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Virtualization

You can also use (parts of) ICOc with various virtualization software. For that to work you have to make sure that (at least) the PEAK CAN adapter is attached to the virtual guest operating system. For some virtualization software you might have to install additional software for that to work. For example, VirtualBox requires that you install the VirtualBox Extension Pack before you can use USB 2 and USB 3 devices.

Note: Please be advised that the VirtualBox Extension Pack is paid software even though you can download and use it without any license key. Oracle might come after you, if you do not pay for the license, even if you use the Extension Pack in an educational setting.

The table below shows some of the virtualization software we tried and that worked (when we tested it).

Virtualization Software Host OS Host Architecture Guest OS Guest Architecture Notes
Parallels Desktop macOS x64 Ubuntu 20.04 x64
Parallels Desktop macOS x64 Windows 10 x64
Parallels Desktop macOS ARM64 Fedora 36 ARM64
Parallels Desktop macOS ARM64 Windows 11 ARM64, x64 JLink (and hence Simplicity Commander) only works with programming adapters that support WinUSB
VirtualBox macOS x64 Windows 10 x64
VirtualBox Windows x64 Fedora 36 x64
WSL 2 Windows x64 Ubuntu 22.04 x64

Windows Subsystem for Linux 2

Using ICOc in the WSL 2 currently requires using a custom Linux kernel. We would not recommend using ICOc with this type of virtualization software, since the setup requires quite some amount of work and time. Nevertheless the steps below should show you how you can use the PEAK CAN adapter and hence ICOc with WSL 2.

  1. Install WSL 2 (Windows Shell):

    wsl --install

  2. Install Ubuntu 22.04 VM (Windows Shell):

    1. Install Ubuntu 22.04 from the Microsoft Store

    2. Open the Ubuntu 22.04 application

      1. Choose a user name
      2. Choose a password

    3. Execute the following commands in a Powershell session

      wsl --setdefault Ubuntu-22.04
wsl --set-version Ubuntu-22.04 2

      The second command might fail, if Ubuntu-22.04 already uses WSL 2. In this case please just ignore the error message.

  3. Create Custom Kernel

    Windows Shell:

    Note: Please replace <user> with your (Linux) username (e.g. rene)

    cd ~/Documents
mkdir WSL
cd WSL
wsl --export Ubuntu-22.04 CANbuntu.tar
wsl --import CANbuntu CANbuntu CANbuntu.tar
wsl --distribution CANbuntu --user <user>

    Linux Shell:

    sudo apt update
sudo apt upgrade -y
sudo apt install -y bc build-essential flex bison libssl-dev libelf-dev \
                    libncurses-dev autoconf libudev-dev libtool dwarves
cd ~
git clone https://github.com/microsoft/WSL2-Linux-Kernel.git
cd WSL2-Linux-Kernel
uname -r # 5.15.74.2-microsoft-standard-WSL2 → branch …5.15.y
git checkout linux-msft-wsl-5.15.y
cat /proc/config.gz | gunzip > .config
make menuconfig

    Make sure the following features are enabled:

    • Device Drivers → USB Support
    • Device Drivers → USB Support → USB announce new devices
    • Device Drivers → USB Support → USB Modem (CDC ACM) support
    • Device Drivers → USB Support → USB/IP
    • Device Drivers → USB Support → USB/IP → VHCI HCD
    • Device Drivers → USB Support → USB Serial Converter Support
    • Device Drivers → USB Support → USB Serial Converter Support → USB FTDI Single port Serial Driver

    Enable the following features:

    • Networking support → CAN bus subsystem support
    • Networking support → CAN bus subsystem support → Raw CAN Protocol
    • Networking support → CAN bus subsystem support → CAN device drivers → Virtual Local CAN Interface
    • Networking support → CAN bus subsystem support → CAN device drivers → Serial / USB serial CAN Adaptors (slcan)
    • Networking support → CAN bus subsystem support → CAN device drivers → CAN USB Interfaces → PEAK PCAN-USB/USB Pro interfaces for CAN 2.0b/CAN-FD

    Save the modified kernel configuration.

    Linux Shell:

    touch .scmversion
make
sudo make modules_install
sudo make install

  4. Install usbipd-win (Linux Shell):

    cd tools/usb/usbip
./autogen.sh
./configure
sudo make install
sudo cp libsrc/.libs/libusbip.so.0 /lib/libusbip.so.0
sudo apt-get install -y hwdata

  5. Copy image (Linux Shell):

    Note: Please replace <user> with your (Windows) username (e.g. rene)

    cd ~/WSL2-Linux-Kernel
cp arch/x86/boot/bzImage /mnt/c/Users/<user>/Documents/WSL/canbuntu-bzImage

  6. Create .wslconfig in (root of) Windows user directory and store the following text:

    [wsl2]
kernel=c:\\users\\<user>\\Documents\\WSL\\canbuntu-bzImage

    Note: Please replace <user> with your (Windows) username (e.g. rene)

  7. Set default distribution (Windows Shell)

    wsl --setdefault CANbuntu

  8. Shutdown and restart WSL (Windows Shell):

    wsl --shutdown
wsl -d CANbuntu --cd "~"

  9. Change default user of WSL distro (Linux Shell)

    sudo nano /etc/wsl.conf

    Insert the following text:

    [user]
default=<user>

    Note: Please replace <user> with your (Windows) username (e.g. rene)

    Save the file and exit nano:

    1. Ctrl + O
    2. ⏎
    3. Ctrl + X)

  10. Restart WSL: See step 8

  11. Install usbipd (Windows Shell):

    winget install usbipd

  12. Attach CAN-Adapter to Linux VM (Windows Shell)

    usbipd wsl list
# …
# 5-3    0c72:0012  PCAN-USB FD                      Not attached
# …
usbipd wsl attach -d CANbuntu --busid 5-3
usbipd wsl list
# …
# 5-3    0c72:0012  PCAN-USB FD                      Attached - CANbuntu
# …

  13. Check for PEAK CAN adapter in Linux (Optional, Linux Shell):

    dmesg | grep peak_usb
# …
# peak_usb 1-1:1.0: PEAK-System PCAN-USB FD v1 fw v3.2.0 (1 channels)
# …

lsusb
# …
# Bus 001 Device 002: ID 0c72:0012 PEAK System PCAN-USB FD
# …

  14. Add virtual link for CAN device (Linux Shell)

    sudo ip link set can0 type can bitrate 1000000
sudo ip link set can0 up

    Note: If the commands above fail with the error message:

    RTNETLINK answers: Connection timed out

    then please disconnect and connect the USB CAN adapter. After that attach it to the Linux VM again (see step 12).

  15. Install pip (Linux Shell):

    sudo apt install -y python3-pip

  16. Install ICOc (Linux Shell)

    cd ~
mkdir Documents
cd Documents
git clone https://github.com/MyTooliT/ICOc.git
cd ICOc
python3 -m pip install --prefix=$(python3 -m site --user-base) -e .

  17. Run a script to test that everything works as expected (Linux Shell)

    icon list

    If the command above fails with the message

    Command 'icon' not found…

    then you might have to logout and login into the WSL session again before you execute icon list again.

Notes:

  • You only need to repeat steps
  • 12: attach the CAN adapter to the VM in Windows and
  • 14: create the link for the CAN device in Linux

after you set up everything properly once.

  • Unfortunately configuring the CAN interface automatically does not seem to work (reliably) on WSL yet

Installing/Using Simplicity Commander

  1. Download and unpack Simplicity Commander (Linux Shell)

    sudo apt install -y unzip
mkdir -p ~/Downloads
cd ~/Downloads
wget https://www.silabs.com/documents/public/software/SimplicityCommander-Linux.zip
unzip SimplicityCommander-Linux.zip
cd SimplicityCommander-Linux
tar xf Commander-cli_linux_x86_64*.tar.bz
mkdir -p ~/Applications
mv commander-cli ~/Applications/commander
ln -s ~/Applications/commander/commander-cli ~/Applications/commander/commander
# Fix J-Link connection
# https://wiki.segger.com/J-Link_cannot_connect_to_the_CPU
sudo cp ~/Applications/commander/99-jlink.rules /etc/udev/rules.d/

  2. Add commander binary to path (Linux Shell)

    1. Open ~/.profile in nano:

      nano ~/.profile

    2. Add the following text at the bottom:

      if [ -d "$HOME/Applications/commander" ] ; then
    PATH="$HOME/Applications/commander:$PATH"
fi

    3. Save your changes

  3. Restart WSL

  4. Connect programming adapter to Linux (Windows Shell)

    usbipd wsl list
# …
# 5-4    1366:0105  JLink CDC UART Port (COM3), J-Link driver Not attached
# …
usbipd wsl attach --busid 5-4

  5. Check if commander JLink connection works without using sudo (Linux Shell)

    commander adapter dbgmode OUT --serialno <serialnumber>
# Setting debug mode to OUT...
# DONE

    Notes:

    • Please replace <serialnumber> with the serial number of your programming board (e.g. 440069950):

      commander adapter dbgmode OUT --serialno 440069950

    • If the command above fails with the error message:

      error while loading shared libraries: libGL.so.1: cannot open shared object file…

      then you need to install libgl1:

      sudo apt install -y libgl1

Run Tests in WSL

Note: The tests use the command-line xdg-open. For the tests also work on Linux, then you need to install the Python package xdg-open-wsl:

pip3 install --user git+https://github.com/cpbotha/xdg-open-wsl.git

  1. Start WSL (Windows Shell)

    wsl -d CANbuntu --cd "~/Documents/ICOc"

  2. Connect programming/CAN adapter to Linux (Windows Shell):

    $jlink_id = usbipd wsl list | Select-String JLink | %{$_ -replace '(\d-\d).*','$1'}
$can_id = usbipd wsl list | Select-String PCAN-USB | %{$_ -replace '(\d-\d).*','$1'}
usbipd wsl attach -d CANbuntu --busid $jlink_id
usbipd wsl attach -d CANbuntu --busid $can_id

  3. Configure CAN interface (Linux Shell):

    sudo ip link set can0 type can bitrate 1000000
sudo ip link set can0 up

  4. Run tests (Linux Shell):

    make run