Linux CAN Driver (LinCAN) version 0.2 snapshot Pavel Pisa OCERA team member INTRODUCTION ============ The LinCAN is an implementation of the Linux CAN-bus device driver supporting more CAN controller chips and many CAN interface boards. Its development has long history already. The OCERA version of the driver has new better designed internal structure, adds new features (as support for open by multiple applications, select system call) and other enhancements. The driver consist of four main layers: - chip level manipulation routines - board specific support - message queues - user-space API and ABI character device interface DRIVER HISTORY ============== The driver originates in The Linux Lab Project http://www.llp.fu-berlin.de/ then it has been first rewritten by Arnaud Westenberg http://home.wanadoo.nl/arnaud/ now it is developed and maintained as part of OCERA framework http://www.ocera.org/ I am unable to contact previous maintainer Arnaud Westenberg (arnaud@wanadoo.nl). If you know something about him, I like to hear it. Versions: can-0.7.1 latest driver version version published by Arnaud Westenberg can-0.7.1-tm5 the enhanced version with better support of SJA1000 PeliCAN mode and CAN Ethernet proxy contributed by Tomasz Motylewski can-0.7.1-pi1 the import and usage of previous version for (Dec 2002) OCERA group purposes can-0.7.1-pi3.4 enhanced version with select support and rewritten (Mar 2003) make system for Linux kernels (2.2.x,2.4.x,2.5.x), interrupts service cleanup and partial redesign and DEVFS support lincan-0.2-pre heavily rewritten infrastructure of the driver based (Aug 2003) on atomic slot management of queues lincan-0.2 version tested on many bords and 2.2, 2.4, 2.6 Linux (Mar 2004) and RT-Linux enabled 2.4 Linux kernel The actual version of driver have been latest tested it with - PC104 Advantech PCM3680 dual channel board on 2.4 RT-Linux enabled kernel - PiKRON ISA card on 2.4.and 2.6 Linux kernels - BfaD DIMM PC card on 2.4 RT-Linux enabled kernel - KVASER pcican-q on 2.6 Linux kernel - MICROSPACE msmcan on 2.4 Linux and RT-Linux enabled kernel - virtual board tested on all systems as well It takes more time to test it with more cards and polish support for 2.2 and 2.6 kernels, but these should be mainly cosmetic changes (I hope ;-), infrastructure and original support for more than 17 boards with more variants is in. SOURCES AND URLs ================ The LinCAN driver component page at OCERA web site (not updated to the new version yet) http://www.ocera.org/download/components/WP7/lincan-0.1.html List of related communication components http://www.ocera.org/download/components/WP7/index.html The CVS repository of OCERA project at SourceForge EXTCVS=":pserver:anonymous@cvs.ocera.sourceforge.net:/cvsroot/ocera" cvs -d$EXTCVS login cvs -z3 -d$EXTCVS co ocera Web access into CVS http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/ocera/ocera/components/comm/can/lincan/ Experimental directory at maintainer (Pavel Pisa's) pages http://cmp.felk.cvut.cz/~pisa/can/ http://cmp.felk.cvut.cz/~pisa/can/lincan-YYMMDD.tar.gz Please send comments, bug-fixes and enhancements directly to me (Pavel Pisa ) or to OCERA discussion forum and lists COMPILATION =========== Just type 'make' at the command line and driver module should compile without errors for current running kernel. More information can be found in driver documentation at http://cmp.felk.cvut.cz/~pisa/can/ http://cmp.felk.cvut.cz/~pisa/can/lincan-X.Y.pdf INSTALLATION ============ Type 'make install'. The driver should be copied into actual kernel version modules directory "/lib/modules/x.y.z/kernel/drivers/char". LOADING ======= To load the driver type: # insmod can.o hw='your hardware' irq='irq number' io='io address' Example: # insmod can.o hw=pip5 irq=4 io=0x8000 The hw argument can be one of: - pip5, for the pip5 computer by MPL - pip6, for the pip6 computer by MPL - pccan-q, for the PCcan-Q ISA card by KVASER - pccan-f, for the PCcan-F ISA card by KVASER - pccan-s, for the PCcan-S ISA card by KVASER - pccan-d, for the PCcan-D ISA card by KVASER - pcican-q, for the PCIcan-Q PCI card by KVASER (4x SJA1000) - pcican-d, for the PCIcan-Q PCI card by KVASER (2x SJA1000) - pcican-s, for the PCIcan-Q PCI card by KVASER (1x SJA1000) - nsican, for the CAN104 PC/104 card by NSI - cc104, for the CAN104 PC/104 card by Contemporary Controls - aim104, for the AIM104CAN PC/104 card by Arcom Control Systems - pc-i03, for the PC-I03 ISA card by IXXAT - pcm3680, for the PCM-3680 PC/104 card by Advantech - m437, for the M436 PC/104 card by SECO - bfadcan for sja1000 CAN embedded card made by BFAD GmbH - pikronisa for ISA memory mapped sja1000 CAN card made by PiKRON Ltd. - msmcan for MICROSPACE IO space indexed i82527 - template, for yet unsupported hardware (you need to edit src/template.c) - virtual, CAN channel for testing of software and driver without CAN hardware options can be one of: - major=, major specifies the major number of the driver. - minor=, you can specify which minor numbers the driver should use for your hardware. - extended=[1|0], configures the driver to use extended message format. - pelican=[1|0], configures the driver to set the CAN chips into pelican mode. - baudrate=, sets the baudrate of the device(s) - clock_freq=, the frequency of the CAN quartz - stdmask=, sets the standard mask of the device - extmask=, sets the extended mask of the device - mo15mask=, sets the mask for message object 15 (i82527 only) There's still a lot of work to do, have a look at the TODO file for more information.