I have created a lower cost approximation of the Toyota PASTA:Portable Automotive Testbed with Adaptability using consumer hardware and Arduino based software. The original didn't release details of how the hardware in the top of the case for the inputs/outputs and displays operate or are connected.
There are four ECU's in #value-pasta-auto
| ECU | CAN0(500kbps) | CAN1(500kbps) | CAN2(500kbps) | CAN3(500kbps) | Software Status |
|---|---|---|---|---|---|
| - | Internal CAN0 2.0 | Internal CAN1 2.0 | Internal CAN2 2.0 (can be CAN-FD) |
MCP2515 CAN 2.0 | |
| Gateway ECU | Powertrain ECU CAN0 | Chassis ECU CAN0 | Body ECU CAN0 | OBD2 port | Gateway function complete/access from OBD2 using static ID/data |
| Powertrain ECU | Gateway CAN0 | unused | unused | unused | UDS to be done |
| Chassis ECU | Gateway CAN0 | unused | unused | unused | UDS to be done |
| Body ECU | Gateway CAN0 | unused | unused | unused | UDS to be done |
The Gateway ECU currently blocks traffic from the other BUSES to the OBD2 port unless a specific message is received on the OBD2 port or the serial DEBUG port.
The micro controller hardware used in #value-pasta-auto for the ECU's is the Teensy 4.0, which has 3 internal CAN controllers, one of which can be used for CAN-FD. The fourth CAN controller is provided by a MCP2515 controller. The CAN2.0 transceivers used are SN65HVD230DR and the CAN-FD transceiver is a MCP2562FD.
Original GERBER v1.0 has a fault with the WS2818b pinout current software just uses a single SMD LED and resistor instead.
Updated GERBER v1.1 fixes the WS2818b pinout. Code would need modifying to support WS2812b.
Updated GERBER v1.2 Adds the TXnRTS and RXnBF interrupt pins to schematic.
| Name | Designator | Quantity |
|---|---|---|
| BS-2-1 CR2032 Holder | B1 | 1 |
| 0805 0.1uF Capacitor | C1,C101,C102,C103,C104,C105,C106 | 7 |
| 0805 22pF Capacitor | C10,C11 | 2 |
| 1206 10uF Capacitor | C107 | 1 |
| 2pin 2.54 header & jumper | H1,H2,H3,H4 | 4 |
| MOLEX 12A-347290120 Plug | H5 | 1 |
| MOLEX 12A-346910120 Socket | H5 | 1 |
| MOLEX 20A-347290200 Plug | H6 | 1 |
| MOLEX 20A-346910200 Socket | H6 | 1 |
| SN65HVD230DR CAN Transceiver | U1,U2,U4 | 3 |
| MCP2562FD-E/SN CAN-FD Transceiver | U3 | 1 |
| MCP2515-I/SO CAN Controller | U5 | 1 |
| Teensy 4.0 (does require smt 2x5 header under the pcb,2x14 header & 1x5 header) | U6 | 1 |
| 8MHz crystal | X1 | 1 |
| NUP2105L protection diode | D1,D2,D3,D4 | 4 |
| WS2812 RGB LED | LED1 | 1 |
| 0805 120 Resistor | R1,R2,R3,R4 | 4 |
| 0805 10k Resistor | R5 | 1 |
The I/O board is used for the Powertrain and the Chassis ECU's. These are built using MCP23017 I/O expander, Powertrain ECU uses one MCP23017 and the Chassis ECU uses two MCP23017.
| Name | Designator | Quantity |
|---|---|---|
| 1206 10uF Capacitor | C1,C2,C3,C4 | 4 |
| 0805 0.1uF Capacitor | C101,C102,C103,C104 | 4 |
| 2x8pin 2.54 header | DIO-2,DIO-1,POWER | 3 |
| 4pin 2.54 header | NEXTION | 1 |
| 3pin 2.54 header | AN0,AN1,AN2,AN3 | 4 |
| 2pin 2.54 header | H2 | 1 |
| MCP23017-E/SO IO expander | U1,U2 | 2 |
| MOLEX 20A-347290200 Plug | U3 | 1 |
| MOLEX 20A-346910200 Socket | U3 | 1 |
| AMS1117-3.3 Voltage regulator | U4 | 1 |
| 0805 4.7k Resistor | R1,R2 | 2 |
- Chassis ECU I/O board MCP23017 I/O Inputs unless otherwise stated
| Function port A MCP23017A | PIN | Function port B MCP23017A | Function port A MCP23017B | PIN | Function port B MCP23017B | |
|---|---|---|---|---|---|---|
| Rotary Light CLK | 1 | Rotary Fr Wiper CLK | Left DOOR window switch UP | 1 | Right DOOR window switch UP | |
| Rotary Light DT | 2 | Rotary Fr Wiper DT | Left DOOR window switch DOWN | 1 | Right DOOR window switch DOWN | |
| Rotary Light PUSH | 3 | Rotary Fr Wiper PUSH | Left DOOR lock switch | 3 | N/A | |
| Shift Position switch DOWN | 4 | TURN switch L | Right DOOR lock switch | 4 | N/A | |
| Shift Position switch UP | 5 | TURN switch R | N/A | 5 | N/A | |
| Rear Wiper switch SLOW | 6 | HAZARD switch | N/A | 6 | N/A | |
| Rear Wiper switch FAST | 7 | Start BUTTON | N/A | 7 | Ignition OUTPUT | |
| HORN switch | 8 | Parking Brake switch | HORN OUTPUT | 8 | Parking Brake OUTPUT |
| Analogue Port | Value |
|---|---|
| Ana0 | Brake Potentiometer |
| Ana1 | Accelerator Potentiometer |
| Ana2 | Steering Potentiometer |
| Ana3 | N/A |
PIN D2 on H2 needs to be grounded for ECU ID
- Powertrain ECU I/O board MCP23017 I/O Inputs unless otherwise stated
| Function port A MCP23017A | PIN | Function port B MCP23017A | Function port A MCP23017B | PIN | Function port B MCP23017B | |
|---|---|---|---|---|---|---|
| Rotary Control CLK | 1 | N/A | Not Installed | 1 | Not Installed | |
| Rotary Control DT | 2 | N/A | Not Installed | 2 | Not Installed | |
| Rotary Control PUSH | 3 | N/A | Not Installed | 3 | Not Installed | |
| N/A | 4 | N/A | Not Installed | 4 | Not Installed | |
| N/A | 5 | N/A | Not Installed | 5 | Not Installed | |
| N/A | 6 | N/A | Not Installed | 6 | Not Installed | |
| N/A | 7 | N/A | Not Installed | 7 | Not Installed | |
| N/A | 8 | N/A | Not Installed | 8 | Not Installed |
| Analogue Port | Value |
|---|---|
| Ana0 | Control potentiometer |
| Ana1 | N/A |
| Ana2 | USED FOR BLUETOOTH RX |
| Ana3 | USED FOR BLUETOOTH TX |
Both PIN D2 & D3 on H2 need to be grounded for ECU ID
Powertrain, Body and Chassis ECU's have 3.5" NEXTION HMI NEXTION serial based screens, either Discovery or Enhanced versions can be used. These are connected via the I/O board where it is present, the Body ECU is connected directly to the Nextion display. The default baudrate has been changed on the screen using bauds=250000 when connected to the nextion IDE.
- Chassis & Powertrain interconnect - GREY ECU end to BLACK I/O end
| Connection | Use | Colour |
|---|---|---|
| 1 | Gnd | Black |
| 2 | A0 | Orange |
| 3 | A2 | Grey |
| 4 | 3.3v | N/C |
| 5 | 5v | Red |
| 6 | TX5 | Yellow |
| 7 | SDA0 | Purple |
| 8 | INTA1 | N/C |
| 9 | INTA2 | N/C |
| 10 | D2 | Grey |
| 11 | Gnd | N/C |
| 12 | A1 | Brown |
| 13 | A3 | White |
| 14 | 3.3v | N/C |
| 15 | 5v | N/C |
| 16 | RX5 | Blue |
| 17 | SCL0 | Green |
| 18 | INTB1 | N/C |
| 19 | INTB2 | N/C |
| 20 | D3 | White |
- Body interconnect - GREY ECU end to NEXTION display
| Connection | Use | Colour |
|---|---|---|
| 1 | Gnd | Black |
| 2 | A0 | N/C |
| 3 | A2 | N/C |
| 4 | 3.3v | N/C |
| 5 | 5v | Red |
| 6 | TX5 | Yellow |
| 7 | SDA0 | N/C |
| 8 | INTA1 | N/C |
| 9 | INTA2 | N/C |
| 10 | D2 | N/C |
| 11 | Gnd | White to PIN 20 |
| 12 | A1 | N/C |
| 13 | A3 | N/C |
| 14 | 3.3v | N/C |
| 15 | 5v | N/C |
| 16 | RX5 | Blue |
| 17 | SCL0 | N/C |
| 18 | INTB1 | N/C |
| 19 | INTB2 | N/C |
| 20 | D3 | White to PIN 11 |
An Arduino based remote car can be controlled using #Value-Pasta-Auto. Minor changes for the lights were made to the code to control the lights from Value-Pasta-Auto. Arduino Sketch is in the Software folder.
Link to Amazon Freenove 4WD Car Kit
Original software for the car is Here
The following files show the CAN msgs that are used by #value-pasta-auto as per the original design docs from pasta-auto bus definition
- GitHub: pasta-auto
- Twitter: @pasta_auto