This is a BMW e90 cluster project to connect a real car instrument cluster to a personal computer using an Arduino microcontroller. The cluster can then be used in driving games.
This project focuses on documenting things [mostly in code] that were hard to come by. It also goes further than many similar projects. Please feel free to contribute!
Click the image to see a video demo
Cluster variant with oil temperature gauge
The code is able to control following things on the cluster
- Speedometer
- Speed needs to be "calibrated" due to built-in error (unless programmed away)
- See
SPEED_CALIBRATIONin config.h
- See
- Speed needs to be "calibrated" due to built-in error (unless programmed away)
- RPM
- Indicators
- Backlight
- Indirectly controlled by the cluster
- Odometer (mileage)
- Trip meter
- Average speed
- Average fuel consumption
- Range
- Light symbols (high beams, fog lights front/back)
- Fuel gauge
- Relatively well calibrated out-of-the-box
- Low fuel warning is automatic based on the level
- See
REFUELING_LED_PINwhich can be used for a led indicating refueling- Refueling (change of fuel level) is done slowly as it seems to work most reliably that way
- The level change works best if the ignition is turned off during refueling
- Instant fuel consumption
- Separate gauge or on the multi function display depending on the cluster
- Handbrake
- Gear selection (automatic gearbox cluster!)
- See
NUMBER_OF_GEARSand set it as high as the cluster allows before showing error code - Current selection (P, R, N, D)
- Manual mode (M1, M2...)
- "Sport" automatic mode (Sport D1, Sport D2...)
- See
- Cruise control
- Also Adaptive Cruise Control with https://github.com/veikkos/driver_assistance_angelo234!
- Try
CAN_CRUISE_ALTif you get cruise control error - for now it just suppresses the warning and cruise functionality is unavailable
- Warnings (see also)
- Check engine
- Low oil pressure
- Traction control
- Stability control
- High or very high engine temperature
- High clutch temperature
- High brake temperature
- Tire deflated (individual, all)
- It depends on the cluster unit if it supports the individual tire monitoring
- Radiator warning
- Doors open while on gear
- Tailgate open
- ... and more
- Coolant temperature
- Visible in debug menu only (instructions)
- Oil temperature
- Visible with higher trim clusters only
- Oil level
- Set to show OK unless oil pressure light is on
- Time and date
- Suppress warning symbols
- ABS
- SOS call system
- Steering wheel
- Airbags
- Ambient temperature
- This requires optional digital potentiometer, AD5272 is supported
- You might want to set reasonab 8000 le default resistance value (outside of this repo's scope)
- Ambient temperature is really slow to update due to heavy filtering in the cluster
- Enable with
USE_AD5272_AMBIENTin config.h
- This requires optional digital potentiometer, AD5272 is supported
Edit config.h to configure the project for your setup.
Tested boards:
- Teensy++ 2.0
- Teensy 4.1
- Arduino Nano
- Arduino Uno
- SparkFun Pro Micro (clone)
- ESP32 Dev Board
Many other models should work with little to no adaptation.
The following Siemens VDO clusters have been tested to be working:
| ZB NR | SW | HW |
|---|---|---|
| 9166852-02 | 79.50.C1 | 0E |
| 9130227-01 | 66.52.C0 | 0E |
| 9148028-01* | 73.50.C2 | 0E |
| 6980288-04** | 5C.50.80 | 0F |
* mostly tested
** mostly tested, requires CAN_CRUISE_ALT
Fully tested models are from Euro (km/h) cars with automatic gearboxes. It is handy because those can show the gear selection (P, R, N, D) and manual mode (M1, M2...) as well as a "Sport" mode. Manual gear clusters are not currently fully supported (pull request welcome) but should still work.
Other clusters might not work completely but could need some adaptation. Also mph needs some adaptation e.g. in the cruise control code.
NOTE: The cluster will set a "tampering dot" to the bottom part of the screen when played around with. It's not advisable to do this project on a cluster which you still plan to use in a car!
+----------+
| 1 | 10 |
| 2 | 11 |
| 3 | 12 |
Temperature E | 4 | 13 |
Temperature M | 5 | 14 |
CAN H | 6 | 15 |
CAN L | 7 | 16 | BC buttons
| 8 | 17 |
12V | 9 | 18 | GND
+----------+
Tip: There are faint numbers on the cluster port marking the pin numbers. Look closely!
- Temperature: Outside temperature is measured with an external sensor of resistive type between pins 4 and 5. A resistor of 10k Ohm can be used to show approximately 10'C which removes the cold weather warning. Alternatively see
USE_AD5272_AMBIENTfor digital potentiometer solution. - BC buttons: Cluster menus can be navigated by connecting pin 16 to ground with 3 buttons via resistors. The values should be 1k (Enter), 2k (Up), 3k (Down) Ohm
Remember to connect the cluster GND, microcontroller GND and Serial CAN bus adapter GND together.
The cluster needs 12V power supply. 12V wall adapter can be used, but you need to make sure it's regulated. If you are unsure you should check that the voltage is roughly 12V with a multimeter when there is no load to avoid overvoltage.
There should NOT be 120 Ohm termination in the CAN bus adapter. It should be removed if it exists.
Four adapter types are supported.
This adapter is not recommended for new builds. Pick any other supported adapter instead.
https://docs.longan-labs.cc/1030001/
- Serial CAN bus adapter has persistent memory for the baud rate and CAN bus speeds. You should only set them once
- Connection should be made RX to TX and TX to RX between the cluster and the Serial CAN bus adapter
- It's best to set the parameters with one-time-use-only code one at the time and have
while(1);after the set- Hook up the UART code so that you can see what the adapter responds. It should say
OKafter you set a value - Send
+++to go to configuration mode - The CAN bus towards the cluster should be set to 100 kb/s with
AT+C=12 - The serial port speed between the microcontroller and the adapter should be set to 115200 baud with
AT+S=4. This is the highest speed possible and is needed to be able to send CAN messages fast enough
- Hook up the UART code so that you can see what the adapter responds. It should say
- The Serial CAN bus adapter can be easily overwhelmed with commands. It seems to work much better having 3 ms between sending frames. See the main loop how this can be achieved without blocking
- The adapter is picky about the baud rate. Smallest error AT90USB has is +2.1% 115200 and it did not work. When changed to the second closest error -3.5% it started working
Enable USE_MCP_CAN_SPI in config. Set MCP_CAN_SPI_SPEED to either 8 or 16 MHz depending on your adapter. Install "mcp_can" library. More at https://github.com/coryjfowler/MCP_CAN_lib
Enable USE_ESP32_TWAI in config. Uses the ESP32's built-in TWAI (CAN) controller. You still need an external CAN transceiver (e.g. SN65HVD230) chip between the ESP32's TX/RX pins and the cluster's CAN H/L.
Enable USE_FLEXCAN_T4 in config. Uses the Teensy 4.0/4.1 built-in CAN controller via the FlexCAN_T4 library, which ships with Teensyduino. You still need an external CAN transceiver (e.g. SN65HVD230) chip between the Teensy and the cluster's CAN H/L.
SimHub support is experimental and only been briefly tested in BeamNG and in ETS2. Enable USE_SIMHUB in config. Connect as an Arduino device in "Multiple Arduinos" mode and use "Custom protocol" from simhub/custom_protocol.txt.
The custom end-to-end solution supports advanced features.
The setup is a bit convoluted but currently it consists of the following parts:
- BMW e90 CAN bus BeamNG protocol
- This BeamNG plugin provides the game telemetry via a UDP socket
- BMW e90 CAN bus cluster proxy
- This is the "SimHub" equivalent of this setup
- The Node.js proxy receives the telemetry and sends it to the microcontroller over a (virtual USB) serial port
- The proxy supports BeamNG, Euro Truck Simulator 2 and American Truck Simulator
- It could be possible to get rid of this proxy and send e.g. BeamNG telemetry directly to the microcontroller if the microcontroller supports networking. This is considered in the future.
- This repository is the microcontroller Arduino firmware that receives the telemetry from the proxy and sends it to the cluster over CAN bus
The cluster is controlled over a virtual serial port using a compact binary protocol. The (potentially virtual) baud rate is set to 921600 by default. If your Arduino has a software USB-serial, drop PC_SERIAL_BAUD to 115200 on both Arduino and proxy side.
| Offset | Size | Field | Description |
|---|---|---|---|
| 0 | 1 | 'S' |
Start marker |
| 1 | 1 | year |
e.g., 25 = 2025 |
| 2 | 1 | month |
1–12 |
| 3 | 1 | day |
1–31 |
| 4 | 1 | hour |
0–23 |
| 5 | 1 | minute |
0–59 |
| 6 | 1 | second |
0–59 |
| 7 | 2 | rpm |
0–65535 |
| 9 | 2 | speed |
km/h × 10 (e.g. 853 = 85.3 km/h) |
| 11 | 1 | gear |
0 = R, 1 = N, 2+ = forward gears |
| 12 | 1 | water temp |
°C |
| 13 | 1 | oil temp |
°C |
| 14 | 2 | fuel |
0–1000 (% × 10) |
| 16 | 4 | showlights |
Bitfield of all light states (see tables below) |
| 17 | 4 | showlights ext |
Bitfield of all light states (see tables below) |
| 21 | 2 | fuel injection |
microliters per 100 ms |
| 23 | 2 | custom light |
Symbol ID (0–65535) |
| 25 | 1 | custom light on |
1 = show, 0 = off |
| 26 | 1 | gear extension |
ASCII char: M = semi-automatic, S = sport mode, P = park, A = automatic, N = none |
| 27 | 2 | cruise speed |
km/h |
| 29 | 1 | cruise status |
Bit 0: Active (1=on, 0=off), Bit 1: Vehicle ahead, Bit 2: Collision warning, Bits 3-5: Adaptive cruise following distance (1-4) |
| 20 | 1 | ignition |
3 = starter, 2 = on, 1 = accessory only, 0 = off |
| 31 | 1 | engine running |
1 = on, 0 = off |
| 32 | 2 | ambient temp |
°C × 10 (e.g. 215 = 21.5°C) |
| 34 | 1 | checksum |
Additive checksum of all previous bytes excluding start marker |
Bit 0 : DL_SHIFT (Shift light) UNUSED
Bit 1 : DL_FULLBEAM (Full beam headlights)
Bit 2 : DL_HANDBRAKE (Handbrake engaged)
Bit 4 : DL_TC (Traction control active)
Bit 5 : DL_SIGNAL_L (Left turn signal)
Bit 6 : DL_SIGNAL_R (Right turn signal)
Bit 8 : DL_OILWARN (Oil pressure warning)
Bit 9 : DL_BATTERY (Battery warning) UNUSED
Bit 10 : DL_ABS (ABS active/disabled) UNUSED
Bit 11 : DL_BEACON (Truck beacon light is on)
Bit 12 : DL_LOWBEAM (Low beam headlights)
Bit 13 : DL_ESC (ESC active)
Bit 14 : DL_CHECKENGINE (Check engine light)
Bit 15 : DL_CLUTCHTEMP (Clutch temp warning)
Bit 16 : DL_FOGLIGHTS (Fog lights on)
Bit 17 : DL_BRAKETEMP (High brake temperature)
Bit 18 : DL_TIREFLAT_FL (Front left tire deflated)
Bit 19 : DL_TIREFLAT_FR (Front right tire deflated)
Bit 20 : DL_TIREFLAT_RL (Rear left tire deflated)
Bit 21 : DL_TIREFLAT_RR (Rear right tire deflated)
Bit 22 : DL_RADIATOR (Radiator warning)
Bit 23 : DL_ENGINETEMP_Y (Engine temp yellow)
Bit 24 : DL_ENGINETEMP_R (Engine temp red)
Bit 25 : DL_DOOROPEN_FL (Front left door open)
Bit 26 : DL_DOOROPEN_FR (Front right door open)
Bit 27 : DL_DOOROPEN_RL (Rear left door open)
Bit 28 : DL_DOOROPEN_RR (Rear right door open)
Bit 29 : DL_TAILGATEOPEN (Tailgate open)
Bit 30 : DL_TC_DISABLED (Traction control disabled)
Bit 31 : DL_ESC_DISABLED (ESC disabled)
Bit 0 : DL_EXT_YELLOW_TRIANGLE (Generic warning, yellow)
Bit 1 : DL_EXT_RED_TRIANGLE (Generic warning, red)
Bit 2 : DL_EXT_GEARBOX_ISSUE (Gearbox issue)
Bit 3 : DL_EXT_EXCLAMATION_MARK (Generic exclamation mark)
Bit 4 : DL_EXT_ADBLUE_LOW (AdBlue level low)
Bit 5 : DL_EXT_CHECKERED_FLAG (Checkered flag, launch control)
Bit 6 : DL_EXT_LIMIT_YELLOW (Speed limit, yellow)
Bit 7 : DL_EXT_LIMIT_RED (Speed limit, red)
- There's a Discord community around hacking the clusters with lots of knowledge and information
- Lights on the cluster (like Check Engine, DTC, Oil Pressure) can be controlled with CAN ID
0x592. SeecanSendErrorLightand codes in symbol document- The IDs differ on some clusters and there are more symbols to explore than what the document shows
- The code was originally implemented for mbed LPC1768. You can find the old code from the history with a tag
mbed_last - Special credits for material or help to
- beanseater420
- peter black
- HeinrichG-V12
- Trevor Cook
- Marcin648
- SimHub
- Code borrowed from SimHub
DisplayClientV2have their respective licensing
- Code borrowed from SimHub
- telefon01
- EXCV31