使用stc32解析OBD数据

解析了新桑塔纳，解析到了方向盘角度，油门踏板深度，4门状态，左右转向灯、倒车灯，远近光等等。

1、首先配置can

void CAN_init(void)
{
	CAN_InitTypeDef	CAN_InitStructure;					//结构定义

	CAN_InitStructure.CAN_Enable = ENABLE;		//CAN功能使能   ENABLE或DISABLE
	CAN_InitStructure.CAN_IMR    = CAN_ALLIM;	//CAN中断寄存器 	CAN_DOIM,CAN_BEIM,CAN_TIM,CAN_RIM,CAN_EPIM,CAN_EWIM,CAN_ALIM,CAN_ALLIM,DISABLE
	CAN_InitStructure.CAN_SJW    = 0;					//重新同步跳跃宽度  0~3
	CAN_InitStructure.CAN_SAM    = 0;					//总线电平采样次数  0:采样1次; 1:采样3次

	//CAN总线波特率=Fclk/((1+(TSG1+1)+(TSG2+1))*(BRP+1)*2)
	CAN_InitStructure.CAN_TSG1   = 2;					//同步采样段1       0~15
	CAN_InitStructure.CAN_TSG2   = 1;					//同步采样段2       1~7 (TSG2 不能设置为0)
	CAN_InitStructure.CAN_BRP    = 3;					//波特率分频系数    0~63
	//24000000/((1+3+2)*4*2)=500KHz

	CAN_InitStructure.CAN_ListenOnly = DISABLE;	//Listen Only模式   ENABLE,DISABLE
	CAN_InitStructure.CAN_Filter  = DUAL_FILTER;//滤波选择  DUAL_FILTER(双滤波),SINGLE_FILTER(单滤波)
	CAN_InitStructure.CAN_ACR0    = 0x00;			//总线验收代码寄存器 0~0xFF
	CAN_InitStructure.CAN_ACR1    = 0x00;
	CAN_InitStructure.CAN_ACR2    = 0x00;
	CAN_InitStructure.CAN_ACR3    = 0x00;
	CAN_InitStructure.CAN_AMR0    = 0xff;			//总线验收屏蔽寄存器 0~0xFF
	CAN_InitStructure.CAN_AMR1    = 0xff;
	CAN_InitStructure.CAN_AMR2    = 0xff;
	CAN_InitStructure.CAN_AMR3    = 0xff;

	CAN_Inilize(CAN2,&CAN_InitStructure);			//CAN2 初始化
	
	NVIC_CAN_Init(CAN2,ENABLE,Priority_1);		//中断使能, CAN1/CAN2; ENABLE/DISABLE; 优先级(低到高) Priority_0,Priority_1,Priority_2,Priority_3
	
	CAN2_SW(CAN2_P72_P73);			//CAN2_P02_P03,CAN2_P52_P53,CAN2_P46_P47,CAN2_P72_P73


	CAN2_Tx.FF = STANDARD_FRAME;    //标准帧
	CAN2_Tx.RTR = 0;                //0：数据帧，1：远程帧
	CAN2_Tx.DLC = 0x08;             //数据长度
	CAN2_Tx.ID = 0x07DF;        //CAN ID 
	CAN2_Tx.DataBuffer[0] = 0x02;   //ISO 15765协议 表数据长度
	CAN2_Tx.DataBuffer[1] = 0x01;	//发动机
	CAN2_Tx.DataBuffer[2] = 0x0C;	//转速
	CAN2_Tx.DataBuffer[3] = 0x00;
	CAN2_Tx.DataBuffer[4] = 0x00;
	CAN2_Tx.DataBuffer[5] = 0x00;
	CAN2_Tx.DataBuffer[6] = 0x00;
	CAN2_Tx.DataBuffer[7] = 0x00;
}

2、然后初始化串口1，用来输出接收到的obd数据。

3、把接收到的can数据从串口输出，方便在电脑上分析

void Sample_CAN(void)
{
	u8 n,i,j;

	if(B_Can2Read)
	{
		B_Can2Read = 0;
		
		CANSEL = CAN2;		//选择CAN2模块
        n = CanReadMsg(CAN2_Rx);    //读取接收内容
        if(n>0)
        {
            for(i=0;i<n;i++)
            {
                    printf("CAN2 ID=0x%08lX DLC=%d FF=%d RTR=%d ",CAN2_Rx[i].ID,CAN2_Rx[i].DLC,CAN2_Rx[i].FF,CAN2_Rx[i].RTR);
                for(j=0;j<CAN2_Rx[i].DLC;j++)
                {
                    printf("0x%02X ",CAN2_Rx[i].DataBuffer[j]);    //从串口输出收到的数据
                }
                printf("\r\n");
            }
        }
	}
}

4、保存一段收到的报文数据，把pid去重

5、在上位机软件或单片机上过滤，每个筛选出来找信号。

6、这是我找到的部分信号

void OBD_process(u8 i) 
{
	switch (CAN2_Rx[i].ID) 
	{
	case 0x0390:
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[0] & 0x40, &OBD_Data.KGL_data[20]);	//位置灯
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[4] & 0x04, &OBD_Data.KGL_data[18]);	//zz
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[4] & 0x08, &OBD_Data.KGL_data[19]);	//yz
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[2] & 0x01, &OBD_Data.KGL_data[0]);	//主门
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[5] & 0x02, &OBD_Data.KGL_data[1]);	//副驾门
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[3] & 0x04, &OBD_Data.KGL_data[2]);	//左后门
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[3] & 0x08, &OBD_Data.KGL_data[3]);	//右后门
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[3] & 0x10, &OBD_Data.KGL_data[9]);	//倒挡灯
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[7] & 0x08, &OBD_Data.KGL_data[17]);	//刹车
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[6] & 0x01, &OBD_Data.KGL_data[21]);	//近光
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[4] & 0x20, &OBD_Data.KGL_data[22]);	//远光
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[6] & 0x80, &OBD_Data.KGL_data[10]);	//双闪
		break;
	case 0x0380:  	//油门深度
		OBD_Data.ym = CAN2_Rx[i].DataBuffer[2];
		break;
	case 0x0000c2:		//方向盘角度
		OBD_Data.wheel[0] = CAN2_Rx[i].DataBuffer[0];
		OBD_Data.wheel[1] = CAN2_Rx[i].DataBuffer[1];
		break;
    case 0x0050:
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[1] & 0x10, &OBD_Data.KGL_data[11]);	//主驾安全带
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[1] & 0x40, &OBD_Data.KGL_data[12]);	//副驾安全带
		break;
    case 0x0280:
		handle_CAN_RX(~CAN2_Rx[i].DataBuffer[0] & 0x08, &OBD_Data.KGL_data[13]);	//离合 ，具体bit3位
		break;
    case 0x0320:
		handle_CAN_RX(CAN2_Rx[i].DataBuffer[1] & 0x02, &OBD_Data.KGL_data[16]);	//手刹
		break;
	case 0x0570:
		if(CAN2_Rx[i].DataBuffer[0]  == 0x00) OBD_Data.keyStateStrings = "OFF";
		if(CAN2_Rx[i].DataBuffer[0]  == 0x01) OBD_Data.keyStateStrings = "OFF";
		else if(CAN2_Rx[i].DataBuffer[0] & 0x04) OBD_Data.keyStateStrings = "ON";
		else if(CAN2_Rx[i].DataBuffer[0] & 0x08) OBD_Data.keyStateStrings = "START";
		break;
    default:
		break;
    }
}