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Raspberry Piで、PCAN-USB (PEAK-System) を使う

Last updated at 2017-01-12Posted at 2016-01-09

概要/Overview

PEAK-SystemのPCAN-USBのドライバをビルドして使う
(Updated) 2017-01-10: for 2016-11-25-raspbian + peak-linux-driver-8.3
Ref: PEAK-System LINUX Website
SocketCAN ? => Raspberry Pi: PCAN-USB(PEAK-System) で、SocketCAN

環境/Environment

Raspberry Pi 2/3
- For RPi1/ZERO, see # cp $HOME/Module.symvers Module.symvers ## RPi1 ????
Raspbian: 2016-11-25-raspbian-jessie-lite
raspberrypi/firmware - Hexxeh/rpi-firmware
- rpi-update(2017-01-10):
  Linux raspberrypi 4.4.41-v7+ #942 SMP Mon Jan 9 15:00:25 GMT 2017 armv7l GNU/Linux (8f43681f762e4f632b31572f31f42d405ba9a663)
- apt upgrade(2017-01-10):
  Linux raspberrypi 4.4.38-v7+ #938 SMP Thu Dec 15 15:22:21 GMT 2016 armv7l GNU/Linux (af9cb14d5053f89857225bd18d1df59a089c171e)
- Default:
  Linux raspberrypi 4.4.34-v7+ #930 SMP Wed Nov 23 15:20:41 GMT 2016 armv7l GNU/Linux (? 85f52e4b452ac83f4475e5c1e505a32061631c7d ?)
CAN I/F: PCAN-USB & PCAN-USB FD (PEAK-System)

初期設定/Initial settings

いつもどおり、RaspbianをmicroSDに焼く.
SSH-Enabled: /bootパーティションに、sshというファイルを置く
パッケージ更新:
sudo apt-get update; time sudo apt-get upgrade -y
再起動:
sudo reboot

ビルド/Build

準備: Kernel updateと
Preparations

sudo apt install -y bc build-essential libpopt-dev rpi-update
sudo rpi-update
sudo reboot


2. Source code取得して、Moduleビルドの準備

    ```bash:Preparation_for_module_build
# Firmeare hash => Kernel hash, then get kernel source code and `Module{,7}.symvers`
#
FIRMWARE_REV=`cat /boot/.firmware_revision` # rpi-update generates.
KERNEL_REV=`curl -L https://github.com/Hexxeh/rpi-firmware/raw/${FIRMWARE_REV}/git_hash`
echo Firmware Rev: ${FIRMWARE_REV}
echo kernel Rev  : ${KERNEL_REV}
curl -L https://github.com/Hexxeh/rpi-firmware/raw/${FIRMWARE_REV}/Module.symvers >Module.symvers
curl -L https://github.com/Hexxeh/rpi-firmware/raw/${FIRMWARE_REV}/Module7.symvers >Module7.symvers
curl -L https://github.com/raspberrypi/linux/archive/${KERNEL_REV}.tar.gz >rpi-linux.tar.gz
#
# root
sudo -s
#
# Extract kernel source code
HOME=/home/pi
cd /usr/src
mkdir rpi-linux
cd rpi-linux
tar --strip-components 1 -xf ${HOME}/rpi-linux.tar.gz
#
# Place Module.symvers and .config to the proper folder.
modprobe configs
gunzip -c /proc/config.gz >.config
# cp $HOME/Module.symvers Module.symvers  ## RPi1 ????
cp $HOME/Module7.symvers Module.symvers
#
# Prepare for module build.
time make modules_prepare
ln -sv /usr/src/rpi-linux /lib/modules/$(uname -r)/build
#
chown pi.pi -R /usr/src/rpi-linux
#
exit ## back to user 'pi'
cd ${HOME}
#

Download/Build/Intall
- PCAN Driver: /dev/pcan*

PCAN_DRIVER_VER=8.3
cd $HOME
[ -f peak-linux-driver-${PCAN_DRIVER_VER}.tar.gz ] || wget http://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-${PCAN_DRIVER_VER}.tar.gz
tar xf ./peak-linux-driver-${PCAN_DRIVER_VER}.tar.gz
cd ./peak-linux-driver-${PCAN_DRIVER_VER}

Cleanup

sudo make uninstall
make clean

make NET=NO PCI=NO PAR=NO ISA=NO PCC=NO DNG=NO

sudo make install


4. 例　

    ```shell-session:接続すると/dev/pcan*が現れるぞ
pi@raspberrypi:~ $ lsmod | grep pcan
pcan                   89809  0 
pi@raspberrypi:~ $ ls -l /dev/pcanusbfd32 
crw-rw-rw- 1 root root 243, 32 Jan 11 01:49 /dev/pcanusbfd32
pi@raspberrypi:~ $

Test
- See the bottom for bitratetest and receivetest.

概要

PEAK-SystemのPCAN-USBのドライバビルドのメモ(peak-linux-driver-7.15.2.tar.gz)
Kernelモジュールをビルドする(pcan.ko)
SocketCANではなく、pcan.hを使った、test sampleがビルド
rpi-update はやらない。(Kernelヘッダあわせるのが面倒かも?)
Kernel headerは、https://www.niksula.hut.fi/~mhiienka/Rpi/linux-headers-rpi/ のを使わせてもらう。(=> gcc-4.7が必要)

環境

Raspberry Pi 2 Model B
Raspbian: 2015-11-21-raspbian-jessie-lite
uname -a: Linux rpi3 4.1.13-v7+ #826 SMP PREEMPT Fri Nov 13 20:19:03 GMT 2015 armv7l GNU/Linux
CAN I/F: PCAN-USB (PEAK-System)
microSD: 2GB

初期設定

microSDにJessie Liteのイメージをいれる
sudo raspi-config で設定
- 1 Expand Filesystem
- 5 Internationalisation Options
  - I2 Change Timezone
- 9 Advanced Options
  - A2 Hostname
  - A3 Memory Split => 16
WiFi設定(必要あれば)

% sudo iwlist wlan0 scan
% sudo su
% wpa_passphrase SSID 'KEY' >> /etc/wpa_supplicant/wpa_supplicant.conf

Wifiの素のパスワードを消す

sudo vi /etc/wpa_supplicant/wpa_supplicant.conf

4. swap無効(必要あれば)

    ```
sudo dphys-swapfile uninstall
sudo dpkg --purge dphys-swapfile
sudo rm -f /var/swap

リブート (% sudo reboot)

ビルド

linux-headerの準備

sudo apt-get install gcc-4.7 g++-4.7 libpopt-dev
wget http://www.niksula.hut.fi/~mhiienka/Rpi/linux-headers-rpi/linux-headers-4.1.13-v7+_4.1.13-v7+-2_armhf.deb
sudo dpkg -i linux-headers-4.1.13-v7+_4.1.13-v7+-2_armhf.deb

    - alternativesを設定しておく (gcc-4.7, gcc-4.9)

    ```
% sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.7 20
% sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-4.9 60
% update-alternatives --config gcc
There are 2 choices for the alternative gcc (providing /usr/bin/gcc).
  Selection    Path              Priority   Status
------------------------------------------------------------
* 0            /usr/bin/gcc-4.9   60        auto mode
  1            /usr/bin/gcc-4.7   20        manual mode
  2            /usr/bin/gcc-4.9   60        manual mode

peak-linux-driverのビルド・インストール

wget http://www.peak-system.com/fileadmin/media/linux/files/peak-linux-driver-7.15.2.tar.gz
tar xf ./peak-linux-driver-7.15.2.tar.gz
cd ./peak-linux-driver-7.15.2/
sudo make NET=NO PCI=NO PAR=NO ISA=NO PCC=NO DNG=NO
sudo make install

    - pcan.ko モジュールが、`/lib/modules/4.1.13-v7+/misc`ではなく、`/lib/modules/4.1.13-v7/misc`にインストールされてしまうので、直す。(`+`があるとまずい？)
    
    ```
cd /lib/modules
sudo mkdir /lib/modules/4.1.13-v7+/misc
sudo mv 4.1.13-v7/misc/* 4.1.13-v7+/misc/
sudo rmdir 4.1.13-v7/misc
sudo rmdir 4.1.13-v7
sudo depmod -a

テスト
1. PCAN-USBを差す

$ lsusb
Bus 001 Device 004: ID 0c72:000c PEAK System PCAN-USB
...
$ lsmod
Module Size Used by
pcan 56986 0
...
$ ls -l /dev/pcanusb0
crw-rw-rw- 1 root root 180, 32 Jan 1 00:01 /dev/pcanusb0

    2. サンプルプログラムの実行
        - 250kbpsでExtendedFrameのデータ受信
        - `bitratetest` で250kbpsの設定を見つけて、`receivetest`で受信してみる(`-e`:extended frameに対応)
    
           ```
$ bitratetest -f=/dev/pcanusb0
...
bitratetest: 250001 bits/sec    ->BTR0BTR1=0x011c
             250000 bits/sec    ->BTR0BTR1=0x011c
             249999 bits/sec    ->BTR0BTR1=0x011c
...
$ receivetest -f=/dev/pcanusb0 -b=0x11c -e 
...
receivetest: device node="/dev/pcanusb0"
             Extended frames are accepted, init with BTR0BTR1=0x011c
receivetest: driver version = Release_20150729_n
100851283.640 receivetest: m e 0x0XXXXXXX 8 01 23 45 67 89 AB CD EF
100851283.640 receivetest: m e 0x0XXXXXXX 8 01 23 45 67 89 AB CD EF
100851284.238 receivetest: m e 0x0XXXXXXX 8 01 23 45 67 89 AB CD EF
100851284.878 receivetest: m e 0x0XXXXXXX 8 01 23 45 67 89 AB CD EF
100851285.475 receivetest: m e 0x0XXXXXXX 8 01 23 45 67 89 AB CD EF
100851286.72 receivetest: m e 0x0XXXXXXX 8 01 23 45 67 89 AB CD EF
...

3. 送信テスト (未確認)
    テキストファイルを用意する(sample)

    ```

$ transmitest -f=/dev/pcanusb0 -b=0x11c -e ~/peak-linux-driver-7.15.2/test/transmit.txt


## プログラムの作成 (予定)
1. `receivetest.c`をベースに改造していく。

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