Linux Driver Manual - RTD Embedded Technologies, Inc.
Contents
1. eee een n aa a n bisnis 10 USING THE API FUNCTIONS wisscscssssccssscsecssssscetesessccvssessccsenseccecensansscensscsesseccosesensecsecetessuasecess 12 FUNCTION REFERENCE sissteissssacccectestiactescs cecscss csscsteccscsseteccdessuesosssv coserdessesdestcsdeesst seessesecs 13 APLRUNCTION GROUPS sicsicsiiscctesescdestestacdsoseseccdconsccdcencssccedeosscdnocesseunscoseddsosesensadessentcesesseceses 14 BOARD CONTRO tne letacbdeneeregenteiredieds ie ee Regen iir es 14 DIGITAL VO nene uen aneNued EO Ee ee oe ee reri 14 GENERAEZ 45 26x cade chs sande Abiit n b aicut Lie obo eS teer tois dete Atte d 14 RECEIVE AND TRANSMIT QUEUE besalar ee n aa a a a n a a aai 14 ALPHABETICAL FUNCTION LISTING eeesesssesooeessssssoosesssessoosossesssoooosesssesooocesssesooooesssesoe 15 EXAMPLE PROGRAMS REFERENCE eeseesssssesooeesssssooocesssessoososssssoooooseesseoooosesssssooosesesesso 48 LIMITED WARRAN LY ereeseeeoetee sexos e eae aba eee ava ge eun e eR CE PRG e e NER SECUN e Ea e NER EUIS TR PUER E oer a CaO 50 ECAN 527 1000 Driver for Linux iv Introduction This document targets anyone wishing to write Linux applications for an RTD ECANS527 or ECANI000 board It provides information on building the software and using the Application Programming Interface to communicate with the hardware and drivers Each high level library function is described as well as any low level ioctl system call interface it may make use of The diagram bel2. rc ioctl descriptor __ RTD_ECAN_IOCTL__SET_FILTER __RTD_ECAN_DONT_USE_QUEUE amp filter ECAN 527 1000 Driver for Linux 36 Ecan_SetLeds int Ecan_SetLeds int handle bool RedLed bool GreenLed Description Turn on or off an interface s LEDs ECAN527 only Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call RedLed Flag to turn on red LED GreenLed Flag to turn on green LED A value of false for any of the above LED flags indicates that the corresponding LED should be turned off A value of true for any of the above LED flags indicates that the corresponding LED should be turned on Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor EINVAL led mask contains an invalid LED bit ENOTSUP Operation is not supported ECAN1000 only IOCTL Interface int rc unsigned int led mask Turns the red LED on and the green LED off led mask RTD ECAN LED RED rc ioctl descriptor RTD ECAN IOCTL SET LEDS led mask Turns the green LED on and the red LED off led mask RTD ECAN LED GREEN rc ioctl descriptor _ RTD ECAN IOCTL SET LEDS led mask 31000000 ECAN 527 1000 Driver for Linux Turns the green LED on and the red LED on E led mask RTD ECAN LED GREEN RTD ECAN LED RED rc ioctl descriptor RTD ECAN IOCTL SET LEDS led mas
3. possible values errno may have in this case IOCTL Interface None Ecan_GetBoardName int Ecan_GetBoardName int handle unsigned long board_type Description Get an ECAN board s type Parameters handle Device handle from Ecan_CreateHandle or file descriptor from open system call Wo ECAN 527 1000 Driver for Linux board type Address in which to store the board type value Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor IOCTL Interface int rc rc ioctl descriptor RTD ECAN IOCTL GET BOARD NAME Ecan GetBuffer size t Ecan_GetBuffer int handle size t StartAddress size t Count void Buffer p size t BuffSize uint8 t BytesRead Description Read CAN controller s RAM area into user buffer This can be used to examine particular controller registers or see how a board is configured Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call StartAddress Offset from beginning of RAM area Count Number of bytes to read from RAM area Buffer p Address of buffer in which to place RAM data BuffSize Size of buffer in bytes pointed to by Buffer p BytesRead The integer returned is the number of bytes read from board s RAM area Return Value 0 Success ECAN 527 1000 Driver for Linux 18 1 Failure with errno set as follows EBADF handle is not a valid file descri
4. ECAN527 only Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call digital data p Address of user buffer containing data to write Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor EFAULT digital data p is not a valid user address ENOTSUP Operation is not supported ECAN1000 only IOCTL Interface int rc unsigned char digital data digital data 0xc5 rc ioctl descriptor _ RTD ECAN IOCTL WRITE DIGITAL IO amp digital data Ecan Clear Accounts int Ecan Clear Accounts int handle Description Clear the statistics the driver keeps internally about device and driver operation Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call Return Value 0 Success 1 Failure with errno set as follows EBADF ECAN 527 1000 Driver for Linux 44 handle is not a valid file descriptor IOCTL Interface int rc rc ioctl descriptor _ RTD ECAN IOCTL CLEAR ACCOUNTS Ecan Get Accounts int Ecan Get Accounts int handle rtd ecan accounts t accounts p Description Clear the specified queue on an interface Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call queue mask Bit mask of queues to clear Valid bits are RTD ECAN RX QUEUE and RTD ECAN TX QUEUE Return Value 0 S
5. product for repair customers are required to contact the factory for an RMA number THIS LIMITED WARRANTY DOES NOT EXTEND TO ANY PRODUCTS WHICH HAVE BEEN DAMAGED AS A RESULT OF ACCIDENT MISUSE ABUSE such as use of incorrect input voltages improper or insufficient ventilation failure to follow the operating instructions that are provided by RTD Embedded Technologies acts of God or other contingencies beyond the control of RTD Embedded Technologies OR AS A RESULT OF SERVICE OR MODIFICATION BY ANYONE OTHER THAN RTD Embedded Technologies EXCEPT AS EXPRESSLY SET FORTH ABOVE NO OTHER WARRANTIES ARE EXPRESSED OR IMPLIED INCLUDING BUT NOT LIMITED TO ANY IMPLIED WARRANTIES OF MERCHANTABILITY AND FIT NESS FOR A PARTICULAR PURPOSE AND RTD Embedded Technologies EXPRESSLY DISCLAIMS ALL WARRANTIES NOT STATED HEREIN ALL IMPLIED WARRANTIES INCLUDING IMPLIED WARRANTIES FOR MECHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE LIMITED TO THE DURATION OF THIS WARRANTY IN THE EVENT THE PRODUCT IS NOT FREE FROM DEFECTS AS WARRANTED ABOVE THE PURCHASER S SOLE REMEDY SHALL BE REPAIR OR REPLACEMENT AS PROVIDED ABOVE UNDER NO CIRCUMSTANCES WILL RTD Embedded Technologies BE LIABLE TO THE PURCHASER OR ANY USER FOR ANY DAMAGES INCLUDING ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES EXPENSES LOST PROFITS LOST SAVINGS OR OTHER DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PRODUCT SOME STATES DO NOT ALLOW THE EXCLUSION OR LIMITATION OF INCIDE
6. puts the board in reset mode so you must start the board afterward NOTE On the ECAN527 this function no longer sets the message ID values in the default standard and extended frame receive message objects You must follow this function with two calls to a function which will set up those message objects NOTE Do not use this function to set filters on the ECAN1000 the filter bits are set incorrectly in this case New functions have been added to set filters on the ECAN1000 30C lt CO ECAN 527 1000 Driver for Linux Parameters handle filter p Return Value Device handle from Ecan CreateHandle or file descriptor from open system call Address of structure where filter data is stored 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor EBUSY dont use queue is nonzero and the Transmit Status or Receive Status bit is set in the Status Register ECAN1000 only EFAULT filter p is not a valid user address EIO The driver was unable to turn on the Reset Mode bit in the Mode Register to reconfigure the board ECAN1000 only ENOBUFS dont use queue is 0 and there is no free slot in the driver s transmit queue IOCTL Interface int rc struct rtd ecan filter filter Set filter queueing it into driver s transmit queue first rc ioctl descriptor RTD ECAN IOCTL SET FILTER amp filter Set filter by going directly to the board
7. ECANS27 ECAN1000 CMK6486DX CAN Bus Interface Driver for Linux Driver Version 3 0 0 User s Manual ta RTD Embedded Technologies Inc Real Time Devices Accessing the Analog World ISO9001 and AS9100 Certified SWM 640020007 rev C RTD Embedded Technologies INC 103 Innovation Blvd State College PA 16803 0906 Phone 1 814 234 8087 FAX 1 814 234 5218 E mail sales rtd com techsupport rtd com web site http www rtd com ECAN 527 1000 Driver for Linux ii Revision History 02 12 2004 Revision issued Documented for ISO9000 09 30 2004 Revision B issued Cleaned up trademark references Added hardware software diagram to Introduction section Added Notational Conventions section Rewrote Extracting the Software section Updated all driver versions from 2 0 to 2 1 x Documented need to have kernel source installed to build driver Mentioned warnings generated by insmod when driver loaded Removed obsolete example program descriptions Added description of new example programs Added documentation for bus bit rate and ECAN1000 filter functions Updated rtd ecan get driver version documentation to reflect new driver version encoding Added Message Filtering section 04 16 2010 Updating for API changes in version 3 0 0 ECAN 527 1000 Driver for Linux Published by RTD Embedded Technologies Inc 103 Innovation Blvd State College PA 16803 0906 Copyright 2010 by RTD Embedded Te
8. Ecan CreateHandle or file descriptor from open system call ReceiveIntEn Flag to indicate interest in Receive Interrupt ErrorIntEn Flag to indicate interest in Error Warn Interrupt TransmitIntEn Flag to indicate interest in Transmit Interrupt BusErrorIntEn Flag to indicate interest in Bus Error Interrupt DataOverrunIntEn Flag to indicate interest in Data Overrun Interrupt ArbitrationLostIntEn Flag to indicate interest in Arbitration Lost Interrupt ErrorPassiveIntEn Flag to indicate interest in Error Passive Interrupt ECAN 527 1000 Driver for Linux 40 WakeUpIntEn Flag to indicate interest in Wake Up Interrupt A value of false for any of the above interrupt interest flags indicates that the application is not interested in the corresponding interrupt A value of true for any of the above interrupt interest flags indicates that the application is interested in the corresponding interrupt By default only the Receive Interrupt is of interest RxSize Size of driver s receive queue TxSize Size of driver s transmit queue A value of 0 for either of the above queue sizes indicates that the corresponding queue size should not be changed The default value for either queue size is 0 Return Value 0 Success 1 Failure Ecan StartBoard int Ecan_StartBoard int handle Description Put an interface into operating mode NOTE This function overwrites any filters you may have set You must set up your filte
9. If this is NULL do not return this information The default value is NULL DontQueueUse Flag to indicate whether or not the receive queue should be bypassed A value of true means go to the board for a message A value of false means use the driver s receive queue The default value is false Return Value 0 Failure Please see the description of rtd ecan prepare received message for information on possible values errno may have in this case 20 Success The unsigned integer returned is a mask of pending events IOCTL Interface int rc struct rtd ecan ioctl prepare received message message Prepare message using driver s receive queue Note if no message is waiting both message rx_queue_count and message events are set to 0 rc ioctl descriptor RTD ECAN IOCTL PREPARE RECEIVED MESSAGE amp message y Prepare message by going directly to the board Note on the ECAN527 message rx queue count is always set to 0 rc ioctl descriptor i RTD ECAN IOCTL PREPARE RECEIVED MESSAGE RTD ECAN DONT USE QUEUE neci ECAN 527 1000 Driver for Linux 20 Ecan GetMessage int Ecan GetMessage int handle ECAN MESSAGE STRUCTURE message p Description Retrieve a received message This function can operate either on the driver s receive queue or on the board directly Parameters handle Device handle from Ecan CreateHandle or file descriptor from open s
10. M area from user buffer This can be used to write to controller registers and thus control how the board operates CAUTION Use this function with care as writing improper values to the board or writing to an incorrect address may cause erratic behavior or may cause the board to lock up It is strongly recommended that other library functions be used to control an interface Parameters handle Device handle from Ecan_CreateHandle or file descriptor from open system call StartAddress Offset from beginning of RAM area Count Number of bytes to write into RAM area Buffer_p Address of buffer which contains data to write BuffSize Size of buffer in bytes pointed to by Buffer_p BytesWritten Number of bytes written to the board s RAM area Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor ECAN 527 1000 Driver for Linux 32 EFAULT buffer p is not a valid user address EFAULT More bytes are to be written than are in the buffer EINVAL ram offset is outside the board s RAM area EINVAL ram len is outside the board s RAM area EINVAL ram offset plus ram len is outside the board s RAM area IOCTL Interface char ram buffer 1 int rc struct rtd ecan ioctl set ram set arguments Set Hardware Reset Status bit in ECAN527 CPU Interface Register a ram_buffer 0 0x80 set_arguments ram_offset 0x02 set_arguments ram_length 1 set ar
11. N IOCTL SEND MESSAGE amp message ECAN 527 1000 Driver for Linux 30 Send message by going directly to the board x rc ioctl descriptor RTD ECAN IOCTL SEND MESSAGE RTD ECAN DONT USE QUEUE amp message y Ecan SetBitRate int Ecan SetBitRate int handle BitRates BitRate Description Set CAN bus bit rate Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call BitRate CAN bus bit rate to set For a list of valid values please see the BitRates enumeration in include ecanioctl h Return Value 0 Success 1 Failure with errno set as follows EINVAL BitRate is not valid Please see the description of Ecan_BusConfig for information on other possible values errno may have in this case IOCTL Interface int rc struct rtd ecan ioctl busconfig bus config Set CAN bus bit rate to 1 megabits second bus_config BusTiming0 0 bus config BusTimingl 0x14 Don t change CLKOUT pin frequency 3 ECAN 527 1000 Driver for Linux bus config ClockOut 0 Set CAN bus to default configuration bus_config BusConfig OxFF rc ioctl descriptor _ RTD_ECAN_IOCTL__SET_BUS_CONFIG amp bus config Ecan_SetBuffer size_t Ecan_SetBuffer int handle size_t StartAddress size_t Count const void Buffer_p size_t BuffSize uint8_t ByteWritten Description Write into CAN controller s RA
12. NTAL OR CONSEQUENTIAL DAMAGES FOR CONSUMER PRODUCTS AND SOME STATES DO NOT ALLOW LIMITATIONS ON HOW LONG AN IMPLIED WARRANTY LASTS SO THE ABOVE LIMITATIONS OR EXCLUSIONS MAY NOT APPLY TO YOU THIS WARRANTY GIVES YOU SPECIFIC LEGAL RIGHTS AND YOU MAY ALSO HAVE OTHER RIGHTS WHICH VARY FROM STATE TO STATE ECAN 527 1000 Driver for Linux 50 RTD Embedded Technologies Inc 103 Innovation Blvd State College PA 16803 0906 USA Our website www rtd com st ECAN 527 1000 Driver for Linux
13. all object p Address of structure where object initialization data is Return Value 0 1 stored The DontQueueUse member indicates whether or not to process the transmit queue when an Transmit Message Successfully interrupt is generated by a message object A DontQueueUse value of 0 means process the transmit queue after such an interrupt Any other DontQueueUse value means do not process the transmit queue after such an interrupt Success Failure with errno set as follows EBADF handle is not a valid file descriptor ECHNRG The Channel member in the structure pointed to by object p does not refer to a valid object EFAULT object p is not a valid user address EINVAL The State member in the structure pointed to by object p does not contain a valid value EINVAL In the structure pointed to by object p the Channel member has the value 15 the MakeDefault member is nonzero and the State member is set to either RTD ECAN MO TRANSMIT or RTD ECAN MO REMOTE TRANSMIT EINVAL In the structure pointed to by object p the Channel member has the value 0 and the State member is set to ENOTSUP Operation is not supported ECAN1000 only ECAN 527 1000 Driver for Linux 26 IOCTL Interface int rc struct rtd ecan msg obj setup object memset void amp object 0 sizeof struct rtd ecan msg obj setup Object can be used to receive messages object status RTD_ECAN_MO_RECEIVE Enable rece
14. ams library and your application programs Library source code and Makefile reside in the directory lib Building the Driver Driver source code uses files located in the kernel source tree Therefore you must have the full kernel source tree available in order to build the driver The development system which provides a full compilation environment must be running the exact same version of the kernel as your production machine s otherwise the kernel module may not load or may load improperly After the code is built you can then move the resulting object files libraries and executables to the production system s Building the driver consists of several steps 1 compiling the source code 2 loading the resulting kernel module into the kernel and 3 creating hardware device files in the dev directory To perform any of the above steps you must change your current directory to driver The file Makefile contains rules to assist you 7 ECAN 527 1000 Driver for Linux To compile the source code you need to know which driver you want to build If the ECAN527 driver is desired issue the command make MODEL 527 Use the command make MODEL 1000 to compile the ECAN1000 driver Simply issuing the make command will result in usage information The GNU C compiler gcc is used to build the driver code Before the driver can be used it must be loaded into the currently running kernel Using the command make insmod527 will loa
15. and CDO Flag to send Clear Data Overrun command SRR Flag to send Self Reception Request command A value of false for any of the above command flags indicates that the corresponding command should not be sent A value of true for any of the above command flags indicates that the corresponding command should be sent By default none of the commands are sent Return Value 0 Success 1 Failure with errno set as follows ECAN 527 1000 Driver for Linux 28 EBADF handle is not a valid file descriptor EFAULT command p is not a valid user address ENOTSUP Operation is not supported ECANS527 only IOCTL Interface int rc struct rtd ecan send command command Tell device to clear the data overrun status bit 3 command TR 0 command RRB 0 command AT 0 command CDO 1 command SRR 0 rc ioctl descriptor _ RTD_ECAN_IOCTL__SEND_COMMAND amp command Ecan_SendMessage int Ecan_SendMessage int handle ECAN MESSAGE STRUCTURE message p Description Send a message either using the driver s transmit queue or by going directly to the board NOTE Regardless of whether or not message transmission succeeds the driver removes the message from the transmit queue If message send fails you are responsible for retrying the send Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call message p Address of structure where message is stored T
16. arTX false i Description Optionally get current driver receive and transmit queue message counts Optionally clear driver receive and transmit queues Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call TX Count p Address where to store the number of messages in the driver s transmit queue RX Count p Address where to store the number of messages in the driver s receive queue A value of NULL for either address above indicates that the corresponding information should not be returned ClearRX Flag to indicate whether or not the receive queue should be cleared ClearTX Flag to indicate whether or not the transmit queue should be ECAN 527 1000 Driver for Linux 22 cleared A value of false for either flag above signifies that the corresponding queue should not be cleared A value of true means that the corresponding queue should be cleared The default value for each flag is false Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor EFAULT IX count p is not a valid user address EFAULT tx count p is not a valid user address Ecan GetStatus int Ecan GetStatus int handle ECAN STATUS STRUCTURE status p Description Get status of current message This function can operate either on the driver s receive queue or on the board directly Parameters handle Device handle from Ecan CreateHandl
17. cets of CAN bus operation Both the ECANS527 and ECAN1000 implement hardware filtering The following sections shed some light on using filters with both boards ECAN527 Message Filtering The ECANS527 contains fifteen message objects An object can be thought of as a mailbox for receiving or transmitting messages Message objects one through fourteen can be configured to send or receive messages Message object fifteen can only receive messages Within each message object exists a bit pattern which will be compared to the message ID of any message If the bit patterns match the object will receive a message or if configured to reply to a remote frame the object will transmit a message Three masks indicate which message ID bits in each message object are considered or ignored when making message comparisons These masks are the 1 Global Mask Standard Register 2 Global Mask Extended Register and 3 Message 15 Mask Register The Global Mask Standard Register applies to standard frame messages and to objects configured to receive or send such messages The Global Mask Extended Register applies to extended frame messages and to objects configured to receive or send such messages The Message 15 Mask Register applies to both standard and extended frame messages in addition it applies only to message object fifteen As stated previously mask bits control which message object ID bits affect comparisons A 0 bit causes any bit value in t
18. chnologies Inc All rights reserved Printed in U S A The RTD Logo is a registered trademark of RTD Embedded Technologies cpuModule and utilityModule are trademarks of RTD Embedded Technologies All other trademarks appearing in this document are the property of their respective owners ii 00000 ECAN 527 1000 Driver for Linux Table of Contents TABLE OF CONTENTIS coco eene ee ra Senes oae aeo eee nena Ee ee kao esser vage edo ean eene Sa NINE Ra eiua nne uod 4 INTRODUCTION wivccicssctistisdeasetevccotsesedtcsssdecsteulesdessesdeccosselactcussosssdelesbussetesciesseietbsecscossdsetesbessescss 5 NOTATIONAL CONVENTIONS eese eee eene eese een eset etne sete eese teens eese enses tease e eate eee sees snes 6 INSTALLATION INSTRUCT ION ccccsssosssssssssssssscccssssccscssscssssssscscsssscessssscssessnsesessssecssnes 7 EXTRACTING THE SOFTWARE ere devia epe edicere cated veilt e an a aaea 7 CONTENTS OF INSTALLATION DIRECTORY eee e nnn nnn nnn hann na nana nana anna anas nana 7 BUIEDING THE DRIVER iioii Gia cag ba nnan handel een duceu oe aara tae aar aea e E a tases 7 BUILDING THE LIBRARY eese nh ennen nnn nn nana n a a a n n a a n a n a a an p e pe pn Uns 8 BUILDING THE EXAMPLE PROGRAMS eeeeeeeee een enn nnn n nn nnn nana n n ana ana a a a ener ener eres 8 MESSAGE FILTERING C 9 ECANS27 MESSAGE FILTERING aen irenka ir EA EAEE EEEE EEA 9 ECAN1000 MESSAGE FILTERING
19. d the ECAN527 driver into the kernel using the board default I O address and IRQ jumper values for an ECAN527D 0xD0000 OxD0100 and IRQS IRQ11 If you have special requirements you may need to manually issue an insmod command The command make insmod1000 will load the ECAN1000 driver into the kernel this target assumes that a single ECAN1000 is installed and that its base I O address and IRQ are set to the factory defaults 0x300 and IRQS respectively You may need to edit the Makefile and change this rule to reflect your board configuration or manually issue an appropriate insmod command The final step is to create dev entries for the hardware Driver versions prior to 2 0 did this automatically whenever the driver was loaded into the kernel Due to changes in the Linux kernel this is no longer possible Instead the device files must be created manually Use the command make devices527 to create ECAN527 device files this generates ten files in dev named rtd ecan527 0 through rtd ecan527 9 Type the command make devices1000 to make ECANI1000 device entries this creates ten files in dev name rtd ecanl1000 0 through rtd ecan1000 9 The driver object file for the ECAN527 is named rtd ecan527 0 or rtd ecan527 ko for 2 4 kernel and 2 6 kernel respectively The ECAN1000 it is called rtd ecan1000 o or rtd ecan1000 ko for 2 4 kernel and 2 6 kernel respectively The ECAN527 driver will also work with the CMK6486DX board When you load e
20. e or file descriptor from open system call status p Address of structure where status information should be written The DontQueueUse member is used to indicate whether or not the receive queue should be bypassed A value of true in DontQueueUse means go to the board A value of false in DontQueueUse means use the receive queue Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor EFAULT status p is not a valid user address 28 0000 ECAN 527 1000 Driver for Linux EPERM The Initialization bit is set in the Control Register and dont use queue is nonzero ECANS27 only IOCTL Interface int rc struct rtd ecan status status Get message status using driver s receive queue rc ioctl descriptor RTD ECAN IOCTL GET STATUS amp status Get message status by going directly to the board Sy rc ioctl descriptor RTD ECAN IOCTL GET STATUS RTD ECAN DONT USE QUEUE amp status Ecan_LoadPortBitDir int Ecan_LoadPortBitDir int handle bool bit7 false bool bit6 false bool bit5 false bool bit4 false bool bit3 false bool bit2 false bool bit false bool bitO false Description Program the direction input or output of each bit in the digital I O port ECAN527 only Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call bit7 Directi
21. e size t queue size Description ECAN 527 1000 Driver for Linux 46 Set interface s transmit queue size Parameters handle queue size Return Value Doing so will also clear the the transmit queue contents Device handle from Ecan CreateHandle or file descriptor from open system call Size of transmit queue in message items Success Failure with errno set as follows handle is not a valid file descriptor No memory available for given number of message items 0 EBADF ENOMEM IOCTL Interface int rc Set receive queue size to 500 message items x rc ioctl descriptor _ RTD ECAN IOCTL SET RX MAX QUEUE SIZE 500 47 ECAN 527 1000 Driver for Linux Example Programs Reference using Ecan_SendCommand board s digital I O port rtd ecan527 test hardware Test the ECAN527 board by exercising the message objects both receiving and sending messages The driver is bypassed as much as possible Receive and transmit interrupts are not used rtd ecan527 test hardware int Test the ECAN527 board by exercising the message objects both receiving and sending messages The driver is bypassed as much as possible Receive interrupts are used but not transmit interrupts rtd ecan527 test leds Performs the following operations in the this exact sequence 1 turns both LEDs off 2 turns red LED on and green LED off 3 turns red LED off and green LED on 4 turns both LEDs on and 5 tur
22. e following filtering example Suppose you wish to accept messages with the most significant 16 bits of the message ID equal to 0xC000 or 0x3000 this is equivalent to accepting messages with IDs in the range 0x18000000 Ox18001FFF or in the range 0x06000000 0x06001FFF The corresponding function call to set this filter would be Ecan SetDualFilterExtended handle 0xC000 0x0 0x3000 0x0 The library function Ecan SetDualFilterStandard is used to set a dual mode filter for standard frames Consider the following filtering example Suppose you wish to accept messages having a message ID of 10 or 20 but the Remote Transmission Request bit and the first data byte don t matter The corresponding function call to set this filter would be Ecan SetDualFilterStandard handle OxA 0x0 0x14 0x0 Ox1 Ox1 Oxl Oxl OxFF OxFF i ECAN 527 1000 Driver for Linux 10 The library function Ecan SetSingleFilterExtended is used to set a single mode filter for extended frames Consider the following filtering example Suppose you wish to accept messages that have an odd numbered message ID and a Remote Transmission Request bit of 0 The corresponding function call to set this filter would be Ecan SetSingleFilterExtended handle 0x1 Oxl1FFFFFFE 0x0 0x0 The library function Ecan SetSingleFilterStandard is used to set a single mode filter for standard frames Consider the following filtering example Suppose you wish to accept messages tha
23. guments user buffer void amp ram buffer rc ioctl descriptor RTD ECAN IOCTL SET RAM amp set srguments Ecan_SetDualFilterExtended int Ecan_SetDualFilterExtended int handle uint ID ACRI uint ID AMRI uint ID ACR2 uint ID AMR2 Description Set up a filter for extended frames in dual filter mode ECAN1000 only NOTE Unless you feel adventurous enough to undertake determining the exact bit patterns to set in the filter structure do not use Ecan_SetFilter to set filters on the ECAN1000 Use this function instead Parameters 33 ECAN 527 1000 Driver for Linux handle Device handle from Ecan CreateHandle or file descriptor ID ACRI ID AMRI ID ACR2 ID AMR2 Return Value from open system call 16 bit Acceptance Code 1 for message ID 16 bit Acceptance Mask 1 for message ID 16 bit Acceptance Code 2 for message ID 16 bit Acceptance Mask 2 for message ID 0 Filter set succeeded 1 Filter set failed Please see the description of Ecan SetFilter for information on possible values errno may have in this case IOCTL Interface None Ecan SetDualFilterStandard int Ecan SetDualFilterStandard y int handle uint ID ACRI uint ID AMRI uint ID ACR2 uint ID AMR2 uint RTR ACRI uint RTR_AMRI1 uint RTR ACR2 uint RTR_AMR2 uint Data ACR uint Data AMR Description Set up a filter for standard frames in dual filter mode ECAN1000 only NOTE Un
24. he DontQueueUse member is used to indicate whether or not the transmit queue should be bypassed A value of true in DontQueueUse means go to the board A value of false in DontQueueUse means use the transmit queue Return Value 29 ECAN 527 1000 Driver for Linux 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor EBADSLT The Channel member in the structure pointed to by message p has the value 15 ECANS527 only EBUSY The Transmission Buffer Status bit in the Control Register is cleared and dont use queue is nonzero ECAN1000 only EFAULT message p is not a valid user address EINVAL The Channel member in the structure pointed to by message p is not valid ECAN527 only ENOBUFS dont use queue is 0 and there is no free slot in the driver s transmit queue EPERM The Reset Mode bit is set in the Mode Register and dont use queue is nonzero ECAN1000 only EPERM The Initialization bit is set in the Control Register and dont_use_queue is nonzero ECANS27 only IOCTL Interface unsigned char octet int rc struct rtd_ecan_message message memset void amp message 0 sizeof struct rtd_ecan_message Fill message with characters 0 through 7 for octet 0 octet lt 8 octet message Data octet unsigned char 0x30 octet Send message queueing it into driver s transmit queue first rc ioctl descriptor _ RTD ECA
25. he corresponding bit position of the incoming message to be accepted A bit indicates that the bit value in the corresponding bit position of the incoming message must exactly match the object s message ID bit Consider the following filtering example Suppose you wish to have message object one accept odd numbered message IDs and message object fifteen accept even numbered message IDs for standard frame messages Using one of the message object configuration functions set message object one to receive standard frames and set its message ID to 1 Set message object fifteen to receive standard frames and set its message ID to 0 Make sure all other objects are disabled The following code fragment will set up filters to implement this scheme ECAN FILTER STRUCTURE filter Bit zero in message object one must match exactly All other bits are ignored In this case bit zero must be 1 filter SetAcceptMask 0x1 false Bit zero in message object fifteen must match exactly All other bits are ignored In this case bit zero must be 0 kurs filter SetMessagel5Mask 0x1 false Ecan SetFilter handle amp filter 9 ECAN 527 1000 Driver for Linux As another example suppose you wish to have message object two accept message ID 100 and message object fifteen accept message ID 333 for extended frames Using one of the message object configuration functions set message object two to receive extended frames and set its me
26. ither kernel driver in 2 4 kernel the insmod command may print the following message Warning loading lt driver gt o will taint the kernel no license where driver is either rtd ecan1000 or rtd ecan527 You can safely ignore this message since it pertains to GNU General Public License GPL licensing issues rather than to driver operation Building the Library The example programs and your application use the ECAN library so it must be built before any of these can be compiled To build the library change your current directory to lib and issue the command make The GNU C compiler g is used to compile the library source code To prevent compatibility problems any source code which makes use of library functions should also be built with g The ECAN library is statically linked and is created in the file librtd ecan a Building the Example Programs The example programs may be compiled by changing your current directory to examples and giving the command make which builds all the example programs If you wish to compile a subset of example programs there are targets in Makefile to do so For example the command make rtd ecan read rtd ecan write will compile and link the source files rtd ecan read cc and rtd ecan write cc The GNU C compiler g is used to compile the example program code ECAN 527 1000 Driver for Linux 8 Message Filtering Utilizing message filters can be one of the most complex fa
27. ive message interrupt for object object RXIE 1 Target of operation is message object 6 object Channel 6 rc ioctl descriptor _ RTD ECAN IOCTL SETUP MESSAGE OBJECT amp object Ecan ReadDigitallO int Ecan ReadDigitalIO int handle unsigned char digital data p Description Read whatever value happens to be currently available on an interface s digital I O port ECANS527 only Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call digital data p Address of user buffer in which to store data Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor EFAULT digital data p is not a valid user address 2 0 0 0 0 ECAN 527 1000 Driver for Linux ENOTSUP Operation is not supported ECAN1000 only IOCTL Interface int rc unsigned char digital data rc ioctl descriptor _ RTD ECAN IOCTL READ DIGITAL IO amp digital data Ecan SendCommand int Ecan SendCommand int handle bool TR false bool RRB false bool AT false bool CDO false bool SRR false Description Send a command to an ECAN device ECAN1000 only Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call TR Flag to send Transmission Request command RRB Flag to send Release Receive Buffer command AT Flag to send Abort Transmission comm
28. k Turns the green LED off and the red LED off i led_mask 0 rc ioctl descriptor _ RTD_ECAN_IOCTL__SET_LEDS led mask Ecan_SetSingleFilterExtended int Ecan_SetSingleFilterExtended int handle uint ID_ACR uint ID_AMR uint RTR_ACR uint RTR_AMR Description Set up a filter for extended frames in single filter mode ECAN1000 only NOTE Unless you feel adventurous enough to undertake determining the exact bit patterns to set in the filter structure do not use Ecan_SetFilter to set filters on the ECAN1000 Use this function instead Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call ID ACR 29 bit Acceptance Code for message ID ID AMR 29 bit Acceptance Mask for message ID RTR ACR 1 bit Acceptance Code for Remote Transmission Request bit RTR_AMR 1 bit Acceptance Mask for Remote Transmission Request bit Return Value 0 Filter set succeeded 1 Filter set failed Please see the description of Ecan SetFilter for information on possible values errno may have in this case ECAN 527 1000 Driver for Linux 38 IOCTL Interface None Ecan SetSingleFilterStandard int Ecan SetSingleFilterStandard int handle uint ID ACR uint ID AMR uint RTR ACR uint RTR AMR uint Data ACR uint Data AMR Description Set up a filter for standard frames in single filter mode ECAN1000 only NOTE Unless you feel adventurous e
29. less you feel adventurous enough to undertake determining the exact bit patterns to set in the filter structure do not use Ecan_SetFilter to set filters on the ECAN1000 Use this function instead Parameters handle Device handle from Ecan CreateHandle or file descriptor ID ACRI from open system call 11 bit Acceptance Code 1 for message ID ECAN 527 1000 Driver for Linux 34 ID AMRI 11 bit Acceptance Mask 1 for message ID ID ACR2 11 bit Acceptance Code 2 for message ID ID AMR2 11 bit Acceptance Mask 2 for message ID RTR ACRI 1 bit Acceptance Code 1 for Remote Transmission Request bit RTR_AMRI 1 bit Acceptance Mask 1 for Remote Transmission Request bit RTR ACR2 1 bit Acceptance Code 2 for Remote Transmission Request bit RTR AMR2 1 bit Acceptance Mask 2 for Remote Transmission Request bit Data ACR 8 bit Acceptance Code for first 8 bits of message data Data AMR 8 bit Acceptance Mask for first 8 bits of message data Return Value 0 Filter set succeeded 1 Filter set failed Please see the description of Ecan SetFilter for information on possible values errno may have in this case IOCTL Interface None Ecan SetFilter int Ecan SetFilter int handle const ECAN FILTER STRUCTURE filter p Description Set interface s message filters to mask out certain incoming messages This function can operate either on the driver s transmit queue or on the board directly This function
30. lure with errno set as follows EBADF handle is not a valid file descriptor EIO The driver was unable to turn on the Reset Mode bit in the Mode Register ECAN1000 only EIO The interface failed the test which writes indicator values into the thirteen bytes of the Transmit Buffer reads them back and verifies values read match the values written ECAN1000 only EIO The interface failed the test which sets the Init bit in the Control Register and then reads it back in to verify it was set ECAN527 only EIO The interface failed the test which attempts to write to Bit Timing Register 1 while the Init bit in the Control Register is set but the Change Configuration Enable bit is cleared When these Control Register bits are so set a write to the Bit Timing Register 1 should not change its value In this case it did ECAN527 only EIO The interface failed the test which attempts to write to Bit Timing Register 1 while the Init bit in the Control Register is set and the Change Configuration Enable bit is set When these Control Register bits are so set a write to the Bit Timing Register 1 should change its value In this case it did not ECAN527 only IOCTL Interface int rc rc ioctl descriptor RTD ECAN IOCTL TEST Ecan_WriteDigitallO int Ecan_WriteDigitallO HANDLE handle unsigned char digital data p Description 43 ECAN 527 1000 Driver for Linux Write a value to an interface s digital I O port
31. nough to undertake determining the exact bit patterns to set in the filter structure do not use Ecan_SetFilter to set filters on the ECAN1000 Use this function instead Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call ID ACR 11 bit Acceptance Code for message ID ID AMR 11 bit Acceptance Mask for message ID RTR ACR 1 bit Acceptance Code for Remote Transmission Request bit RTR AMR 1 bit Acceptance Mask for Remote Transmission Request bit Data ACR 16 bit Acceptance Code for first 16 bits of message data Data AMR 16 bit Acceptance Mask for first 16 bits of message data Return Value 0 Filter set succeeded 1 Filter set failed Please see the description of Ecan_SetFilter for information on possible values errno may have in this case IOCTL Interface None 39 ECAN 527 1000 Driver for Linux Ecan SetupBoard int Ecan SetupBoard y int handle bool ReceiveIntEn true bool ErrorIntEn false bool TransmitIntEn false bool BusErrorIntEn false bool DataOverrunIntEn false bool ArbitrationLostIntEn false bool ErrorPassiveIntEn false bool WakeUpIntEn false unsigned long int RxSize 0 unsigned long int TxSize 0 Description Set an interface s event mask and default receive transmit queue sizes This function puts the board in reset mode so you must start the board afterward Parameters handle Device handle from
32. ns both LEDs off rtd ecan clear accounts Demonstrates how to clear the statistics kept internally by the driver rtd ecan print accounts Demonstrates how to print the statistics kept internally by the driver rtd ecan read Demonstrates reading messages from a CAN interface A simple file transfer is implemented which receives a file from rtd ecan write rtd ecan test bit rates Test message receive and send at the following CAN bus bit rates 1 50 000 bps 2 62 500 bps 3 100 000 bps 4 125 000 bps 5 250 000 bps 6 500 000 bps and 7 1 000 000 bps The tests are not stress tests to see how fast messages can be sent and received Rather they simply test that a single message can be sent and received at each bit rate rtd ecan test filter Test driver filter operation This program can test both standard and extended filters on both the ECAN527 and the ECAN1000 Only one type of filter can be tested with each invocation of the executable rtd ecan test id read Test driver message ID logic This program receives special messages sent by rtd ecan test id write For each message received the message ID as set by rtd ecan test id write is verified to ensure the driver encoded the ID properly for transmission and then decoded the ID properly upon reception Both standard and extended frames are tested rtd ecan test id write Test driver message ID logic This program sends special messages to rtd ecan test id read Each message is given a me
33. on for bit 7 bit6 Direction for bit 6 ECAN 527 1000 Driver for Linux 24 bit5 Direction for bit 5 bit4 Direction for bit 4 bit3 Direction for bit 3 bit2 Direction for bit 2 bitl Direction for bit 1 bitO Direction for bit 0 For bit7 through bitO a value of false means input and a value of true means output By default each bit is set to input Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor EFAULT direction p is not a valid user address ENOTSUP Operation is not supported ECAN1000 only IOCTL Interface int rc struct rtd ecan load port bit dir bit mask memset void amp bit mask 0 sizeof struct rtd ecan load port bit dir Set bits 7 2 1 and 0 to output all others are input bit_mask bit7 1 bit_mask bit2 1 bit mask bitl 1 bit mask bitO 1 rc ioctl descriptor _ RTD_ECAN_IOCTL__LOAD_PORT_BIT_DIR amp bit mask Ecan_MessageObjectSetup int Ecan_MessageObjectSetup int handle ECAN MESSAGE OBJECT SETUP STRUCTURE object p 28 0000000 ECAN 527 1000 Driver for Linux y Description Set up a message object on an interface This function can instruct the driver to not process the transmit queue when a message object issues a Transmit Message Successfully interrupt ECANS527 only Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system c
34. ow 1 provides a general overview of what hardware and software entities are involved in device access 2 shows which units communicate with each other and 3 illustrates the methods used to transfer data and control information Application Application Application C Function Calls C Function Calls C Function Calls Library ioctl System Calls User Space Kernel Space Driver Software Memory Accesses Hardware Electrical Signals Hardware 5 ECAN 527 1000 Driver for Linux Notational Conventions RTD Linux drivers are assigned version numbers These version numbers take the form A B C where A is the major release number This will be incremented whenever major changes are made to the software Changing the major release number requires updating the software manual B is the minor release number This will be incremented whenever minor yet significant changes are made to the software Changing the minor release number requires updating the software manual C is the patch level number This will be incremented whenever very minor changes are made to the software Changing the patch level number does not require updating the software manual Occasionally you will notice text placed within the and characters for example installation path This indicates that the text represents something which depends upon choices you have made or upon your specific system configuration ECAN 527 1000 Dri
35. ptor EFAULT buffer p is not a valid user address EFAULT The buffer is not big enough to store the data read EINVAL ram offset is outside the board s RAM area EINVAL ram len is outside the board s RAM area EINVAL ram offset plus ram len is outside the board s RAM area IOCTL Interface char ram buffer 1 int rc struct rtd ecan ioctl get ram get arguments Read contents of Control Register on ECAN1000 Sl get arguments ram offset 0x00 get arguments ram length 1 get arguments user buffer void amp ram buffer rc ioctl descriptor _ RTD ECAN IOCTL GET RAM amp get arguments Ecan GetInterrupts uint Ecan_GetInterrupts int handle ulong QueueSize p NULL bool DontQueueUse false y Description Prepare a received message for subsequent library calls This function can operate either on the driver s receive queue or on the board directly NOTE If this function is used to operate on the receive queue it will remove the first available message from that queue In addition the queue count stored in the memory address referred to by QueueSize p represents the number of entries remaining in the receive queue after removing the message 49 000000 ECAN 527 1000 Driver for Linux Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call QueueSize p Address where to store number of messages in driver s receive queue
36. rs again after calling this function Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor EIO The driver was unable to turn on the Reset Mode bit in the Mode Register to reconfigure the board ECAN1000 only 41 ECAN 527 1000 Driver for Linux IOCTL Interface int rc rc ioctl descriptor RTD ECAN IOCTL START Ecan StopBoard int Ecan_StopBoard int handle Description Put an interface into reset mode Parameters handle Device handle from Ecan_CreateHandle or file descriptor from open system call Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor EIO The driver was unable to turn on the Reset Mode bit in the Mode Register to reconfigure the board ECAN1000 only IOCTL Interface int rc rc ioctl descriptor RTD ECAN IOCTL STOP Ecan TestBoard int Ecan_TestBoard int handle Description Test an interface This function puts the board in reset mode so you must start the board afterward On the ECAN1000 this function also will clear the receive and transmit queue contents Parameters ECAN 527 1000 Driver for Linux 42 handle Device handle from Ecan CreateHandle or file descriptor from open system call Return Value 0 Success 1 Fai
37. set by the library functions Please see the ioctl2 man page for more information ECAN 527 1000 Driver for Linux 12 Function Reference ECAN 527 1000 Driver for Linux API Function Groups Board Control Ecan BusConfig Ecan GetBuffer Ecan SendCommand Ecan SetBitRate Ecan SetBuffer Ecan_SetDualFilterExtended Ecan_SetDualFilterStandard Ecan_SetFilter Ecan_SetLeds Ecan_SetSingleFilterExtended Ecan_SetSingleFilterStandard Ecan_SetupBoard Ecan_StartBoard Ecan_StopBoard Digital I O Ecan_LoadPortBitDir Ecan_ReadDigitallO Ecan_WriteDigitallO General Ecan_CreateHandle Ecan_GetBoardName Ecan_TestBoard Ecan_Clear_Accounts Ecan_Get_Accounts Ecan_Set_TX_Queue_Size Ecan_Set_RX_Queue_Size EncodeMessageID Ecan_GetInterrupts Ecan_GetMessage Ecan_GetStatus Ecan_MessageObjectSetup Ecan_SendMessage Receive and Transmit Queue Ecan_AllowBufferOverwrite Ecan_GetQueuesCounts ECAN 527 1000 Driver for Linux 14 Alphabetical Function Listing Ecan_AllowBufferOverwrite int Ecan_AllowBufferOverwrite int handle bool allow Description Inform the driver how to process receive queue overruns Parameters handle Device handle from Ecan_CreateHandle or file descriptor from open system call allow Flag to indicate whether or not to overwrite receive queue contents on overrun A value of false means do not overwrite the oldest queue message with a new message and instead try to put an special o
38. ssage ID The message ID is also sent in the message data so that rtd ecan test id read can verify what message ID it should be receiving Both standard and extended frames are tested rtd ecan test tx error code Tests driver error code processing on transmit error This program requires user intervention in the form of installing and removing the CAN cable The user is prompted when to install and when to remove the cable A series of 6 messages are sent and the GetStatus error code of each one is verified against expected behavior CAN bus bit rates are supported Demonstrates writing messages to a CAN interface A simple file transfer is implemented which sends a file to rtd ecan read ECAN 527 1000 Driver for Linux 48 49 ECAN 527 1000 Driver for Linux Limited Warranty RTD Embedded Technologies Inc warrants the hardware and software products it manufactures and produces to be free from defects in materials and workmanship for one year following the date of shipment from RTD Embedded Technologies INC This warranty is limited to the original purchaser of product and is not transferable During the one year warranty period RTD Embedded Technologies will repair or replace at its option any defective products or parts at no additional charge provided that the product is returned shipping prepaid to RTD Embedded Technologies All replaced parts and products become the property of RTD Embedded Technologies Before returning any
39. ssage ID to 100 Set message object fifteen to receive extended frames and set its message ID to 333 Make sure all other objects are disabled The following code fragment will set up filters to implement this scheme ECAN FILTER STRUCTURE filter All bits in message object two must match exactly In this case the message ID must be 100 EI filter SetExtended Ox1FFFFFFF All bits in message object fifteen must match exactly In this case message ID must be 333 filter SetMessagel5Mask 0xlFFFFFFF true Ecan SetFilter handle amp filter For more information regarding message objects and message filtering please see the Intel Corporation document 82527 Serial Communications Controller Architectural Overview ECAN1000 Message Filtering The ECAN1000 implements four filtering strategies 1 dual filter mode on extended frame messages 2 dual filter mode on standard frame messages 3 single filter mode on extended frame messages and 4 single filter mode on standard frame messages Filters control which message bits are considered or ignored when making comparisons A 1 bit causes any bit value in the appropriate bit position of the incoming message to be accepted A 0 bit indicates that the bit value in the appropriate bit position of the incoming message must exactly match The library function Ecan SetDualFilterExtended is used to set a dual mode filter for extended frames Consider th
40. t change The The default value is 0 BusConfig Device specific value for Output Control Register ECAN1000 or Bus Configuration Register ECAN527 A value of OxFF means set the bus to the default configuration The default value is OxFF Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor EINVAL Configuration value is not valid EIO The driver was unable to turn on the Reset Mode bit in the Mode Register to reconfigure the board ECAN1000 only IOCTL Interface int rc struct __rtd_ecan_ioctl_busconfig bus config ECAN 527 1000 Driver for Linux 16 memset void amp bus config 0 sizeof struct rtd ecan ioctl busconfig Set CAN bus to default configuration bus config BusConfig Oxff rc ioctl descriptor RTD ECAN IOCTL SET BUS CONFIG amp bus config Ecan_CreateHandle int Ecan_CreateHandle size_t DevNum 0 bool Ecan1000 false Description Open an ECAN device so that other functions may be called for it Parameters DevNum Board minor number The default value is 0 Ecan1000 Selects board type The value false indicates that the device is an ECANS27 The value true indicates that the device is an ECANI1000 The default value is false Return Value gt 0 Success The integer returned is the file descriptor from open system call 1 Failure Please see the open 2 man page for information on
41. t have any message ID any Remote Transmission Request bit and whose first two data bytes are OXFFFF The corresponding function call to set this filter would be Ecan_SetSingleFilterStandard handle 0x0 Ox7FF 0x0 0x1 OxFFFF 0x0 For more information regarding message filtering please see the Phillips Semiconductors document SJA1000 Stand alone CAN Controller Product Specification Ww ECAN 527 1000 Driver for Linux Using the API Functions ECAN hardware and the associated driver functionality can be accessed through the library API Application Programming Interface functions Applications wishing to use library functions must include the include ecanlib h header file and be statically linked with the lib librtd ecan a library file The following function reference provides for each library routine a prototype description explanation of parameters and return value or error code By looking at a function s entry you should gain an idea of 1 why it would be used 2 what it does 3 what information is passed into it 4 what information it passes back 5 how to interpret error conditions that may arise and 6 the ioctl system call interface if the function makes use of a single ioctl call To obtain more information about the structures used in the library functions please consult the files include ecanbaseioctl h and include ecanioctl h Note that errno codes other than the ones indicated in the following pages may be
42. uccess 1 Failure with errno set as follows EBADF handle is not a valid file descriptor EINVAL queue mask contains an invalid bit IOCTL Interface int rc unsigned int queue mask Clear the receive queue queue_mask RTD_ECAN_RX_QUEUE rc ioctl descriptor _ RTD_ECAN_IOCTL__CLEAR_QUEUES queue mask Clear the transmit queue S queue mask RTD ECAN TX QUEUE 45 ECAN 527 1000 Driver for Linux rc ioctl descriptor RTD ECAN IOCTL CLEAR QUEUES queue mask Clear both the receive and transmit queues queue mask RTD_ECAN_RX_QUEUE RTD_ECAN_TX_QUEUE rc ioctl descriptor _ RTD_ECAN_IOCTL__CLEAR_QUEUES queue mask Ecan_Set_RX_Queue_Size int Ecan_Set_RX_Queue_Size int handle size_t queue_size Description Set interface s receive queue size Doing so will also clear the the receive queue contents Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call queue size Size of receive queue in message items Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor ENOMEM No memory available for given number of message items IOCTL Interface int rc Set receive queue size to 16 message items rc ioctl descriptor RTD ECAN IOCTL SET RX MAX QUEUE SIZE 16 Ecan Set TX Queue Size int Ecan Set TX Queue Size int handl
43. ver for Linux 6 Installation Instructions Extracting the Software All software comes packaged in a gzip d tar file named Ecan Linux V03 00 00 tar gz First decide where you would like to place the software Next change your current directory to the directory in which you have chosen to install the software by issuing the command cd installation path Then extract the software by issuing the tar xvzf path to tar file Ecan Linux V03 00 00 tar gz command this will create a directory Ecan Linux V03 00 00 that contains all files comprising the software package Contents of Installation Directory Once the tar file is extracted you should see the following files and directories within Ecan Linux V03 00 00 driver examples include lib CHANGES TXT LICENSE TXT README TXT The file CHANGES TXT describes the changes made to the software for this release as well as for previous releases The file LICENSE TXT provides details about the RTD end user license agreement which must be agreed to and accepted before using this software The file README TXT contains a general overview of the software and contact information should you experience problems have questions or need information The directory driver contains the source code and Makefile for the drivers The directory examples holds the source code and Makefile for the example programs The directory include contains all header files used by the driver example progr
44. verrun message in the queue A value of true means overwrite the oldest queue message with a new message and do not put a special overrun message in the queue Return Value 0 Success 1 Failure with errno set as follows EBADF handle is not a valid file descriptor IOCTL Interface int rc Don t allow receive queue overwrites when buffer is full Try to put overrun message in receive queue instead i rc ioctl descriptor _ RTD ECAN IOCTL ALLOW BUFFER OVERWRITE 0 Allow receive queue overwrites when buffer is full No overrun message is put in receive queue If the buffer is full the oldest received message will be overwritten rc ioctl descriptor _RTD_ECAN_IOCTL_ALLOW_BUFFER_OVERWRITE Oxff as ECAN 527 1000 Driver for Linux Ecan BusConfig int Ecan BusConfig int handle u8 t BusTiming0 u8 t BusTimingl u8 t ClockOut 0 u8 t BusConfig Oxff 5 Description Set CAN timing and bus configuration This function puts the board in reset mode so you must start the board afterward Parameters handle Device handle from Ecan CreateHandle or file descriptor from open system call BusTiming0 Device specific value for bus timing register 0 BusTimingl Device specific value for bus timing register 1 ClockOut Device specific value for frequency divider at the external CLKOUT pin relatively to the frequency of the external oscillator A value of 0 means don
45. ystem call message p Address of structure where message should be written The Return Value 0 1 DontQueueUse member is used to indicate whether or not the receive queue should be bypassed A value of true in DontQueueUse means go to the board A value of false in DontQueueUse means use the receive queue Success Failure with errno set as follows EBADF handle is not a valid file descriptor EBADSLT The Channel member in the structure pointed to by message p is zero and dont use queue is nonzero ECAN527 only EFAULT message p is not a valid user address EINVAL The Channel member in the structure pointed to by message p is not valid and dont use queue is nonzero ECAN527 only EPERM The Reset Mode bit is set in the Mode Register and dont use queue is nonzero ECAN1000 only EPERM The Initialization bit is set in the Control Register and dont_use_queue is nonzero ECANS27 only IOCTL Interface 21 ECAN 527 1000 Driver for Linux int rc struct rtd ecan message message Get message out of driver s receive queue rc ioctl descriptor _ RTD ECAN IOCTL RECV MESSAGE amp message Get message by going directly to the board rc ioctl descriptor RTD_ECAN_IOCTL__RECV_MESSAGE __RTD_ECAN_DONT_USE_QUEUE amp message Ecan_GetQueuesCounts int Ecan_GetQueuesCounts int handle ulong TX_Count_p ulong RX_Count_p bool ClearRX false bool Cle
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