Dont think you have the “Max PWM” mod in your code I cant remember? The NH / Case seems to turn even faster than Fendt. (Massey & Valtra seem pretty slow)
Uno code only limits the max setpoint change per Arduino cycle (via the MAX PWM setting)
Teensy code drives the setpoint up/down via the PWM value, so all steering settings are used.
I didn’t bother with the pwm in my code at all. It’s absolutely fine without it. I was actually wondering if AOG itself somehow restricted the requested angle due to lower pwm values.
I’ve not really looked at the ‘official’ can bus code tbh.
The CAN code in the support folder is only for fitting a left/right CAN valve and building your own new CANBUS setup (nuts programs), nothing to do with factory steer ready machines you still have to use programs from here for factory ready to go systems.
Hi,
I am very interested in this topic. I have no autosteer ready tractors from factory. But i am very interested if it’s also possible to be able to control things like the hitch, hydraulics, rpm, etc. via the isobus. I was also wondering if we could make maps of things like rpm, speed, diesel usage, etc. so we collect data from the isobus and take the position of the tractor and make heatmaps of some kind. I have also one tractor with HTS(Headland Turn Sequence) and a build in autosteer button, would be interesting if we could connect these with AGopen. Very interesting. I have two can shields and have time in a couple of weeks to hack around with those, looking forward to it.
Yes it’s all possible. Many things are somewhat standardized as well. Things like engine speed, fuel consumption, etc are probably the same across different makes. So yes, data collection and mapping should be very possible!
It’s on my list of things to do to probe the CAN messages coming from my armrest on the tractor to identify hydraulics, hitch, and PTO function.
Hydraulics is easy if you have a machine that uses the standard ISUBUS PGNs. ISOBUS standard allows controlling hydraulics through the ISOBUS itself, but don’t know any machine that supports that functionality. In practice, you need to do a man in the middle attack to the hydraulics bus, i.e. modify the messages from the armrest on the fly. I have done that for the blade control for open grade, works no problem.
Maybe the counts per degree are not set right?
In my Massey Canbus setup, at first I had the same problem.
Hello I am a French farmer but I will soon have a Fendt s4
I read your whole discussion
I would like to know if I could have a whole connection diagram as well as the PCB to manufacture to use AG open gps in canbus and format it
Here is the PCB files and parts list for JLC & LCSC (Just remove the .txt and unzip) - There will be enough parts for 5 boards
You will also need to order some J1B1211CCD Ethernet conectors from AliExpress.
Teensy4.1 Simple CANBUS PCB 23.11.2021.zip.txt (185.1 KB)
If you know @Valtro or Bennet (Not sure his name on here) he might still have some boards as they were making them up.
Edit:
You also need some these CAN Transceivers MCP2562-E/P (3 per board if using all 3 CAN Channels), maybe you can get them from somewhere like Mouser, RS Components etc
These two programs (USB or UDP) will work with the following steering ready tractors:
Autosteer_AgOpenGPS_USB_Teensy4.1_CANBUS_AllBrands_15.11.2021.zip.txt (28.9 KB)
Autosteer_UDP_AOGv5_Teensy4.1_CANBUS_SteerReady_15.11.2021.zip.txt (31.0 KB)
it’s perfect thank you now I will be able to interest him a little more in the project
if someone has an entire pcb to sell I am a taker
Anybody using MAX3051 transceiver with T4.1? Bought some ready made breakouts and can’t get the bus working. Everything should be wired OK and the code runs perfectly on skpang Triple CAN T4.0 board. Just a very faint bus led on pican2 board that I’m using as counterpart, that works on several other devices. Bitrates, bus termination etc. checked and OK. Ideas?
I used these. The MCP2562.
@CommonRail Hi Tony,
Do you want to share the EASYEDA Project also?
I’m thinking of an SMD-version of the board…
Too embarrassed to share haha, I operate in spaghetti mode. But if you can make sense of it and redraw it go for gold.
Edit: sorry old file was one version too old
This is the latest verison most people are using.
Project_Teensy 4.1 CAN Ver2_2022-01-30_17-22-08.zip (278.9 KB)
I made this PCB to get a simple board with only whats needed for 100% CAN system.
So far working factory tractors are:
Fendt - SCR, S4, Gen6
Fendt - FendtOne models with part: ACP0595080 3rd party steering unlock installed
Massey Ferguson & Valtra - Inculding the latest models with PVED-CC valve using factory steering contoller
Claas Tractors - Non MR, MR, and Stage 5
Case / New Holland - With PVED-CLS valve
JCB - With PVED-CLS valve
Deutz - With PVED-CLS valve
Headland managment is no longer only a Fendt thing too, someone has worked out another brand. Im hopefull to get a few more options in the AOG hitch / section control + headland pages to make setting up faster and easier in the field.
Always working more and more out everyday as more and more people are using the CAN ready gear with AgOpen. But also the Non CAN gear its growing fast with more people finding out about it.
Teensy 4.0 Triple CAN Board Include Teensy 4.0 — SK Pang Electronics Ltd this is a very nice board off the shelf, and not too bad price either, no ethernet though. If you get rid of the bottom pins, you could slap in a T4.1 as well.
It doesn’t look that bad at all.
Let me look and i will come back to you 
Great project so far!
skpang makes a 4.1 board, and even comes with a nice little screen (which is removable). I also see one where they have an onboard ublox receiver. If they would just make one with the F9P instead, that would be a fantastic little integrated board with just about everything on one board.
I have two of the 4.1 boards heading this way. Plan to use that for controlling the home-made electrohydraulic spool valves for the older valtra. Maybe put the steer controller to run on the same board as well.
Do you have the code somewhere on github or are these the latest versions?
Finally finding some quality time together with my PVED-CLS controller, should work quite much 1-to-1 with this codebase. Only thing still unclear is where to get the 2 speed signals for the CAN to make the CLS controller happy, quick and dirty fix is just to read from the tractor bus with Teensy and send out with 2 different IDs to the steering bus.
Im not very good with github its a nightmere to me. Here is my latest one for “Most brands” and v5.4.5.
Autosteer_UDP_AOGv5_Teensy4.1_CANBUS_SteerReady_8.1.2022_GPSIMU.zip (33.5 KB)