The following project has been created to imitate a CAN bus of a vehicle. It can:

• Send random CAN messages
• Receive CAN messages
• Imitate a vehicle

The CAN IDs and messages sent have been modelled after the Mazda RX 8, and the project has used DaveBlackH's research into the subject heavily (which can be found here and is accompanied by a video walk).

Inspiration to format the outputted messages is taken from HCRL's work on their CAN Dataset for intrusion detection (OTIDS). It is formatted in the following way:

[If the message was Sent/Received]: Timestamp:  [Time since initialised in milliseconds]    ID: [Arbitration or CAN ID] DLC:    [Length of the data package sent]   [The data package sent]

The code in this project was developed to run on the Arduino Uno Rev3 and the CAN-BUS Shield V2.0 (which runs on the MCP2515 Chip), but any Arduino and CAN-BUS shield that supports the required libraries should work too.

The libraries used in this project include:

• SD Version 1.2.4
• Seeed Arduino CAN Version 2.3.3

To run on your Arduino, make sure you have set the:

• baud
• SPI_CS pin
• CAN_INT pin
• SD_SPI_CS pin (Optionally, if you are using the performRoute option)

To perform the different functionality of the program, four different operational modes have been created. This modes can be switched between via setting the op parameter:

• sendRandom generates and sends a random CAN message
• receiveOnly receives only CAN messages
• sendRandomAndReceive is the combination of both sendRandom and receiveOnly
• performRoute generates CAN messages in accordance to a predetermined trip

Note that the performRoute mode requires: SD card capabilities, a SD card, and a text file containing the trip information on that SD card. The filename of the text file needs to replace the value of the variable filename. The format of these files are as follows:

# This is a comment, denoted by the 'hash' symbol
[Number of actions performed]
[Action]/[Delay Length]/[Target Value]
[Action]/[Delay Length]/[Target Value]
[Action]/[Delay Length]/[Target Value]

Note that the delimiter is set to '/' by default but can be changed by setting the delimiter variable. This is also true with comments and the commentIndicator variable.

Two example trips called trip.txt and ltrip.txt can be found in the folder ExampleTrips. Also, please note that certain Arduino boards might not work with file extensions with more than three characters.

An optional filter ID can also be set when receiving an Arbitration/ CAN ID.

The IDE CLion was used with the plugins PlatformIO for CLion and Serial Port Monitor.