PiCAN GPS + Gyro +Accelerometer USER GUIDE V1 -...

PiCANGPS+Gyro+Acc+RevBV1.0

SKPangElectronicsLtd©2017www.skpang.co.uk

1

Productname PiCANGPS+Gyro+AccelerometerCAN-BusBoardforRaspberryPi

Modelnumber RSP-PICANGPSACC

Manufacturer SKPangElectronicsLtd

PiCAN GPS + Gyro +Accelerometer

USER GUIDE

V1.0



2

Contents

TableofContents

1. Introduction............................................................................................................31.1. Features................................................................................................................................................................3

2. HardwareInstallation..............................................................................................41.2. ScrewTerminal..................................................................................................................................................41.3. 120ΩTerminator.............................................................................................................................................41.4. LED1.......................................................................................................................................................................41.5. LED2.......................................................................................................................................................................41.6. NotFittedItems.................................................................................................................................................51.7. ExternalGPSAntennaandBackupBattery...........................................................................................51.8. GPS1PPS(PulsePerSecond)......................................................................................................................51.9. MPU-6050I2CAddress..................................................................................................................................5

3. SoftwareInstallation...............................................................................................61.10. MPU-6050Test...............................................................................................................................................71.11. BasicGPSTest.................................................................................................................................................81.12. UsingGPSD........................................................................................................................................................91.13. ExternalGPSAntenna................................................................................................................................101.14. BringUptheCANInterface......................................................................................................................11

4. WritingYourOwnSoftware....................................................................................121.15. ApplicationinPython.................................................................................................................................121.16. ApplicationinC.............................................................................................................................................13



3

1. IntroductionThisPiCANGPSboardprovidesCAN-BuscapabilityfortheRaspberryPi2and3.ItusestheMicrochipMCP2515CANcontroller.CANconnectionsaremadevia4wayscrewterminalplug.GPSisprovidedbya66channelsMTK3339chipsetmodule.AnonboardbatteryholderforaCR1220cell.Thebackuppowerisfortherealtimeclockandhelptoreducefixtime.TheGPSmodulehasbuiltinpatchantennabutanexternalactiveantennacanalsobeuseviatheuFLconnector.

TheMPU-6050providessixaxisgyroandaccelerometerwithanonboardDigitalMotionProcessor™(DMP™)capableofprocessingcomplex9-axisMotionFusionalgorithms,theMPU-6050doesawaywiththecross-axisalignmentproblemsthatcancreepupondiscreteparts.

EasytoinstallSocketCANdriver.ProgrammingcanbedoneinCorPython.

1.1. Features• CANv2.0Bat1Mb/s• HighspeedSPIInterface(10MHz)• Standardandextendeddataandremoteframes• CANconnectionviascrewterminal• 120Ωterminatorready• SerialLCDready• LEDindicator• Fourfixingholes,complywithPiHatstandard• SocketCANdriver,appearsascan0toapplication• InterruptRXonGPIO25• MTK3339chipset• -165dBmsensitivity,10Hzupdates,66channels• RTCbatteryholder• FixstatusLED• Onboardpatchantenna• uFLconnectorforexternalactiveantenna• I2CDigital-outputof6or9-axisMotionFusiondatainrotationmatrix,

quaternion,EulerAngle,orrawdataformat• InputVoltage:2.3-3.4V• SelectableSolderJumpersonCLK,FSYNCandAD0• Tri-Axisangularratesensor(gyro)withasensitivityupto131LSBs/dpsanda

full-scalerangeof±250,±500,±1000,and±2000dps• Tri-Axisaccelerometerwithaprogrammablefullscalerangeof±2g,±4g,±8g

and±16g• DigitalMotionProcessing™(DMP™)engineoffloadscomplexMotionFusion,

sensortimingsynchronizationandgesturedetection• Embeddedalgorithmsforrun-timebiasandcompasscalibration.Nouser

interventionrequired



4

2. HardwareInstallationBeforeinstallingtheboardmakesuretheRaspberryisswitchedoff.Carefullyalignthe40wayconnectorontopofthePi.Usespacerandscrew(optionalitems)tosecuretheboard.

1.2. ScrewTerminalTheCANconnectioncanalsobemadeviathe4wayscrewterminal.

1.3. 120Ω TerminatorThereisa120Ωfittedtotheboard.Tousetheterminatorsoldera2wayheaderpintoJP2theninsertajumper.

1.4. LED1ThereisaredLEDsfittedtotheboard.ThisisconnectedtoGPIO04.Itcanuseasageneralpurposeindicator.

1.5. LED2TheLEDblinksatabout1Hzwhileit'ssearchingforsatellitesandblinksonceevery15secondswhenafixisfound.

CAN0(J3)Pinnumber Function1 n/c2 GND3 CAN_H4 CAN_L



5

1.6. NotFittedItemsJ2canbeusetopoweraserialLCDwithdataonTXDlinefromthePi.Thereisalso5vsupplyonJ2.

1.7. ExternalGPSAntennaandBackupBattery

1.8. GPS1PPS(PulsePerSecond)TheGPSmodulehasa1PPSoutputthatcanbeconnectedtothePi’sGPIO.Tousethe1PPSclosesolderbridgeSJ7.ThepulseswillnowappearonGPIO26.

1.9. MPU-6050I2CAddress

AnexternalGPSantennacanbefittedviaconnectorX1.ThisisanuFLconnector.AuFLtoSMAcableadapterisnormallyrequired.

AbackupbatterycanbefittedfortheRTCandhelptoreducefixtime.

ThedefaultI2CaddressfortheMPU-6050is0x68.

Analternativeaddressis0x69.Tochangetheaddressto0x69,cutthetracklinkingthedefaultsolderbridgeontherighttwopadsonSJ4.Applyasolderbridgelinkingthelefttwopads.



6

3. SoftwareInstallationThefollowingprocedureisfortheRaspberryPi3.

ItisbesttostartwithabrandnewRaspbianJessieimage.Downloadthelatestfrom:

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

Afterfirsttimebootup,doanupdateandupgradefirst.

sudo apt-get update

sudo apt-get upgrade

sudo reboot

Addtheoverlaysby:

sudo nano /boot/config.txt

Addthese5linestotheendoffile:

dtparam=i2c_arm=on

dtparam=spi=on

enable_uart=1

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

dtoverlay=spi-bcm2835-overlay

Editthecmdline.txtby:

sudo nano /boot/cmdline.txt

Change



7

dwc_otg.lpm_enable=0 console=serial0,115200 console=tty1 root=/dev/mmcblk0p2 rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait

to

dwc_otg.lpm_enable=0 console=tty1 root=/dev/mmcblk0p2 rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait

Thatisremoveconsole=serial0,115200

RebootPi:

sudo reboot

1.10. MPU-6050TestFirstinstallthei2c-toolspackageby:

sudo apt-get install i2c-tools

NowcheckiftheMPU-6050canbedetected.

sudo i2cdetect -y 1

Thescreenshouldlooklikethis:

Nextinstallthepython-smbuspythonmodule:

sudo apt-get install python-smbus

Nowinstallexamplepythonfiles

git clone https://github.com/skpang/MPU-6050-examples.git

cd MPU-6050-examples



8

Runthetestprogram

python3 mpu6060_test.py

Tiltandshaketheboard,youshouldseethevaluechanges.

1.11. BasicGPSTestTherawdatacanbereadby:

stty -F /dev/ttyS0 raw 9600 cs8 clocal –cstopb

Nowreadthedata

cat /dev/ttyS0

Ifyouseethedatawithlotsofcommasthenitmeansthemodulehasnotgotafixyet.MakesuretheGPSmodulehasaclearviewofthesky.AlternativelyconnectanexternalGPSantennatotheboardandplacetheantennaoutdoor.

Youshouldseesomethinglikethis:



9

1.12. UsingGPSDAprogramcalledGPSDcanbeusetoviewthedatainaformattedway.

ToinstallGPSD,type:

sudo apt-get install gpsd gpsd-clients python-gps

YouneedfirsttodisablesystemdservicethatGPSDinstalls:

sudo systemctl stop gpsd.socket

sudo systemctl disable gpsd.socket

TostartGPSD,type:

sudo gpsd /dev/ttyS0 -F /var/run/gpsd.sock

gpsmon

Youshouldseethisscreen:



10

1.13. ExternalGPSAntennaThePiCAN-GPSboardhasbuiltinpatchantennawhichprovidesa-165dBmsensitivity.Howeverifyourprojectisinaboxanddoesnothaveaclearviewoftheskythenanexternalantennaismoresuitable.

TheoptionalexternalantennahasaSMAconnectorandanuFLtoSMAcableadapterisrequired.



11

1.14. BringUptheCANInterfaceYoucannowbringtheCANinterfacesup:

sudo /sbin/ip link set can0 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:



12

4. WritingYourOwnSoftwareYoucanwriteyourownapplicationsoftwareineitherCorPython.

1.15. ApplicationinPythonDownloadthePython-CANfilesfrom:

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

Unzipandinstallby

sudo python3 setup.py install

BringtheCANinterfaceupifitisnotalreadydone:


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)



13

Toreceivedmessagesanddisplayonscreentype:

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

1.16. ApplicationinCBringtheCANinterfaceupifitisnotalreadydone:


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

PiCAN GPS + Gyro +Accelerometer USER GUIDE V1 -...

Documents

Transcript of PiCAN GPS + Gyro +Accelerometer USER GUIDE V1 -...