SK Pang Electronics PiCAN FD Manuale utente

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0

SK Pang Electronics Ltd Ó 2021

www.skpang.co.uk

Product name PICAN FD CAN-Bus Board for Raspberry Pi 4

Model number RSP-PICAN FD DUO

Manufacturer SK Pang Electronics Ltd

PiCAN FD DUO with RTC

USER GUIDE V2.0

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0

SK Pang Electronics Ltd Ó 2021

www.skpang.co.uk

Contents

Table of Contents

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

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

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

1.2.!Screw*Terminals*...............................................................................................................................................*4!

1.3.!120W*Terminator*.............................................................................................................................................*4!

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

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

1.6.!Switch*Mode*Power*Supply*(optional)*....................................................................................................*4!

3.!Software Installation ............................................................................................... 5!

1.7.!Installing*CAN*Utils*..........................................................................................................................................*5!

1.8.!Bring*Up*the*Interface*....................................................................................................................................*5!

4.!Real Time Clock (RTC) Software Installation ............................................................. 6!

5.!Python Installation and Use ..................................................................................... 9!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0

SK Pang Electronics Ltd Ó 2021

www.skpang.co.uk

1. Introduction

This!PiCAN!FD!Duo!board!provides!two!channel!CAN-Bus!FD!capability!for!the!

Raspberry!Pi.!It!uses!the!Microchip!MCP2517FD!CAN!controller!with!MCP2562FD!

CAN!transceiver.!Connection!are!made!via!4!way!screw!terminal.!A!real!time!clock!

with!battery!back!up!(battery!not!included)!is!also!on!the!board.!

The!improved!CAN!FD!extends!the!length!of!the!data!section!to!up!to!64!bytes!per!

frame!and!a!data!rate!of!up!to!8!Mbps.!

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

1.1. Features

• Arbitration!Bit!Rate!upto!1Mbps!

• Data!Bit!Rate!up!to!8Mbps!

• CAN!FD!Controller!modes!

• Mixed!CAN2.0B!and!CANFD!mode!

• CAN2.0B!mode!

• Conforms!to!ISO11898-1:2015!

• High!speed!SPI!Interface!!

• CAN!connection!via!4way!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!05!

• RTC!with!battery!backup!(battery!not!included)!

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.!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0

SK Pang Electronics Ltd Ó 2021

www.skpang.co.uk

1.2. Screw Terminals

The!CAN!connections!are!made!via!the!4way!screw!terminals.!

! !

!!!

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

1.3. 120

Terminator

There!is!a!120W!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!is!a!red!LED!fitted!to!each!channel.!This!is!connected!to!GPIO04!and!GPIO26.!

1.5. Not Fitted Items

J2!can!be!use!to!power!a!serial!LCD!with!data!on!TXD!line!from!the!Pi.!There!is!also!5v!

supply!on!J5.!

1.6. Switch Mode Power Supply (optional)

This!is!an!optional!5v!module!that!can!power!the!Pi.!It!has!an!input!voltage!range!of!6v!

to!20v.!

J4#

Function#

CAN_L!

CAN_H!

GND!

n/c!

J3#

Function#

CAN_L!

CAN_H!

GND!

+12v!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0

SK Pang Electronics Ltd Ó 2021

www.skpang.co.uk

3. Software Installation

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

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

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!lines!to!the!end!of!file:!

dtparam=spi=on

dtoverlay=i2c-rtc,pcf8523

dtoverlay=mcp251xfd,spi0-0,interrupt=25

dtoverlay=mcp251xfd,spi0-1,interrupt=05

Reboot!Pi:!

sudo reboot

1.7. Installing CAN Utils

Install!the!CAN!utils!by:!

sudo apt-get install can-utils

1.8. Bring Up the Interface

You!can!now!bring!the!CAN!interface!up!with!CAN!2.0B!at!500kbps:!

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

or!CAN!FD!at!500kpbs!/!2Mbps.!Use!copy!and!paste!to!a!terminal.!

sudo /sbin/ip link set can0 up type can bitrate 500000 dbitrate 2000000 fd on sample-point .8 dsample-point .8

Connect!the!PiCAN2!to!your!CAN!network!via!screw!terminal!or!DB9.!

To!send!a!CAN!2.0!message!use!:!

cansend can0 7DF#0201050000000000

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

To!send!a!CAN!FD!message!with!BRS!use!:!

cansend can0 7df##15555555555555555

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0

SK Pang Electronics Ltd Ó 2021

www.skpang.co.uk

To!send!a!CAN!FD!message!with!no!BRS!use!:!

cansend can0 7df##05555555555555555

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

candump can0

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

To!use!the!other!CAN!channel!replace!can0!with!can1.!

4. Real Time Clock (RTC) Software Installation

Insert!a!CR1220!battery!(not!supplied)!into!battery!holder.!Ensure!the!“+”!is!facing!

upward.!

Install!the!i2c-tools!by:!

sudo apt-get install i2c-tools

Then!check!the!RTC:!

sudo i2cdetect -y 1

You!should!see!68!or!UU!on!address!0x68:!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0

SK Pang Electronics Ltd Ó 2021

www.skpang.co.uk

Now!you!need!to!disable!the!"fake!hwclock"!which!interferes!with!the!'real'!hwclock!

sudo apt-get -y remove fake-hwclock

sudo update-rc.d -f fake-hwclock remove

Start!the!original!hw!clock!script!by:!

sudo nano /lib/udev/hwclock-set

and!comment!out!these!three!lines:!

#if [ -e /run/systemd/system ] ; then

# exit 0

#fi

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0

SK Pang Electronics Ltd Ó 2021

www.skpang.co.uk

Reboot!the!Pi.!

Type!the!following!to!stop!the!fake!clock!services.!

sudo systemctl stop fake-hwclock.service

sudo systemctl disable fake-hwclock.service

Ensure!the!Ethernet!cable!or!Wifi!is!on.!This!will!get!the!time!from!the!network.!!

Set!the!clock!by:!

sudo hwclock -w

To!read!the!clock:!

sudo hwclock -r

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0

SK Pang Electronics Ltd Ó 2021

www.skpang.co.uk

5. Python Installation and Use

Ensure!the!driver!for!PiCAN!FD!is!installed!and!working!correctly!first.!

Clone!the!pythonCan!repository!by:!

git clone https://github.com/hardbyte/python-can

cd python-can

sudo python3 setup.py install

Check!there!is!no!error!been!displayed.!

Bring!up!the!can0!interface:!

sudo /sbin/ip link set can0 up type can bitrate 500000 dbitrate 2000000 fd on sample-point .8 dsample-point .8

Now!start!python3!and!try!the!transmit!with!CAN!FD!and!BRS!set.!

python3

import can

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

True)

msg = can.Message(arbitration_id=0x7de,extended_id=False,is_fd = True,

bitrate_switch = True,data=[0,0,0,0,0,0x1e,0x21,0xfe, 0x80, 0, 0,1,0])

bus.send(msg)!

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

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

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0

SK Pang Electronics Ltd Ó 2021

www.skpang.co.uk

Documentation!for!python-can!can!be!found!at!:!!

https://python-can.readthedocs.io/en/stable/index.html!

More!expamles!in!github:!

https://github.com/skpang/PiCAN-FD-Python-examples!

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