1 Linux CAN Driver (LinCAN) version 0.3
2 Pavel Pisa <pisa@cmp.felk.cvut.cz>
9 The LinCAN is an implementation of the Linux CAN-bus device driver supporting
10 more CAN controller chips and many CAN interface boards. Its development
11 has long history already. The OCERA version of the driver has new better
12 designed internal structure, adds new features (as support for open by multiple
13 applications, select system call) and other enhancements.
15 The driver consist of four main layers:
16 - chip level manipulation routines
17 - board specific support
19 - user-space API and ABI character device interface
25 The driver originates in The Linux Lab Project
26 http://www.llp.fu-berlin.de/
27 then it has been first rewritten by Arnaud Westenberg
28 http://home.wanadoo.nl/arnaud/
29 now it is developed and maintained as part of OCERA framework
32 I am unable to contact previous maintainer Arnaud Westenberg
33 (arnaud@wanadoo.nl). If you know something about him, I like
38 can-0.7.1 latest driver version version published
41 can-0.7.1-tm5 the enhanced version with better support of
42 SJA1000 PeliCAN mode and CAN Ethernet proxy
43 contributed by Tomasz Motylewski <T.Motylewski@bfad.de>
45 can-0.7.1-pi1 the import and usage of previous version for
46 (Dec 2002) OCERA group purposes
48 can-0.7.1-pi3.4 enhanced version with select support and rewritten
49 (Mar 2003) make system for Linux kernels (2.2.x,2.4.x,2.5.x),
50 interrupts service cleanup and partial redesign
53 lincan-0.2-pre heavily rewritten infrastructure of the driver based
54 (Aug 2003) on atomic slot management of queues
56 lincan-0.2 version tested on many bords and 2.2, 2.4, 2.6 Linux
57 (Mar 2004) and RT-Linux enabled 2.4 Linux kernel
59 lincan-0.2.8 possible SMP and HT deadlock fixed, driver can take
60 (Jul 2004) advantage of CMPXCHG instruction if present on CPU,
61 added support for CPC-PCI and PCAN-PCI cards,
62 messages timestamping implemented
63 partially implemented support for Bosch C_CAN module,
64 requires more work and real hardware
66 lincan-0.3 Changed SJA1000 chip IRQ handling. Enhanced VME
67 (Nov 2004) and EMS CPC-PCI support and many other changes.
69 The actual version of driver have been latest tested it with
70 - PC104 Advantech PCM3680 dual channel board on 2.4 RT-Linux enabled kernel
71 - PiKRON ISA card on 2.4.and 2.6 Linux kernels
72 - BfaD DIMM PC card on 2.4 RT-Linux enabled kernel
73 - KVASER pcican-q on 2.6 Linux kernel
74 - MICROSPACE msmcan on 2.4 Linux and RT-Linux enabled kernel
75 - Unicontrols PCAN ("unican"),PCAN-PCI ("unican-pci"), VCAN ("unican-vme")
76 - EMS CPC-PCI cards ("ems_cpcpci")
77 - virtual board tested on all systems as wel
78 It takes more time to test driver with more cards.
79 Infrastructure and support for more than 20 boards with more
80 variants is prepared in the sources.
86 The LinCAN driver component page at OCERA web site
87 (not updated to the new version yet)
89 http://www.ocera.org/download/components/WP7/lincan-0.2.html
91 List of related communication components
93 http://www.ocera.org/download/components/WP7/index.html
95 The CVS repository of OCERA project at SourceForge
97 EXTCVS=":pserver:anonymous@cvs.ocera.sourceforge.net:/cvsroot/ocera"
99 cvs -z3 -d$EXTCVS co ocera
103 http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/ocera/ocera/components/comm/can/lincan/
105 Experimental directory at maintainer's (Pavel Pisa's) pages
107 http://cmp.felk.cvut.cz/~pisa/can/
108 http://cmp.felk.cvut.cz/~pisa/can/lincan-YYMMDD.tar.gz
110 Please send comments, bug-fixes and enhancements directly to
111 Pavel Pisa <pisa@cmp.felk.cvut.cz> or to OCERA discussion
112 forum <https://sourceforge.net/forum/forum.php?forum_id=170893>
113 and lists <ocera-development@lists.sourceforge.net>
115 Driver documentation can be found at
117 http://cmp.felk.cvut.cz/~pisa/can/doc/lincandoc-0.2.pdf
119 The anouncements of new version are published at FreshMeat page
121 http://freshmeat.net/projects/lincan/
124 COMPILATION of LinCAN releases
125 ==============================
127 Just type 'make' at the command line and driver module should compile
128 without errors for current running kernel.
130 More information can be found in driver documentation at
131 http://cmp.felk.cvut.cz/~pisa/can/
132 http://cmp.felk.cvut.cz/~pisa/can/lincandoc-X.Y.pdf
134 Some releases use experimental OMK make system, which requires
135 recent GNU make program version 3.81beta1 and above.
136 Makefiles can be switched to old ones by script
141 If you have problem to obtain recent GNU make program,
143 http://paulandlesley.org/make/make-3.81beta1.tar.bz2
145 you can use our local copy
147 http://cmp.felk.cvut.cz/~pisa/can/make-3.81beta1.tar.gz
150 COMPILATION from CVS sources without full OCERA tree
151 ====================================================
153 ---------------------------------------------------------------------------
154 Obtaining CVS sources of the CAN components only
155 ---------------------------------------------------------------------------
156 cvs -d:pserver:anonymous@cvs.sourceforge.net:/cvsroot/ocera login
157 cvs -z3 -d:pserver:anonymous@cvs.sourceforge.net:/cvsroot/ocera co
158 ocera/components/comm/can
160 ---------------------------------------------------------------------------
161 Commands to build OCERA CVS CAN components outside OCERA tree
162 ---------------------------------------------------------------------------
163 cd ocera/components/comm/can
167 The selection of required features and options can be specified before make
168 command invocation. Lines containing required changes to config.omk-default
169 file should be stored in config.omk file. The config.omk is not altered by
170 OMK system and options defined there override values defined in
171 config.omk-default file. GNU make program version 3.81beta1 or newer is
172 required by OMK make-system. If this is problem, LinCAN driver can be
173 compiled with use of old style Makefiles as well.
175 ---------------------------------------------------------------------------
176 Old style Makefiles compilation of the LinCAN driver only
177 ---------------------------------------------------------------------------
178 cd ocera/components/comm/can/lincan
185 Type 'make install' for standard make system compilation.
186 The driver should be copied into actual kernel version
187 modules directory "/lib/modules/x.y.z/kernel/drivers/char".
189 OMK system requires manual copy of files from "_compiled" tree
190 to its final destinations.
195 To load the driver type:
196 # insmod can.o hw='your hardware' irq='irq number' io='io address' <options>
197 Examples: # insmod can.o hw=pip5 irq=4 io=0x8000
198 # insmod can.o hw=virtual io=0
200 The hw argument can be one of:
201 - pip5, for the pip5 computer by MPL
202 - pip6, for the pip6 computer by MPL
203 - pccan-q, for the PCcan-Q ISA card by KVASER
204 - pccan-f, for the PCcan-F ISA card by KVASER
205 - pccan-s, for the PCcan-S ISA card by KVASER
206 - pccan-d, for the PCcan-D ISA card by KVASER
207 - pcican-q, for the PCIcan-Q PCI card by KVASER (4x SJA1000)
208 - pcican-d, for the PCIcan-Q PCI card by KVASER (2x SJA1000)
209 - pcican-s, for the PCIcan-Q PCI card by KVASER (1x SJA1000)
210 - nsican, for the CAN104 PC/104 card by NSI
211 - cc104, for the CAN104 PC/104 card by Contemporary Controls
212 - aim104, for the AIM104CAN PC/104 card by Arcom Control Systems
213 - pc-i03, for the PC-I03 ISA card by IXXAT
214 - pcm3680, for the PCM-3680 PC/104 card by Advantech
215 - m437, for the M436 PC/104 card by SECO
216 - bfadcan for sja1000 CAN embedded card made by BFAD GmbH
217 - pikronisa for ISA memory mapped sja1000 CAN card made by PiKRON Ltd.
218 - msmcan for MICROSPACE IO space indexed i82527
219 - unican for Unicontrols PCAN card
220 - unican-pci for Unicontrols PCAN-PCI card
221 - unican-vme for Unicontrols VCAN card
222 - ems_cpcpci for EMS CPC-PCI card
223 - pcan_dongle for PEAK's printer port dongle addapter
224 - oscar for SJA1000 based card connected to ARM LH7A400 SoC
225 - template, for yet unsupported hardware (you need to edit src/template.c)
226 - virtual, CAN channel for testing of software and driver without CAN hardware
228 options can be one of:
229 - major=<nr>, major specifies the major number of the driver.
230 - minor=<nr>, you can specify which minor numbers the driver should use for your
232 - extended=[1|0], configures the driver to use extended message format.
233 - pelican=[1|0], configures the driver to set the CAN chips into pelican mode.
234 - baudrate=<nr>, sets the baudrate of the device(s)
235 - clock_freq=<nr>, the frequency of the CAN quartz
236 - stdmask=<nr>, sets the standard mask of the device
237 - extmask=<nr>, sets the extended mask of the device
238 - mo15mask=<nr>, sets the mask for message object 15 (i82527 only)
239 - processlocal=<nr>, controls distribution of send messages to Rx FIFOs
240 0, no local outgoing messages delivery to Rx FIFOs
241 1, default off, but can be controlled by individual filter settings
242 2, all FIFOs receive local messages
244 There's still a lot of work to do, have a look at the TODO file for more