Crane2026_LPV_Python

Python utilities and demos for the Crane 2026 LPV project using the INNO-MAKER USB2CAN adapter.
Primary target environment: Windows 11 (also tested on Windows 10).

usb2can_receive.py — monitor/print all CAN frames on the bus.
CraneCANDemo.py — simulate an LPV Jetson CAN node for control, automation, and GPS navigation. Includes the ability to enable/disable a simulated GPS node.

References

INNO-MAKER Python examples: https://github.com/INNO-MAKER/usb2can/tree/master/For%20Windows/Python
INNO-MAKER USB2CAN product page: https://www.inno-maker.com/product/usb2can-cable/
Amazon listing: https://www.amazon.com/gp/product/B09K3LL93Q?th=1

Supported Platforms

Windows 11 (primary development/tested environment)
Windows 10 (works; verified with usb2can_receive.py)

Setup Instructions

1. Install Python 3.11.1

Download: https://www.python.org/downloads/release/python-3111/

Verify:

python --version

2. Install required Python packages

python -m pip install gs-usb==0.3.0

3. (Optional) Install `libusb` if device not detected

Download: https://sourceforge.net/projects/libusb/files/libusb-1.0/libusb-1.0.20/libusb-1.0.20.7z/download

Copy:

MS64\dll\libusb-1.0.dll

into:

C:\Windows\System32

4. (Rare) Modify `gs-usb.py`

Some setups require disabling a reset call:

Locate gs-usb.py with:
```
import sys
print(sys.path)
```

Path is usually:

C:\Program Files\Python311\Lib\site-packages\gs_usb

Edit and comment out:
```
# self.gs_usb.reset()
```

Scripts

1) `usb2can_receive.py` — CAN monitor

Run:

python usb2can_receive.py

Outputs all CAN frames with timestamp, ID, DLC, and data bytes.

2) `CraneCANDemo.py` — Jetson LPV node simulator

Run:

python CraneCANDemo.py

Functions:

Reads CAN messages and checks the LPV control state.
- If the current mission is 1 and the mode is Automatic (GPS-enabled navigation), it sends a CAN message with ID 100 to enable the GPS CAN node.
- Otherwise, it disables the GPS CAN node.
If a CAN message with ID 4 is received (GPS coordinates), it decodes the latitude and longitude from the payload (first 4 bytes = latitude, next 4 bytes = longitude).
If the current mission is 6, it sends a CAN message with ID 6 to activate Mission 6 (data = 1).

Run alongside usb2can_receive.py to observe messages.

CAN Message ID Reference

CAN Message ID Reference

Message ID (Decimal)	Purpose	DLC	Data Format / Description
5	LPV Control Message	3	Byte 0 = Mode (`0`=Manual, `1`=Automatic); Byte 1 = Mission; Byte 2 = Mission Color. Behavior: If Mission = 1 and Mode = Automatic, `CraneCANDemo.py` sends ID 100 to enable GPS; otherwise it disables GPS.
6	Mission 6 Status	1	Byte 0 = `1` (active) or `0` (inactive). Behavior: When Mission = 6, `CraneCANDemo.py` sends ID 6 with data `1` to activate Mission 6 node.
7	Mission 7 Status	1	Byte 0 = `1` (active) or `0` (inactive).
9	PWM Control (Left/Right Trolley Motors)	4	Bytes 0–1 = Left PWM (1000–2000 → 1.0–2.0 ms); Bytes 2–3 = Right PWM (1000–2000 → 1.0–2.0 ms).
100	GPS CAN Node Enable/Disable	1	Byte 0 = `1` (enable F9P Rover GPS transmission), `0` (disable). Sent automatically per LPV control logic (see ID 5).
4	GPS Coordinates	8	Bytes 0–3 = Latitude (float32); Bytes 4–7 = Longitude (float32). Decoded by `CraneCANDemo.py` when received.

Troubleshooting

No frames → check bitrate, wiring, and bus termination.
Device not detected → copy libusb-1.0.dll into System32.
Reset error in gs-usb → comment out self.gs_usb.reset().
Permission errors → run Command Prompt as Administrator.

Status

This repo supports lab testing and CAN bus validation for the Crane 2026 LPV project.
APIs and IDs may change as project requirements evolve.

Maintainer

Guoping Wang
Department of Electrical and Computer Engineering
Purdue University Fort Wayne

wang32/Crane2026_LPV_Python_Windows

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