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:

$ 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 :

add_subdirectory(Sick)

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 :

$ 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 :

$ 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