SK Pang Electronics PiCAN FD User manual
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0
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SK Pang Electronics Ltd Ó 2021
www.skpang.co.uk
1
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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
2
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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
3
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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
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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
W
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#
1!
CAN_L!
2!
CAN_H!
3!
GND!
4!
n/c!
J3#
Function#
1!
CAN_L!
2!
CAN_H!
3!
GND!
4!
+12v!
!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0
!
SK Pang Electronics Ltd Ó 2021
www.skpang.co.uk
5
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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
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SK Pang Electronics Ltd Ó 2021
www.skpang.co.uk
6
!
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
7
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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
8
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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
!
!
!
!
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!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD DUO Rev B 2.0
!
SK Pang Electronics Ltd Ó 2021
www.skpang.co.uk
9
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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
10
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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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