PiCAN

GPS +Gyro+ Acc+ Rev B V1.0

PiCAN GPS + Gyro +Accelerometer

USER GUIDE

V1.0

Product name PiCAN GPS + Gyro + Accelerometer CAN-Bus Board for Raspberry Pi

Model number RSP-PICANGPSACC

Manufacturer SK Pang Electronics Ltd

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 PiCAN GPS +Gyro+ Acc+ Rev B V1.0

Contents

Table of Contents
1. Introduction ............................................................................................................ 3
1.1. Features ................................................................................................................................................................ 3
2. Hardware Installation .............................................................................................. 4
1.2. Screw Terminal .................................................................................................................................................. 4
1.3. 120Ω Terminator ............................................................................................................................................. 4
1.4. LED1 ....................................................................................................................................................................... 4
1.5. LED2 ....................................................................................................................................................................... 4
1.6. Not Fitted Items ................................................................................................................................................. 5
1.7. External GPS Antenna and Backup Battery ........................................................................................... 5
1.8. GPS 1PPS (Pulse Per Second) ...................................................................................................................... 5
1.9. MPU-6050 I2C Address .................................................................................................................................. 5
3. Software Installation ............................................................................................... 6
1.10. MPU-6050 Test ............................................................................................................................................... 7
1.11. Basic GPS Test ................................................................................................................................................. 8
1.12. Using GPSD ........................................................................................................................................................ 9
1.13. External GPS Antenna ................................................................................................................................ 10
1.14. Bring Up the CAN Interface ...................................................................................................................... 11
4. Writing Your Own Software .................................................................................... 12
1.15. Application in Python ................................................................................................................................. 12
1.16. Application in C ............................................................................................................................................. 13

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1. Introduction
This PiCAN GPS board provides CAN-Bus capability for the Raspberry Pi 2 and 3. It
uses the Microchip MCP2515 CAN controller. CAN connections are made via 4 way
screw terminal plug. GPS is provided by a 66 channels MTK3339 chipset module. An
onboard battery holder for a CR1220 cell. The backup power is for the real time clock
and help to reduce fix time. The GPS module has built in patch antenna but an external
active antenna can also be use via the uFL connector.

The MPU-6050 provides six axis gyro and accelerometer with an onboard Digital
Motion Processor™ (DMP™) capable of processing complex 9-axis MotionFusion
algorithms, the MPU-6050 does away with the cross-axis alignment problems that can
creep up on discrete parts.
Easy to install SocketCAN driver. Programming can be done in C or Python.

1.1. Features
• CAN v2.0B at 1 Mb/s
• High speed SPI Interface (10 MHz)
• Standard and extended data and remote frames
• CAN connection via screw terminal
• 120Ω terminator ready
• Serial LCD ready
• LED indicator
• Four fixing holes, comply with Pi Hat standard
• SocketCAN driver, appears as can0 to application
• Interrupt RX on GPIO25
• MTK3339 chipset
• -165 dBm sensitivity, 10 Hz updates, 66 channels
• RTC battery holder
• Fix status LED
• On board patch antenna
• uFL connector for external active antenna
• I2C Digital-output of 6 or 9-axis MotionFusion data in rotation matrix,
quaternion, Euler Angle, or raw data format
• Input Voltage: 2.3 - 3.4V
• Selectable Solder Jumpers on CLK, FSYNC and AD0
• Tri-Axis angular rate sensor (gyro) with a sensitivity up to 131 LSBs/dps and a
full-scale range of ±250, ±500, ±1000, and ±2000dps
• Tri-Axis accelerometer with a programmable full scale range of ±2g, ±4g, ±8g
and ±16g
• Digital Motion Processing™ (DMP™) engine offloads complex MotionFusion,
sensor timing synchronization and gesture detection
• Embedded algorithms for run-time bias and compass calibration. No user
intervention required

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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.

1.2. Screw Terminal
The CAN connection can also be made via the 4 way screw terminal.

CAN0 (J3)
Pin number Function
1 n/c
2 GND
3 CAN_H
4 CAN_L

1.3. 120Ω Terminator

There is a 120Ω fitted to the board. To use the terminator solder a 2way header pin to
JP2 then insert a jumper.

1.4. LED1
There is a red LEDs fitted to the board. This is connected to GPIO04. It can use as a
general purpose indicator.

1.5. LED2
The LED blinks at about 1Hz while it's searching for satellites and blinks once every
15 seconds when a fix is found.

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1.6. 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 J2.

1.7. External GPS Antenna and Backup Battery

An external GPS antenna can be fitted via

connector X1. This is an uFL connector. A uFL to
SMA cable adapter is normally required.

A backup battery can be fitted for the RTC and

help to reduce fix time.

1.8. GPS 1PPS (Pulse Per Second)

The GPS module has a 1PPS output that can be connected to the Pi’s GPIO. To use the
1PPS close solder bridge SJ7. The pulses will now appear on GPIO26.

1.9. MPU-6050 I2C Address

The default I2C address for the MPU-6050

is 0x68.
An alternative address is 0x69. To change
the address to 0x69, cut the track linking
the default solder bridge on the right two
pads on SJ4. Apply a solder bridge linking
the left two pads.

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3. Software Installation
The following procedure is for the Raspberry Pi 3.

It is best to start with a brand new Raspbian Jessie 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 5 lines to the end of file:

dtparam=i2c_arm=on

dtparam=spi=on

enable_uart=1

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

dtoverlay=spi-bcm2835-overlay

Edit the cmdline.txt by:

sudo nano /boot/cmdline.txt

Change

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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

That is remove console=serial0,115200

Reboot Pi:
sudo reboot

1.10. MPU-6050 Test

First install the i2c-tools package by:
sudo apt-get install i2c-tools

Now check if the MPU-6050 can be detected.

sudo i2cdetect -y 1

The screen should look like this:

Next install the python-smbus python module:

sudo apt-get install python-smbus

Now install example python files

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

cd MPU-6050-examples

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Run the test program

python3 mpu6060_test.py

Tilt and shake the board, you should see the value changes.

1.11. Basic GPS Test

The raw data can be read by:
stty -F /dev/ttyS0 raw 9600 cs8 clocal –cstopb

Now read the data

cat /dev/ttyS0

If you see the data with lots of commas then it means the module has not got a fix yet.
Make sure the GPS module has a clear view of the sky. Alternatively connect an
external GPS antenna to the board and place the antenna outdoor.
You should see something like this:

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1.12. Using GPSD

A program called GPSD can be use to view the data in a formatted way.

To install GPSD, type:

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

You need first to disable systemd service that GPSD installs:

sudo systemctl stop gpsd.socket

sudo systemctl disable gpsd.socket

To start GPSD, type:

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

gpsmon

You should see this screen:

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1.13. External GPS Antenna
The PiCAN-GPS board has built in patch antenna which provides a -165dBm
sensitivity. However if your project is in a box and does not have a clear view of the
sky then an external antenna is more suitable.
The optional external antenna has a SMA connector and an uFL to SMA cable adapter
is required.

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1.14. Bring Up the CAN Interface

You can now bring the CAN interfaces up:
sudo /sbin/ip link set can0 up type can bitrate 500000

Download and copy the CAN test programs to the Pi.

http://www.skpang.co.uk/dl/can-test_pi2.zip
Connect the PiCAN2 to your CAN network via screw terminal .
To send a CAN message on can0 (CAN B J4) use :
./cansend can0 7DF#0201050000000000

This will send a CAN ID of 7DF. Data 02 01 05 – coolant temperature request.

To send a CAN message on can1 (CAN A J3) use :
./cansend can1 7DF#0201050000000000

Connect the PiCAN to a CAN-bus network and monitor traffic by using command:
./candump can0

You should see something like this:

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4. Writing Your Own Software

You can write your own application software in either C or Python.

1.15. Application in Python

Download the Python-CAN files from:
https://bitbucket.org/hardbyte/python-can/get/4085cffd2519.zip

Unzip and install by

sudo python3 setup.py install

Bring the CAN interface up if it is not already done:

sudo /sbin/ip link set can0 up type can bitrate 500000

Now start python3

python3

To sent a message out type the following lines:

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)

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To received messages and display on screen type:

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

1.16. Application in C
Bring the CAN interface up if it is not already done:
sudo /sbin/ip link set can0 up type can bitrate 500000

Download the source code and example files by typing the following in the command
prompt:
wget http://skpang.co.uk/dl/cantest.tar

Unpack the tar file and change into directory by:

tar xf cantest.tar
cd linux-can-utils

The example file is called cantest.c to edit this file, type the following in the command
prompt:
nano cantest.c

Line 77 is the CAN message to be sent out.

unsigned char buff[] = "7DF#0201050000000000";

7DF is the message ID and 0201050000000000 is the data. Change the data to suit.
Press CTRL-X to exit.
To compile the program type:
make

Check there are no errors. To run the program type:

./cantest

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