133 lines
4.4 KiB
Markdown
133 lines
4.4 KiB
Markdown
# PCAN-USB Adapter Setup on Jetson Orin Nano
|
|
|
|
## Hardware
|
|
|
|
- **Board:** NVIDIA Jetson Orin Nano Engineering Reference Developer Kit Super
|
|
- **Hostname:** mikkeli-orin-nano-2
|
|
- **OS:** Ubuntu 22.04.5 LTS (aarch64)
|
|
- **Kernel:** 5.15.148-tegra (L4T 36.4.4, JetPack r36.4)
|
|
- **Adapter:** PEAK-System PCAN-USB (ID `0c72:000c`)
|
|
|
|
## Onboard CAN
|
|
|
|
The Jetson Orin Nano has a built-in CAN controller:
|
|
|
|
- **Interface:** `can0`
|
|
- **Controller:** MTTCan (`c310000.mttcan`) — SoC peripheral at memory address `0xc310000`
|
|
- **Driver:** `mttcan` (built into NVIDIA Tegra kernel)
|
|
- **Module:** `can_dev`
|
|
- **Clock:** 50 MHz
|
|
- **Status:** Always present, currently DOWN
|
|
|
|
## USB CAN Adapter — Initial Detection
|
|
|
|
### Problem
|
|
|
|
The PCAN-USB adapter was physically connected and detected by the USB subsystem:
|
|
|
|
```
|
|
Bus 001 Device 005: ID 0c72:000c PEAK System PCAN-USB
|
|
```
|
|
|
|
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**.
|
|
|
|
### Investigation
|
|
|
|
1. Checked for the `peak_usb` module — not present
|
|
2. Checked kernel config (`/boot/config-$(uname -r)`) — not available (NVIDIA kernel)
|
|
3. Checked for kernel headers — none matched the `5.15.148-tegra` kernel
|
|
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
|
|
|
|
## Solution — Build PEAK's Proprietary Driver
|
|
|
|
### Why PEAK's driver instead of mainline?
|
|
|
|
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.
|
|
|
|
### Step 1: Download PEAK Linux Driver Package
|
|
|
|
```bash
|
|
curl -L "https://www.peak-system.com/quick/PCAN-Linux-Driver" -o /tmp/pcan-driver.tar.gz
|
|
cd /tmp && tar -xzf pcan-driver.tar.gz
|
|
# Extracts to: /tmp/peak-linux-driver-9.2.0/
|
|
```
|
|
|
|
### Step 2: Build with SocketCAN (netdev) Support
|
|
|
|
The PEAK driver defaults to **chardev** mode (character devices like `/dev/pcanusb32`). For standard SocketCAN tools (`candump`, `ip link`, etc.), we need **netdev** mode:
|
|
|
|
```bash
|
|
cd /tmp/peak-linux-driver-9.2.0/driver
|
|
sudo make clean
|
|
sudo make NET=NETDEV_SUPPORT all
|
|
```
|
|
|
|
Key output confirming netdev build:
|
|
```
|
|
CC [M] /tmp/peak-linux-driver-9.2.0/driver/src/pcan_netdev.o
|
|
LD [M] /tmp/peak-linux-driver-9.2.0/driver/pcan.ko
|
|
```
|
|
|
|
### Step 3: Install the Module
|
|
|
|
```bash
|
|
cd /tmp/peak-linux-driver-9.2.0/driver
|
|
sudo cp pcan.ko /lib/modules/5.15.148-tegra/misc/pcan.ko
|
|
sudo depmod 5.15.148-tegra
|
|
```
|
|
|
|
### Step 4: Load the Module
|
|
|
|
```bash
|
|
sudo modprobe -r pcan 2>/dev/null
|
|
sudo modprobe pcan
|
|
```
|
|
|
|
### Result
|
|
|
|
```
|
|
$ ip link show type can
|
|
3: can0: <NOARP,ECHO> mtu 16 qdisc noop state DOWN mode DEFAULT group default qlen 10
|
|
link/can
|
|
8: can1: <NOARP> mtu 16 qdisc noop state DOWN mode DEFAULT group default qlen 10
|
|
link/can
|
|
```
|
|
|
|
- `can0` = onboard MTTCan
|
|
- `can1` = PCAN-USB adapter
|
|
|
|
### Step 5: Bring Up the Interface
|
|
|
|
```bash
|
|
sudo ip link set can1 up type can bitrate 500000
|
|
```
|
|
|
|
### Step 6: Read CAN Traffic
|
|
|
|
```bash
|
|
sudo candump can1
|
|
```
|
|
|
|
## Build Environment
|
|
|
|
- **GCC:** 11.4.0 (Ubuntu 11.4.0-1ubuntu1~22.04.2)
|
|
- **make:** Available
|
|
- **Kernel headers:** Located at `/lib/modules/5.15.148-tegra/build`
|
|
- **Driver version:** PEAK Linux Driver 9.2.0
|
|
|
|
## Important Notes
|
|
|
|
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.
|
|
|
|
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.
|
|
|
|
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.
|
|
|
|
4. **Bitrate:** The default CAN bitrate is 500 kbps. Adjust as needed for your car's bus (common values: 500000, 250000, 1000000).
|
|
|
|
5. **Read-only use:** For reading car CAN traffic without transmitting, you only need to bring the interface up. No special configuration is needed.
|
|
|
|
## Cleanup
|
|
|
|
Source files left at `/tmp/peak-linux-driver-9.2.0/` and `/tmp/pcan-driver.tar.gz`. Can be removed after verifying everything works.
|