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    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


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

Navigate to this section : Driver Package for Proprietary Purposes on the above given website.
Click on Download PCAN Driver Package to download the latest driver.(This setup is tested on the driver version : 8.16.0 )
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


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


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


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 


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


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'


Run this command in another terminal :
candump -x can0


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

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