FordFocus Steering Monitor

Real-time steering wheel alignment monitoring system for Ford Focus MK3.5 BR via CAN Bus.

⚠️ EDUCATIONAL PURPOSE ONLY

IMPORTANT NOTICE: This project is intended EXCLUSIVELY FOR EDUCATIONAL PURPOSES. It is designed to demonstrate CAN Bus communication, Arduino programming, and automotive electronics concepts.

DO NOT USE this project for:

• Commercial applications
• Production vehicles
• Safety-critical systems
• Any purpose that could interfere with vehicle operation

The authors assume NO RESPONSIBILITY for any damage, injury, or legal issues arising from the use of this project.

📋 Description

This project monitors in real-time the steering wheel angle and orientation of a Ford Focus MK3.5 BR, displaying the information on an LCD screen. The system reads data directly from the vehicle's CAN Bus and calculates steering alignment.

🚗 Compatibility

• Vehicle: Ford Focus MK3.5 BR
• Protocol: CAN Bus HSCAN
• CAN ID: 0x010 (Steering Wheel Position)

🔧 Required Hardware

Main Components

• Arduino Uno/Nano or compatible
• CAN Module MCP2515 with TJA1050 transceiver
• 16x2 LCD Display with parallel interface
• Jumpers and breadboard
• 12V Power Supply (optional, can use USB)

Connections

CAN Module (MCP2515)

MCP2515	Arduino
VCC	5V
GND	GND
CS	Pin 10
SO	Pin 12
SI	Pin 11
SCK	Pin 13
INT	Pin 2

LCD Display

LCD	Arduino
VSS	GND
VDD	5V
V0	Potentiometer
RS	Pin 3
E	Pin 4
D4	Pin 5
D5	Pin 6
D6	Pin 7
D7	Pin 8

📚 Required Libraries

Install the following libraries through Arduino IDE:

#include <mcp_can.h>        // For CAN communication
#include <mcp_can_dfs.h>    // CAN definitions
#include <SPI.h>            // SPI communication (already included)
#include <LiquidCrystal.h>  // LCD control

Library Installation

1. Open Arduino IDE
2. Go to Sketch → Include Library → Manage Libraries
3. Search and install:
   • mcp_can by Cory J. Fowler
   • LiquidCrystal (already included in Arduino IDE)

📖 Library References

MCP_CAN Library

• Author: Cory J. Fowler
• Repository: GitHub - coryjfowler/MCP_CAN_lib
• Purpose: Interface with MCP2515 CAN controller
• Documentation: Provides comprehensive CAN Bus communication functions
• Version: Compatible with Arduino IDE 1.8.x and 2.x

LiquidCrystal Library

• Author: Arduino Team
• Repository: Arduino Core Libraries
• Purpose: Control LCD displays with parallel interface
• Documentation: Standard Arduino library for 16x2 LCD displays
• Version: Built-in with Arduino IDE

SPI Library

• Author: Arduino Team
• Repository: Arduino Core Libraries
• Purpose: Serial Peripheral Interface communication
• Documentation: Standard Arduino SPI communication library
• Version: Built-in with Arduino IDE

Additional Resources

• CAN Bus Specification: ISO 11898-1:2015
• MCP2515 Datasheet: Microchip Technology Inc.
• Ford Focus CAN Database: Proprietary Ford documentation

🚀 Installation and Usage

1. Preparation

1. Clone or download this repository
2. Connect hardware according to connection diagram
3. Connect Arduino to computer via USB

2. CAN Bus Configuration

1. Connect CAN module to vehicle bus:
   • CAN_H: Vehicle CAN High pin
   • CAN_L: Vehicle CAN Low pin
   • GND: Common ground with vehicle

3. Operation

1. Power on the system
2. LCD will display:
   • First line: Orientation (LEFT/RIGHT/CENTERED)
   • Second line: Numerical angle with degree symbol

📊 How It Works

CAN Message ID 0x010 Analysis

The Ford Focus MK3.5 BR uses CAN ID 0x010 to transmit steering wheel position data on the HSCAN bus. This message contains critical information about the vehicle's steering system.

Message Structure

CAN ID: 0x010 (16-bit identifier)
Data Length: 8 bytes
Bus: HSCAN (High Speed CAN)
Update Rate: ~50Hz (every 20ms)

Data Byte Breakdown

Byte	Purpose	Description
0-3	System Status	Vehicle state and diagnostics
4	Orientation	Steering direction indicator
5	Reserved	System reserved data
6-7	Angle Data	16-bit steering angle value

Byte 4 - Orientation Logic

Bit 7-4: Orientation Code
- 0x0: Left turn detected
- 0x8: Right turn detected
- Other values: Reserved/Error states

Bytes 6-7 - Angle Calculation

The steering angle is encoded as a 16-bit signed integer:

// Raw data extraction
hex_combine_angle = word(buf[6], buf[7]);

// Conversion formula (Ford-specific)
angle = ((hex_combine_angle - 32768) * 1.5);

Example Values:

• 0x8000 (32768) = 0° (centered)
• 0x7FFF (32767) = -1.5° (slight left)
• 0x8001 (32769) = +1.5° (slight right)
• 0x0000 (0) = -49.152° (hard left)
• 0xFFFF (65535) = +49.152° (hard right)

Real-World Examples

Example 1: Straight driving
CAN ID: 0x010
Data: [0x12, 0x34, 0x56, 0x78, 0x00, 0x00, 0x80, 0x00]
Angle: 0° (centered)

Example 2: Left turn
CAN ID: 0x010  
Data: [0x12, 0x34, 0x56, 0x78, 0x00, 0x00, 0x7F, 0xFF]
Angle: -1.5° (left)

Example 3: Right turn
CAN ID: 0x010
Data: [0x12, 0x34, 0x56, 0x78, 0x80, 0x00, 0x80, 0x01] 
Angle: +1.5° (right)

Angle Calculation

The system combines bytes 6 and 7 from CAN message and applies the formula:

hex_combine_angle = word(buf[6], buf[7]);
angle = ((hex_combine_angle - 32768) * 1.5);

Orientation Detection

• LEFT: can_orientation == 0 and angle != 0
• RIGHT: can_orientation == 8 and angle != 0
• CENTERED: angle == 0

Update Frequency

• Frequency: Every 20ms
• Serial communication: 115200 baud (for debugging)

🔍 Serial Monitoring

For debugging and monitoring, connect Arduino to computer and open Serial Monitor (115200 baud). You will see:

CAN0: Init OK!
Angle: -2.5
CAN Bus Hex Value: 7FFF

⚠️ Important Warnings

• Safety: This project is for monitoring only. Do not interfere with critical vehicle systems.
• Compatibility: Works only with Ford Focus MK3.5 BR. Other models may have different CAN IDs.
• CAN Connection: Ensure proper connection to vehicle CAN Bus.
• Power Supply: Use adequate power supply for CAN module (usually 12V).
• Educational Use: This project is intended for learning purposes only.