PiCAN GPS USER GUIDE V1 - SK Pangskpang.co.uk/catalog/images/raspberrypi/pican/PICANGPS_UGV1.pdf ·...

PiCAN2GPSRevBV1.0

SKPangElectronicsLtd©2017www.skpang.co.uk

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Productname PiCANGPSCAN-BusBoardforRaspberryPi

Modelnumber RSP-PICANGPS

Manufacturer SKPangElectronicsLtd

PiCAN GPS USER GUIDE

V1.0

PiCAN2GPSRevBV1.0


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Contents

TableofContents

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

2. HardwareInstallation..............................................................................................31.2. ScrewTerminal..................................................................................................................................................41.3. 120ΩTerminator.............................................................................................................................................41.4. LED1.......................................................................................................................................................................41.5. LED2.......................................................................................................................................................................41.6. NotFittedItems.................................................................................................................................................41.7. ExternalGPSAntennaandBackupBattery...........................................................................................4

3. SoftwareInstallation...............................................................................................51.8. BasicGPSTest....................................................................................................................................................61.9. UsingGPSD..........................................................................................................................................................71.10. ExternalGPSAntenna..................................................................................................................................81.11. BringUptheCANInterface........................................................................................................................9

4. WritingYourOwnSoftware....................................................................................101.12. ApplicationinPython.................................................................................................................................101.13. ApplicationinC.............................................................................................................................................11

PiCAN2GPSRevBV1.0


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

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

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

PiCAN2GPSRevBV1.0


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1.2. ScrewTerminalTheCANconnectioncanalsobemadeviathe4wayscrewterminal.

1.3. 120Ω TerminatorThereisa120Ωfittedtotheboard.Tousetheterminatorsoldera2wayheaderpintoJP2theninsertajumper.

1.4. LED1ThereisaredLEDsfittedtotheboard.ThisisconnectedtoGPIO04.Itcanuseasageneralpurposeindicator.

1.5. LED2TheLEDblinksatabout1Hzwhileit'ssearchingforsatellitesandblinksonceevery15secondswhenafixisfound.

1.6. NotFittedItemsJ2canbeusetopoweraserialLCDwithdataonTXDlinefromthePi.Thereisalso5vsupplyonJ2.

1.7. ExternalGPSAntennaandBackupBattery

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

AnexternalGPSantennacanbefittedviaconnectorX1.ThisisanuFLconnector.AuFLtoSMAcableadapterisnormallyrequired.

AbackupbatterycanbefittedfortheRTCandhelptoreducefixtime.

PiCAN2GPSRevBV1.0


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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

Addthese4linestotheendoffile:

dtparam=spi=on

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

dtoverlay=spi-bcm2835-overlay

enable_uart=1

PiCAN2GPSRevBV1.0


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Editthecmdline.txtby:

sudo nano /boot/cmdline.txt

Change

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

1.8. BasicGPSTestTherawdatacanbereadby:

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

Nowreadthedata

cat /dev/ttyS0

Ifyouseethedatawithlotsofcommasthenitmeansthemodulehasnotgotafixyet.MakesuretheGPSmodulehasaclearviewofthesky.AlternativelyconnectanexternalGPSantennatotheboardandplacetheantennaoutdoor.

Youshouldseesomethinglikethis:

PiCAN2GPSRevBV1.0


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1.9. 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:

PiCAN2GPSRevBV1.0


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1.10. ExternalGPSAntennaThePiCAN-GPSboardhasbuiltinpatchantennawhichprovidesa-165dBmsensitivity.Howeverifyourprojectisinaboxanddoesnothaveaclearviewoftheskythenanexternalantennaismoresuitable.

TheoptionalexternalantennahasaSMAconnectorandanuFLtoSMAcableadapterisrequired.

PiCAN2GPSRevBV1.0


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1.11. 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:

PiCAN2GPSRevBV1.0


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4. WritingYourOwnSoftwareYoucanwriteyourownapplicationsoftwareineitherCorPython.

1.12. 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)

PiCAN2GPSRevBV1.0


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Toreceivedmessagesanddisplayonscreentype:

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

1.13. 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 USER GUIDE V1 - SK Pangskpang.co.uk/catalog/images/raspberrypi/pican/PICANGPS_UGV1.pdf ·...

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