SK Pang Electronics RSP-PICANFD-NEO-M8M User manual

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD GNSS Rev C 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
1
!
Product name PICAN FD and GPS Board for Raspberry Pi
Model number RSP-PICANFD-NEO-M8M
Manufacturer SK Pang Electronics Ltd
PiCAN FD and GNSS/GPS
With NEO-M8M
USER GUIDE V1.0

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD GNSS Rev C 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
2
!
Contents
Table of Contents
1!Introduction ........................................................................................................... 3!
1.1!CAN&Features&...................................................................................................................................................&3!
1.2!GPS&GNSS&Features&........................................................................................................................................&3!
2!Hardware Installation ............................................................................................. 4!
2.1!Screw&Terminals&............................................................................................................................................&4!
2.2!120W&Terminator&..........................................................................................................................................&5!
2.3!LED&.......................................................................................................................................................................&5!
2.4!Not&Fitted&Items&.............................................................................................................................................&5!
3!Software Installation .............................................................................................. 5!
4!CAN-Bus Usage ....................................................................................................... 5!
4.1!Installing&CAN&Utils&.......................................................................................................................................&5!
4.2!Bring&Up&the&Interface&.................................................................................................................................&5!
5!Python Installation and Use .................................................................................... 6!
6!GPS GNSS Usage ..................................................................................................... 8!
6.1!Communicate&over&UART&...........................................................................................................................&8!
6.2!Communicate&over&I2C&................................................................................................................................&8!
6.3!Communicate&over&USB&..............................................................................................................................&9!
!
!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD GNSS Rev C 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
3
!
1 Introduction
This!PiCAN!FD!GPS/GNSS!board!provides!Classic!CAN!and!CAN!FD!Raspberry!Pi.!It!
uses!the!Microchip!MCP2518FD!CAN!controller.!GPS/GNSS!is!provided!by!ublox!NEO-
M8M!modules.!Other!NEO!modules!are!also!available.!!
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 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!plug!in!terminal!
• LED!indicator!on!GPIO04!
• Four!fixing!holes,!comply!with!Pi!Hat!standard!
• SocketCAN!driver,!appears!as!can0!and!can1!to!application!
• Interrupt!RX!on!GPIO25!!
1.2 GPS GNSS Features
• U-blox!NEO-M8M!module!
• 72-channel!u-blox!M8!engine!GPS/QZSS!L1!C/A,!GLONASS!L10F,!BeiDou!B1!
SBAS!L1!C/A:!WAAS,!EGNOS,!MSAS!Galileo-ready!E1B/C!(NEO-M8N)!
• Position!accuracy!2.0!m!CEP!
• Acquisition!!!!!!!!!!!!!!!!!!!!
o Cold!starts:!26!s!
o Aided!starts:!2!s!
• Reacquisition:!1.5!s!
• Sensitivity!
o Tracking!&!Nav:!–167!dBm!
o Cold!starts:!–148!dBm!
o Hot!starts:!–156!dBm!
• Assistance!AssistNow!GNSS!Online!
• AssistNow!GNSS!Offline!(up!to!35!days)!
• AssistNow!Autonomous!(up!to!6!days)!
• OMA!SUPL!&!3GPP!compliant!
• Oscillator!TCXO!
• RTC!crystal!Built-In!
• Anti!jamming!Active!CW!detection!and!removal.!
• Extra!onboard!SAW!band!pass!filter!
• Memory!Flash!
• Supported!antennas!Active!and!passive!
• Odometer!Travelled!distance!
• Data-logger!For!position,!velocity,!and!time!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD GNSS Rev C 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
4
!
• Communicate!to!the!Pi!via!UART!or!I2C!
• PPS!output!to!GPIO06!
• Can!work!as!a!standalone!using!on!board!USB-C!connection!
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.!
!
!
2.1 Screw Terminals
The!CAN!connections!are!made!via!the!4way!screw!terminals.!
!
!
!
!
!
!
!!!
Note!:!The!+12v!In!is!only!used!on!the!PiCAN!board!with!SMPS!option!fitted.!
J4#
Function#
1!
CAN_L!
2!
CAN_H!
3!
GND!
4!
n/c!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD GNSS Rev C 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
5
!
2.2 120
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.!
2.3 LED
There!is!a!red!LED!fitted!to!the!board.!This!is!connected!to!GPIO04.!
2.4 Not Fitted Items
Switch!mode!power!supply,!this!is!a!5v!module!that!can!power!the!Pi.!It!has!an!input!
voltage!range!of!7v!to!24v.!
!
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
dtparam=i2c_arm=on
dtoverlay=mcp251xfd,spi0-0,interrupt=25
Reboot!Pi:!
sudo reboot
4 CAN-Bus Usage
4.1 Installing CAN Utils
Install!the!CAN!utils!by:!
sudo apt-get install can-utils
4.2 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.!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD GNSS Rev C 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
6
!
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
You!should!see!something!like!this:
!
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.!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD GNSS Rev C 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
7
!
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)!
!
!
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!
!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD GNSS Rev C 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
8
!
6 GPS GNSS Usage
Ensure!a!GPS!GNSS!antenna!is!connected!to!board.!Place!the!antenna!outdoor!with!a!
good!view!to!the!sky.!
LED3!flashes!to!indicate!a!lock.!
6.1 Communicate over UART
To!use!the!UART!port!ensure!SB6!and!SB7!are!made.!
The!default!baudrate!is!9600!8-N-1.!
To!do!basic!UART!test!on!the!Raspberry!Pi,!type!in:!
stty -F /dev/ttyS0 raw 9600 cs8 clocal
cat /dev/ttyS0
You!should!now!see!the!GNSS/GPS!sentences!like!this:!
!
6.2 Communicate over I2C
To!use!the!I2C!port!ensure!SB4!and!SB5!are!made.!
First!install!I2C!tool:!
sudo apt-get install i2c-tools
Now!check!I2C!port:!
sudo i2cdetect -y 1
Check!address!0x42!has!shown!up.!
!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD GNSS Rev C 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
9
!
!
Now!download!the!i2c!python!script!from!Github:!
https://github.com/skpang/Raspberrypi_i2c_gps!
Start!the!script!by:!
python3 i2c-gps.py
You!should!now!see!the!GNSS/GPS!sentences!over!I2C!like!this:!
!
6.3 Communicate over USB
The!PiCAN!FD!GPS!board!can!function!as!a!standalone!and!communicate!over!USB.!
This!requires!an!USB-C!cable!plug!into!the!board.!The!USB-C!also!provides!power!to!
the!board.!This!can!be!plugged!into!a!PC.!
On!a!Windows!PC,!u-center!can!be!used:!
!
Firmware!update!for!the!GPS/GNSS!can!also!be!done!over!USB.!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN FD GNSS Rev C 1.0
!
SK Pang Electronics Ltd Ó 2022
www.skpang.co.uk
10
!
!
!