How to use CAN bus

The tutorial will guide you how to use CAN bus module.

Supported Model: ROScube-I series

Installation

1. Install CAN bus module into ROScube.

2. Check if the Faro module exists

ls /dev/ttyUSB*

3. Install can-utils

sudo apt-get install can-utils

4. Decompress FARO CAN driver.

tar zxvf SocketCAN_V1.0.9.tgz

5. Build faro_can.ko

cd SocketCAN/V1.0.9/socketCAN/faro-socketcan/
make

6. Build farocand

cd SocketCAN/V1.0.9/socketCAN/faro-can-utils/
make

7. Check version of faro_can.ko

cd SocketCAN/V1.0.9/socketCAN/faro-socketcan/
modinfo ./faro_can.ko

8. Load module

sudo modprobe can
sudo modprobe can_raw
cd SocketCAN/V1.0.9/socketCAN/
sudo insmod ./faro-socketcan/faro_can.ko
sudo ./faro-can-utils/farocand -s22 -S921600 /dev/ttyUSB0 faro_can0 faro_can1
sudo ifconfig faro_can1 up
sudo ifconfig faro_can0 up

Hardware preparation

1. Connect Pin43 with Pin44, and Pin10 with Pin11. In that way, the CAN_PORT0 and CAN_PORT1 are connected.

2. Turn on the Terminal Resistor on Port 1 or Port 2.

3. In the picture below, we turned on the Terminal Resistor of Port 0.

Test

1. Open terminal 1, enter below command to wait data from faro_can0:

candump faro_can0 -t A

2. Open terminal 2, enter below command to send data to faro_can1:

cansend faro_can1 123#1122334455667788

3. The test result should be similar to below picture: