Awesome
<a href="https://opencyphal.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/opencyphal.svg" width="25%"></a> CyphalPicoBase/CAN
Board for the Raspberry Pi Pico to connect via CAN using OpenCyphal and UCANPHY Micro.
You can buy one here 💸.
<p align="center"> <img src="docs/images/CyphalPicoBase-CAN_rendering.png" width="50%"> </p> <p align="center"> <img src="docs/images/CyphalPicoBase-CAN_rendering_back.png" width="50%"> </p>Description
The CyphalPicoBase/CAN provides the following functions:
- CAN connectivity to a OpenCyphal CAN bus using a Microchip MCP2515 CAN controller (datasheet)
- Onboard I2C EEPROM to store settings
- measurement of CAN bus voltage using GP26
- onboard temperature measurement using the internal temperature sensor of the Raspberry Pi Pico
- two status LEDs (D4 and D5)
- Raspberry Pi Pico directly mounted on bottom layer
- connectors to several external functions (see list below)
Firmware
- CyphalPicoBase-CAN-firmware: This is the default firmware for this board. It enables all basic functions
Pin Usage and connectors
<p align="center"> <img src="docs/images/CyphalPicoBase-CAN_connectors.png" width="50%"> </p>Raspberry Pi Pico (CN1)
| Pin | Pin Name | Signal | Description |
|---|---|---|---|
| 1 | GP0 | UART0_TX | reserved for future use (GNSS) |
| 2 | GP1 | UART0_RX | reserved for future use (GNSS) |
| 3 | GND | GND | |
| 4 | GP2 | ||
| 5 | GP3 | ||
| 6 | GP4 | I2C0_SDA | for eeprom and qwiic connector |
| 7 | GP5 | I2C0_SCL | for eeprom and qwiic connector |
| 8 | GND | GND | |
| 9 | GP6 | GPI0 | input 0 |
| 10 | GP7 | GPI1 | input 1 |
| 11 | GP8 | GPI2 | input 2 |
| 12 | GP9 | GPI3 | input 3 |
| 13 | GND | GND | |
| 14 | GP10 | GPO0 | output 0 |
| 15 | GP11 | GPO1 | output 1 |
| 16 | GP12 | reserved | Neopixel |
| 17 | GP13 | reserved | radiation detector |
| 18 | GND | GND | |
| 19 | GP14 | SERVO0 | servo 0 |
| 20 | GP15 | SERVO1 | servo 1 |
| 21 | GP16 | SPI_MISO | SPI for MCP2515 |
| 22 | GP17 | MCP2515_CS | SPI for MCP2515 |
| 23 | GND | GND | |
| 24 | GP18 | SPI_CLK | SPI for MCP2515 |
| 25 | GP19 | SPI_MOSI | SPI for MCP2515 |
| 26 | GP20 | MCP2515_INT | interrupt for MCP2515 |
| 27 | GP21 | STATUS_LED2 | internal status LED 2 |
| 28 | GND | GND | |
| 29 | GP22 | STATUS_LED3 | internal status LED 3 |
| 30 | RUN | RESET | Reset for Board |
| 31 | GP26 | INPUT_VOLTAGE | measure input voltage |
| 32 | GP27 | ANALOG_INPUT0 | analog input |
| 33 | GND | GND | |
| 34 | GP28 | ANALOG_INPUT1 | analog input |
| 35 | ADC_VREF | ||
| 36 | 3V3 (OUT) | 3V3-rail | supply voltage for board |
| 37 | 3V3_EN | ||
| 38 | GND | GND | |
| 39 | VSYS | ||
| 40 | VBUS | 5V-rail | supply voltage for board |
Pinout
I2C (CN2)
compatible to the Sparkfun qwiic standard (https://www.sparkfun.com/qwiic). JST SH 1mm 4-pin.
| pin number | signal |
|---|---|
| 1 | GND |
| 2 | +3V3 |
| 3 | I2C_SDA |
| 4 | I2C_SCL |
serial (CN3)
JST SH 1mm 4-pin.
| pin number | signal |
|---|---|
| 1 | GND |
| 2 | +3V3 |
| 3 | SER_TX |
| 4 | SER_RX |
CAN (CN4 and CN5)
UCANPHY Micro connector, according to the UCANPHY_Specification (https://forum.opencyphal.org/t/cyphal-can-physical-layer-specification-v1-0/1471). JST GH 1.25mm 4-pin.
| pin number | signal |
|---|---|
| 1 | +5V |
| 2 | CANH |
| 3 | CANL |
| 4 | GND |
servo connector (CN7)
This is a regular 0.1-inch pin header.
Standard RC servos can be directly plugged into this connector
| pin number | signal |
|---|---|
| 1 | servo0 |
| 2 | servo1 |
| 3 | +5V |
| 4 | +5V |
| 5 | GND |
| 6 | GND |
input/output connector (CN8)
This is a regular 0.1-inch pin header.
| pin number | signal |
|---|---|
| 1 | +5V |
| 2 | GND |
| 3 | ANALOG_INPUT1 |
| 4 | GND |
| 5 | ANALOG_INPUT0 |
| 6 | GND |
| 7 | INPUT0 |
| 8 | GND |
| 9 | INPUT1 |
| 10 | GND |
| 11 | INPUT2 |
| 12 | GND |
| 13 | INPUT3 |
| 14 | GND |
| 15 | OUTPUT0 |
| 16 | GND |
| 17 | OUTPUT1 |
| 18 | GND |
| 19 | +5V |
| 20 | GND |
| 21 | +3.3V |
| 22 | GND |
| 23 | RESERVED0 |
| 24 | GND |
| 25 | NEOPIXEL |
| 26 | GND |
+5V can be fed over this connector to the servo connector (CN7) and the neopixel connector (CN12) if power supply over the CAN connector is not sufficicant.
neopixel connector (CN12)
connector for Adafruit Neopixel RGB leds (https://learn.adafruit.com/adafruit-neopixel-uberguide/the-magic-of-neopixels). JST PH 2mm 3-pin.
| pin number | signal |
|---|---|
| 1 | neopixel |
| 2 | +5V |
| 3 | GND |
enclosure
There exists a 3D printable enclosure to encapsulate the PCB.
