This is a small sketch that is used to monitor CAN Bus activity.
It is essentially a clone of arduino-canbus-monitor by latonia, https://github.com/latonita/arduino-canbus-monitor, modified for use on Teensy 3.x processors. It uses IFCT to emulate mcp_can which allows it to be used with with CAN breakout boards other than MCP2515. A version of IFCT which you add to your libraries folder. For the latest version of IFCT go to https://github.com/tonton81/IFCT.
Can bus monitoring tool based on arduino and can bus shield. Implements CAN ASCII/SLCAN protocol compatible with Lawicel CAN232/CANUSB. Can be used for monitoring low speed CAN (interior can bus of most cars, less than 500kbps). For higher speeds serial port can become a bottleneck in case data density is high.
NOTE: I have tested this on a Teensy 3.6 at 1,000,000 bps and no problem
CAN BUS monitoring software based on Arduino with Seeduino/ElecFreaks CAN BUS shield based on MCP2515 (Numerous other MCP2515 based CAN BUS modules from ebay and aliexpress work well to).
This software implements CAN ASCII / Serial CAN / SLCAN protocol compatible with Lawicel CAN232/CANUSB.
For my application it was tested with the UAVcan GUI tool and works without issue
- [Linux] Please dig into direction of SLCAN/SocketCAN, but start from https://github.com/linux-can/can-utils
This monitor uses CAN BUS library forked from https://github.com/Seeed-Studio/CAN_BUS_Shield.
Copyright (C) 2015,2016 Anton Viktorov latonita@yandex.ru
You can buy Anton a beer if you like the tool :o)
See protocol definition here http://www.can232.com/docs/can232_v3.pdf and here http://www.can232.com/docs/canusb_manual.pdf
Commands not supported/not implemented:
- s, W, M, m, U.
Commands modified:
- S - supports not declared 83.3 rate
- F - returns MCP2515 error flags
- Z - extra Z2 option enables 4 byte timestamp vs standard 2 byte (60000ms max)
CMD | IMPLEMENTED | SYNTAX | DESCRIPTION
------------------------------------------------------------------------------------------------------------
'S' | YES+ | Sn[CR] Setup with standard CAN bit-rates where n is 0-8.
| | S0 10Kbit S4 125Kbit S8 1Mbit
| | S1 20Kbit S5 250Kbit S9 83.3Kbit
| | S2 50Kbit S6 500Kbit
| | S3 100Kbit S7 800Kbit
's' | - | sxxyy[CR] Setup with BTR0/BTR1 CAN bit-rates where xx and yy is a hex value.
'O' | YES | O[CR] Open the CAN channel in normal mode (sending & receiving).
'L' | YES | L[CR] Open the CAN channel in listen only mode (receiving).
'C' | YES | C[CR] Close the CAN channel.
't' | YES | tiiildd...[CR] Transmit a standard (11bit) CAN frame.
'T' | YES | Tiiiiiiiildd...[CR] Transmit an extended (29bit) CAN frame
'r' | YES | riiil[CR] Transmit an standard RTR (11bit) CAN frame.
'R' | YES | Riiiiiiiil[CR] Transmit an extended RTR (29bit) CAN frame.
'P' | YES | P[CR] Poll incomming FIFO for CAN frames (single poll)
'A' | YES | A[CR] Polls incomming FIFO for CAN frames (all pending frames)
'F' | YES+ | F[CR] Read Status Flags.
'X' | YES | Xn[CR] Sets Auto Poll/Send ON/OFF for received frames.
'W' | - | Wn[CR] Filter mode setting. By default CAN232 works in dual filter mode (0) and is backwards compatible with previous CAN232 versions.
'M' | - | Mxxxxxxxx[CR] Sets Acceptance Code Register (ACn Register of SJA1000). // we use MCP2515, not supported
'm' | - | mxxxxxxxx[CR] Sets Acceptance Mask Register (AMn Register of SJA1000). // we use MCP2515, not supported
'U' | YES | Un[CR] Setup UART with a new baud rate where n is 0-6.
'V' | YES | v[CR] Get Version number of both CAN232 hardware and software
'v' | YES | V[CR] Get Version number of both CAN232 hardware and software
'N' | YES | N[CR] Get Serial number of the CAN232.
'Z' | YES+ | Zn[CR] Sets Time Stamp ON/OFF for received frames only. EXTENSION to LAWICEL: Z2 - millis() timestamp w/o standard 60000ms cycle
'Q' | YES todo | Qn[CR] Auto Startup feature (from power on).