PiCAN2DUORevBV1.1
SKPangElectronicsLtd©2016www.skpang.co.uk
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Productname PiCAN2DUOCAN-BusBoardforRaspberryPi
Modelnumber RSP-PICAN2DUO
Manufacturer SKPangElectronicsLtd
PiCAN2 DUO USER GUIDE
V1.1
PiCAN2DUORevBV1.1
SKPangElectronicsLtd©2016www.skpang.co.uk
2
Contents
TableofContents
1. Introduction............................................................................................................31.1. Features................................................................................................................................................................3
2. HardwareInstallation..............................................................................................31.2. ScrewTerminal..................................................................................................................................................41.3. 120ΩTerminator.............................................................................................................................................41.4. LED..........................................................................................................................................................................41.5. NotFittedItems.................................................................................................................................................43. SoftwareInstallation...............................................................................................41.6. BringUptheInterface....................................................................................................................................6
4. WritingYourOwnSoftware.....................................................................................71.7. ApplicationinPython.....................................................................................................................................71.8. ApplicationinC..................................................................................................................................................8
PiCAN2DUORevBV1.1
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1. IntroductionThisPiCAN2DUOboardprovidetwoindependentCAN-BuschannelsfortheRaspberryPi2.ItusestheMicrochipMCP2515CANcontrollerwithMCP2551CANtransceiver.Connectionsaremadevia4wayscrewterminal.Thisboardisalsoavailablewitha5v1ASMPSthatcanpowerthePiiswellviathescrewterminal.
EasytoinstallSocketCANdriver.ProgrammingcanbedoneinCorPython.
1.1. Features• CANv2.0Bat1Mb/s• HighspeedSPIInterface(10MHz)• Standardandextendeddataandremoteframes• CANconnectionviascrewterminal• 120Ωterminatorready• SerialLCDready• LEDindicator• Fourfixingholes,complywithPiHatstandard• SocketCANdriver,appearsascan0andcan1toapplication• InterruptRXonGPIO25andGPIO24
2. HardwareInstallationBeforeinstallingtheboardmakesuretheRaspberryisswitchedoff.Carefullyalignthe40wayconnectorontopofthePi.Usespacerandscrew(optionalitems)tosecuretheboard.
PiCAN2DUORevBV1.1
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1.2. ScrewTerminalTheCANconnectioncanalsobemadeviathe4wayscrewterminal.
Note:The+12vInisonlyusedonthePiCAN2boardwithSMPSoptionfitted.
1.3. 120Ω TerminatorThereisa120Ωfittedtotheboard.Tousetheterminatorsoldera2wayheaderpintoJP1andJP2theninsertajumper.
1.4. LEDTherearetworedLEDsfittedtotheboard.ThisisconnectedtoGPIO04andGPIO26.
1.5. NotFittedItemsJP5canbeusetopoweraserialLCDwithdataonTXDlinefromthePi.Thereisalso5vsupplyonJP5.
Switchmodepowersupply,thisisa5vmodulethatcanpowerthePi.Ithasaninputvoltagerangeof6vto30v.
U2isaEEPROMforIDuse.
3. SoftwareInstallationItisbesttostartwithabrandnewRaspbianimage.Downloadthelatestfrom:
https://www.raspberrypi.org/downloads/raspbian/
CANB(J4)Pinnumber Function1 CAN_L2 CAN_H3 GND4 n/c
CANA(J3)Pinnumber Function1 CAN_L2 CAN_H3 GND4 +12vIn
PiCAN2DUORevBV1.1
SKPangElectronicsLtd©2016www.skpang.co.uk
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Afterfirsttimebootup,doanupdateandupgradefirst.
sudo apt-get update
sudo apt-get upgrade
sudo reboot
Addtheoverlaysby:
sudo nano /boot/config.txt
Addthese4linestotheendoffile:
dtparam=spi=on
dtoverlay=mcp2515-can0-overlay,oscillator=16000000,interrupt=25
dtoverlay=mcp2515-can1-overlay,oscillator=16000000,interrupt=24
dtoverlay=spi-bcm2835-overlay
RebootPi:
sudo reboot
PiCAN2DUORevBV1.1
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1.6. BringUptheInterfaceYoucannowbringtheCANinterfacesup:
sudo /sbin/ip link set can0 up type can bitrate 500000
sudo /sbin/ip link set can1 up type can bitrate 500000
DownloadandcopytheCANtestprogramstothePi.
http://www.skpang.co.uk/dl/can-test_pi2.zip
ConnectthePiCAN2toyourCANnetworkviascrewterminal.
TosendaCANmessageoncan0(CANBJ4)use:
./cansend can0 7DF#0201050000000000
ThiswillsendaCANIDof7DF.Data020105–coolanttemperaturerequest.
TosendaCANmessageoncan1(CANAJ3)use:
./cansend can1 7DF#0201050000000000
ConnectthePiCANtoaCAN-busnetworkandmonitortrafficbyusingcommand:
./candump can0
Youshouldseesomethinglikethis:
PiCAN2DUORevBV1.1
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4. WritingYourOwnSoftwareYoucanwriteyourownapplicationsoftwareineitherCorPython.
1.7. ApplicationinPythonDownloadthePython-CANfilesfrom:
https://bitbucket.org/hardbyte/python-can/get/4085cffd2519.zip
Unzipandinstallby
sudo python3 setup.py install
BringtheCANinterfaceupifitisnotalreadydone:
sudo /sbin/ip link set can0 up type can bitrate 500000
Nowstartpython3
python3
Tosentamessageouttypethefollowinglines:
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)
PiCAN2DUORevBV1.1
SKPangElectronicsLtd©2016www.skpang.co.uk
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Toreceivedmessagesanddisplayonscreentype:
notifier = can.Notifier(bus, [can.Printer()])
1.8. ApplicationinCBringtheCANinterfaceupifitisnotalreadydone:
sudo /sbin/ip link set can0 up type can bitrate 500000
Downloadthesourcecodeandexamplefilesbytypingthefollowinginthecommandprompt:
wget http://skpang.co.uk/dl/cantest.tar
Unpackthetarfileandchangeintodirectoryby:
tar xf cantest.tar cd linux-can-utils
Theexamplefileiscalledcantest.ctoeditthisfile,typethefollowinginthecommandprompt:
nano cantest.c
Line77istheCANmessagetobesentout.
unsigned char buff[] = "7DF#0201050000000000";
7DFisthemessageIDand0201050000000000isthedata.Changethedatatosuit.PressCTRL-Xtoexit.Tocompiletheprogramtype:
make
Checktherearenoerrors.Toruntheprogramtype:
./cantest
