Raspberry Pi Configuration

Setup on a Raspberry Pi Machine for Waveshare 2-CH CAN HAT

Note

installation scripts are found in install directory

1. Prepare system

Prepare freshly installed rpi (docker etc.)

prepare_system.sh

2. Install CAN hat

See waveshare docs: waveshare hat docs

install_bcm2535.sh

3. install can service

to automatically bringup interface on system startup

setup_can.sh

Test the CAN-bus with the can-utils Program

Install can-utils:

sudo apt-get install can-utils

Send a CAN Message:

cansend [interface] [id HEX]#[DATA 8 bytes HEX]
cansend can0 456#00FF010203040506

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Odrive configuration

Setup odrive for use with can.

use host system, to avoid excessive container restart on device reconnects.

Preparation

1. install_rules.sh on host system
2. connect odrive. Power odrive with 5V, connect usb.
3. (optional for vcan) run setup_vcan_service.sh to create vcan0 adapter. It will be started on each startup.

Odrive should become available as usb device:

$ lsusb | grep 1209
Bus 001 Device 014: ID 1209:0d32 Generic ODrive Robotics ODrive v3

Configuration

Start devcontainer, odrive tool is installed automatically.

Configure odrive as described in manual

SBC with can hat setup

1. run prepare_system.sh
2. prepare can hat as explained in waveshare hat docs
   • modify boot/config.txt
   • run install_bcm2835.sh
   • run setup_can.sh , this will start can interfaces on startup.

Test connection

• candump can0 -xct z -n 10
• python3 -m can.viewer -c "can0" -i "socketcan"