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Thread: Hacking the Can Bus

  1. #31
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    Beagle Bone Black -based CAN C bus data logging system

    I got my ARM Beagle Bone Black-based embedded system working to capture data off the CAN C and B bus in my 2006 Dodge Charger SRT8 for the CAN C bus (have trouble with B bus at the moment, I think with getting it set to the right oddball speed for a Dodge CAN B bus, at 83kbps)

    Also have it configured with gpsd getting NMEA sentences from a Adafruit Ultimate GPS, but I have to create a better GPS prototype cape, as I can't attach both CAN cape and GPS prototype cape at the same time.
    ntpd sets system time on boot from GPS time, and then maintains it to Stratum1 time source quality there after. The Adafruit GPS unit also has a PPS output to use for ultra accurate time keeping, but i haven't gotten that hooked up (GPS NMEA sentence time is good enough at the moment for my purposes on log timestamping)



    system uses

    - Beagle Bone Black: http://beagleboard.org/products/beaglebone%20black
    - TowerTech IT 3 transceiver CAN cape: http://www.towertech.it/en/products/...n-cape/manual/
    - TP-Link WL-725N 802.11n wifi dongle which uses the 8188eu Linux driver
    - Adafruit Ultimate GPS breakout board: http://www.adafruit.com/products/746...FRFxQgodk2kA5w

    - software:
    - Linux 3.8.13 kernel, compiled with armhf cross-compiler (based on Robert C Nelson's ARM patches)
    - Ubuntu 13.04 rootfs, upgraded to Ubuntu 13.10 without issues
    - SocketCAN: https://gitorious.org/linux-can
    - can-utils: https://gitorious.org/linux-can/can-utils ('cansend' , 'candump', 'cansniffer' userspace tools for capturing and decoding messages)
    - python-can: https://bitbucket.org/hardbyte/python-can - library to interact with SocketCAN interfaces using python



    I have some notes and details at blog: http://the8thlayerof.net for those interested in seeing the gory details of compiling the kernel, creating a debian or Ubuntu rootfs, configuring it, loading to a MMC card to run the Beagle Bone Black, setting up CAN interfaces, etc


    here is a small snippet of a Dodge WA580 (aka NAG1) transmission adaptation reset:

    (1384133349.790676) can0 7E1#0210920000000000
    (1384133349.792489) can0 7E9#025092FFFFFFFFFF
    (1384133351.706007) can0 7E1#0331310000000000
    (1384133351.713563) can0 7E9#037F3178FFFFFFFF
    (1384133351.772457) can0 7E9#027131FFFFFFFFFF
    (1384133351.775613) can0 7E1#0210810000000000
    (1384133351.782443) can0 7E9#025081FFFFFFFFFF




    Sam Crooks

  2. #32
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    Hello

    I'd like to do the same on my car, this is an Opel/Vauxhall Astra J year 2010

    I have an arduino board and can bus shield, i'd like to make a program that intercepts steering wheel commands (audio commands) in order to command a mp3 player.

    I'd like to know :

    is there a risk to crash my car ECU if i only connect to CAN H and CAN L ?
    is there a chance to distinguish steering wheel codes, or maybe it is normalized ?

    Thank you very much and sorry for my poor English

  3. #33
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    Quote Originally Posted by acca View Post
    Hello

    I'd like to do the same on my car, this is an Opel/Vauxhall Astra J year 2010

    I have an arduino board and can bus shield, i'd like to make a program that intercepts steering wheel commands (audio commands) in order to command a mp3 player.

    I'd like to know :

    is there a risk to crash my car ECU if i only connect to CAN H and CAN L ?
    is there a chance to distinguish steering wheel codes, or maybe it is normalized ?

    Thank you very much and sorry for my poor English
    There is no risk of crashing the ECU if you are only listening to the CanBus traffic. If you are using a CanBus shield for the Arduino then you will be using know good hardware and the risk is even lower.

    From what I have seen the CanBus is actually quite resilient, I have shorted the CanBus H and L wires together during part of my initial experiments. The car locked up and did nothing but once I removed the joined wires it recovered, although I did have to recalibrate the ABS by turning the steering wheel full lock left and then full lock right. I have also tried writing to the CanBus with no problems. This can be done in two ways, 'Properly' by waiting 7mS between commands so that genuine traffic can also have the use of the bus, or in a 'hooligan' way and swamp the bus with data. By swamping the bus with commands you can actually stop 'genuine' traffic and confuse the car. (i.e I can intercept the engine Revs or Fuel level and get the dash board to show a value higher or lower value than the real value.......)

    All of my experiments have been done on a BMW so I don't know how the Opal differs. The best thing is to look for wiring diagrams on the internet for your car. You will need to find out if your car actually uses the canbus for things like steering wheel control. (Start looking to see if there is a common CanBus between the steering wheel / stalk controls and the stereo). Then hook up an Arduino and start taking a look at the CanBus data.
    PM me if you would like a copy of my Arduino code. (At the moment if is based on 100KHz bus speed but this can be changed)

  4. #34
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    Ok thank you very much

    So, no risk of sending dangerous commands to the ECU (like high accelerations ...)

    Thank you again, maybe i'll PM you

  5. #35
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    Hmm, I am curious if I can use my Freescale board directly with the CAN network.. It has a CAN-2 network built in..

  6. #36
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    Have you looked at the IBUS on your BMW yet? I understand it is an RS232 related bus and handles mostly the HVAC and radio related functions.

    It looks like GM uses a similar bus but I am still researching it.

    Rodney

  7. #37
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    You probably just need a canbus transceiver to do the interface. The arduino due is like that.

  8. #38
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    Quote Originally Posted by redheadedrod View Post
    Hmm, I am curious if I can use my Freescale board directly with the CAN network.. It has a CAN-2 network built in..
    As long as the Freescale board supports the protocol and the baud rate that your car is using, then it should be OK.
    What Freescale board are you using and what car are you thinking of attaching to?

  9. #39
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    I am using this dev board:

    http://boundarydevices.com/products/sabre-lite-imx6-sbc

    It has a can port but I am not sure if you need something between this and the can bus or if this will connect direct. There is a can hi and can lo line on it if you look at the documentation. It does cost more than another arm board but it comes with can built in and is a lot faster.

    Rodney

  10. #40
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    According to the schematic on the site you linked to, it has a TJA1040T CAN tranceiver. You should be able to hook up your board straight to any CAN bus.

    Ryan

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