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type: default
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# Orin Nano env setup Guidelines
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## 1. Where applicable, keep self-built binaries under a dedicated `infra` directory
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- `/home/mikkeli/infra/` houses self-built binaries and their source code/repositories(organised to their own sub directories)
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- **Where applicable,** symlink built binaries to a PATH entry or where said binary is usually expected
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*Exception:* if symlink is not accepted for some reason, copy the binary to the expected destination and keep track of freshness.
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## 2. To be added
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# PCAN-USB Adapter Setup on Jetson Orin Nano
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## Hardware
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- **Board:** NVIDIA Jetson Orin Nano Engineering Reference Developer Kit Super
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- **Hostname:** mikkeli-orin-nano-2
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- **OS:** Ubuntu 22.04.5 LTS (aarch64)
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- **Kernel:** 5.15.148-tegra (L4T 36.4.4, JetPack r36.4)
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- **Adapter:** PEAK-System PCAN-USB (ID `0c72:000c`)
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## Onboard CAN
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The Jetson Orin Nano has a built-in CAN controller:
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- **Interface:** `can0`
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- **Controller:** MTTCan (`c310000.mttcan`) — SoC peripheral at memory address `0xc310000`
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- **Driver:** `mttcan` (built into NVIDIA Tegra kernel)
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- **Module:** `can_dev`
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- **Clock:** 50 MHz
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- **Status:** Always present, currently DOWN
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## USB CAN Adapter — Initial Detection
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### Problem
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The PCAN-USB adapter was physically connected and detected by the USB subsystem:
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```
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Bus 001 Device 005: ID 0c72:000c PEAK System PCAN-USB
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```
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But no CAN interface appeared. The mainline kernel driver `peak_usb` (which supports this device since kernel v3.4) was **not compiled into this NVIDIA Tegra kernel**.
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### Investigation
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1. Checked for the `peak_usb` module — not present
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2. Checked kernel config (`/boot/config-$(uname -r)`) — not available (NVIDIA kernel)
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3. Checked for kernel headers — none matched the `5.15.148-tegra` kernel
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4. The NVIDIA Tegra kernel from JetPack r36.4 (`repo.download.nvidia.com/jetson/t234`) uses a custom versioning scheme and does not include PEAK's mainline drivers
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## Solution — Build PEAK's Proprietary Driver
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### Why PEAK's driver instead of mainline?
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PEAK's mainline `peak_usb` driver would be the preferred approach (SocketCAN netdev, auto-loading, no rebuild needed on kernel updates). However, the NVIDIA Tegra kernel does not include it. PEAK's proprietary driver package can be built against any kernel that has headers available.
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### Step 1: Download PEAK Linux Driver Package
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```bash
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curl -L "https://www.peak-system.com/quick/PCAN-Linux-Driver" -o /tmp/pcan-driver.tar.gz
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cd /tmp && tar -xzf pcan-driver.tar.gz
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# Extracts to: /tmp/peak-linux-driver-9.2.0/
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```
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### Step 2: Build with SocketCAN (netdev) Support
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The PEAK driver defaults to **chardev** mode (character devices like `/dev/pcanusb32`). For standard SocketCAN tools (`candump`, `ip link`, etc.), we need **netdev** mode:
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```bash
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cd /tmp/peak-linux-driver-9.2.0/driver
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sudo make clean
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sudo make NET=NETDEV_SUPPORT all
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```
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Key output confirming netdev build:
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```
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CC [M] /tmp/peak-linux-driver-9.2.0/driver/src/pcan_netdev.o
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LD [M] /tmp/peak-linux-driver-9.2.0/driver/pcan.ko
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```
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### Step 3: Install the Module
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```bash
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cd /tmp/peak-linux-driver-9.2.0/driver
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sudo cp pcan.ko /lib/modules/5.15.148-tegra/misc/pcan.ko
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sudo depmod 5.15.148-tegra
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```
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### Step 4: Load the Module
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```bash
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sudo modprobe -r pcan 2>/dev/null
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sudo modprobe pcan
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```
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### Result
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```
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$ ip link show type can
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3: can0: <NOARP,ECHO> mtu 16 qdisc noop state DOWN mode DEFAULT group default qlen 10
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link/can
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8: can1: <NOARP> mtu 16 qdisc noop state DOWN mode DEFAULT group default qlen 10
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link/can
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```
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- `can0` = onboard MTTCan
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- `can1` = PCAN-USB adapter
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### Step 5: Bring Up the Interface
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```bash
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sudo ip link set can1 up type can bitrate 500000
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```
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### Step 6: Read CAN Traffic
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```bash
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sudo candump can1
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```
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## Build Environment
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- **GCC:** 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04.2)
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- **make:** Available
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- **Kernel headers:** Located at `/lib/modules/5.15.148-tegra/build`
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- **Driver version:** PEAK Linux Driver 9.2.0
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## Important Notes
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1. **Out-of-tree module:** This driver is built from PEAK's source against the running kernel. It will **not survive a kernel update** — you must rebuild after any kernel upgrade.
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2. **Netdev vs chardev:** The PEAK driver defaults to chardev mode. For SocketCAN tools, you must build with `NET=NETDEV_SUPPORT`. The chardev mode creates `/dev/pcan*` devices and requires PEAK's proprietary API.
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3. **Blacklisting:** The PEAK installer (`make install`) blacklists the mainline `peak_*` drivers in `/etc/modprobe.d/blacklist-peak.conf`. Since the mainline drivers aren't available on this kernel anyway, this is harmless.
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4. **Bitrate:** The default CAN bitrate is 500 kbps. Adjust as needed for your car's bus (common values: 500000, 250000, 1000000).
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5. **Read-only use:** For reading car CAN traffic without transmitting, you only need to bring the interface up. No special configuration is needed.
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## Cleanup
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Source files left at `/tmp/peak-linux-driver-9.2.0/` and `/tmp/pcan-driver.tar.gz`. Can be removed after verifying everything works.
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