copilot

Note

This is very early in the development stages. As such, many features and functionalities are broken or simply not yet implemented. Use at your own risk.

Note

HERE BE DRAGONS. I DO NOT ASSUME ANY RESPONSIBILITY FOR ANYTHING YOU MAY BREAK WITH YOUR CAR. YOUR CAR IS A MISSILE ON WHEELS. TREAT YOUR CAR, THIS CODE, AND YOUR LIFE WITH RESPECT. YOU HAVE BEEN WARNED.

Note

This is initially targeting my Scion FR-S (and by extension the Subaru BRZ (probably (but only maybe))). Also, this I'm writing this for myself, and I'm only concerned with compatibility with the atmega328p MCU and the MCP2515 CAN module. If this works with something else, then great, but frankly I do not care. I'll worry about compatibility with more MCUs, CAN modules, and cars in the future, maybe. If you submit a pull request for compatibility with your Corolla, great, fantastic; but I'm not going to merge it (at least not at this stage). Sorry if this rubs you the wrong way, but I have a day job and this is just a passion project.

Copilot is a system for interfacing with a vehicle's CAN bus using an AVR MCU and an MCP2515 CAN module. Initial target is specifically for the Scion FR-S (and by extension the Subaru BRZ probably, no guarantees), the atmega328p, and the MCP2515 CAN module. It provides a method for pull data off the CAN bus, submitting CAN modules to the bus, pulling data from the ECU, and doing some minimal abstracted logic.

Backstory

I initially was using an Arduino Uno and the Seeed Studio CAN Shield, but quickly got tired of the "Arduino" language and the library that is provided with Seeed. After much Googling, I found very little documentation on how to use "pure C" to program the Arduino Uno to interface with the MCP2515, so I decided to just write my own. This is my first "real" project involving baremetal programming of an Arduino with a shield. I'm sure there are mistakes. Feel free to critique and I'll fix. Just be warned that I'm not going to worry about getting this to work with your Corolla || Prius || BMW || Civic.

You will find the following files in the repo:

• src/mcp_can.cpp
• src/mcp_can.h
• src/mcp_can_dfs.h

These are only there while I reverse engineer the Seeed Studio CAN Shield library. Once I've reimplemented them in "pure C" I'll remove them. Don't worry, they're licensed under the MIT license so it's all kosher (IANAL).

Goals

The goals of this project are as follows:

Note

Bold means currently implemented

• Diagnostics/Monitoring Subsystems
  • Engine ECU
    • Vehicle speed
    • Engine RPM
    • Engine Status (running/off)
    • Coolant & external temperatures
    • Odometer
    • Handbrake engaged/disengaged
    • Current transmission gear
    • Clutch engaged/disengaged
    • Ignition position
    • Air-fuel ratio
    • O2 sensors
    • Fuel level
  • Body Control Module subsystem
    • Door open/closed status
    • Hood open/closed status
    • Trunk open/closed status
    • Windows up/down status
    • Fuel door open/closed status
  • AC Control Module subsystem
    • Power state
    • Fan speed state
    • Fan state (floor, front, defroster, etc)
    • Air recycle state
    • Temperature state
    • Rear defroster state
  • Body Control Module subsystem
    • Interior lights state
    • Headlights state
    • Hazards state
    • Turn signals state
    • Power locks state
    • Power windows state
    • Power side mirrors state
  • Audio Control Module subsystem
    • Power state
    • Input selection state
    • Volume state
  • Logging
    • File (SQLlite)
    • File upload (CSV)
• Vehicle subsystem control
  • Gauge Control Module subsystem
    • LCD control
    • Light control
  • AC Control Module subsystem
    • Power on/off
    • Fan speed control
    • Fan control (floor, front, defroster, etc)
    • Air recycle control
    • Temperature control
    • Rear defroster on/off
  • Body Control Module subsystem
    • Interior lights
    • Headlights
    • Hazards
    • Turn signals
    • Power locks
    • Power windows
    • Power side mirrors
  • Audio Control Module subsystem
    • Full track control
    • Input selection
    • Volume control
• New Features
  • Audio Control Module subsystem
    • Integrated mpd with in-car Bluetooth audio
  • Body Control Module subsystem
    • Headlights
      • Auto-headlights at night
      • Auto-daytime running lights
    • Turn signals
      • "Comfort" turn signals
    • Power locks
      • Auto-unlock on approach
      • Keyless entry
        • NFC
        • RFID
        • Bluetooth
    • Key fob
      • Custom actions on key fob buttom press
        • Ex.: roll down windows on long press of unlock
    • Cameras
      • Dash cam
      • Reverse cam
      • Cabin cam
      • Front proximity sensors
      • Rear proximity sensors
• Supported interfaces
  • 16x2 LCD with controls for viewing data at a glance
  • UART API
  • Nanomsg API
    • Uses wifi module that dynamically connects to pre-configured wireless networks
  • Bluetooth API
• Miscellaneous features
  • Arbitrary CAN bus message TX/RX over all APIs

Requirements

• avrdude
• avr-binutils
• avr-gcc
• avr-libc-atmel

Building/Using

As said, most of the functionality isn't yet implemented, but you can "use" the system as follows:

# Clean the repo (just in case)
$ make clean

# Build the .hex file
$ make

# Program the AVR
$ make program

You can then connect the system up to your vehicle through the ODBII port. You can communicate with the AVR over UART/serial (9600 baud).

Limitations

The current compatibility is as follows:

• Scion FR-S 2013 (probably Subaru BRZ as well)
• atmega328p
• MCP2515