ESP32 + MCP2515 use CanHacker on CAN Bus system

在之前文章CAN BUS 通訊研究中, 利用了MEGA2560+MCP2515去做CAN BUS上接收和傳送資料. 最近看到一篇文章 可以用ESP32去做CAN BUS上的sniffer來分析.

CANHacker 參考 https://github.com/autowp/arduino-canhacker install library

其中是想利用他的windows端的軟體CANHackerV2.00.01.exe來做CAN bus analyzer

download link

功能傳輸圖:

上圖右邊是ESP32做控制, 左邊是MEGA2560

其中裡面燒得code是參照https://github.com/autowp/can-usb

線路圖

在燒錄can-usb時記得加入下圖紅線字以及disable loopback不然windows 端的軟體會找不到interface

焊接版本

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

修改程式

Modify the original sample code to use ESP32 dual-core multiplex architecture FreeRTOS

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

#include <can.h>

#include <mcp2515.h>

#include <CanHacker.h>

#include <CanHackerLineReader.h>

#include <lib.h>

#include <SPI.h>

#include <SoftwareSerial.h>

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

//------ESP32 CAN BUS setting ---------------------------------------

const int SPI_CS_PIN = 5;

const int INT_PIN = 21;

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

#ifndef LED_BUILTIN

#define LED_BUILTIN 2

#endif

const int SS_RX_PIN = 3;

const int SS_TX_PIN = 4;

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

TaskHandle_t hled;

TaskHandle_t huart;

TaskHandle_t hcan;

CanHackerLineReader *lineReader = NULL;

CanHacker *canHacker = NULL;

SoftwareSerial softwareSerial(SS_RX_PIN, SS_TX_PIN);

void setup() {

  Serial.begin(115200);

  while (!Serial);

  SPI.begin();

  softwareSerial.begin(115200);

  Stream *interfaceStream = &Serial;

  Stream *debugStream = &softwareSerial;

  canHacker = new CanHacker(interfaceStream, debugStream, SPI_CS_PIN);

  canHacker->setClock(MCP_8MHZ);    // For 8MHz crystal oscillator

  //canHacker->enableLoopback(); // uncomment this for loopback

  lineReader = new CanHackerLineReader(canHacker);

  pinMode(INT_PIN, INPUT);

  //--------------- create task----------------------------------

  xTaskCreatePinnedToCore(

    vLEDTask, "LEDTask" // A name just for humans

    ,

    1024 // This stack size can be checked & adjusted by reading the Stack Highwater

    ,

    NULL, 2 // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.

    ,

    &hled //handle

    ,

    0);

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

  xTaskCreatePinnedToCore(

    vCANTask, "CANTask"

    ,

    1024 // Stack size

    ,

    NULL, 1 // Priority

    ,

    &hcan

    ,

    1);

  //Serial.println("Systom On!");

}

void loop() {

  /**

    CanHacker::ERROR error;

    if (digitalRead(INT_PIN) == LOW) {

      error = canHacker->processInterrupt();

      handleError(error);

    }

    error = lineReader->process();

    handleError(error);**/

}

static void vCANTask(void *pvParameters)

{

  (void)pvParameters;

  Serial.println(F("CANTask at core:"));

  Serial.println(xPortGetCoreID());

  for (;;)

  {

    CanHacker::ERROR error;

    if (digitalRead(INT_PIN) == LOW) {

      error = canHacker->processInterrupt();

      handleError(error);

    }

    error = lineReader->process();

    handleError(error);

  }

  vTaskDelay(1);

}

static void vLEDTask(void *pvParameters)

{

  (void)pvParameters;

  Serial.println(F("LEDTask at core:"));

  Serial.println(xPortGetCoreID());

  pinMode(LED_BUILTIN, OUTPUT);

  for (;;) // A Task shall never return or exit.

  {

    digitalWrite(LED_BUILTIN, HIGH); // turn the LED on (HIGH is the voltage level)

    vTaskDelay(200);

    digitalWrite(LED_BUILTIN, LOW); // turn the LED off by making the voltage LOW

    vTaskDelay(200);

  }

}

void handleError(const CanHacker::ERROR error) {

  switch (error) {

    case CanHacker::ERROR_OK:

    case CanHacker::ERROR_UNKNOWN_COMMAND:

    case CanHacker::ERROR_NOT_CONNECTED:

    case CanHacker::ERROR_MCP2515_ERRIF:

    case CanHacker::ERROR_INVALID_COMMAND:

      return;

    default:

      break;

  }

  softwareSerial.print("Failure (code ");

  softwareSerial.print((int)error);

  softwareSerial.println(")");

  digitalWrite(SPI_CS_PIN, HIGH);

  pinMode(LED_BUILTIN, OUTPUT);

  while (1) {

    int c = (int)error;

    for (int i = 0; i < c; i++) {

      digitalWrite(LED_BUILTIN, HIGH);

      delay(500);

      digitalWrite(LED_BUILTIN, LOW);

      delay(500);

    }

    delay(2000);

  } ;

}

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

若有問題歡迎留言討論!!!

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

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