-Because we are not able to contact original author Arnaud Westenberg,
-and we have put piece of work to bugfixes and enhancements of the
-driver, we decided to offer our latest version to more tests.
-Please, if you know Arnaud's new address, contact us.
-Most of new bugs belongs to
- Pavel Pisa pisa@cmp.felk.cvut.cz
-and Tomasz Motylewski, T.Motylewski@bfad.de
+ Linux CAN Driver (LinCAN) version 0.3.5
+ part of OrtCAN project <http://ortcan.sourceforge.net/>
+ Pavel Pisa <pisa@cmp.felk.cvut.cz>
+ Department of Control Engineering (DCE) FEE CTU <http://dce.fel.cvut.cz/en/>
+ DCE Real-Time Systems group CAN resources <http://rtime.felk.cvut.cz/can/>
-Main enhancements:
- interrupts service cleanup and partial redesign
- deep module build redesign
- support for select
- preliminary support for 2.5.48 (UP only now)
- CAN Ethernet proxy
+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/OrtCAN 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
-README for the linux CAN-bus driver.
-Written by Arnaud Westenberg email:arnaud@wanadoo.nl
-This software is released under the GPL-License.
-Version 0.7 6 Aug 2001
-Modified version can-0.7.1-pi2.2
+DRIVER HISTORY
+==============
-This version adds new Makefile system.
-DEVFS support
-Select/poll support for read/write events
-Preliminary cleanups for 2.5.xx kernels,
-it cannot work with SMP 2.5.xx until we get rid off
-CLI ans STI global directives
+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/
+The driver code undergone major redesign in a frame of the OCERA IST project
+ http://www.ocera.org/
+Actual driver version is maintained togther with other CAN/CANopen
+components as part of the OrtCAN project
+ http://ortcan.sourceforge.net/
-Changes made by Pavel Pisa pisa@cmp.felk.cvut.cz as preliminary
-study for OCERA Real Time CAN/CANOpen project ORTCAN
+I am unable to contact previous maintainer Arnaud Westenberg
+(arnaud@wanadoo.nl). If you know something about him, I like
+to hear it.
-COMPILATION
-Just type 'make' at the command line and it should compile without errors.
+Versions:
-INSTALLATION.
-Currently there's no installation procedure, just compile and load the driver.
+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 <T.Motylewski@bfad.de>
+
+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
+
+lincan-0.2.8 possible SMP and HT deadlock fixed, driver can take
+(Jul 2004) advantage of CMPXCHG instruction if present on CPU,
+ added support for CPC-PCI and PCAN-PCI cards,
+ messages timestamping implemented
+ partially implemented support for Bosch C_CAN module,
+ requires more work and real hardware
+
+lincan-0.3 Changed SJA1000 chip IRQ handling. Enhanced VME
+(Nov 2004) and EMS CPC-PCI support and many other changes.
+
+lincan-0.3.1 Small improvements, RTR read moved into separate IOCTL,
+(Jul 2005) initial support for some boards contributed by users
+
+lincan-0.3.2 Improvements in SJA1000 error handling and reporting,
+(Feb 2006) i82527 support fixes, simple UDEV support,
+ updates for kernels up to 2.6.15 and fully preemptive
+ kernel compatibility. Support for MX1_DIS1 extension
+ board for PiMX1 ARM based BCC.
+
+lincan-0.3.3 Some more fixes of SJA1000 buss-of recovery,
+(May 2006) i82527 IRQ stuck problem fixed (reported by Terence Soh),
+ tested up to 2.6.17 (rc4). Minimal chip info in /proc/can.
+ Support for NSI CAN PCI contributed by Eric Pennamen.
+
+lincan-0.3.4 Some more fixes of SJA1000 buss-of recovery,
+(March 2009) Many enhancements and fixes. Tested up to 2.6.28 Linux kernel.
+
+lincan-0.3.5 Make system updates to build under latest Linux kernels,
+(October 2011) LinCAN core builds and tested with 2.6.35 and 3.0 Linux kernels.
+
+The actual version of driver have been latest tested it with
+ - KVASER pcican-q on 2.6 and 3.0 Linux kernel
+ - EMS CPC-PCI cards ("ems_cpcpci")
+ - virtual board tested on all systems as wel
+It takes more time to test driver with more cards.
+Infrastructure and support for more than 20 boards with more
+variants is prepared in the sources.
+
+
+SOURCES AND URLs
+================
+
+The actual driver version, development sources and mailing list
+can be found on OrtCAN project pages
+
+ http://ortcan.sourceforge.net/
+
+Please send comments, bug-fixes and enhancements directly to
+Pavel Pisa <pisa@cmp.felk.cvut.cz> or to OrtCAN discussion
+forums <http://sourceforge.net/projects/ortcan/forums>
+and or mailinglist found on OrtCAN project page.
+
+The original LinCAN driver component page at OCERA web site
+(not updated to the new version yet)
+
+ http://www.ocera.org/download/components/WP7/lincan-0.3.1.html
+
+List of related communication components
+
+ http://www.ocera.org/download/components/WP7/index.html
+
+Driver documentation can be found at
+
+ http://cmp.felk.cvut.cz/~pisa/can/doc/lincandoc-0.3.pdf
+
+The anouncements of new version are published at FreshMeat page
+
+ http://freshmeat.net/projects/lincan/
+
+
+COMPILATION of LinCAN releases
+==============================
+
+Just type 'make' at the command line and driver module should compile
+without errors for current running kernel.
+
+More detailed information can be found in driver documentation at
+ http://ortcan.sourceforge.net/lincan/
+Local maintainer site holds some usesfull information as well
+ http://cmp.felk.cvut.cz/~pisa/can/
+ http://cmp.felk.cvut.cz/~pisa/can/lincandoc-X.Y.pdf
+
+The LinCAN releases use OMK make system, which requires
+recent GNU make program version 3.81beta1 and above.
+Makefiles can be switched to old ones by script
+
+ sh ./switch-omk2std
+ make
+
+
+COMPILATION from OrtCAN project GIT repository tree
+===================================================
+
+There are more options to build LinCAN driver.
+The first one is to use stand-alone driver module build.
+The other option is to build LinCAN driver as part of the
+whole OrtCAN tree.
+
+The latest version of stand-alone LinCAN sources can be
+obtained from GIT repository and build by next commands
+
+ git clone git://git.code.sf.net/p/ortcan/lincan
+ cd lincan
+ ./build-lincan.sh
+
+The other option is to build LinCAN driver as part of the whole
+OrtCAN tree
+
+ git clone git://git.code.sf.net/p/ortcan/ortcan-top
+ cd ortcan/
+ git submodule update --init
+ make default-config
+ make
+
+COMPILATION options
+===================
+
+The options are defined in "config.omk" file for OMK based builds.
+File is looked for at directory where are build top directory,
+files "Makefile.rules" and "config.omk-default"
+located. To select card which is not enabled by default
+add line of next format to the "config.omk" file
+
+ CONFIG_OC_LINCAN_CARD_tscan1=y
+
+The cross-compilation and build against non-default kernel
+can be selected in "config.omk" file as well
+
+ LINUX_DIR=/usr/src/linux-2.6-mpc5200-build
+ CC=powerpc-linux-gnu-gcc
+ CXX=powerpc-linux-gnu-g++
+ AR=powerpc-linux-gnu-ar
+ LD=powerpc-linux-gnu-ld
+
+
+INSTALLATION
+============
+Type 'make install' for standard make system compilation.
+The driver should be copied into actual kernel version
+modules directory "/lib/modules/x.y.z/kernel/drivers/char".
+
+OMK system requires manual copy of files from "_compiled" tree
+to its final destinations.
+
+Create file "lincan.rules" with contents listed below in or linked
+into "/etc/udev/rules.d" directory to enable automatic device nodes
+creation for UDEV based system
+
+ # LinCAN driver
+ SUBSYSTEM=="can",GROUP="users",MODE="0660"
+
+The driver automatic loding can be requested by addition of "lincan"
+line into "/etc/modules" od Debian based systems.
+
+The target hardware/board specific options should be added into
+"/etc/modprobe.conf" file or file with similar functionality for your
+distribution. The options are discusses in the next paragraph.
LOADING
+=======
+
To load the driver type:
# insmod can.o hw='your hardware' irq='irq number' io='io address' <options>
-Example: # insmod can.o hw=pip5 irq=4 io=0x8000
+Examples: # insmod can.o hw=pip5 irq=4 io=0x8000
+ # insmod can.o hw=virtual io=0
The hw argument can be one of:
-- pip5, for the pip5 computer by MPL
-- pip6, for the pip6 computer by MPL
+- pip5, for the PIP5 computer by MPL
+- pip6, for the PIP6 computer by MPL
+- pip7, for the PIP7 computer by MPL
+- pip8, for the PIP8 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)
+- smartcan for i82527 based card with indexed access
- nsican, for the CAN104 PC/104 card by NSI
+- nsicanpci, for NSI CAN PCI card (2xi82527)
- 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.
+- gensja1000io for many sja1000 I/O mapped cards (PCAN-PC/104 for example).
+- gensja1000mm for ISA memory mapped sja1000 CAN cards
+ (for pikronisa card used by PiKRON Ltd. the clockfreq=24000 has to be specified)
+- pcisja1000mm for SJA1000 directly mapped into PCI mem region 0
+- pimx1 for MX1_DIS1 extension board for PiMX1 ARM based BCC
+- msmcan for MICROSPACE IO space indexed i82527
+- unican for Unicontrols PCAN card
+- unican-pci for Unicontrols PCAN-PCI card
+- unican-vme for Unicontrols VCAN card
+- ipci165 for IXXAT iPC-I 165 (PCI), requires CONFIG_OC_LINCAN_CARD_ipci165=y
+- ems_cpcpci for EMS CPC-PCI card
+- pcan_dongle for PEAK's printer port dongle addapter
+- oscar for SJA1000 based card connected to ARM LH7A400 SoC
+- eb8245 for Kontron EB8245 onboard CAN with SJA1000 controller
+- adlink7841 for ADLINK PCI-7841 dual SJA1000 based card
+- tscan1 for Technologic Systems' TS-CAN1 single SJA1000 based board
+- ts7kv for Technologic Systems' TS-7KV Multi-function board with SJA1000
+ both these cards require CONFIG_OC_LINCAN_CARD_tscan1=y
+- pcan_pci for PEAK System PCAN-PCI single, double or quad SJA1000 based board
+- esdpci200 for the CAN/PCI-200 card by ESD Electronics
+- esdpci266 for the ESD PCI/PMC 266 card by ESD Electronics
- 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=<nr>, major specifies the major number of the driver.
-- minor=<nr>, you can specify wich minor numbers the driver should use for your
+- minor=<nr>, 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=<nr>, sets the baudrate of the device(s)
-- clock_freq=<nr>, the frequency of the CAN quartz
+- clockfreq=<nr>, the frequency of the CAN quartz
- stdmask=<nr>, sets the standard mask of the device
- extmask=<nr>, sets the extended mask of the device
- mo15mask=<nr>, sets the mask for message object 15 (i82527 only)
+- processlocal=<nr>, controls distribution of send messages to Rx FIFOs
+ 0, no local outgoing messages delivery to Rx FIFOs
+ 1, default off, but can be controlled by individual filter settings
+ 2, all FIFOs receive local messages
There's still a lot of work to do, have a look at the TODO file for more
information.
+
+Some boards support is compiled in only, when it is enabled through
+config.omk file. It has to be stored in same directory as Makefile.rules
+and config.omk-default is located.
projects / lincan.git / blobdiff