Pier8283
Published © GPL3+

Simple CAN BUS Logger with PICO

With Raspberry PICO and a couple of CAN BUS interfaces it is possible to perform a simple can bus logger

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Simple CAN BUS Logger with PICO

Things used in this project

Hardware components

Compute Module 4
Raspberry Pi Compute Module 4
×1
Raspberry Pi Compute Module 4 IO Board
×1
Raspberry Pi Pico
Raspberry Pi Pico
×1
Dual Can PICO V1.0
×1
Dual CAN BUS Shield for Raspberry
×1

Software apps and online services

Raspbian
Raspberry Pi Raspbian
Arduino IDE
Arduino IDE

Hand tools and fabrication machines

10 Pc. Jumper Wire Kit, 5 cm Long
10 Pc. Jumper Wire Kit, 5 cm Long
Multitool, Screwdriver
Multitool, Screwdriver

Story

Read more

Schematics

System connectons

Code

PicoDualCan_V1.0_sniffer.ino

Arduino
//
//  SG Electronic Systems srls 
//  This Example is derived by
//  ACAN2515 Demo in loopback mode, for the Raspberry Pi Pico
//  Thanks to Duncan Greenwood for providing this sample sketch
//
// Pico Adapter Pinout
// SPI0_SCK         2     
// SPI0_MISO        0     
// SPI0_MOSI        3     
// SPI0_CS0         1     CAN0
// SPI0_CS1         9     CAN1      
// MCP2515_INT1     4     CAN0
// MCP2515_INT2     12    CAN1 
// SPI1_SCK         10    
// SPI1_MISO        8     
// SPI1_MOSI        11    
// SPI1_CS0         6     
// SPI1_CS1         13    
// I2C0_SDA         20    RTC
// I2C0_SCL         21    RTC
// I2C1_SDA         14    
// I2C1_SCL         15    
// LED1             18
// LED2             19
// UART0_RX         17
// UART0_TX         16

#ifndef ARDUINO_ARCH_RP2040
#error "Select a Raspberry Pi Pico board"
#endif


#define LED1  18
#define LED2  19

#define LED
#define CAN0
#define CAN1
//#define RTC
//#define RTC_DS3231
#define RTC_PCF85063
//
#include <Wire.h>
#ifdef RTC_DS3231
#include "DS3231.h"
#endif
#ifdef RTC_PCF85063
#include "PCF85063TP.h"
#endif
#include <ACAN2515.h>

//
// The Pico has two SPI peripherals, SPI and SPI1. Either (or both) can be used.
// The are no default pin assignments so they must be set explicitly.
// Testing was done with Earle Philhower's arduino-pico core:
// https://github.com/earlephilhower/arduino-pico
//

static const byte SPI0_SCK  = 2 ; // SCK input of MCP2515
static const byte SPI0_MOSI = 3 ; // SDI input of MCP2515
static const byte SPI0_MISO = 0 ; // SDO output of MCP2515
static const byte SPI0_CS0  = 1 ;  // CS input of MCP2515 1
static const byte SPI0_CS1  = 9 ;  // CS input of MCP2515 (2
static const byte I2C0_SDA  = 20 ; 
static const byte I2C0_SCL  = 21 ; 
#ifdef CAN0
static const byte MCP2515_INT0 = 4 ;  // INT output of MCP2515 (adapt to your design)
ACAN2515 can0 (SPI0_CS0, SPI, MCP2515_INT0) ;
#endif

#ifdef CAN1
static const byte MCP2515_INT1 = 12 ;  // INT output of MCP2515 (adapt to your design)
ACAN2515 can1 (SPI0_CS1, SPI, MCP2515_INT1) ;
#endif

#ifdef RTC_DS3231
#define DS3231_I2C_ADDRESS 0x68
#endif
#ifdef RTC_PCF85063
PCD85063TP clock;//define a object of PCD85063TP class
#endif

static const uint32_t QUARTZ_FREQUENCY = 16UL * 1000UL * 1000UL ; // 16 MHz
static uint32_t gBlinkLedDate0 = 0 ;
static uint32_t gReceivedFrameCount0 = 0 ;
static uint32_t gSentFrameCount0 = 0 ;
static uint32_t gBlinkLedDate1 = 0 ;
static uint32_t gReceivedFrameCount1 = 0 ;
static uint32_t gSentFrameCount1 = 0 ;
//
//   SETUP
//

void setup () {

  #ifdef LED
  pinMode (LED1, OUTPUT) ;  // For CAN0
  digitalWrite (LED1, HIGH) ;
  pinMode (LED2, OUTPUT) ;  // For CAN1
  digitalWrite (LED2, HIGH) ;
  #else   //--- Switch on builtin led
  pinMode (LED_BUILTIN, OUTPUT) ;
  digitalWrite (LED_BUILTIN, HIGH) ;
  #endif
  //--- Start serial
  Serial.begin (115200) ;
  
  //--- Wait for serial (blink led at 10 Hz during waiting)
  while (!Serial) {
    delay (50);
    #ifdef LED
    digitalWrite (LED1, !digitalRead (LED1)) ;
    delay (50);
    digitalWrite (LED2, !digitalRead (LED2)) ;
    #else
    digitalWrite (LED_BUILTIN, !digitalRead (LED_BUILTIN)) ;
    #endif
  }
  //--- There are no default SPI pins so they must be explicitly assigned
  SPI.setSCK(SPI0_SCK);
  SPI.setTX(SPI0_MOSI);
  SPI.setRX(SPI0_MISO);
  //--- Begin SPI
  SPI.begin () ;
  #ifdef CAN0
  //--- Configure ACAN2515
  Serial.println ("Configure ACAN2515 CAN0") ;
  ACAN2515Settings settings0 (QUARTZ_FREQUENCY, 125UL * 1000UL) ; // CAN bit rate 125 kb/s
  settings0.mRequestedMode = ACAN2515Settings::NormalMode  ; // Select NormalMode  mode
  const uint16_t errorCode0 = can0.begin (settings0, [] { can0.isr () ; }) ;
  if (errorCode0 == 0) {
    Serial.print ("Bit Rate prescaler: ") ;
    Serial.println (settings0.mBitRatePrescaler) ;
    Serial.print ("Propagation Segment: ") ;
    Serial.println (settings0.mPropagationSegment) ;
    Serial.print ("Phase segment 1: ") ;
    Serial.println (settings0.mPhaseSegment1) ;
    Serial.print ("Phase segment 2: ") ;
    Serial.println (settings0.mPhaseSegment2) ;
    Serial.print ("SJW: ") ;
    Serial.println (settings0.mSJW) ;
    Serial.print ("Triple Sampling: ") ;
    Serial.println (settings0.mTripleSampling ? "yes" : "no") ;
    Serial.print ("Actual bit rate: ") ;
    Serial.print (settings0.actualBitRate ()) ;
    Serial.println (" bit/s") ;
    Serial.print ("Exact bit rate ? ") ;
    Serial.println (settings0.exactBitRate () ? "yes" : "no") ;
    Serial.print ("Sample point: ") ;
    Serial.print (settings0.samplePointFromBitStart ()) ;
    Serial.println ("%") ;
  } else {
    Serial.print ("Configuration 0 error 0x") ;
    Serial.println (errorCode0, HEX) ;
  }
  #endif
  delay (300);
  #ifdef CAN1
    //--- There are no default SPI pins so they must be explicitly assigned
  //--- Configure ACAN2515 CAN1
  Serial.println ("Configure ACAN2515 CAN1") ;
  ACAN2515Settings settings1 (QUARTZ_FREQUENCY, 1000UL * 1000UL) ; // can1 bit rate 1000 kb/s
  settings1.mRequestedMode = ACAN2515Settings::NormalMode  ; // Select NormalMode  mode
  const uint16_t errorCode1 = can1.begin (settings1, [] { can1.isr () ; }) ;
  if (errorCode1 == 0) {
    Serial.print ("Bit Rate prescaler: ") ;
    Serial.println (settings1.mBitRatePrescaler) ;
    Serial.print ("Propagation Segment: ") ;
    Serial.println (settings1.mPropagationSegment) ;
    Serial.print ("Phase segment 1: ") ;
    Serial.println (settings1.mPhaseSegment1) ;
    Serial.print ("Phase segment 2: ") ;
    Serial.println (settings1.mPhaseSegment2) ;
    Serial.print ("SJW: ") ;
    Serial.println (settings1.mSJW) ;
    Serial.print ("Triple Sampling: ") ;
    Serial.println (settings1.mTripleSampling ? "yes" : "no") ;
    Serial.print ("Actual bit rate: ") ;
    Serial.print (settings1.actualBitRate ()) ;
    Serial.println (" bit/s") ;
    Serial.print ("Exact bit rate ? ") ;
    Serial.println (settings1.exactBitRate () ? "yes" : "no") ;
    Serial.print ("Sample point: ") ;
    Serial.print (settings1.samplePointFromBitStart ()) ;
    Serial.println ("%") ;
  }else{
    Serial.print ("Configuration 1 error 0x") ;
    Serial.println (errorCode1, HEX) ;
  }  
  #endif

  #ifdef RTC
  Wire.setSDA(I2C0_SDA);
  Wire.setSCL(I2C0_SCL);
  Wire.begin();
  #endif
  #ifdef RTC_PCF85063 
  clock.begin();
  //clock.setcalibration(1, 32767.2);  // Setting offset by clock frequency
  uint8_t ret = clock.calibratBySeconds(0, -0.000041);
  Serial.print("offset value: ");
  Serial.print("0x");
  Serial.println(ret, HEX);
  #endif
}

#ifdef RTC_PCF85063 
void displayTime()
{
  char minute, hour, dayOfWeek, dayOfMonth, month, year, second;
  clock.getTime();
  second = clock.second;
  minute = clock.minute;
  hour = clock.hour;
  dayOfWeek = clock.dayOfWeek;
  dayOfMonth = clock.dayOfMonth;
  month = clock.month;
  year = clock.year+2000;
  // send it to the serial monitor
  Serial.print(hour, DEC);
  // convert the byte variable to a decimal number when displayed
  Serial.print(":");
  if (minute<10)
  {
    Serial.print("0");
  }
  Serial.print(minute, DEC);
  Serial.print(":");
  if (second<10)
  {
    Serial.print("0");
  }
  Serial.print(second, DEC);
  Serial.print(" ");
  Serial.print(dayOfMonth, DEC);
  Serial.print("/");
  Serial.print(month, DEC);
  Serial.print("/");
  Serial.print(year, DEC);
  Serial.print(" Day of week: ");
  switch(dayOfWeek){
  case 1:{
    Serial.println("Sunday");
    }
    break;
  case 2:{
    Serial.println("Monday");
  }
    break;
  case 3:{
    Serial.println("Tuesday");
  }
    break;
  case 4:{
    Serial.println("Wednesday");
  }
    break;
  case 5:{
    Serial.println("Thursday");
    }
    break;
  case 6:{
    Serial.println("Friday");
  }
    break;
  case 7:{
    Serial.println("Saturday");
  }
    break;
    default:
  Serial.println();
  break;
  } 
}
#endif

#ifdef RTC_DS3231
// Convert normal decimal numbers to binary coded decimal
byte decToBcd(byte val)
{
  return( (val/10*16) + (val%10) );
}
// Convert binary coded decimal to normal decimal numbers
byte bcdToDec(byte val)
{
  return( (val/16*10) + (val%16) );
}
void setDS3231time(byte second, byte minute, byte hour, byte dayOfWeek, byte
dayOfMonth, byte month, byte year)
{
  // sets time and date data to DS3231
  Wire.beginTransmission(DS3231_I2C_ADDRESS);
  Wire.write(0); // set next input to start at the seconds register
  Wire.write(decToBcd(second)); // set seconds
  Wire.write(decToBcd(minute)); // set minutes
  Wire.write(decToBcd(hour)); // set hours
  Wire.write(decToBcd(dayOfWeek)); // set day of week (1=Sunday, 7=Saturday)
  Wire.write(decToBcd(dayOfMonth)); // set date (1 to 31)
  Wire.write(decToBcd(month)); // set month
  Wire.write(decToBcd(year)); // set year (0 to 99)
  Wire.endTransmission();
}
void readDS3231time(byte *second,
byte *minute,
byte *hour,
byte *dayOfWeek,
byte *dayOfMonth,
byte *month,
byte *year)
{
  Wire.beginTransmission(DS3231_I2C_ADDRESS);
  Wire.write(0); // set DS3231 register pointer to 00h
  Wire.endTransmission();
  Wire.requestFrom(DS3231_I2C_ADDRESS, 7);
  // request seven bytes of data from DS3231 starting from register 00h
  *second = bcdToDec(Wire.read() & 0x7f);
  *minute = bcdToDec(Wire.read());
  *hour = bcdToDec(Wire.read() & 0x3f);
  *dayOfWeek = bcdToDec(Wire.read());
  *dayOfMonth = bcdToDec(Wire.read());
  *month = bcdToDec(Wire.read());
  *year = bcdToDec(Wire.read());
}
void displayTime()
{
  byte  minute, hour, dayOfWeek, dayOfMonth, month, year, second;
  // retrieve data from DS3231
  readDS3231time(&second, &minute, &hour, &dayOfWeek, &dayOfMonth, &month,
  &year); 
  // send it to the serial monitor
  Serial.print(hour, DEC);
  // convert the byte variable to a decimal number when displayed
  Serial.print(":");
  if (minute<10)
  {
    Serial.print("0");
  }
  Serial.print(minute, DEC);
  Serial.print(":");
  if (second<10)
  {
    Serial.print("0");
  }
  Serial.print(second, DEC);
  Serial.print(" ");
  Serial.print(dayOfMonth, DEC);
  Serial.print("/");
  Serial.print(month, DEC);
  Serial.print("/");
  Serial.print(year, DEC);
  Serial.print(" Day of week: ");
  switch(dayOfWeek){
  case 1:{
    Serial.println("Sunday");
    }
    break;
  case 2:{
    Serial.println("Monday");
  }
    break;
  case 3:{
    Serial.println("Tuesday");
  }
    break;
  case 4:{
    Serial.println("Wednesday");
  }
    break;
  case 5:{
    Serial.println("Thursday");
    }
    break;
  case 6:{
    Serial.println("Friday");
  }
    break;
  case 7:{
    Serial.println("Saturday");
  }
    break;
  }
  
}

#endif

void loop () {
  CANMessage frame0 ;
  CANMessage frame1 ;
  CANMessage frame_read ;
  can0.poll () ;
  can1.poll () ;
/*  frame0.id =  0x010 ;
  frame0.len =  8 ;
  frame0.data[0] = 10;
  frame0.data[1] = 2;
  frame0.data[2] = 3;
  frame0.data[3] = 4;
  frame0.data[4] = 5;
  frame0.data[5] = 6;
  frame0.data[6] = 7;
  frame0.data[7] = 8;
  frame1.id =  0x002 ;
  frame1.len =  8 ;
  frame1.data[0] = 11;
  frame1.data[1] = 12;
  frame1.data[2] = 13;
  frame1.data[3] = 14;
  frame1.data[4] = 15;
  frame1.data[5] = 16;
  frame1.data[6] = 17;
  frame1.data[7] = 18;*/
  int len = 0;
  #ifdef CAN0
  // CAN0 loop
  /*if (gBlinkLedDate0 < millis ()) {
    gBlinkLedDate0 += 2000 ;
    digitalWrite (LED1, !digitalRead (LED1)) ;
    const bool ok0 = can0.tryToSend (frame0) ;
    if (ok0) {
      gSentFrameCount0 += 1 ;
      Serial.print ("Sent 0: ") ;
      Serial.println (gSentFrameCount0) ;
    } else {
      Serial.println ("Send failure 0") ;
    }
  }*/
  if (can0.available ()) {
    can0.receive (frame_read) ;
    gReceivedFrameCount0 ++ ;
    Serial.print ("CAN0 Received : ") ;
    Serial.print (gReceivedFrameCount0) ;
	Serial.print (" Id: ") ;
	len = frame_read.len;
    Serial.print (frame_read.id) ;
	Serial.print (" Len: ") ;
    Serial.print (len) ;
	Serial.print (" Data: ") ;
	for(int i = 0; i<len; i++)    // print the data
	{
		Serial.print(frame_read.data[i]);
		Serial.print(" ");
	}
	Serial.println();
	#ifdef RTC
	displayTime();
	#endif
  }
  #endif
  #ifdef CAN1
  // CAN1 loop
  /*if (gBlinkLedDate1 < millis ()) {
    gBlinkLedDate1 += 1000 ;
    digitalWrite (LED2, !digitalRead (LED2)) ;
    const bool ok1 = can1.tryToSend (frame1) ;
    if (ok1) {
      gSentFrameCount1 += 1 ;
      Serial.print ("Sent 1: ") ;
      Serial.println (gSentFrameCount1) ;
    } else {
      Serial.println ("Send failure 1") ;
    }
  }*/
  if (can1.available ()) {
    can1.receive (frame_read) ;
    gReceivedFrameCount1 ++ ;
    Serial.print ("CAN 1 Received: ") ;
    Serial.print (gReceivedFrameCount1) ;
  	Serial.print (" Id: ") ;
  	len = frame_read.len;
    Serial.print (frame_read.id) ;
	  Serial.print (" Len: ") ;
    Serial.print (len) ;
  	Serial.print (" Data: ") ;
  	for(int i = 0; i<len; i++)    // print the data
  	{
  		Serial.print(frame_read.data[i]);
  		Serial.print(" ");
  	}
	  Serial.println();
	#ifdef RTC
	displayTime();
	#endif
  }
  #endif
}

//

Credits

Pier8283

Pier8283

8 projects • 3 followers
Thanks to Duncan Greenwood.

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