Basic CAN Driver User Manual - Diamond Systems Corporation
Contents
1. S T EMS Janus MM Basic CAN Driver For Linux 2 6 xx and Windows XP User Manual Revision A Revision Date Comments A 06 16 2011 Initial Version Copyright 2011 FOR TECHNICAL SUPPORT Diamond Systems Corporation PLEASE CONTACT 555 Ellis Street Mountain View CA 94043 USA support diamondsystems com Tel 1 650 810 2500 Fax 1 650 810 2525 www diamondsystems com Table of Contents 1 2 3 Introduction Scope Setting up the hardware 3 1 Hardware Jumper settings 3 1 1 The CAN Termination Slew Rate and Power Supply Selection 3 2 The CAN IRQ Selection 3 2 1 The CAN Base Address Selection 3 3 Loop Back Cable Setup 3 4 CAN Analyzer Setup For Debugging Linux 2 6 xx Driver Functions Exported 4 1 open 4 2 close 4 3 IOCTL Write CAN Frame 4 4 IOCTL Read CAN Frames 4 5 IOCTL Set CAN Baud Rate Linux Driver Installation and Running the application 5 1 Compiling and loading the driver 5 2 Compiling and running the Application 5 3 Stopping the application and unloading 5 4 Linux Driver Application examples Windows XP Driver Functions exported 6 1 OpenDevice 6 2 CloseHandle 6 3 IOCTL Write CAN Frame 6 4 IOCTL Read CAN Frames 6 5 IOCTL Set CAN Baud Rate 6 6 IOCTL Configure CAN base address Windows Driver Installation and Running the application 7 1 Driver Installation 7 2 Driver Un iInstallation 7 3 Driver Sample Application Usage Janus MM CAN Drive2. HANDLE hlSAdevice okay DeviceloControl hlSAdevice IOCTL_SET_MEM outbuf outcount inbuf insize amp numread NULL www diamondsystems com 23 7 Windows Driver Installation and Running the application This section discusses how to install the driver on Windows XP OS and run the sample application s called canSend and canRecv The Windows driver is available in binary format and is distributed as the following files Filename Description SJA1000_CAN INF INF File for usage when the device is detected by windows SJA1000_CAN SYS The CAN driver installs in C Windows System32 Drivers folder INSTALL BAT Driver installation batch file REMOVE BAT Driver un installation batch file DEVCON EXE Alternative to Device Manager Used by INSTALL BAT and REMOVE BAT WDFCOINSTALLERO1009 DLL Support DLL required along with the INF file NOTE The driver is supported on Windows XP OS only and will not work with Windows 7 7 1 Driver Installation a b C Double click the install bat file to install the driver Check for the driver entries canSend amp canRecv in Control Panel gt system gt Hardware gt Device Manager gt Sample Device To configure the IRQ value change the IRQConfig value in inf file for both controllers as follows S5933DK1_LogConfig IRQConfig 5 S5933DK2_LogConfig IRQConfig 7 Janus MM CAN Driver User Ma
3. include lt sys ioctl h gt int ioctl int appDevHandle int request unsigned long out_frame Return count of the data received On error 1 is returned and errno is set appropriately appDevHandle This parameter is the handle for the device request A long word integer that specifies the Receive ioctl request code SJA1000_IOCRECV out_frame The received CAN Frame include can h include sja1000_ioctl h int appDevHandle unsigned long data 10 Data is received as unsigned long type array which can be packed back as CAN frame appW RetVal ioctl appDevHandle SJA1000_IOCRECV unsigned long data www diamondsystems com 11 DIAMOND SYSTEMS 4 5 IOCTL Set CAN Baud Rate DESCRIPTION PROTOTYPE RETURN VALUE PARAMETERS EXAMPLE Janus MM CAN Driver User Manual This function is used to set the bitrate for the specified device include lt sys ioctl h gt int ioctl int appDevHandle int request unsigned long in_btr On success zero is returned On error 1 is returned and errno is set appropriately appDevHandle This parameter is the handle for the device request A long word integer that specifies the Bit timing ioctl request code SJA1000_IOCBTR in_btr Bitrate for the specified CAN device include can h include sja1000_ioctl h int appDevHandle struct can_btr btr Bitrate value ranges upto 1000000 appWRetVal ioctl appDevHandle SJA1000_IOCBTR uns
4. address using Memory address spaces The diagram below shows the jumper setting for Memory address 0xD7000 for CANA The port CANB automatically is offset by 0x200 so the address for CANB would be 0xD7200 Please refer to the Janus MM user manual for more information on the jumper settings and board configuration IO M jie e gt CNO e e CN2 eje CN3 o ej CN4 ele CN5 on CNG ele CN7 e CMO eje CM1 ele CM2 eje J4 Jumper setting for using memory address of 0xD7000 Janus MM CAN Driver User Manual www diamondsystems com 5 DIAMOND YSTE 3 3 Loop Back Cable Setup The CAN H and CAN L lines should be connected as below for stand along testing on a Janus MM CANA and CANB ports In this configuration the data sent on one port will be received by the other port to verify the connectivity as well as the operation of the driver CANL Pin 2 CANH Pin 7 3 4 CAN Analyzer Setup For Debugging To debug the connectivity a CAN analyzer can be used to tap into the CAN connections of the Janus MM CAN ports There are two CAN ports CANA and CANB available in the JANUSMM board These ports are looped back for testing The CAN analyzer tapping the CAN packet is also shown in the picture below Using this connectivity the CAN traffic going between the two ports can be monitored on the CAN analyzer NOTE This is provided as a suggestion and Diamond Systems does not recommend any spec
5. amp numread pOverlappecd RETURN VALUE If the operation completes successfully the return Value is non zero PARAMETERS hiSAdevice This parameter is the handle for the device IOCTL_SET_BAUD_RATE This macro specifies the Baud rate ioctl request code Outbuf Bit rate value Outsize The size of bit rate value Inbuf Not needed Insize Not needed IpBytesReturned Actual data size not needed IpOverlapped This should be always Null EXAMPLE include public h HANDLE _ hlSAdevice okay DeviceloControl hlSAdevice IOCTL_SET_BAUD_RATE outbuf outcount inbuf insize amp numread NULL Janus MM CAN Driver User Manual www diamondsystems com 22 6 6 IOCTL Configure CAN base address DESCRIPTION PROTOTYPE RETURN VALUE PARAMETERS EXAMPLE Janus MM CAN Driver User Manual This function is used to configure address of the CAN driver include lt winioctl h gt okay DeviceloControl hlSAdevice IOCTL_SET_MEM outbuf outsize inbuf insize amp numread oOverlapped If the operation completes successfully the return Value is non zero hiSAdevice This parameter is the handle for the device IOCTL_SET_MEM This macro specifies the memory address configuration request code Outbuf Memory address value Outsize The size of memory address variable Inbuf Not needed Insize Not needed IpBytesReturned Actual data size not needed IpOverlapped This should be always Null include public h
6. include public h HANDLE _ hlSAdevice okay DeviceloControl hlSAdevice IOCTL_WRITE outbuf outcount inbuf insize amp numread NULL Janus MM CAN Driver User Manual www diamondsystems com 20 DIAMOND SYSTEMS 6 4 IOCTL Read CAN Frames DESCRIPTION This function is used to receive the CAN frames from the hardware PROTOTYPE include lt winioctl h gt okay DeviceloControl hlSAdevice IOCTL_READ outbuf outsize inbuf insize amp numread oOverlapped RETURN VALUE If the operation completes successfully the return Value is non zero PARAMETERS hiSAdevice This parameter is the handle for the device IOCTL_READ This macro specifies the Receive ioctl request code Outbuf Not needed Outsize Not needed Inbuf The structure contains the frame datas in the following format Fi gt frame format iVer gt identifier rData gt CAN Receive data Insize Size of inbuf IpBytesReturned Actual data size IpOverlapped This should be always Null EXAMPLE include public h HANDLE _ hlSAdevice okay DeviceloControl hlSAdevice IOCTL_READ NULL 0 inbuf insize amp numread NULL Janus MM CAN Driver User Manual www diamondsystems com 21 DIAMOND SYSTEMS 6 5 IOCTL Set CAN Baud Rate DESCRIPTION This function is used to transmit the baud rate value to the driver PROTOTYPE include lt winioctl h gt okay DeviceloControl hlSAdevice IOCTL_SET_BAUD_RATE outbuf outsize inbuf insize
7. l will send the file continuously cansend canA o tx txt will send the file once c Leave the applications running for few hours First stop the cansend application by pressing Ctrl C Then stop canrecv d Now you have the multiple instances of the transmitted file generated by the receiving node as 1rx txt 2rx txt 3rx txt and so on And they can be compared using the Linux command diff Janus MM CAN Driver User Manual www diamondsystems com 16 6 Windows XP Driver Functions exported This section discusses all the functions exported by the Windows driver their prototypes their usage and an example segment of code The following table lists the functions supported by the driver Function Name Description OpenDevice This function is used to open the CAN device and get the handle for that device The handle returned by this function MUST be used in all sub sequent calls in the application CloseHandle This function is used to release the device and to remove the handle returned by the call to OpenDevice function IOCTL For all other functions the driver provides a set of IOCTL commands to perform various functions on the driver like read from CAN bus write to CAN bus configure memory address and set baud rate All the various IOCTL commands should be executed via the DeviceloControl function IOCTL CODE Operation IOCTL_WRITE This macro specifies the Trans
8. B b 1000000 a d7000 gt rx txt Both the log files can be compared using any file comparing utility 3 Compiling the Application a b Install WDK Windows Driver Kit in development PC Go to Programs gt Windows Driver Kits gt WDK7600 gt Build Environments gt Windows XP gt x86 Free Build Environment Go to Application source code directory Build the program into an EXE using the BLD command Janus MM CAN Driver User Manual www diamondsystems com 27
9. Ex 2 configure biterate for any one device bitrate b 500000 canA Open two new terminals and run canrecv and cansend from different terminals Canrecv has to be run first It will wait for data canrecv canB Cansend has to be run next the command is as shown below cansend canA The help menu for canrecv and cansend is shown below a cansend cansend help Usage cansend lt can interface gt Options lt can msg gt lt can msg gt Can consist of up to 8 bytes given as a space separated list Options i identifier ID CAN Identifier default 1 r rtr send remote request e extended send extended frame l send message infinite times loop COUNT send message COUNT times p pattern send message data in incremental pattern o lt filename gt Input filename v version be verbose h help this help Ex 1 Transmit CAN frames cansend canA 0x1 0x2 0x3 0x4 0x5 0x6 0x7 0x8 1l pattern Ex 2 Transmit a file continuously cansend canA o Transmit txt Janus MM CAN Driver User Manual www diamondsystems com 14 b canrecv canrecv help Usage canrecv lt can interface gt Options Options o lt filename gt Output filename h help this help EX 1 Receive CAN Frames canrecv canB EX 2 Receive Files and store the file in incremental order 1recv txt recv txt 3recv txt canrecv canB o recv txt Note For 10 minutes the application can
10. dle int close int appDevHandle Returns nonnegative value on successful execution appDevHandle This parameter is the handle for the device This should be the last function call in the application include can h include sja1000_ioctl h int appDevHandle appRetVal close appDevHandle if appRetVal 0 printf Device Closed n www diamondsystems com 9 4 3 IOCTL Write CAN Frame DESCRIPTION This function is used to transmit the CAN frames to the hardware PROTOTYPE include lt sys ioctl h gt int ioctl int appDevHandle int request unsigned long in_frame RETURN VALUE On success zero is returned On error 1 is returned and errno is set appropriately PARAMETERS appDevHandle This parameter is the handle for the device request A long word integer that specifies the Transmit ioctl request code SJA1000_IOCTRANS in_frame The CAN Frame that has to be transmitted EXAMPLE include can h include sja1000_ioctl h int appDevHandle struct can_frame frame Data is Transmitted as can frames appWRetVal ioctl appDevHandle SJA1000_IOCTRANS unsigned long amp frame Janus MM CAN Driver User Manual www diamondsystems com 10 DIAMOND SYSTEMS 4 4 IOCTL Read CAN Frames DESCRIPTION PROTOTYPE RETURN VALUE PARAMETERS EXAMPLE Janus MM CAN Driver User Manual This function is used by the driver to receive the CAN frames from the hardware when data is available
11. dware 3 1 Hardware Jumper settings The jumper settings have to be made according to the configuration as mentioned in the Janus MM user manual It is required that the hardware base address and the IRQ settings used for the operation is available in the SBC that is being used to run the Janus MM board When using Athena ll SBC please restore the Athena II BIOS to default settings The Sample jumper settings are described in the sections below when Janus MM is used with Athena ll SBC 3 1 1 The CAN Termination Slew Rate and Power Supply Selection Jumpers J10 and J11 provide CAN termination slew rate and power supply selection for both CAN ports J10 is used to configure CAN port A and J11 is used to configure CAN port B The following diagram shows the jumper pin layout and the recommended jumper setting J10 and J11 Jumpers with Default settings Janus MM CAN Driver User Manual www diamondsystems com 4 3 2 The CAN IRQ Selection Use jumper J5 to specify the IRQ for both CAN ports The following diagram shows the jumper pin layout The IRQ jumper setting on the board must match the software settings in the driver configuration or command line arguments when running the applications as described in the later sections of this document J5 Jumpers with Default Settings IRQ 5 for CAN A and IRQ7 for CAN B 3 2 1 The CAN Base Address Selection Use pin sets CNO CN7 of jumper J4 to set the CAN base
12. e amp GUID_DEVINTERFACE_CAN FILE_FLAG_OVERLAPPED www diamondsystems com 18 6 2 CloseHandle DESCRIPTION PROTOTYPE RETURN VALUE PARAMETERS REMARKS EXAMPLE Janus MM CAN Driver User Manual This function is used to release the device and to remove the handle CloseHandle hlSAdevice If the function succeeds the return value is nonzero DevHandle This parameter is the handle for the device obtained from a previous call to OpenDevice function This should be the last function call in the application include public h HANDLE hlSAdevice hiSAdevice CloseHandle hISAdevice www diamondsystems com 19 DIAMOND SYSTEMS 6 3 IOCTL Write CAN Frame DESCRIPTION This function is used to transmit the CAN frames to the hardware PROTOTYPE include lt winioctl h gt okay DeviceloControl hlSAdevice IOCTL_WRITE outbuf outsize inbuf insize amp numread oOverlapped RETURN VALUE If the operation completes successfully the return Value is non zero PARAMETERS hiSAdevice This parameter is the handle for the device IOCTL_WRITE This macro specifies the Transmit ioctl request code Outbuf The CAN Frame that has to be transmitted Ex outbuf 0 FrameFormat outbuf 1 Identifier outbuf n data Outsize The size of data to be transmitted Inbuf Not needed Insize Not needed IpBytesReturned Actual data size not needed IpOverlapped This should be always Null EXAMPLE
13. ific CAN tools It is up to you to use any available CAN hardware which are CAN 2 0 compatible Transmitter End Receiver End CANH CANH CANL 029 000 0 00 0 Janus MM CAN Driver User Manual www diamondsystems com 6 DIAMOND SYSTEMS 4 Linux 2 6 xx Driver Functions Exported This section discusses all the functions exported by the Linux driver their prototypes their usage and an example segment of code The Linux driver is supported on kernel version 2 6 xx and it is recommended to use the kernel version 2 6 23 The following table provides a list of functions exported by the Linux driver Function Name Description open This function is used to open the CAN device and get the handle for that device The handle returned by this function MUST be used in all sub sequent calls in the application close This function is used to release the device and to remove the handle returned by the call to OpenDevice function IOCTL For all other functions the driver provides a set of IOCTL commands to perform various functions on the driver like read from CAN bus write to CAN bus configure memory address and set baud rate All the various IOCTL commands should be executed via the ioctl function which is prototyped in sys ioctl h IOCTL CODE Operation SJA1000_IOCTRANS Transmit ioctl request code This IOCTL code should be used for transmitting data on the CAN bu
14. igned long amp btr www diamondsystems com 12 5 Linux Driver Installation and Running the application This section discusses how to install the driver and run the application Untar can_beta0 2 tar bz2 with the following command tar xfvj can_beta0 2 tar bz2 5 1 Compiling and loading the driver From the release directory issue change directory to enter into the driver folder and issue make command cd driver make Run install sh to load the kernel install sh Current install sh is a shell script that uses the following configuration canA Address 0xD7000 and IRQ 5 canB Address 0xD7200 and IRQ 7 This can be edited to use different address and IRQ number for both CAN devices 5 2 Compiling and running the Application From the release directory issue change directory to enter into the application folder cd application Issue the following command This will create three binaries for transmitting receiving and setting bitrate compile sh Run the following command for setting bitrate bitrate h Usage bitrate options lt CAN Device Name gt Options b lt bitrate gt bit rate in bits sec s lt samp_pt gt sample point in one tenth of a percent or 0 for CIA recommended sample points c lt clock gt real CAN system clock in Hz h help Janus MM CAN Driver User Manual www diamondsystems com 13 Ex 1 configure bitrate for both canA and canB bitrate b 1000000
15. lowed Vice versa to make canSend exe as master and canRecv exe as slave Command description for canSend Usage canSend exe lt can interface gt Options lt can msg gt lt can msg gt can consist of up to 8 bytes given as a space separated list Options i ex i ID CAN Identifier default 1 e send extended frame ex I COUNT send message COUNT times p send message data in incremental pattern b ex b br_value baud rate default 1000000 a ex aaddress address default OxD7000 0 lt filename gt Input filename h help this help Example for Data Transmission TX on device CANA Pattern canSend exe canA b 1000000 a d7200 p i2 12345678 File canSend exe canA b 1000000 a d7200 p i 2 o input txt Janus MM CAN Driver User Manual www diamondsystems com 26 Command description for canRecv Usage canRecv exe lt can interface gt Options lt can msg gt Options b ex b br_value baud rate default 1000000 a ex a address address default OxD7200 9 lt filename gt output filename h help this help Example of data reception RX on device CANB Pattern canRecv exe canB b 1000000 a d7000 File canRecv exe canB b 1000000 a d7000 o output txt 2 Logging the data transferred Example TX RX canSend exe canA b 1000000 a d7200 p i2 1234567 8 gt tx txt canRecv exe can
16. mit ioctl request code This IOCTL code should be used for transmitting data on the CAN bus IOCTL_READ This macro specifies the Receive ioctl request code This IOCTL should be used for reading data from the CAN bus IOCTL_SET_BAUD_RATE This macro specifies the Baud rate ioctl request code This IOCTL should be used to set the baud rate of the CAN bus port IOCTL_SET_MEM This macro specifies the memory base address configuration request code The value passed when setting the base address should match the base address jumper configuration in the hardware The section below provides a list of functions exported by the Windows driver Janus MM CAN Driver User Manual www diamondsystems com 17 6 1 OpenDevice DESCRIPTION PROTOTYPE RETURN VALUE PARAMETERS REMARKS EXAMPLE Janus MM CAN Driver User Manual DIAMOND SYSTEMS This function is used to open the CAN device and get the handle for that device OpenDevice IN CONST GUID InterfaceGuid IN ULONG FileFlagOptions Returns Handle value InterfaceGuid The device interface GUID to be opens the port This GUID name should be unique and declared in public h file FileFlagOptions This parameter should be set to FILE_FLAG_OVERLAPPED This function should be called before calling any other driver functions This function will give the handle for the CAN device include public h HANDLE _ hlSAdevice hiSAdevice OpenDevic
17. nual www diamondsystems com 24 DIAMOND SYSTEMS Computer Management E B Fie Action View Window Help e omaa mi Computer Management Local 2 i System Tools 4 Computer lg Event Viewer See Disk drives 4 Shared Folders IDE ATAJATAPI controllers Fa Local Users and Groups E 3 Infrared devices A Performance Logs and Alerts P Unknown device Device Manager Keyboards Storage a Mice and other pointing devices Removable Storage E Network adapters Disk Defragmenter 4 Other devices Disk Management amp video Controller YGA Compatible Ha Services and Applications E Ports COM amp LPT MR Processors H E Sample Device BB 5341000 CAN 4 DRIVER ES 5341000 CAN B DRIVER Sound video and game controllers Storage volumes System devices E Universal Serial Bus controllers Janus MM CAN Driver User Manual www diamondsystems com 25 7 2 Driver Un Installation d Double click the remove bat file to un install the driver e Check for the driver removal canSend amp canRecv in Control Panel gt system gt Hardware gt Device Manager gt Sample Device 7 3 Driver Sample Application Usage 1 Steps for CAN frame transmission and reception 1 Open two command windows 2 Run canSend exe in the first command window for transmission 3 Run canRecv exe in the second command window for reception NOTE The same steps can be fol
18. r User Manual www diamondsystems com a DBD UH AA A 10 11 12 13 13 13 15 16 17 18 19 20 21 22 23 24 24 26 26 1 Introduction This document provides complete instructions on using the device drivers for exercising the CAN bus on the Janus MM CAN ports The Janus MM board has two CAN ports which are CAN 2 0 compatible using the SJA1000 CAN bus controllers In order to communicate with the CAN controllers Diamond Systems provides a set of freely usable basic device drivers on Linux 2 6 xx and Windows XP operating systems so that the board can be quickly evaluated and a user can develop applications with the driver on the OS of choice This document is meant for 1 Application developers who want to use the CAN driver can use this document to understand the driver calls and use in their application 2 Test engineers who want to test the driver and application can use this document to set up the hardware test environment connect a snooper install driver and run the application 2 Scope The device driver distributed has the following specifications Available on Linux kernel version 2 6 23 and Windows XP OS Low level driver that can perform open close read write on the device Ability to change the baud rate of the CAN communication up to 1Mbps baud rate Handle interrupt request on both the IRQs for each CAN port on the board Janus MM CAN Driver User Manual www diamondsystems com 3 3 Setting up the har
19. s SJA1000_IOCRECV Receive ioctl request code This IOCTL should be used for reading data from the CAN bus SJA1000_IOCBTR Baud rate ioctl request code This IOCTL should be used to set the baud rate of the CAN bus port Janus MM CAN Driver User Manual www diamondsystems com 7 4 1 open DESCRIPTION PROTOTYPE RETURN VALUE PARAMETERS REMARKS EXAMPLE Janus MM CAN Driver User Manual DIAMOND SYSTEMS This function is used to open the CAN device and get the handle for that device int open char Devicename int flag Returns nonnegative value on successful execution and it will act as handler to access the device Negative value means failure to open the device Devicename The device name to open the device This file name should be any of the following dev CANA dev CANB flag O_RDWR appDevHandle This parameter is the handle for the device This function should be called before calling any other driver functions This function will give the handle for the CAN device include can h include sja1000_ioctl h int appDevHandle char appDeviceName 15 dev CANA appDevHandle open appDeviceName O_RDWR if appDevHandle lt 0 printf Device Open Error exit 0 www diamondsystems com 8 4 2 close DESCRIPTION PROTOTYPE RETURN VALUE PARAMETERS REMARKS EXAMPLE Janus MM CAN Driver User Manual This function is used to release the device and to remove the han
20. send 37 files each of size 1024 bytes 5 3 Stopping the application and unloading The application can be stopped by pressing Ctrl C The driver is unloaded using the following command uninstall sh Janus MM CAN Driver User Manual www diamondsystems com 15 5 4 Linux Driver Application examples Example 1 The delivery package can be tested to transmit data patterns as follows a Open a command shell and type the following canrecv canB gt rx txt The application will be waiting for data from cansend application b Open another command shell and type the following The cansend application will start sending the data cansend canA 0x1 0x2 0x3 0x4 0x5 0x6 0x7 gt tx txt c Leave the applications running for few hours First stop the cansend application by pressing Ctrl C Then stop canrecv d Now you have the log files generated at both the ends And they can be compared using the linux command diff as follows Giff tx txt rx txt Example 2 The delivery package can be tested to transmit file as follows a Open a command shell and type the following canrecv canB o rx txt The application will be waiting for file from cansend application b Open another command shell and type one of the following command The cansend application will start sending the file cansend canA o tx txt loop 0x5 will send the file for 5 times cansend canA o tx txt
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