Using a Raspberry Pi to Run a Talon SRX Motor Controller

apt-get install libsocketcan2
apt-get install libsocketcan-doc

Waveshare RS-485 / CAN Hat

• Make sure latest BCM2835 GPIO and 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 '\(can\|spi\)' 

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/

Headers only are at:

wget http://www.ctr-electronics.com//downloads/lib/CTRE_Phoenix_FRC_Linux_5.12.0.zip
unzip CTRE_Phoenix_FRC_Linux_5.12.0.zip
unzip -d /usr/local/include/ core-5.12.0-headers.zip
unzip -d /usr/local/include/ api-cpp-5.12.0-headers.zip
unzip -d /usr/local/include/ wpiapi-cpp-5.12.0-headers.zip

sudo apt-get install cmake
sudo apt-get install libsdl2-dev