X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/786c7d54e8d820e89997e507c29ea716c0d55fd9..1d20caee804d28a792dcacbf8424dc23b80c6370:/lincan/README diff --git a/lincan/README b/lincan/README index f2095a8..faf2677 100644 --- a/lincan/README +++ b/lincan/README @@ -1,77 +1,296 @@ -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 0.3.3 + Pavel Pisa + OCERA team member + Real-time Systems Laboratory + Department of Control Engineering, FEE CTU -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 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/ +now it is developed and maintained as part of OCERA framework + http://www.ocera.org/ -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 + +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. + + +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 + - PiKRON CAN extension board for PiMCX1 ARM BCC on 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 + - Unicontrols PCAN ("unican"),PCAN-PCI ("unican-pci"), VCAN ("unican-vme") + - 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 +(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 + +The obtaining LinCAN and other CAN related components +from OCERA CVS repository at SourceForge + + EXTCVS=":pserver:anonymous@cvs.ocera.sourceforge.net:/cvsroot/ocera" + cvs -d$EXTCVS login + cvs -z3 -d$EXTCVS co ocera/components/comm/can + +Web access into CVS + + http://ocera.cvs.sourceforge.net/cgi-bin/viewcvs.cgi/ocera/ocera/components/comm/can/lincan/ + +Experimental directory at maintainer's (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 +Pavel Pisa or to OCERA discussion +forum +and lists + +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 information can be found in driver documentation at + http://cmp.felk.cvut.cz/~pisa/can/ + http://cmp.felk.cvut.cz/~pisa/can/lincandoc-X.Y.pdf + +Some releases use experimental 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 + +If you have problem to obtain recent GNU make program, + + ftp://alpha.gnu.org/gnu/make/make-3.81beta4.tar.bz2 + +you can use our local copy + + http://cmp.felk.cvut.cz/~pisa/can/make-3.81beta1.tar.gz + + +COMPILATION from CVS sources without full OCERA tree +==================================================== + +--------------------------------------------------------------------------- +Obtaining CVS sources of the CAN components only +--------------------------------------------------------------------------- + cvs -d:pserver:anonymous@ocera.cvs.sourceforge.net:/cvsroot/ocera login + cvs -z3 -d:pserver:anonymous@ocera.cvs.sourceforge.net:/cvsroot/ocera co + ocera/components/comm/can + +--------------------------------------------------------------------------- +Commands to build OCERA CVS CAN components outside OCERA tree +--------------------------------------------------------------------------- + cd ocera/components/comm/can + ./switch2standalone + make + +The selection of required features and options can be specified before make +command invocation. Lines containing required changes to config.omk-default +file should be stored in config.omk file. The config.omk is not altered by +OMK system and options defined there override values defined in +config.omk-default file. GNU make program version 3.81beta1 or newer is +required by OMK make-system. If this is problem, LinCAN driver can be +compiled with use of old style Makefiles as well. + +--------------------------------------------------------------------------- +Old style Makefiles compilation of the LinCAN driver only +--------------------------------------------------------------------------- + cd ocera/components/comm/can/lincan + ./switch-omk2std + make + + +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' -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 +- gensja1000io for many sja1000 I/O mapped cards (PCAN-PC/104 for example). - pikronisa for ISA memory mapped sja1000 CAN card made by PiKRON Ltd. +- 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 board - 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 wich minor numbers the driver should use for your +- 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 +- 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.