Digital Speedometer to Car's Instrument Cluster via CAN Bus

Implementing Arduino CAN bus shield and digital speedometer to car's LCD-display in instrument cluster.

Jan 18, 2021

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12 respects

can bus

automotive

monitoring

Components and supplies

16 MHz Crystal

Ceramic Disc Capacitor, 150 pF

Resistor 10k ohm

MCP2515

Resistor 4.75k ohm

Ceramic Disc Capacitor, 18 pF

Resistor 1k ohm

TJA1055

Screw Block Terminal 5-R3.5

Arduino Nano R3

Apps and platforms

Arduino IDE

Autodesk EAGLE

Project description

Code

Can Bus Speedometer

arduino

Code for the setup with CAN bus compatible radio (Chorus)

1#include <SPI.h>
2#include <mcp2515.h>
3
4struct can_frame canMsg,  canMsg1, canMsg2;
5
6int velocity,lv,uv = 0;
7const int INTERVAL = 800; //  ms
8const int REFRESH_RATE = 20; // ms
9bool init_state = true;
10
11
12const  uint8_t ASCII [10] = {0x30,0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39}; // ASCII  for numbers 0..9
13const uint8_t SPACE = 0x20;
14const uint8_t KMH_MESSAGE [8]  = {SPACE, SPACE, 0xB, 0xD, 0x2f, 0x8, SPACE, SPACE}; //ASCII for '  km/h  '
15
16
17const  uint8_t AUDI_TTe [8] = {65, 117, 4, 9, 32, 84, 84, 5}; // "Audi TTe"
18const  uint8_t QUATTRO [8] = {113, 117, 0x01, 116, 116, 114, 0xF, 32}; // "quattro"
19const  uint32_t MASK = 0xD440000; // Mask for id 0x351 = 0b 0110 1010 00 1 <=> 0xD440000  = 0b 0110 1010 00 1 0000 0000 0000 0000 00 . Extended from 11 to 29 bits
20const  int SPEED_ID = 0x351;
21
22MCP2515 mcp2515(10);
23
24
25void setup() {
26
27  canMsg1.can_id  = 0x261; // Message ID for the first row of the DIS
28  canMsg1.can_dlc  = 8;
29
30  canMsg2.can_id  = 0x263; // Message ID for the second row of the DIS  
31  canMsg2.can_dlc = 8;
32  for(int j=0; j<8; j++){
33    canMsg2.data[j] =  KMH_MESSAGE[j];
34  }
35  
36
37  mcp2515.setFilterMask(0, 0, MASK);
38  mcp2515.setFilter(0,  0, MASK);
39  mcp2515.setBitrate(CAN_100KBPS, MCP_16MHZ);
40  mcp2515.setNormalMode();
41  
42}
43
44void clear(){
45  for(int i=0; i<8; i++){
46    canMsg1.data[i]  = SPACE; // Initialising the speed message (first row of                               
47    canMsg2.data[i] = KMH_MESSAGE[i];;                     // DIS) with SPACES                        
48  }
49}
50
51bool is_received(int id){
52  if (mcp2515.readMessage(&canMsg)  == MCP2515::ERROR_OK) {
53    if(canMsg.can_id == id){
54      return true;
55    }
56    return false;
57  }
58
59
60}
61
62
63void audi_tt(){
64  
65  for(int i=0; i<8; i++){
66    canMsg1.data[i] = AUDI_TTe[i];
67    canMsg2.data[i]  = QUATTRO[i];
68  }
69  for(int j=0; j<3000/REFRESH_RATE;j++){
70    mcp2515.sendMessage(&canMsg1);
71    mcp2515.sendMessage(&canMsg2);
72    delay(REFRESH_RATE);
73  }
74
75
76}
77
78void  loop() {
79
80  if(init_state){
81    audi_tt();
82    init_state = false;
83    clear();
84  }
85  
86
87  if (is_received(SPEED_ID)) {
88
89      clear();
90      lv = canMsg.data[1];
91      uv = canMsg.data[2];
92      velocity = ((uv<<8)+lv-1)/200;
93      velocity = round(velocity);
94      
95      
96      if(velocity < 10){
97      canMsg1.data[2] = ASCII[velocity];
98      }
99
100      else if(velocity  < 100){
101        canMsg1.data[2] = ASCII[velocity/10]; // Splitting integer to  single digits                                            
102        canMsg1.data[3]  = ASCII[velocity%10];
103      }
104      else{
105        canMsg1.data[2] = ASCII[velocity/100];
106        canMsg1.data[3] = ASCII[(velocity/10)%10];
107        canMsg1.data[4] =  ASCII[velocity%10];
108      
109      }
110
111      int i = 0;
112      while(true){
113        if(i >= INTERVAL){
114          return;
115        }
116
117        else  if(i % REFRESH_RATE == 0){
118          mcp2515.sendMessage(&canMsg1);
119          mcp2515.sendMessage(&canMsg2);
120        }
121        i++;
122        delay(1);
123      }
124  
125    
126  
127  }
128 // The car radio sends it own radio station data every 0,8s to
129             //  the instrument cluster, so I have to send my data with much                
130             // higher rate, so the display won't start to blink
131}
132

#include <SPI.h>
#include <mcp2515.h>

struct can_frame canMsg,  canMsg1, canMsg2;

int velocity,lv,uv = 0;
const int INTERVAL = 800; //  ms
const int REFRESH_RATE = 20; // ms
bool init_state = true;


const  uint8_t ASCII [10] = {0x30,0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39}; // ASCII  for numbers 0..9
const uint8_t SPACE = 0x20;
const uint8_t KMH_MESSAGE [8]  = {SPACE, SPACE, 0xB, 0xD, 0x2f, 0x8, SPACE, SPACE}; //ASCII for '  km/h  '


const  uint8_t AUDI_TTe [8] = {65, 117, 4, 9, 32, 84, 84, 5}; // "Audi TTe"
const  uint8_t QUATTRO [8] = {113, 117, 0x01, 116, 116, 114, 0xF, 32}; // "quattro"
const  uint32_t MASK = 0xD440000; // Mask for id 0x351 = 0b 0110 1010 00 1 <=> 0xD440000  = 0b 0110 1010 00 1 0000 0000 0000 0000 00 . Extended from 11 to 29 bits
const  int SPEED_ID = 0x351;

MCP2515 mcp2515(10);


void setup() {

  canMsg1.can_id  = 0x261; // Message ID for the first row of the DIS
  canMsg1.can_dlc  = 8;

  canMsg2.can_id  = 0x263; // Message ID for the second row of the DIS  
  canMsg2.can_dlc = 8;
  for(int j=0; j<8; j++){
    canMsg2.data[j] =  KMH_MESSAGE[j];
  }
  

  mcp2515.setFilterMask(0, 0, MASK);
  mcp2515.setFilter(0,  0, MASK);
  mcp2515.setBitrate(CAN_100KBPS, MCP_16MHZ);
  mcp2515.setNormalMode();
  
}

void clear(){
  for(int i=0; i<8; i++){
    canMsg1.data[i]  = SPACE; // Initialising the speed message (first row of                               
    canMsg2.data[i] = KMH_MESSAGE[i];;                     // DIS) with SPACES                        
  }
}

bool is_received(int id){
  if (mcp2515.readMessage(&canMsg)  == MCP2515::ERROR_OK) {
    if(canMsg.can_id == id){
      return true;
    }
    return false;
  }


}


void audi_tt(){
  
  for(int i=0; i<8; i++){
    canMsg1.data[i] = AUDI_TTe[i];
    canMsg2.data[i]  = QUATTRO[i];
  }
  for(int j=0; j<3000/REFRESH_RATE;j++){
    mcp2515.sendMessage(&canMsg1);
    mcp2515.sendMessage(&canMsg2);
    delay(REFRESH_RATE);
  }


}

void  loop() {

  if(init_state){
    audi_tt();
    init_state = false;
    clear();
  }
  

  if (is_received(SPEED_ID)) {

      clear();
      lv = canMsg.data[1];
      uv = canMsg.data[2];
      velocity = ((uv<<8)+lv-1)/200;
      velocity = round(velocity);
      
      
      if(velocity < 10){
      canMsg1.data[2] = ASCII[velocity];
      }

      else if(velocity  < 100){
        canMsg1.data[2] = ASCII[velocity/10]; // Splitting integer to  single digits                                            
        canMsg1.data[3]  = ASCII[velocity%10];
      }
      else{
        canMsg1.data[2] = ASCII[velocity/100];
        canMsg1.data[3] = ASCII[(velocity/10)%10];
        canMsg1.data[4] =  ASCII[velocity%10];
      
      }

      int i = 0;
      while(true){
        if(i >= INTERVAL){
          return;
        }

        else  if(i % REFRESH_RATE == 0){
          mcp2515.sendMessage(&canMsg1);
          mcp2515.sendMessage(&canMsg2);
        }
        i++;
        delay(1);
      }
  
    
  
  }
 // The car radio sends it own radio station data every 0,8s to
             //  the instrument cluster, so I have to send my data with much                
             // higher rate, so the display won't start to blink
}

GALA Speedometer

arduino

Code for the setup with Concert-radio

1/*
2Digital speedometer to Audi Driver Information System
3
4Reads  vehicle speed from Audi Concert Gala-wire (
5Sends information to instrument cluster  via Audi concert pins)
6
7
8*/
9#define pulse_ip 2
10#define enable 6
11#define  sck 7
12#define sda 8
13
14unsigned long ontime,offtime, period;
15float freq  = 0;
16int final_speed = 0;
17float speed_ = 0;
18float circumference = 0.63719;  // in meters
19uint8_t header = 0xf0;
20uint8_t command_byte = 0x1c;
21uint8_t  message [18], checksum;
22
23// numbers from 0 to 9 in ASCII-form
24uint8_t ASCII  [10] = {0x30,0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39}; 
25
26uint8_t KMH  [5] = {0x20,0x4B,0x4D, 0x2F,0x48}; // ASCII for: ' km/h'
27uint8_t SPACE = 0x20;  // ASCII for: ' '
28
29// the setup function runs once when you press reset or  power the board
30void setup() {
31
32  pinMode(pulse_ip, INPUT); // pin for  vehicle speed signal (GALA) 
33
34  pinMode(enable, OUTPUT);
35  pinMode(sck,  OUTPUT);
36  pinMode(sda, OUTPUT);
37}
38
39
40// the loop function runs over  and over again forever
41void loop() {
42
43  ontime = pulseIn(pulse_ip,HIGH);
44  offtime = pulseIn(pulse_ip,LOW);
45  period = ontime+offtime;
46  freq = 1000000.0/(period*2);  // 2 periods per one wheel rotation
47  speed_ = freq*circumference*3.6;
48  speed_  = round(speed_);
49  final_speed = speed_; 
50   
51  message[0] = header;
52  message[16] = command_byte;
53
54  message[1] = SPACE; // For alignment
55  message[2] = SPACE;
56
57  if(final_speed < 10){
58    message[3] = ASCII[final_speed];
59    message[4] = SPACE;
60    message[5] = SPACE;
61    }
62      
63  else  if(final_speed < 100){
64    message[3] = ASCII[final_speed / 10];
65    message[4]  = ASCII[final_speed % 10];
66    message[5] = SPACE;
67    }
68    
69  else{
70    message[3] = ASCII[final_speed / 100];
71    message[4] = ASCII[final_speed  / 10];
72    message[5] = ASCII[final_speed % 10];
73    }
74
75  for(int i  = 6; i < 11; i++){ // for alignment
76    message[i] = SPACE;
77    }
78    
79     
80  message[11] = KMH[1];
81  message[12] = KMH[2];
82  message[13] = KMH[3];
83  message[14] = KMH[4];
84
85  message[15] = SPACE;
86
87  checksum = 0;
88  for(int j = 0; j < 17; j++){
89    checksum += message[j];
90    }
91     
92  checksum ^= 0xff;
93  message[17] = checksum;
94
95  digitalWrite(enable, HIGH);
96
97  // Sending the data
98  for(int i = 0; i < 18; i++){
99    uint8_t data = message[i];
100
101    for(int k = 0; k < 8; k++){
102
103      if(data & 0x80){
104        digitalWrite(sda,  HIGH);
105        }
106      else{
107        digitalWrite(sda, LOW);
108        }
109      digitalWrite(sck, LOW);
110      digitalWrite(sck, HIGH);
111      data <<=1;  //Shifting 1 left
112      }
113    }
114    digitalWrite(enable, LOW);
115    delay(500);
116    }

/*
Digital speedometer to Audi Driver Information System

Reads  vehicle speed from Audi Concert Gala-wire (
Sends information to instrument cluster  via Audi concert pins)


*/
#define pulse_ip 2
#define enable 6
#define  sck 7
#define sda 8

unsigned long ontime,offtime, period;
float freq  = 0;
int final_speed = 0;
float speed_ = 0;
float circumference = 0.63719;  // in meters
uint8_t header = 0xf0;
uint8_t command_byte = 0x1c;
uint8_t  message [18], checksum;

// numbers from 0 to 9 in ASCII-form
uint8_t ASCII  [10] = {0x30,0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39}; 

uint8_t KMH  [5] = {0x20,0x4B,0x4D, 0x2F,0x48}; // ASCII for: ' km/h'
uint8_t SPACE = 0x20;  // ASCII for: ' '

// the setup function runs once when you press reset or  power the board
void setup() {

  pinMode(pulse_ip, INPUT); // pin for  vehicle speed signal (GALA) 

  pinMode(enable, OUTPUT);
  pinMode(sck,  OUTPUT);
  pinMode(sda, OUTPUT);
}


// the loop function runs over  and over again forever
void loop() {

  ontime = pulseIn(pulse_ip,HIGH);
  offtime = pulseIn(pulse_ip,LOW);
  period = ontime+offtime;
  freq = 1000000.0/(period*2);  // 2 periods per one wheel rotation
  speed_ = freq*circumference*3.6;
  speed_  = round(speed_);
  final_speed = speed_; 
   
  message[0] = header;
  message[16] = command_byte;

  message[1] = SPACE; // For alignment
  message[2] = SPACE;

  if(final_speed < 10){
    message[3] = ASCII[final_speed];
    message[4] = SPACE;
    message[5] = SPACE;
    }
      
  else  if(final_speed < 100){
    message[3] = ASCII[final_speed / 10];
    message[4]  = ASCII[final_speed % 10];
    message[5] = SPACE;
    }
    
  else{
    message[3] = ASCII[final_speed / 100];
    message[4] = ASCII[final_speed  / 10];
    message[5] = ASCII[final_speed % 10];
    }

  for(int i  = 6; i < 11; i++){ // for alignment
    message[i] = SPACE;
    }
    
     
  message[11] = KMH[1];
  message[12] = KMH[2];
  message[13] = KMH[3];
  message[14] = KMH[4];

  message[15] = SPACE;

  checksum = 0;
  for(int j = 0; j < 17; j++){
    checksum += message[j];
    }
     
  checksum ^= 0xff;
  message[17] = checksum;

  digitalWrite(enable, HIGH);

  // Sending the data
  for(int i = 0; i < 18; i++){
    uint8_t data = message[i];

    for(int k = 0; k < 8; k++){

      if(data & 0x80){
        digitalWrite(sda,  HIGH);
        }
      else{
        digitalWrite(sda, LOW);
        }
      digitalWrite(sck, LOW);
      digitalWrite(sck, HIGH);
      data <<=1;  //Shifting 1 left
      }
    }
    digitalWrite(enable, LOW);
    delay(500);
    }

GALA Speedometer

arduino

Code for the setup with Concert-radio

1/*
2Digital speedometer to Audi Driver Information System
3
4Reads   vehicle speed from Audi Concert Gala-wire (
5Sends information to instrument cluster   via Audi concert pins)
6
7
8*/
9#define pulse_ip 2
10#define enable 6
11#define   sck 7
12#define sda 8
13
14unsigned long ontime,offtime, period;
15float freq   = 0;
16int final_speed = 0;
17float speed_ = 0;
18float circumference = 0.63719;   // in meters
19uint8_t header = 0xf0;
20uint8_t command_byte = 0x1c;
21uint8_t   message [18], checksum;
22
23// numbers from 0 to 9 in ASCII-form
24uint8_t ASCII   [10] = {0x30,0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39}; 
25
26uint8_t KMH   [5] = {0x20,0x4B,0x4D, 0x2F,0x48}; // ASCII for: ' km/h'
27uint8_t SPACE = 0x20;   // ASCII for: ' '
28
29// the setup function runs once when you press reset or   power the board
30void setup() {
31
32  pinMode(pulse_ip, INPUT); // pin for   vehicle speed signal (GALA) 
33
34  pinMode(enable, OUTPUT);
35  pinMode(sck,   OUTPUT);
36  pinMode(sda, OUTPUT);
37}
38
39
40// the loop function runs over   and over again forever
41void loop() {
42
43  ontime = pulseIn(pulse_ip,HIGH);
44   offtime = pulseIn(pulse_ip,LOW);
45  period = ontime+offtime;
46  freq = 1000000.0/(period*2);   // 2 periods per one wheel rotation
47  speed_ = freq*circumference*3.6;
48  speed_   = round(speed_);
49  final_speed = speed_; 
50   
51  message[0] = header;
52   message[16] = command_byte;
53
54  message[1] = SPACE; // For alignment
55   message[2] = SPACE;
56
57  if(final_speed < 10){
58    message[3] = ASCII[final_speed];
59     message[4] = SPACE;
60    message[5] = SPACE;
61    }
62      
63  else   if(final_speed < 100){
64    message[3] = ASCII[final_speed / 10];
65    message[4]   = ASCII[final_speed % 10];
66    message[5] = SPACE;
67    }
68    
69  else{
70     message[3] = ASCII[final_speed / 100];
71    message[4] = ASCII[final_speed   / 10];
72    message[5] = ASCII[final_speed % 10];
73    }
74
75  for(int i   = 6; i < 11; i++){ // for alignment
76    message[i] = SPACE;
77    }
78    
79      
80  message[11] = KMH[1];
81  message[12] = KMH[2];
82  message[13] = KMH[3];
83   message[14] = KMH[4];
84
85  message[15] = SPACE;
86
87  checksum = 0;
88   for(int j = 0; j < 17; j++){
89    checksum += message[j];
90    }
91     
92   checksum ^= 0xff;
93  message[17] = checksum;
94
95  digitalWrite(enable, HIGH);
96
97   // Sending the data
98  for(int i = 0; i < 18; i++){
99    uint8_t data = message[i];
100
101     for(int k = 0; k < 8; k++){
102
103      if(data & 0x80){
104        digitalWrite(sda,   HIGH);
105        }
106      else{
107        digitalWrite(sda, LOW);
108        }
109       digitalWrite(sck, LOW);
110      digitalWrite(sck, HIGH);
111      data <<=1;   //Shifting 1 left
112      }
113    }
114    digitalWrite(enable, LOW);
115    delay(500);
116     }

/*
Digital speedometer to Audi Driver Information System

Reads   vehicle speed from Audi Concert Gala-wire (
Sends information to instrument cluster   via Audi concert pins)


*/
#define pulse_ip 2
#define enable 6
#define   sck 7
#define sda 8

unsigned long ontime,offtime, period;
float freq   = 0;
int final_speed = 0;
float speed_ = 0;
float circumference = 0.63719;   // in meters
uint8_t header = 0xf0;
uint8_t command_byte = 0x1c;
uint8_t   message [18], checksum;

// numbers from 0 to 9 in ASCII-form
uint8_t ASCII   [10] = {0x30,0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39}; 

uint8_t KMH   [5] = {0x20,0x4B,0x4D, 0x2F,0x48}; // ASCII for: ' km/h'
uint8_t SPACE = 0x20;   // ASCII for: ' '

// the setup function runs once when you press reset or   power the board
void setup() {

  pinMode(pulse_ip, INPUT); // pin for   vehicle speed signal (GALA) 

  pinMode(enable, OUTPUT);
  pinMode(sck,   OUTPUT);
  pinMode(sda, OUTPUT);
}


// the loop function runs over   and over again forever
void loop() {

  ontime = pulseIn(pulse_ip,HIGH);
   offtime = pulseIn(pulse_ip,LOW);
  period = ontime+offtime;
  freq = 1000000.0/(period*2);   // 2 periods per one wheel rotation
  speed_ = freq*circumference*3.6;
  speed_   = round(speed_);
  final_speed = speed_; 
   
  message[0] = header;
   message[16] = command_byte;

  message[1] = SPACE; // For alignment
   message[2] = SPACE;

  if(final_speed < 10){
    message[3] = ASCII[final_speed];
     message[4] = SPACE;
    message[5] = SPACE;
    }
      
  else   if(final_speed < 100){
    message[3] = ASCII[final_speed / 10];
    message[4]   = ASCII[final_speed % 10];
    message[5] = SPACE;
    }
    
  else{
     message[3] = ASCII[final_speed / 100];
    message[4] = ASCII[final_speed   / 10];
    message[5] = ASCII[final_speed % 10];
    }

  for(int i   = 6; i < 11; i++){ // for alignment
    message[i] = SPACE;
    }
    
      
  message[11] = KMH[1];
  message[12] = KMH[2];
  message[13] = KMH[3];
   message[14] = KMH[4];

  message[15] = SPACE;

  checksum = 0;
   for(int j = 0; j < 17; j++){
    checksum += message[j];
    }
     
   checksum ^= 0xff;
  message[17] = checksum;

  digitalWrite(enable, HIGH);

   // Sending the data
  for(int i = 0; i < 18; i++){
    uint8_t data = message[i];

     for(int k = 0; k < 8; k++){

      if(data & 0x80){
        digitalWrite(sda,   HIGH);
        }
      else{
        digitalWrite(sda, LOW);
        }
       digitalWrite(sck, LOW);
      digitalWrite(sck, HIGH);
      data <<=1;   //Shifting 1 left
      }
    }
    digitalWrite(enable, LOW);
    delay(500);
     }

Can Bus Speedometer

arduino

Code for the setup with CAN bus compatible radio (Chorus)

1#include <SPI.h>
2#include <mcp2515.h>
3
4struct can_frame canMsg,
5  canMsg1, canMsg2;
6
7int velocity,lv,uv = 0;
8const int INTERVAL = 800; //
9  ms
10const int REFRESH_RATE = 20; // ms
11bool init_state = true;
12
13
14const
15  uint8_t ASCII [10] = {0x30,0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39}; // ASCII
16  for numbers 0..9
17const uint8_t SPACE = 0x20;
18const uint8_t KMH_MESSAGE [8]
19  = {SPACE, SPACE, 0xB, 0xD, 0x2f, 0x8, SPACE, SPACE}; //ASCII for '  km/h  '
20
21
22const
23  uint8_t AUDI_TTe [8] = {65, 117, 4, 9, 32, 84, 84, 5}; // "Audi TTe"
24const
25  uint8_t QUATTRO [8] = {113, 117, 0x01, 116, 116, 114, 0xF, 32}; // "quattro"
26const
27  uint32_t MASK = 0xD440000; // Mask for id 0x351 = 0b 0110 1010 00 1 <=> 0xD440000
28  = 0b 0110 1010 00 1 0000 0000 0000 0000 00 . Extended from 11 to 29 bits
29const
30  int SPEED_ID = 0x351;
31
32MCP2515 mcp2515(10);
33
34
35void setup() {
36
37
38  canMsg1.can_id  = 0x261; // Message ID for the first row of the DIS
39  canMsg1.can_dlc
40  = 8;
41
42  canMsg2.can_id  = 0x263; // Message ID for the second row of the DIS
43  
44  canMsg2.can_dlc = 8;
45  for(int j=0; j<8; j++){
46    canMsg2.data[j] =
47  KMH_MESSAGE[j];
48  }
49  
50
51  mcp2515.setFilterMask(0, 0, MASK);
52  mcp2515.setFilter(0,
53  0, MASK);
54  mcp2515.setBitrate(CAN_100KBPS, MCP_16MHZ);
55  mcp2515.setNormalMode();
56
57  
58}
59
60void clear(){
61  for(int i=0; i<8; i++){
62    canMsg1.data[i]
63  = SPACE; // Initialising the speed message (first row of                               
64
65    canMsg2.data[i] = KMH_MESSAGE[i];;                     // DIS) with SPACES                        
66
67  }
68}
69
70bool is_received(int id){
71  if (mcp2515.readMessage(&canMsg)
72  == MCP2515::ERROR_OK) {
73    if(canMsg.can_id == id){
74      return true;
75
76    }
77    return false;
78  }
79
80
81}
82
83
84void audi_tt(){
85  
86
87  for(int i=0; i<8; i++){
88    canMsg1.data[i] = AUDI_TTe[i];
89    canMsg2.data[i]
90  = QUATTRO[i];
91  }
92  for(int j=0; j<3000/REFRESH_RATE;j++){
93    mcp2515.sendMessage(&canMsg1);
94
95    mcp2515.sendMessage(&canMsg2);
96    delay(REFRESH_RATE);
97  }
98
99
100}
101
102void
103  loop() {
104
105  if(init_state){
106    audi_tt();
107    init_state = false;
108
109    clear();
110  }
111  
112
113  if (is_received(SPEED_ID)) {
114
115      clear();
116
117      lv = canMsg.data[1];
118      uv = canMsg.data[2];
119      velocity = ((uv<<8)+lv-1)/200;
120
121      velocity = round(velocity);
122      
123      
124      if(velocity < 10){
125
126      canMsg1.data[2] = ASCII[velocity];
127      }
128
129      else if(velocity
130  < 100){
131        canMsg1.data[2] = ASCII[velocity/10]; // Splitting integer to
132  single digits                                            
133        canMsg1.data[3]
134  = ASCII[velocity%10];
135      }
136      else{
137        canMsg1.data[2] = ASCII[velocity/100];
138
139        canMsg1.data[3] = ASCII[(velocity/10)%10];
140        canMsg1.data[4] =
141  ASCII[velocity%10];
142      
143      }
144
145      int i = 0;
146      while(true){
147
148        if(i >= INTERVAL){
149          return;
150        }
151
152        else
153  if(i % REFRESH_RATE == 0){
154          mcp2515.sendMessage(&canMsg1);
155          mcp2515.sendMessage(&canMsg2);
156
157        }
158        i++;
159        delay(1);
160      }
161  
162    
163  
164
165  }
166 // The car radio sends it own radio station data every 0,8s to
167             //
168  the instrument cluster, so I have to send my data with much                
169
170             // higher rate, so the display won't start to blink
171}
172

#include <SPI.h>
#include <mcp2515.h>

struct can_frame canMsg,
  canMsg1, canMsg2;

int velocity,lv,uv = 0;
const int INTERVAL = 800; //
  ms
const int REFRESH_RATE = 20; // ms
bool init_state = true;


const
  uint8_t ASCII [10] = {0x30,0x31,0x32,0x33,0x34,0x35,0x36,0x37,0x38,0x39}; // ASCII
  for numbers 0..9
const uint8_t SPACE = 0x20;
const uint8_t KMH_MESSAGE [8]
  = {SPACE, SPACE, 0xB, 0xD, 0x2f, 0x8, SPACE, SPACE}; //ASCII for '  km/h  '


const
  uint8_t AUDI_TTe [8] = {65, 117, 4, 9, 32, 84, 84, 5}; // "Audi TTe"
const
  uint8_t QUATTRO [8] = {113, 117, 0x01, 116, 116, 114, 0xF, 32}; // "quattro"
const
  uint32_t MASK = 0xD440000; // Mask for id 0x351 = 0b 0110 1010 00 1 <=> 0xD440000
  = 0b 0110 1010 00 1 0000 0000 0000 0000 00 . Extended from 11 to 29 bits
const
  int SPEED_ID = 0x351;

MCP2515 mcp2515(10);


void setup() {


  canMsg1.can_id  = 0x261; // Message ID for the first row of the DIS
  canMsg1.can_dlc
  = 8;

  canMsg2.can_id  = 0x263; // Message ID for the second row of the DIS
  
  canMsg2.can_dlc = 8;
  for(int j=0; j<8; j++){
    canMsg2.data[j] =
  KMH_MESSAGE[j];
  }
  

  mcp2515.setFilterMask(0, 0, MASK);
  mcp2515.setFilter(0,
  0, MASK);
  mcp2515.setBitrate(CAN_100KBPS, MCP_16MHZ);
  mcp2515.setNormalMode();

  
}

void clear(){
  for(int i=0; i<8; i++){
    canMsg1.data[i]
  = SPACE; // Initialising the speed message (first row of                               

    canMsg2.data[i] = KMH_MESSAGE[i];;                     // DIS) with SPACES                        

  }
}

bool is_received(int id){
  if (mcp2515.readMessage(&canMsg)
  == MCP2515::ERROR_OK) {
    if(canMsg.can_id == id){
      return true;

    }
    return false;
  }


}


void audi_tt(){
  

  for(int i=0; i<8; i++){
    canMsg1.data[i] = AUDI_TTe[i];
    canMsg2.data[i]
  = QUATTRO[i];
  }
  for(int j=0; j<3000/REFRESH_RATE;j++){
    mcp2515.sendMessage(&canMsg1);

    mcp2515.sendMessage(&canMsg2);
    delay(REFRESH_RATE);
  }


}

void
  loop() {

  if(init_state){
    audi_tt();
    init_state = false;

    clear();
  }
  

  if (is_received(SPEED_ID)) {

      clear();

      lv = canMsg.data[1];
      uv = canMsg.data[2];
      velocity = ((uv<<8)+lv-1)/200;

      velocity = round(velocity);
      
      
      if(velocity < 10){

      canMsg1.data[2] = ASCII[velocity];
      }

      else if(velocity
  < 100){
        canMsg1.data[2] = ASCII[velocity/10]; // Splitting integer to
  single digits                                            
        canMsg1.data[3]
  = ASCII[velocity%10];
      }
      else{
        canMsg1.data[2] = ASCII[velocity/100];

        canMsg1.data[3] = ASCII[(velocity/10)%10];
        canMsg1.data[4] =
  ASCII[velocity%10];
      
      }

      int i = 0;
      while(true){

        if(i >= INTERVAL){
          return;
        }

        else
  if(i % REFRESH_RATE == 0){
          mcp2515.sendMessage(&canMsg1);
          mcp2515.sendMessage(&canMsg2);

        }
        i++;
        delay(1);
      }
  
    
  

  }
 // The car radio sends it own radio station data every 0,8s to
             //
  the instrument cluster, so I have to send my data with much                

             // higher rate, so the display won't start to blink
}

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