====== Using a Raspberry Pi to Run a Talon SRX Motor Controller ======

===== Configure RPi as a CAN Bus controller =====

  apt-get install libsocketcan2
  apt-get install libsocketcan-doc
  
===== Waveshare RS-485 / CAN Hat =====

[[https://www.waveshare.com/wiki/RS485_CAN_HAT|Waveshare RS-485 / CAN Hat]]

  * Make sure latest [[http://www.airspayce.com/mikem/bcm2835/index.html|BCM2835 GPIO]] and [[http://wiringpi.com/|WiringPi]] libraries are installed.
  * Use raspi-config to make sure I2C and SPI are enabled
  * Add BCM2835 modules to config

  sudo vi /etc/modules
    i2c-bcm2708 
    i2c-dev 

  * For python support install these libraries

    sudo apt-get install python-pip 
    sudo pip install python-can

  * Make sure boot config file is setup

  sudo vi /boot/config.txt 
    dtparam=spi=on 
    dtoverlay=mcp2515-can0,oscillator=8000000,interrupt=25,spimaxfrequency=1000000 

  * Reboot and make sure CAN and SPI devices show up

  sudo reboot 
  dmesg | grep -i '\(can\|spi\)' 
  
===== Install CTRE Software =====
  
  sudo apt-get install libsdl2-dev
  sudo apt-get install cmake

Example libraries, headers, and example code are at:
  
https://github.com/CrossTheRoadElec/Phoenix-Linux-SocketCAN-Example

  wget https://github.com/CrossTheRoadElec/Phoenix-Linux-SocketCAN-Example/archive/master.zip
  unzip -l master.zip 
  cd Phoenix-Linux-SocketCAN-Example-master
  sudo cp -R include/* /usr/local/include
  sudo cp lib/raspberry/* /usr/local/lib/
  
  chmod 755 build.sh
  chmod 755 clean.sh
  ./build.sh