X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/42be8a4481c24e1b264eebff45813963e3c34ba8..3a27164c05cbec3adb7aedee5e38047afc3aa416:/lincan/README diff --git a/lincan/README b/lincan/README index c51ad5f..dcb7b94 100644 --- a/lincan/README +++ b/lincan/README @@ -1,17 +1,18 @@ - Linux CAN Driver (LinCAN) version 0.2 snapshot - Pavel Pisa - OCERA team member - + Linux CAN Driver (LinCAN) version 0.3.5 + part of OrtCAN project + Pavel Pisa + Department of Control Engineering (DCE) FEE CTU + DCE Real-Time Systems group CAN resources 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 +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 @@ -26,8 +27,11 @@ 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 +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/ I am unable to contact previous maintainer Arnaud Westenberg (arnaud@wanadoo.nl). If you know something about him, I like @@ -53,76 +57,180 @@ can-0.7.1-pi3.4 enhanced version with select support and rewritten 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 - - 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 - - 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. + - 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 LinCAN driver component page at OCERA web site +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 or to OrtCAN discussion +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-0.1.html - + 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 -The CVS repository of OCERA project at SourceForge +Driver documentation can be found at - EXTCVS=":pserver:anonymous@cvs.ocera.sourceforge.net:/cvsroot/ocera" - cvs -d$EXTCVS login - cvs -z3 -d$EXTCVS co ocera - -Web access into CVS + http://cmp.felk.cvut.cz/~pisa/can/doc/lincandoc-0.3.pdf - http://cvs.sourceforge.net/cgi-bin/viewcvs.cgi/ocera/ocera/components/comm/can/lincan/ +The anouncements of new version are published at FreshMeat page -Experimental directory at maintainer (Pavel Pisa's) pages + http://freshmeat.net/projects/lincan/ - 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 -=========== +COMPILATION of LinCAN releases +============================== 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 +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/lincan-X.Y.pdf + 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'. The driver should be copied into actual kernel version +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' -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 @@ -130,14 +238,36 @@ The hw argument can be one of: - 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 @@ -148,10 +278,18 @@ options can be one of: - 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 +- clockfreq=, 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) +- processlocal=, 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.