PGDT R-Net CAN library for power-wheelchairs with R-Net electronics

By Stephen Chavez & Specter

Projects that use this

• Smart Wheels
  • https://youtu.be/6C0-vXI56D4
  • https://www.youtube.com/watch?v=VejDcxrd6uk (Old video)
• Remote Control Demos
  • https://www.youtube.com/watch?v=wW4jzoRx98A
  • https://www.youtube.com/watch?v=jDMYnpxqKHw
• Kaspersky SAS 2017 Demo
  • https://www.youtube.com/watch?v=kJR1fNI8iNQ

Raspberry PI setup

• Raspberry Pi 3 (Model B)
• PiCan2 Pi hat board http://copperhilltech.com/pican-2-can-interface-for-raspberry-pi/
• R-Net cable
• Blank 2GB SD Card

To install PiCan2 on pi3, add to /boot/config.txt:

dtparam=spi=on 

dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25         
dtoverlay=spi-bcm2835

R-Net Wiring Pinout to CAN inferface

1. Strip a R-Net wire in half.
2. Connect the wire with this pinout:

white is can high
blue is can low
black is gnd
red is +vin

SocketCAN setup

Add the following lines under file /etc/network/interfaces

allow-hotplug can0
iface can0 can static
        bitrate 125000
        up /sbin/ip link set $IFACE down
        up /sbin/ip link set $IFACE up

Add these kernel modules under /etc/modules

mcp251x
can_dev

Reboot the pi! Then you should see an can0 interface listed under the command ifconfig

Install CAN-UTILS

$ git clone https://github.com/linux-can/can-utils
or sudo apt-get install can-utils

R-Net command examples from the terminal

$ candump can0 -L   # -L puts in log format
(1469933235.191687) can0 00C#
(1469933235.212450) can0 00E#08901C8A00000000
(1469933235.212822) can0 7B3#
(1469933235.251708) can0 7B3#

$ cansend can0 181C0D00#0840085008440840  #play a tune

$ cangen can0 -e -g 10  -v -v     #fuzz buss with random extended frames+data

$ candump -n 1 can0,7b3:7ff     #wait for can id 7B3

Or run python3 JoyLocal.py to control a R-Net based PWC using any usb gamepad connected to the pi3.

Python 3 is required.