Changes between Version 2 and Version 3 of BuildingAPC/Ubuntu20pt04_Focal_Install

Timestamp:

Apr 8, 2021, 6:42:46 PM (4 years ago)

Author:

bz

Comment:

--

BuildingAPC/Ubuntu20pt04_Focal_Install

@@ -3 +3 @@
 Start by [https://releases.ubuntu.com/20.04/ installing Ubuntu 20.04].
 
-Install Peak CAN card hardware (but do not install a driver, yet):
+Install Peak CAN card hardware:
   * PCAN-PCI
   * PCAN-PCIe
   * PCAN-USB
   * PCAN-ISA
+
+NOTE: These cards are supported by the SocketCAN driver built into Linux, however we have found that the SocketCAN txbuffer can occasionally fail to send CAN frames without reporting an error, and this causes the WAM to E-Stop itself. This can happen a few seconds, a few minutes, or even a few hours after starting a WAM application. Fortunately, Peak offers an alternative driver (pcan) which is still socket-based but avoids this SocketCAN bug.
 
 Then install git:
@@ -19 +21 @@
 }}}
 
-Install the libbarrett software dependencies and scripts. This will replace the standard kernel with one compiled for low interrupt latency. This script also installs the Peak PCAN driver:
+Install the libbarrett software dependencies and scripts. This will replace the standard kernel with one compiled for low interrupt latency. This script also installs the Peak pcan driver and blacklists the SocketCAN driver:
 {{{
 cd ~/libbarrett/scripts && ./install_dependencies.sh