Board for the Raspberry Pi Pico to connect via CAN using OpenCyphal and UCANPHY Micro.
You can buy one here 💸.
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)
- CyphalPicoBase-CAN-firmware: This is the default firmware for this board. It enables all basic functions
| 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 |
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 |
JST SH 1mm 4-pin.
| pin number | signal |
|---|---|
| 1 | GND |
| 2 | +3V3 |
| 3 | SER_TX |
| 4 | SER_RX |
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 |
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 |
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.
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 |
There exists a 3D printable enclosure to encapsulate the PCB.
