SK Pang Electronics PiCAN FD User manual

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
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SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
1
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Product name PICAN FD and SENT Board for Raspberry Pi
Model number RSP-PICANFDSENT
Manufacturer SK Pang Electronics Ltd
PiCAN FD and SAE J2716 SENT
USER GUIDE V1.0

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
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SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
2
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Contents
Table of Contents
1.!Introduction ........................................................................................................... 3!
1.1.!CAN&Features&...................................................................................................................................................&3!
1.2.!SAE&J2716&SENT&Features&..........................................................................................................................&3!
2.!Hardware Installation ............................................................................................. 3!
1.3.!Screw&Terminal&Plugs&..................................................................................................................................&4!
1.4.!CAN-BUS&120W&Terminator&......................................................................................................................&4!
1.5.!LEDs&....................................................................................................................................................................&4!
1.6.!Optional&.............................................................................................................................................................&4!
3.!Software Installation .............................................................................................. 5!
1.7.!Installing&CAN&Utils&.......................................................................................................................................&5!
1.8.!Bring&Up&the&Interface&.................................................................................................................................&5!
4.!Python Installation and Use .................................................................................... 6!
1.9.!SENT&Usage&......................................................................................................................................................&7!
1.10.!ASCII&Command&Set&......................................................................................................................................&8!
1.11.!SENT&GUI&Demo&............................................................................................................................................&10!
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!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
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SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
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1. Introduction
This!PiCAN!FD!board!with!SAE!J2716!SENT.!Classic!CAN!and!CAN!FD!is!provided!by!
the!Microchip!MCP2518FD!IC.!!
SAE!J2716!SENT!is!provided!by!a!dsPIC33!micro-controller.!Communication!to!the!Pi!
is!over!UART!on!ttyS0!using!ASCII!text!commands.!Example!SENT!GUI!app!is!available!
written!in!Python3!and!tkinter.!
The!firmware!is!updatable!using!the!Microchip!UnifiedHost!java!app.!This!requires!the!
Raspberry!Pi!running!in!GUI!mode.!
Easy!to!install!SocketCAN!driver.!Programming!can!be!done!in!Python.!
Optional!3A!SMPS!module!which!can!power!the!PiCAN!FD!SENT!board!and!Raspberry!
Pi!from!7!to!24v!external!supply.!
1.1. CAN Features
• Arbitration!Bit!Rate!upto!1Mbps!
• Data!Bit!Rate!up!to!8Mbps!
• CAN!FD!Controller!modes!
• Mixed!CAN2.0B!and!CANFD!mode!
• Conforms!to!ISO11898-1:2015!
• High!speed!SPI!Interface!!
• CAN!connection!via!4way!screw!terminal!
• 120Ω!terminator!ready!
• LED!indicator!!(GPIO04)!
• Four!fixing!holes,!comply!with!Pi!Hat!standard!
• SocketCAN!driver,!appears!as!can0!and!can1!to!application!
• Interrupt!RX!on!GPIO25!
1.2. SAE J2716 SENT Features
• Two!independent!SAE!J2716!SENT!channels!
• Each!channel!can!be!configured!for!Tx!or!Rx!
• Configurable!Tick!Time!and!Frame!Time!
• Status!LED!for!each!channel!
• 5v!DC!output!to!power!small!sensor!
• Powered!by!Microchip!dsPIC33!micro-controller!with!updatable!firmware!
• Communicate!to!the!Pi!via!ASCII!text!commands!on!ttyS0!
• Python3!demo!GUI!app!on!Raspberry!Pi!
2. Hardware Installation
Before!installing!the!board!make!sure!the!Raspberry!Pi!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 SENT Rev B 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
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1.3. Screw Terminal Plugs
The!CAN!connections!is!made!via!the!4way!screw!terminal!plug!on!J3!and!SENT!on!J5.!
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1.4. CAN-BUS 120
W
Terminator
There!is!a!120W!fitted!to!the!board.!To!use!the!terminator!solder!a!2way!header!pin!to!
JP2!then!insert!a!jumper.!
1.5. LEDs
There!is!a!red!LED!(LED1)!fitted!to!the!board.!This!is!connected!to!GPIO04.!LED2!and!
LED3!are!the!SENT!status!light!which!is!controlled!by!the!dsPIC33.!
1.6. Optional
SMPS.!Switch!mode!power!supply!module!option,!this!is!a!5v!module!that!can!power!
the!board!and!the!Raspberry!Pi.!It!has!an!input!voltage!range!of!7v!to!24v.!
J3!CAN-Bus!
Function!
1!
CAN_L!
2!
CAN_H!
3!
GND!
4!
+12v!
J5!SENT!
Function!
1!
GND!
2!
RX1!
3!
TX1!
4!
RX2!
5!
TX2!
6!
+5v!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
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SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
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3. Software Installation
It!is!best!to!start!with!a!brand!new!Raspbian!image.!Download!the!latest!from:!
After!first!time!boot!up,!do!an!update!and!upgrade!first.!
sudo apt-get update
sudo apt-get upgrade
sudo reboot
Add!these!lines!to!the!end!of!file:!
enable_uart=1
dtparam=spi=on
dtoverlay=mcp251xfd,spi0-0,interrupt=25
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!PiCAN!FD!LIN!board!to!your!CAN!network.!
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
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

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
6
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You!should!see!something!like!this:
4. 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',fd = True)
msg = can.Message(arbitration_id=0x7de,is_fd = True, bitrate_switch =
True,data=[0,0,0,0,0,0x1e,0x21,0xfe, 0x80, 0, 0,1,0])
bus.send(msg)!
!
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!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
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SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
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To!received!messages!and!display!on!screen!type!in:!
notifier = can.Notifier(bus, [can.Printer()])
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!
!
1.9. SENT Usage
The!SENT!controller!is!communicated!to!the!Pi!over!the!UART!on!ttyS0!port!at!
115200!8-N-1!setting.!
Using!Coolterm!for!Raspberry!Pi!or!a!text!base!terminal.!Set!the!port!to!/dev/ttyS0!/!
115200!8-N-1!and!connect.!
On!the!terminal!type!in!‘v’!and!press!enter.!Type!in!‘V’!and!press!enter.!
You!should!see!a!reply!like!this!screen:!
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!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
8
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1.10. ASCII Command Set
To!control!the!SENT!port!a!simple!ASCII!command!is!sent!from!the!Pi!to!the!PICAN!FD!
LIN!board.!
Commands!from!Pi!to!the!PiCAN!FD!SENT!board!
The!command!requires!a!carriage!return!character!(0x0D).!All!values!are!in!hex.!
V! ! Get!hardware!version!
v! ! Get!firmware!version!
ox! ! Open!SENT!port.!x:1!port!1.!x:2!port.!x:3!both!ports!
cx! ! Close!SENT!port.!x:1!port!1.!x:2!port.!x:3!both!ports!
dxsiiiiii! Transmit!a!SENT!frame!with!6!nibble!
!!dxsiiiiii!
!!x:1!port1.!x:port2!x:3!both!ports!
!!s:Status!nibble!0!to!0xf!
!!iiiiii:6!nibble!of!data.!0!to!0xf!each!
txii! ! Set!Tick!Time!03!to!90!(decimal)!
!!txii!
!!x:1!port1.!x:port2!x:3!both!ports!
!!ii:00!to!90!
fxiii! ! Set!Frame!Time!284!to!920!(decimal)!
!!fxiii!
!!x:1!port1.!x:2!port2!!
!!iii:284!to!920!!
px! ! Set!Pause!Pulse!Present!
!!px!
x:1!port1.!x:2!port2!x:3!both!ports!
mxi! ! Set!operation!mode!
!!mxi! !
x:1!port1.!x:port2!x:3!both!ports!
i:r!receive.!i:t!transmit!
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!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
9
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Data!from!PiCAN!FD!SENT!board!to!Pi!
After!each!command!is!received,!an!acknowledge!character!is!sent!back!to!the!Pi.!
z! Command!is!ok.!
E! Error.!Command!is!not!ok!or!command!format!error.!
dxsiiiiiic!
! x:1!port1.!x:2!port2!
! s:!Status!nibble!
! i:!Six!nibbles!of!data!
! c:!Checksum!nibble!
!
Example!1.!Port!1!to!receive!at!3us!tick!rate.!Device!such!as!Microchip!
LXE3302AR001!-!LX3302A!Inductive!Position!sensor.!
!
!
To!setup!port!1!to!receive!at!3us!tick!rate.!
Command!string:!
m1r
t103
o1
You!should!now!see!a!series!of!data!returned!like!shown!below:!
d10E66E66F
d10E66E66F
d10E66E66F

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
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d10E66E66F
d10E66E66F
Example!2.!To!read!the!output!of!a!vehicle!accelerator!pedal.!This!SENT!device!has!
two!outputs.!
!
!To!setup!port!1!and!2!to!receive!at!3us!tick!rate.!
Command!string:!
m3r
t103
t203
o3
You!should!now!see!a!series!of!data!returned!like!shown!below:!
d140EFFCFE
d200776CF6
d140EE15F8
d2007685F6
1.11. SENT GUI Demo
A!simple!GUI!interface!is!available!to!download!from!github:!
https://github.com/skpang/PiCAN_SENT_GUI_demo!
To!run!the!program!start!a!terminal!and!type!in:!
python3 pican-sent.py
You!should!see!a!screen!shown!below:!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
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SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
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1. Click!the!Connect!button!to!connect!to!the!PiCAN!FD!SENT!board.!
2. Check!the!Status!box!is!updated.!
Example!1.!Connect!an!accelerator!pedal!to!the!board.!
!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
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SK Pang Electronics Ltd Ó 2022
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Now!click.!
3. Set!Frame!Time!value!for!Channel!1!
4. Set!Tick!Time!value!for!Channel!1!
5. Set!Frame!Time!value!for!Channel!2!
6. Set!Tick!Time!value!for!Channel!1!
!
To!open!the!channels!click.!
7. Click!Open!Channel!1!
8. Click!Open!Channel!2!
!
!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
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SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
13
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You!should!now!see!data!from!both!channels.!
!
9. Status!nibble!
10. Six!data!nibble!in!hex!
11. First!3!data!nibble!converted!to!decimal!
12. CRC!nibble!
Example!2.!Transmitting!SENT!frames!
!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD SENT Rev B 1.0
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SK Pang Electronics Ltd Ó 2022
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To!transmit!SENT!frames,!click.!
13. Close!Channel!button!
14. Tx!radio!button!
15. Enter!status!and!data!values!
16. Set!Data!value!button!
17. Open!Channel!1!button!
The!example!data!values!are!
Status!nibble!:!A!
Data!nibble!:!123456!
From!a!scope!you!should!see!a!waveform!like!shown!below:!
!
This!should!a!status!nibble!of!0xA.!Six!data!nibble!and!a!CRC!of!0x2.!
!