This page provides complete **Raspberry Pi 4** example projects for controlling UIROBOT motors via CAN bus using the **UI-MCP2515** SPI-to-CAN module. --- ## Quick Selection | Connection Method | Compatible Products | Docs | |-----------------|-------------------|------| | **UI-MCP2515 → CAN Bus** | UIM342 (single motor) | [AN260320] | | **UI-MCP2515 → CAN Bus** | UIM342 (change Node ID) | [AN260321] | | **UI-MCP2515 → CAN Bus** | UIM342 (multiple motors) | [AN260322] | --- ## Background The UIM342 series all-in-one motors integrate a stepper motor, encoder position feedback, and a UIM342 drive-and-control controller. The UI-MCP2515 is a CAN module based on the MCP2515 controller and TJA1050 transceiver. By combining a Raspberry Pi, the UI-MCP2515 module, and UIM342 motor drivers, users can efficiently create a complete and reliable motion control system on a Linux platform. --- ## Required Hardware | Item | Qty | Description | |------|:---:|-------------| | Raspberry Pi 4 | 1 | Main controller (Model B recommended) | | Micro SD Card | 1 | 16GB+ for OS and code | | UI-MCP2515 | 1 | SPI to CAN module | | UIM342 Series Motor | 1+ | CAN bus smart motor | | 24V DC Power Supply | 1 | For motor power | | USB-C Power Supply | 1 | 5V/3A for Raspberry Pi | | Ethernet Cable | 1 | For network access (optional) | --- ## Wiring ### GPIO Pin Connections (Raspberry Pi ↔ UI-MCP2515)  ### GPIO Pin Reference | Raspberry Pi | UI-MCP2515 | |-------------|-------------| | Pin 4 (5V) | VCC | | Pin 6 (GND) | GND | | Pin 19 (MOSI) | SI | | Pin 21 (MISO) | SO | | Pin 23 (SCLK) | SCK | | Pin 24 (CE0) | CS | | Pin 22 (GPIO25) | INT | --- ## Sample Code ### Download Links | Application Note | Description | Download | |-----------------|-------------|----------| | AN260320 | UIM342 basic CAN control | [Download](https://www.uirobot.com/uploads/files/RaspberryPi_C_Mcp2515_UIM342_AN260320.zip) | | AN260321 | UIM342 change Node ID | [Download](https://www.uirobot.com/uploads/files/RaspberryPi_C_Mcp2515_UIM342_ChangeNodeID_AN260321.zip) | | AN260322 | UIM342 multi-motor control | [Download](https://www.uirobot.com/uploads/files/RaspberryPi_C_Mcp2515_UIM342_Multiple_AN260322.zip) | --- ## Step-by-Step Setup ### Step 1 — Download Raspberry Pi OS 1. Visit the official Raspberry Pi website for Raspberry Pi 4: [raspberrypi.com/software](https://www.raspberrypi.com/software/) 2. Download the **Raspberry Pi Imager** tool 3. Run the imager and select: - **Raspberry Pi 4** as the device - **Raspberry Pi OS (32-bit)** (for Pi 4) as the operating system - Your SD card as the storage 4. Configure custom settings: - Set hostname (e.g., `raspberrypi`) - Enable SSH - Set username and password - Configure Wi-Fi (if needed) 5. Click **Write** to flash the SD card ### Step 2 — Download Sample Code 1. Visit the UIROBOT website: [uirobot.com](https://uirobot.com) 2. Navigate to **Support → Code Example** 3. Find the Raspberry Pi section and download the appropriate sample code 4. Extract the downloaded ZIP file ### Step 3 — Configure Raspberry Pi Environment 1. Insert the SD card into the Raspberry Pi and power it on 2. Connect via SSH or monitor ```bash # Enable SPI interface sudo raspi-config # Navigate to: Interface Options → SPI → Enable # Install required packages sudo apt update sudo apt install -y wiringpi can-utils # Verify SPI is enabled ls /dev/spi* # Should show: /dev/spi0.0 /dev/spi0.1 ``` ### Step 4 — Install MCP2515 Library ```bash # Download and install MCP2515 library for Raspberry Pi wget https://github.com/YourRepo/MCP2515/archive/master.zip unzip master.zip cd MCP2515-master make sudo make install ``` ### Step 5 — Network Configuration 1. Connect the Raspberry Pi to your local network via Ethernet 2. Find the Raspberry Pi's IP address: ```bash ip addr show eth0 | grep inet ``` 3. From your PC, transfer the sample code to the Raspberry Pi: ```bash # Using SCP (replace IP with your Pi's address) scp -r UIM342_Code/ pi@192.168.1.xxx:/home/pi/ ``` ### Step 6 — Compile and Run ```bash # SSH into the Raspberry Pi ssh pi@192.168.1.xxx # Navigate to the code directory cd ~/UIM342_Code # Compile the code gcc -o uim342_control main.c -lwiringPi -lmcp2515 # Run the program ./uim342_control ``` ### Step 7 — Verify Results - The motor should begin moving according to the programmed commands - Monitor the serial output for confirmation messages - Use `candump` for additional CAN bus debugging: ```bash # Install CAN utilities if not already installed sudo apt install can-utils # Bring up CAN interface sudo ip link set can0 up type can bitrate 500000 # Monitor CAN traffic candump can0 ``` --- ## Download All Sample Codes | Application Note | Description | Download Link | |-----------------|-------------|---------------| | AN260320 | UIM342 basic CAN control | [Download ZIP](https://www.uirobot.com/uploads/files/RaspberryPi_C_Mcp2515_UIM342_AN260320.zip) | | AN260321 | UIM342 change Node ID | [Download ZIP](https://www.uirobot.com/uploads/files/RaspberryPi_C_Mcp2515_UIM342_ChangeNodeID_AN260321.zip) | | AN260322 | UIM342 multi-motor control | [Download ZIP](https://www.uirobot.com/uploads/files/RaspberryPi_C_Mcp2515_UIM342_Multiple_AN260322.zip) | --- ## Related Documents > 💡 **Raspberry Pi 5 users**: A separate [Raspberry Pi 5 CAN Bus Examples](/docs/raspberry-pi-5-examples) page is available with Pi 5-specific instructions. - [UIROBOT Code Examples Overview](/docs/code-examples-overview) - [Arduino CAN Bus Examples](/docs/arduino-examples) - [UIM342 CAN Bus Motor Controller](/docs/uim342) - [UI-MCP2515 SPI to CAN Module](/docs/UI-MCP2515) - [Quick Start Guide](/docs/quick-start) --- *Last updated: 2026-06-25 | Based on Application Notes AN260320-AN260322*