[[PageOutline(1-10,Contents)]]

= CanGateway plugin =

== Goal == 

The CanGateway plugin is in charge of interfacing a CAN bus and it manages the CAN card. 

== Driver installation == 

=== Linux driver === 

The supported driver are: 
- socketCAN
- kvaser card (USB, PCI, PCIe,...) 

First of all, follow the README in source:pacpussensors/trunk/CanGateway/driver/kvaser/linuxcan.tar.gz in order to install the kvaser driver. 

''Note that this procedure blacklist the SocketCAN driver.'' 

To check if the KVASER driver is properly installed, type in a terminal {{{lsmod | grep kv}}}. 
You must see a kvaser driver running: 
{{{
#!sh 
$ lsmod | grep kv
kvm                   452088  0 
kvpcican               43541  0 
}}}

If the automatic loading of the driver doesn't work at startup, you can add the file {{{kvaser.conf}}} containing this text: 
{{{
# kvaser module load 
kvpcican
}}}
in the {{{/etc/modules-load.d}}} folder. 


=== Windows driver === 

TODO


== Compilation ==

First, make sure the CMakeList.txt at the root of the directory is well configured (into trunk/). In order to install the CanGateway plugin, modify the file and verify you have the following line :
{{{
#!sh
add_subdirectory(CanGateway)
}}}

Also, the environment variable $PACPUS_ROOT must point to the pacpus installation directory (you normally already set it when you installed PACPUS).


Then we need to configure the installation : 
{{{
#!sh
$ export PACPUS_ROOT=/opt/pacpus/0.2.3 # Pacpus Framework path
$ cd trunk/build/ # first go into the build folder
$ cmake ..
}}} 

Now we can compile and install :
{{{
#!sh
$ sudo make install
}}} 

Make sure the executable files you just created are copied into $PACPUS_ROOT/lib/. 


= Execution =

In order to work with the plugins we want, PACPUS needs an XML file.

== XML configuration ==

Put an example xml file. 

Fields: 
- source ...
- speed ... 

== Running the plugin ==

Please verify that you have a working pacpus installation on your system: refer to the GettingStarted page. 

=== Testing under Linux === 

Run the plugin with this command: 

{{{
cd $PACPUS_ROOT
./PacpusSensor can.xml 
}}}

=== Testing under Windows === 

TODO