How to Install and run PCAN-USB FD on linux system

Install_demo.md

PCAN-USB FD pcan-linux-installation

This guide is about the istallation and running of the PCAN-USB FD and running test using socketcan, with your custom CAN profile. This is the product page : https://www.peak-system.com/PCAN-USB-FD.365.0.html?&L=1

The official documentation can be found here : https://www.peak-system.com/fileadmin/media/linux/files/PCAN-Driver-Linux_UserMan_eng.pdf

This guide is for using the new PCAN-USB FD with the support of the CAN-FD frame using updated socketCAN

This is a quick guide on how to install linux driver for the pcan usb adapter and run some demo test setup.

This setup is tested on the moteus-motor-drivers which require custom CAN parameter to be configured :

Installion specs. of system :

• Ubuntu 22.04 (*Kernel version : * Linux ASUS 6.0.0-1016-oem )
• PCAN-USB FD
• Mjbots-Moteus-r4.11
• Peak Linux Driver version : peak-linux-driver-8.16.0
• CAN Configuration parameter from : reference.md

Installation step

1. Go to the offical website of the peak : https://www.peak-system.com/fileadmin/media/linux/index.htm or

   1. Navigate to this section : Driver Package for Proprietary Purposes on the above given website.
   2. Click on Download PCAN Driver Package to download the latest driver.(This setup is tested on the driver version : 8.16.0 )
   3. You can also install pcan view from website section PCAN-View for Linux or follow these command :

      # add peak-system.list in the update list
      
      $ wget -q http://www.peak-system.com/debian/dists/`lsb_release -cs`/peak-system.list -O- | sudo tee /etc/apt/sources.list.d/peak-system.list
      
      $ wget -q http://www.peak-system.com/debian/peak-system-public-key.asc -O- | sudo apt-key add -
      
      $ sudo apt-get update
      $ sudo apt-get install pcanview-ncurses

2. Now install these following pacakage in your system :

   # install required packages
   sudo apt-get install libncurses5
   sudo apt-get install can-utils
   sudo apt-get install gcc-multilib
   sudo apt-get install libelf-dev
   sudo apt-get install libpopt-dev
   sudo apt-get install tree
   # build and install pcan driver
   
   tar -xzf peak-linux-driver-X.Y.Z.tar.gz # navigate to download path
   cd peak-linux-driver-X.Y.Z
   make clean
   make NET=NETDEV_SUPPORT  # for network interface based pcan 
   sudo make install
   
   # install the modules   
   sudo modprobe pcan
   sudo modprobe can
   sudo modprobe vcan
   sudo modprobe slcan
   sudo modprobe pcan_usb
   
   # setup and configure "can0" net device
   
   sudo ip link set can0 type can
   
   sudo ip link set can0 up type can tq 12 prop-seg 25 phase-seg1 25 phase-seg2 29 sjw 10 dtq 12 dprop-seg 6 dphase-seg1 2 dphase-seg2 7 dsjw 12 fd on  loopback on

   Note : If you want to update a new configuration try to turn off the can0 network and

   sudo ip link set can0 down
   
   # then again run the new parameter of CAN command again 
   sudo ip link set can0 up type can tq 12 prop-seg 25 phase-seg1 25 phase-seg2 29 sjw 10 dtq 12 dprop-seg 6 dphase-seg1 2 dphase-seg2 7 dsjw 12 fd on  loopback on

3. Once you made the installation let's check :

   # check installation
   ./driver/lspcan --all       # should print "pcanusb32" and pcan version
   tree /dev/pcan-usb          # should show a pcan-usb device
   ip -a link                  # should print some "can0: ..." messages
   ip -details link show can0  # should print some details about "can0" net device

4. Example output after successfull installation of a pcan usb adapter:

   mighty@ASUS:~/Downloads/peak-linux-driver-8.16.0$ ./driver/lspcan --all
   pcanusbfd32     CAN1    -       80MHz   1M+5M   WARNING 0.00    4       2       114461
   
   mighty@ASUS:~/Downloads/peak-linux-driver-8.16.0$ tree /dev/pcan*
   /dev/pcan32  [error opening dir]
   /dev/pcan-usb_fd
   └── 0
       └── can0 -> ../../pcanusbfd32
   /dev/pcanusbfd32  [error opening dir]
   
   1 directory, 1 file
   
   mighty@ASUS:~/Downloads/peak-linux-driver-8.16.0$ ip -details link show can0
   21: can0: <NOARP,UP,LOWER_UP> mtu 72 qdisc pfifo_fast state UP mode DEFAULT group default qlen 10
       link/can  promiscuity 0 minmtu 0 maxmtu 0 
       can <LOOPBACK,FD> state ERROR-WARNING (berr-counter tx 127 rx 0) restart-ms 0 
           bitrate 1000000 sample-point 0.637 
           tq 12 prop-seg 25 phase-seg1 25 phase-seg2 29 sjw 10
           pcan: tseg1 1..256 tseg2 1..128 sjw 1..128 brp 1..1024 brp-inc 1
           dbitrate 5000000 dsample-point 0.562 
           dtq 12 dprop-seg 6 dphase-seg1 2 dphase-seg2 7 dsjw 12
           pcan: dtseg1 1..32 dtseg2 1..16 dsjw 1..16 dbrp 1..1024 dbrp-inc 1
           clock 80000000 numtxqueues 1 numrxqueues 1 gso_max_size 65536 gso_max_segs 65535 

5. Now, Once we have done with the installation, we will try to send the the can data and receive the can data as well :

   1. Run this command in one terminal :

      cansend can0 00008001##0420120
      # where  fdcan id is 00008001 on can0
      # the '##' represent the fdcan frame
      # and the first bit is '0' represent 'without switching bitrate'
      # the data is '420120'

   2. Run this command in another terminal :

      candump -x can0

6. The output of the above command if you are using moteus-r4.11 :

   # in the first terminal 
   mighty@ASUS:~$ cansend can0 00008001##0420120
   
   #in the second terminal
   mighty@ASUS:~$ candump -x can0
     can0  TX - -  00008001  [03]  42 01 20
     can0  RX - -  00008001  [03]  42 01 20
     can0  RX - -       100  [03]  41 01 00

Reference :

• PCAN-USB FD : https://www.peak-system.com/PCAN-USB-FD.365.0.html?&L=1
• Peak Linux system : https://www.peak-system.com/fileadmin/media/linux/index.htm
• mjbot moteus r4.11 CAN id setting: https://github.com/mjbots/moteus/blob/main/docs/reference.md#80-mhz-clock-systems
• mjbot moteus r4.11 : https://mjbots.com/products/moteus-r4-11
• can-utils guide: https://dissec.to/kb/chapters/can/canfd.html
• peak usb guide :https://github.com/SICKAG/sick_line_guidance/blob/master/doc/pcan-linux-installation.md
• CAN Configuration parameter : https://github.com/mjbots/moteus/blob/main/docs/reference.md#80-mhz-clock-systems

If you want to make any suggestion please comment below or reach at twitter @pranav083

@prakhar1989 cannot find arm64 for savvyCAN

mona@ubuntu:~/Downloads$ ./SavvyCAN-x86_64.AppImage
bash: ./SavvyCAN-x86_64.AppImage: cannot execute binary file: Exec format error

sudo modprobe pcan
odprobe: ERROR: could not insert 'pcan': Operation not permitted
modprobe: ERROR: ../libkmod/libkmod-module.c:990 command_do() Error running install command 'modprobe --ignore-install pcan' for module pcan: retcode 1
modprobe: ERROR: could not insert 'pcan': Invalid argument