SK Pang RSP-PICAN2DUO User guide

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!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN&2&DUO&Rev&B&V1.3&

SK&Pang&Electronics&Ltd&©&2016&

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Product&name&& PiCAN2&DUO&CAN-Bus&Board&for&Raspberry&Pi&

Model&number& RSP-PICAN2DUO&

Manufacturer& & SK&Pang&Electronics&Ltd&

& &

PiCAN2 DUO USER GUIDE

V1.3

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Contents'

Table'of'Contents'

1.! Introduction'............................................................................................................'3!

1.1.! Features!................................................................................................................................................................!3!

2.! Hardware'Installation'..............................................................................................'3!

1.2.! Screw!Terminal!..................................................................................................................................................!4!

1.3.! 120Ω!Terminator!.............................................................................................................................................!4!

1.4.! LED!..........................................................................................................................................................................!4!

1.5.! Not!Fitted!Items!.................................................................................................................................................!4!

3.! Software'Installation'...............................................................................................'4!

1.6.! Bring!Up!the!Interface!....................................................................................................................................!6!

4.! Writing'Your'Own'Software'.....................................................................................'7!

1.7.! Application!in!Python!.....................................................................................................................................!7!

1.8.! Application!in!C!..................................................................................................................................................!8!

! '

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1. Introduction'

This!PiCAN2!DUO!board!provide!two!independent!CAN-Bus!channels!for!the! Raspberry!Pi!2.!It!uses!the!Microchip!MCP2515!CAN!controller!with!MCP2551!CAN! transceiver.!Connections!are!made!via!4!way!screw!terminal.!This!board!is!also! available!with!a!5v!1A!SMPS!that!can!power!the!Pi!is!well!via!the!screw!terminal.!

Easy!to!install!SocketCAN!driver.!Programming!can!be!done!in!C!or!Python.!

1.1. Features'

•! CAN!v2.0B!at!1!Mb/s!

•! High!speed!SPI!Interface!(10!MHz)!

•! Standard!and!extended!data!and!remote!frames!

•! CAN!connection!via!screw!terminal!

•! 120Ω!terminator!ready!

•! Serial!LCD!ready!

•! LED!indicator!

•! Four!fixing!holes,!comply!with!Pi!Hat!standard!

•! SocketCAN!driver,!appears!as!can0!and!can1!to!application!

•! Interrupt!RX!on!GPIO25!and!GPIO24!

2. Hardware'Installation'

Before!installing!the!board!make!sure!the!Raspberry!is!switched!off.!Carefully!align! the!40way!connector!on!top!of!the!Pi.!Use!spacer!and!screw!(optional!items)!to!secure! the!board.!

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1.2. Screw'Terminal'

The!CAN!connection!can!also!be!made!via!the!4!way!screw!terminal.!!

Note!:!The!+12v!In!is!only!used!on!the!PiCAN2!board!with!SMPS!option!fitted.!

1.3. 120Ω'Terminator'

There!is!a!120Ω!fitted!to!the!board.!To!use!the!terminator!solder!a!2way!header!pin!to! JP1!and!JP2!then!insert!a!jumper.!

1.4. LED'

There!are!two!red!LEDs!fitted!to!the!board.!This!is!connected!to!GPIO04!and!GPIO26.!

1.5. Not'Fitted'Items'

JP5!can!be!use!to!power!a!serial!LCD!with!data!on!TXD!line!from!the!Pi.!There!is!also! 5v!supply!on!JP5.!

Switch!mode!power!supply,!this!is!a!5v!module!that!can!power!the!Pi.!It!has!an!input! voltage!range!of!6v!to!20v.!

U2!is!a!EEPROM!for!ID!use.!

3. Software'Installation'

It!is!best!to!start!with!a!brand!new!Raspbian!image.!Download!the!latest!from:!

https://www.raspberrypi.org/downloads/raspbian/!

CAN$B$(J4)$

Pin$number$

Function$

CAN_L!

CAN_H!

GND!

n/c!

CAN$A$(J3)$

Pin$number$

Function$

CAN_L!

CAN_H!

GND!

+12v!In!

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After!first!time!boot!up,!do!an!update!and!upgrade!first.!

sudo apt-get update

sudo apt-get upgrade

sudo reboot

Add!the!overlays!by:!

sudo nano /boot/config.txt

Add!these!4!lines!to!the!end!of!file:!

dtparam=spi=on

dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25

dtoverlay=mcp2515-can1,oscillator=16000000,interrupt=24

dtoverlay=spi-bcm2835-overlay

Reboot!Pi:!

sudo reboot

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1.6. Bring'Up'the'Interface'

You!can!now!bring!the!CAN!interfaces!up:!

sudo /sbin/ip link set can0 up type can bitrate 500000

sudo /sbin/ip link set can1 up type can bitrate 500000

Download!and!copy!the!CAN!test!programs!to!the!Pi.!

http://www.skpang.co.uk/dl/can-test_pi2.zip!

Connect!the!PiCAN2!to!your!CAN!network!via!screw!terminal!.!

To!send!a!CAN!message!on!can0!(CAN!B!J4)!use!:!

./cansend can0 7DF#0201050000000000

This!will!send!a!CAN!ID!of!7DF.!Data!02!01!05!–!coolant!temperature!request.!

To!send!a!CAN!message!on!can1!(CAN!A!J3)!use!:!

./cansend can1 7DF#0201050000000000

Connect!the!PiCAN!to!a!CAN-bus!network!and!monitor!traffic!by!using!command:!

./candump can0

You!should!see!something!like!this:!

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4. Writing'Your'Own'Software'

You!can!write!your!own!application!software!in!either!C!or!Python.!

1.7. Application'in'Python'

Download!the!Python-CAN!files!from:!

https://bitbucket.org/hardbyte/python-can/get/4085cffd2519.zip

Unzip!and!install!by!

sudo python3 setup.py install

Bring!the!CAN!interface!up!if!it!is!not!already!done:!

sudo /sbin/ip link set can0 up type can bitrate 500000

Now!start!python3!

python3

To!sent!a!message!out!type!the!following!lines:!

import can

bus = can.interface.Bus(channel='can0', bustype='socketcan_native')

msg = can.Message(arbitration_id=0x7de,

data=[0, 25, 0, 1, 3, 1, 4, 1],

extended_id=False)

bus.send(msg)

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To!received!messages!and!display!on!screen!type:!

notifier = can.Notifier(bus, [can.Printer()])

1.8. Application'in'C'

Bring!the!CAN!interface!up!if!it!is!not!already!done:!

sudo /sbin/ip link set can0 up type can bitrate 500000

Download!the!source!code!and!example!files!by!typing!the!following!in!the!command! prompt:!

wget http://skpang.co.uk/dl/cantest.tar

Unpack!the!tar!file!and!change!into!directory!by:!

tar xf cantest.tar cd linux-can-utils

The!example!file!is!called!cantest.c!to!edit!this!file,!type!the!following!in!the!command! prompt:!

nano cantest.c

Line!77!is!the!CAN!message!to!be!sent!out.!

unsigned char buff[] = "7DF#0201050000000000";

7DF!is!the!message!ID!and!0201050000000000!is!the!data.!Change!the!data!to!suit.! Press!CTRL-X!to!exit.! To!compile!the!program!type:!

make

Check!there!are!no!errors.!To!run!the!program!type:!

./cantest