Can-Bus in Horsch Leeb

Hardware CanBus
1

I was given the challenge of mounting agopen gps in this self-propelled vehicle! a big monster that is much too expensive…

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the orbitrol is a danfoss canbus

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the cabin is a Claas Trion. So I assumed it would be “easy” to control it via a PCB @CommonRail with the messages for Claas. Here is a picture of the available connectors. The interesting CANbus should be on x003, x199, or and x114. But I have no information on the pinout. this is where I ask you if you have any information!? (the x115.1 seems not to be K.bus nor V.bus I found few messages sent and nothing interesting related to the guidance, not even the joystick buttons).

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This may help if you can locate these Deutsch plugs:

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I found this document, I conclude that I have to look on the x199 connector. It’s normal that I couldn’t find anything on the x115.1 connector, it is dedicated to the engine.

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I have made good progress, I can read the angle and get feedback that the valve is ready with the guidance activation button.

            //Horsch Begin
            if (VBusReceiveData.id == 0x0CAC1C13){ //HORSCH                
                estCurve = ((VBusReceiveData.buf[1] << 8) + VBusReceiveData.buf[0]);
                steeringValveReady = (VBusReceiveData.buf[2]);
                Serial.print("Curve : ");
                Serial.println(estCurve);
            }
            
            if (VBusReceiveData.id == 0x18EF1C80)
            {
                if ((VBusReceiveData.buf[0]) == 15 && (VBusReceiveData.buf[1]) == 96 && (VBusReceiveData.buf[2]) == 1)
                {
                    Time = millis();
                    digitalWrite(engageLED, HIGH);
                    engageCAN = 1;
                    relayTime = ((millis() + 1000));
                    //*****Turn saftey valve ON**********
                    if (engageCAN == 1) digitalWrite(PWM2_RPWM, 1);
                }
            }
            //Horsch End

My problem now remains to determine where and how to send the angle command to the valve. How can the identifiers and data to be sent be found?

if (Brand == 0){
    VBusSendData.id = 0x0CAD131E; //<---        how to find this ??????
    VBusSendData.flags.extended = true;
    VBusSendData.len = 8;
    VBusSendData.buf[0] = lowByte(setCurve);
    VBusSendData.buf[1] = highByte(setCurve);
    if (intendToSteer == 1)VBusSendData.buf[2] = 253;
    if (intendToSteer == 0)VBusSendData.buf[2] = 252;
    VBusSendData.buf[3] = 0;
    VBusSendData.buf[4] = 0;
    VBusSendData.buf[5] = 0;
    VBusSendData.buf[6] = 0;
    VBusSendData.buf[7] = 0;
    V_Bus.write(VBusSendData);
}

maybe @CommonRail can you help me or anyone else?

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