The project aims to provide an improved angle sensor setup for Toyota vehicles compatible with OpenPilot. This involves installing a magnetic encoder sensor for more accurate angle readings, supplemented by necessary electronics and firmware.
Below is a list of components needed for this project:
- Evaluation Board (AS5047P): Includes the magnet necessary for sensor calibration.
- Purchase: Digikey
- Datasheet
- Arduino Library (Default 4096 PPR)
- Arduino: Compatible with most versions (e.g., this one)
- CAN Board: MCP2515 module for CAN communication.
- Purchase: Amazon
- Library: GitHub - arduino-mcp2515
- LS7366R Quadrature Encoder Buffer: Enables precise angle tracking.
- Purchase: SuperDroid Robots
- Library: GitHub - Encoder Buffer Library
- M3 Flat-Cap Screws: Stainless steel, non-ferrous recommended.
- Purchase: Amazon
- 3D Printed Components: Necessary parts for mounting and alignment.
- Files: Fusion 360
- Erich’s Magnet Holder: No permanent modifications required for installation. Join Discord for more information.
- BOM (Bill of Materials): A supplementary BOM on Google Sheets to assist with sourcing components.
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Connections:
- Connect the CAN board and LS7366R to the Arduino.
- Wire the AS5047P sensor to the LS7366R encoder buffer.
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Mechanical Setup:
- Extend the hole in the EPS motor shaft, if needed, and tap it to M3 size.
- Align and attach the magnet holder to the cap.
- Snap the AS5047P sensor into place and secure it with a small amount of superglue once functionality is confirmed.
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Software Configuration:
- Recalibrate your vehicle’s fingerprint and add the new signals to Cabana.
- Adjust the angle offset within OpenPilot settings.
- DIY listing on OSHWLab: OSHWLab Project
- GitHub Discussion and Updates
Special thanks to Erich and the community for providing valuable resources and feedback.