skamo3/pilot-project-2

SEA:ME Pilot Program 2022 - Project 2

SEA:ME 2nd Project

Before start

• Before following this document, You must have to do first.
• Assemble Pi Racer & Move

Table of Contents

Basics knowledge of the Hardware

What is CAN(Controller Arean Network)?

• Standard communication protocol designed for vehicles to communicate with each other within a vehicle
• ECUs in the vehicle communicate using the CAN protocol

Pros

• Multi-Master

  • All nodes are bus masters and whenever the bus is empty they can send information

• Twisted Pair Wire

  • Strong against electrical noise due to electrically differentiated communication using two lines : CAN_H, CAN_L
  • Scalability. Only need to connect to two lines, No matter how many ECUs.

• Message-Oriented Protocol

  • Use ID based on message priority. Use them to distinguish messages
  • Multiple messages come in at the same time, carry out the priority ID message

ECU

• Electronic Control Unit
• Electronic control device used in a car

What is Arduino?

• Micro Controller
  • Small electronic device that can easily handle various movements such as read data from sensors or use data to control motors.
  • C language (or C++) and Arduino IDE enable simple coding
  • Consists of Regulator, Circuit Element, GPIO
  • Peripherals allow direct control of external devices
  • More Information of Arduino

GPIO

• General Purpose Input/Output
• Uncommitted digital signal pin on an integrated circuit or electronic circuit board which may be used as an input or output, or both, and is controllable by software.

What is Raspberry Pi?

• Micro Processor
  • Similar to Arduino, but called Processor because it can have various OSs
  • Unlike Arduino, there is no peripheral device and controls the device using an internal transistor
  • Powerful performance in computational processing, which is useful for complex computational processing such as video and graphics
  • Raspberry Pi official document

Prepare the materials

Pi RacerPro & Raspberry Pi	Can Module MCP 2515 * 2	Arduino Nano(HIMALAYA

• Basically, These materials can make communication. After connecting, you can connect Arduino with other modules(speed sensor, temperature sensor, etc) using Breadboard.

Make communication

Blueprint

Raspberry Pi <-> MCP2515 <-> MCP2515 <-> Arduino Nano <-> other modules

Raspberry Pi <-> MCP2515

Raspberry Pi	MCP2515
GND[20]	GND
GPIO25[22]	INT
GPIO8[24]	CS
GPIO10[19]	SI
GPIO9[21]	S0
GPIO11[23]	SCK
5V	VCC

• VCC & 5V
  • You must find another 5Voltage socket in Pi Racer. Raspberry Pi 5V is already used for connecting Raspberry Pi & Pi Racer.

Arduino Nano <-> MCP2515

Arduino Nano	MCP2515
D2	INT
D13	SCK
D11	SI
D12	S0
D10	CS
GND	GND
5V	VCC

• Use Breadboard to connect Arduino and MCP2515
• Later, Sensors can be connected to Arduino with Breadboard

MCP2515 <-> MCP2515

MCP2515	MCP2515
CAN_H	CAN_H
CAN_L	CAN_L

Send & Receive Data

• CAN 통신 라이브러리를 이용한 Arduino와 Raspberry-Pi의 통신

Send sensor data to Raspberry-Pi from Arduino