM);
send201[1] = lowByte(tempEngineRPM);
send201[4] = highByte(tempVehicleSpeed);
send201[5] = lowByte(tempVehicleSpeed);
send201[6] = (200 / 100) * throttlePedal; //Pedal information is in 0.5% increments
}
void updateDSC() {
if (dscOff == 1) {
send212[3] = send212[3] | 0b00000100;
} else {
send212[3] = send212[3] & 0b01111011;
}
if (absMIL == 1) {
send212[4] = send212[4] | 0b00001000;
} else {
send212[4] = send212[4] & 0b11110111;
}
if (brakeFailMIL == 1) {
send212[4] = send212[4] | 0b01000000;
} else {
send212[4] = send212[4] & 0b10111111;
}
if (etcActiveBL == 1) {
send212[5] = send212[5] | 0b00100000;
} else {
send212[5] = send212[5] & 0b11011111;
}
if (etcDisabled == 1) {
send212[5] = send212[5] | 0b00010000;
} else {
send212[5] = send212[5] & 0b11101111;
}
}
long calcMicrosecODO(float speedKMH){
long uS;
float freq;
float speedMPH;
Serial.print("Speed = ");
Serial.print(speedKMH/100);
Serial.println(" km/h");
speedMPH = speedKMH / 160.934;
// Required frequency for timer 1 ISR
// 1.15 is 4140 (Pulse per Mile) / 3600 (1hr in seconds)
// 0.7146 is 2572.5 (pulse per KM) / 3600
freq = speedMPH * 1.15;
Serial.print("Freq = ");
Serial.print(freq);
Serial.println(" Hz");
uS = 1000000/freq;
if(uS < 4500000 && uS > 0){
return (uS);}
else {
return (4500000);
}
}
void sendOnClock(){
// Do not increment ODO byte when step is = 4.5s
// slower than this updateMIL must still be called so
// warning lights don't turn on but speed may be zero!
if ( ODOus < 4500000){
send420[1]++;
}
updateMIL();
CAN0.sendMsgBuf(0x420, 0, 7, send420);
}
void sendOnTenth() {
//PCM Status's to mimic the PCM being there, these may be different for different cars, and not all are always required, better safe and include them all.
CAN0.sendMsgBuf(0x203, 0, 7, send203);
CAN0.sendMsgBuf(0x215, 0, 8, send215);
CAN0.sendMsgBuf(0x231, 0, 8, send231);
CAN0.sendMsgBuf(0x240, 0, 8, send240);
CAN0.sendMsgBuf(0x620, 0, 7, send620);
CAN0.sendMsgBuf(0x630, 0, 8, send630);
CAN0.sendMsgBuf(0x650, 0, 1, send650);
updateMIL();
CAN0.sendMsgBuf(0x420, 0, 7, send420); //Moved to sendOnClock to update at timer ISR frequency for ODO
updatePCM();
CAN0.sendMsgBuf(0x201, 0, 8, send201);
// Send to Megasquirt VSS Sim - For testing Megasquirt ABS decode
// CAN0.sendMsgBuf(0x4b1, 0, 8, send4b1);
/* Add this section back in if you want to take control of ABS / DSC Lights.
updateDSC();
CAN0.sendMsgBuf(0x212, 0, 7, send212);
*/
}
void loop() {
//Send information on the CanBus every 100ms to avoid spamming the system.
if(micros() - lastRefreshTime >= 100000) {
lastRefreshTime += 100000;
sendOnTenth();
}
// Call function to updateMIL on variable timebase
if(micros() - ODORefreshTime >= ODOus) {
ODORefreshTime += ODOus;
sendOnClock();
}
//Read the CAN and Respond if necessary or use data
if(CAN_MSGAVAIL == CAN0.checkReceive()) { // Check to see whether data is read
CAN0.readMsgBufID(&ID, &len, buf); // Read data
//digitalWrite(LED, HIGH);
//delay(1);
//digitalWrite(LED, LOW);
if(ID == 0x212) { // 0x212 = 530
for(int i = 0; i<len; i++) { // Output 8 Bytes of data in Dec
Serial.print(buf[i]);
Serial.print("\t");
}
//Serial.print(time); // Timestamp
Serial.println("");
//Serial.println(line); // Line Number
}
//Keyless Control Module and Immobiliser want to have a chat with the PCM, this deals with the conversation
if(ID == 0x47) { //71 Dec is 47 Hex - Keyless Chat
/*
//***** Fixed Coding for Dave Blackhurst's Car *******
if(buf[1] == 127 && buf[2] == 2) { // 0x 06 7F 02 00 00 00 00 00
CAN0.sendMsgBuf(0x041, 0, 8, send41a); // 0x041 = 65
}
if(buf[1] == 92 && buf[2] == 244) { // 0x 08 5C F4 65 22 01 00 00
CAN0.sendMsgBuf(0x041, 0, 8, send41b); // 0x 81 7F 00 00 00 00 00 00
}
//***** Fixed Coding for Jon Coe's Car *******
// Some experimentation showed that on the initial request for my car byte 2 was a 01 not a 02
// however all codes so far begin 06 7F for either car so this was used.
// Similarly in the second message from the immobiliser bytes 1-4 change but byte 5 is always 01 on either vehicle
// The negotiation happens during every start but the codes only seem to cycle whenever the battery
// is disconnected
if(buf[0] == 0x6 && buf[1] == 0x7F ) { // 0x 06 7F 01 00 00 00 00 32
//printhex(buf,8); // Transmit out received request on debug serial port - breaks timings on vehicle.
CAN0.sendMsgBuf(0x041, 0, 8, send41a); // 0x041 = 65
}
if(buf[0] == 0x8 && buf[5] == 0x1 ) { // 0x 08 94 29 BC 91 01 00 32
CAN0.sendMsgBuf(0x041, 0, 8, send41b); // 0x 81 7F 00 00 00 00 00 00
}
*/
// ********** JC 25/01/21 - Add Functionality to use immobiliser responses stored in EEPROM **********
//if(memcmp(buf, request_a, 8) == 0){ // Check first request matches stored pattern (difference = 0)
if(buf[0] == request_a[0] && buf[1] == request_a[1] ) {
CAN0.sendMsgBuf(0x041, 0, 8, response_a); // Send stored response to 0x041 = 65
}
//if(memcmp(buf, request_b, 8) == 0) { // Check second request starts with "08"
if(buf[0] == request_b[0] && buf[5] == request_b[5] ) {
CAN0.sendMsgBuf(0x041, 0, 8, response_b); // Send second response - seems to always be 0x 81 7F 00 00 00 00 00 00
}
}
//Read wheel speeds to update Dash
//if(ID == 1200) { //1201 Dec is 4b1 Hex - Wheel Speeds ----> check this address. Wheel speeds for dash 4B1 -> 201
if(ID == 0x4B0) {
frontLeft = (buf[0] * 256) + buf[1] - 10000;
frontRight = (buf[2] * 256) + buf[3] - 10000;
rearLeft = (buf[4] * 256) + buf[5] - 10000;
rearRight = (buf[6] * 256) + buf[7] - 10000;
//Going to check front wheel speeds for any issues, ignoring the rears due to problems created by wheelspin
if (frontLeft - frontRight > 500 || frontLeft - frontRight < -500) { //more than 5kph difference in wheel speed
checkEngineMIL = 1; //light up engine warning light and set speed to zero
vehicleSpeed = 0;
} else {
vehicleSpeed = (((frontLeft + frontRight) / 2) / 100); //Get average of front two wheels.
}
//Update timer count value with live speed for ODO
//OCR1A = calcTimer1Count((frontLeft + frontRight) / 2);
// delay in MS for ODO
ODOus = calcMicrosecODO((frontLeft + frontRight) / 2);
Serial.print("ODO Step : ");
Serial.print(ODOus);
Serial.println("us");
// Dump speed to serial for debug - this is just a cropped int.
//Serial.println(vehicleSpeed);
}
// Decode for Megasquirt - JC
/* This section matches the various fields used by Megasquirt
* CAN send to decode for the RX8 cluster. Not all fields are
* converted from the Megasquirt as most are not required.
* The CAN start address for Megasquirt is the default 0x5F2 (1520)
*/
if(MSCAN == true){
if(ID == 0x5F0) { //1520 Dec is 5F0 Hex - Megasquirt Block 0
// Block 0 - Seconds, PW2, PW2, RPM, 2 bytes each
engineRPM = (buf[6] * 256) + buf[7];
}
if(ID == 0x5F2) { //1522 Dec is 5F2 Hex - Megasquirt Block 2
// Block 2 - Baro(kPa*10), MAP(kPa*10), MAT(degF*10), CLT(degF*10)
// Edit map to set "normal" range on cluster (in degF) where needle stays centred
// outside of the normal range needle will rapidly increase or decrease.
int normMin = 140; // 60 degC
int normMax = 220; // 104 degC
engTemp = map((buf[6] * 256) + buf[7],normMin*10,normMax*10,110,150);
}
if(ID == 0x5F3) { //1523 Dec is 5F3 Hex - Megasquirt Block 3
// Block 3 - TPS (%*10), Batt (V*10), EGO1(Depricated on MS3),
// EGO2(Depricated on MS3), 2 bytes each
throttlePedal = ((buf[0] * 256) + buf[1]) / 10;
}
if(ID == 0x624) { //1572 Dec is 624 Hex - Megasquirt Block 52
// Block 54 - CANin_1(?),CANout_1, CANout_2,
// Knock_ret (deg*10, 1 byte), Fuel flow (cc/min*10, 2 byte),
// Fuel Consumption(l/km, 2 byte)
// First 3 bytes appear wrong in the Megasquirt CAN documentation
// testing shows byte 1 is CANout_1 not CANin_2
// byte 2 is CANout_2
byte CANout_1 = buf[1];
byte CANout_2 = buf[2];
// Read Check engine light from Megasquirt
checkEngineMIL = bitRead(CANout_1,0);
// Blink traction control light - Disabled due to ABS unit
//etcActiveBL = bitRead(CANout_1,1);
// Read Oil Pressure light from Megasquirt
oilPressureMIL = bitRead(CANout_1,2);
// Also set cluster "gauge" to match warning light
if(oilPressureMIL == 1){
oilPressure = 0;
}
else{
oilPressure = 1;
}
}
} // Close MSCAN mode check
} // Close CAN message receive processing
/* Reading throttle sensor for electric drive control -
//Throttle Pedal Work
val = analogRead(analogPin); // read the input pin
//See Set Defaults Method for Calculations
if (val < 110 || val > 960) { // If input is less than 0.5v or higher than 4.5v something is wrong so NO THROTTLE
val = 0;
}
base = val - lowPedal;
if (base < 0) {
base = 0;
}
output = base * convertThrottle;
if (output > 960) {
output = 960;
}
throttlePedal = (100 / 960) * output;
analogWrite(outputPin,(output/4));
*/
}
Also for completeness here is the alternate section which handles the immobiliser with random data in response_a but otherwise is much the same as the other version. The immobiliser module hashes this with the RFID code off the key and passes it back and request_b just gives the immobiliser the OK. The only issue you might get is if other versions of the car use a different packet format because both my methods rely on matching the packet structure to pick it out of the data stream.
//******* JC 25/01/21 Immobiliser Compatibility Mods *******
// Check if First Run Immobiliser Code Scanning is Enabled
if (digitalRead(Set_Immobiliser) == 0){
immobiliserCodeSet();
}
// Check if stored values exist in EEPROM and if not setup from program defaults
if (EEPROM.read(0) == 0 && EEPROM.read(1) == 0){
writeByteArrayIntoEEPROM(0, request_a, 16);
writeByteArrayIntoEEPROM(16, response_a, 16);
writeByteArrayIntoEEPROM(32, request_b, 16);
}
// Pull Immobiliser codes from EEPROM
//delay(5000); // Delay used for serial diagnostics to give the monitor time to connect before sending data
readByteArrayFromEEPROM(0, request_a, 8);
Serial.print("Request A from EEPROM : ");
printhex(request_a,8);
//readByteArrayFromEEPROM(16, response_a, 8);
response_a[1] = random(255);
response_a[2] = random(255);
response_a[3] = random(255);
response_a[4] = random(255);
Serial.print("Response A - Random Filler : ");
printhex(response_a,8);
readByteArrayFromEEPROM(32, request_b, 8);
Serial.print("Request B from EEPROM : ");
printhex(request_b,8);
}
The only other thing you need to do for the random data is generate some random data, I did this by using a floating input as a random seed. The data doesn’t actually need to be random and you can just set fixed values for response_a bytes 1-4 or whatever as long as the rest of the response structure is correct.
void setup() {
//pinMode(A1, INPUT);
randomSeed(analogRead(A1)); // A5 Not actually connected on Leonardo CAN - Used as seed value
As ever, your mileage may vary and you get no guarantee from me!
