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How to install

Linux

The setup consists of two steps. First we need to get the USB-to-Can device working and secondly configure Python-Can for the device.

USB-to-Can Setup

  1. Install a Linux dist with a kernel >= 3.4 e.g. latest Ubuntu (we used Ubuntu 14.04 LTS)

  2. Plug in the USB-to-Can device (we used PEAK PCAN-USB)

  3. Load the CAN module:

    sudo modprobe can

  4. Set up the can device (bitrate may differ between different CAN buses):

    sudo ip link set can0 up type can bitrate 500000

  5. can0 will now display as a normal network interface

Python-Can

Download Python-Can from bitbucket.org/hardbyte/python-can commit 77eea796362b.

Use other commits at your own peril.

Install

  1. Install pip

  2. Install python-can by running:

     sudo python setup.py install

  3. Verify that the installation worked by running python from the terminal and load the can module.

    Python 2.7.6 (default, Mar 22 2014, 22:59:56) 
[GCC 4.8.2] on linux2
Type "help", "copyright", "credits" or "license" for more information.
>>> import can
>>>
Configure

Python-Can uses a configuration file ~/.canrc to specify a CAN interface. The contents of this file should be:

[default]
interface = socketcan_ctypes
channel = can0
Test it

Connect the USB-to-CAN device to an actual CAN-bus and run the following:

python bin/canlogger.py

If packets are received everything is good to go!

Windows 7

The simplest solution is to download VMPlayer, install a Linux distribution and to follow the Linux guide above.

Raspberry Pi

Parts list

  • Raspberry Pi model B
  • SD-card 8 GB
  • piCAN-shield
  • DBUS 9 male
  • 2 wires

Helpful sites

USB-to-CAN

Raspian
  1. Download and flash latest raspian image to SD card. We used http://downloads.raspberrypi.org/raspbian/images/raspbian-2015-02-17/
  2. Update, upgrade & reboot
sudo apt-get update
sudo apt-get upgrade
sudo reboot
Kernel modules
  1. Download kernel modules for mcp2501x that fits your kernel version. We used ifinterface and rpi-can-3.18.7+ (not for Raspberry 2)
  2. cd /
  3. Unpack into /lib and /usr using sudo tar -jxvf /path-to/<archivename>
  4. Register the new modules
sudo depmod -a
sudo reboot
Add modules in /etc/modules to enable them at boot
# /etc/modules: kernel modules to load at boot time.
#
# This file contains the names of kernel modules that should be loaded
# at boot time, one per line. Lines beginning with "#" are ignored.
# Parameters can be specified after the module name.

snd-bcm2835
spi_bcm2708

# MCP2515 configuration for PICAN module
spi-config devices=\
bus=0:cs=0:modalias=mcp2515:speed=10000000:gpioirq=25:pd=20:pds32-0=16000000:pdu32-4=0x2002:force_release

# load the module
mcp251x

Make sure they are not in a blacklist in /etc/modprobe.d/<blacklist> If they are - comment this entries:

#blacklist spi-bcm2708
#blacklist mcp251x
Enable spi in Device Tree

In /boot/config.txt, add

# add SPI-support for piCAN
dtparam=spi=on

Note: Enabling spi in the device tree was required when we performed install due to changes in how Raspberry handles devices. It will change and/or be removed with new releases.

Bring up the interface

  1. Configure CAN interface sudo ip link set can0 type can bitrate 500000

  2. Bring the interface up sudo ip link set can0 up

Python-Can

See instructions above in the Linux guide