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PCAN-Driver_for_Linux - User Manual - PEAK

1. Normally the output looks similar to this depending on your hardware interfaces and your configuration settings ar 6 17 35 26 xxxx kernel pcan Release_20070221_n ar 6 17 35 26 xxxx kernel pcan driver config mod isa pci dng usb pcc ar 6 17 35 26 xxxx kernel pcan pci device minor 0 found ar 6 17 35 26 xxxx kernel pcan pci device minor 1 found ar 6 17 35 26 xxxx kernel pcan usb hardware revision 28 ar 6 17 35 28 xxxx kernel pcan usb device minor 32 found ar 6 17 35 28 xxxx kernel pcan PEAK PC_CAN CARD 001 Al ar 6 17 35 28 xxxx kernel pcan pccard device minor 40 found ar 6 17 35 28 xxxx kernel pcan pccard device minor 41 found ar 6 17 35 28 xxxx kernel pcan pccard firmware 1 5 ar 6 17 35 28 xxxx kernel pcan major 253 To check the correct installations of the driver please invoke cat proc pcan You ll get a similar printout if there are no errors Foosossssssss PEAK Systems CAN interfaces www peak system com ennnnnnnnanensnsnansesssss Release 20070221 nm cerasaaenaanaensannnnnsassse PAHE mod isa pei dng usb pet 4444 i SES ESS SES SEE 8 interfaces major 293 found SS SS SE SSSSSSSS ELSE SS n type ndev base irg btr read write irqs errors status 0 pci NA ec00b000 010 0x001c 00000000 00000000 00000000 00000000 0x0000 8 isa NA 00000300 010 0x001c 00000000 00000000 00000000 00000000 0x0000 9 isa NA 00000320 010 0x001c 0000
2. Column Description 2 3 4 5 12 13 14 13 s Standard frame e Extended frame Identifier hex Length of message dec Message bytes hex Timestamp milliseconds dec read only Timestamp milliseconds dec read only Comment write only Descriptions of the following columns for initializing strings Column Description 2 3 BTROBTR1 Init data hex write only E allow extended frames write only For example a a an w w B3 B B n n w comment message standard frame 0x123 0 message standard frame 0x123 1 0x11 message standard frame 0x123 2 0x11 0x22 message extended frame id 0x id 0x id 0x id 0x 23 23 23 37 Da Da Da Da ta by ta by ta by ta by tes te te te Data Data Data PCAN Driver for Linux User Manual PEAK System e 0x123 3 0x11 0x22 0x33 a RTR standard frame id 0x123 0 Data byte comment 3 s 0x123 0 f a comment K a RTR extended frame id 0x123 0 Data byte comment e 0x123 0 a comment K initialize 0x1234 e pia 38 PCAN Driver for Linux User Manual n System 10 Most Important chardev Header Files Any sources of the driver of the library and the test programs are fit in underneath the peak linux driver x y directory tree Two files are to be mentioned especially The file peak linux driver drive
3. The last column shows the last occurred error status of the channel The status is a bit field with an interpretation like this table w Description Chip send buffer full Chip receive buffer overrun BUS warning BUS passive BUS off Receive buffer is empty Receive buffer overrun Send buffer is full Illegal parameter NIOJ AJOIN D O RA Both columns base and irq are misused with USB channel types base is showing the serial number of the module and irq the programmed device number of the module The column irq in case of type USB counts the number of received or sent USB packages Q What happens if plug out the interface while using PCAN USB A First of all your programs will stall and a re plug in of the PCAN USB doesn t change anything First you have to stop and after 56 PCAN Driver for Linux User Manual n System plugging in of the interface you can invoke your programs again It s not guaranteed that the same minor number as the previous PCAN USB minor number is allocated Minor number assignment depends on the order of plug ins of PCAN USB devices Q How can find out what minor number the PCAN USB is assigned to A With help of the individual pre programmed device number which can be experienced with help of the proc pcan interface a relationship to a special physical connection can be made Q I want to open my PCAN USB device however get an error
4. Then do cd usr src linux for example su you need to be root make cloneconfig create a configuration suitable for your running kernel make scripts create the necessary scripts That s all Now you can as ordinary user compile your driver Q While compiling the driver following message appears ikk Can t find usr src linux 2 4 24 SuSE include linux version h End What s the problem A Within the driver makefile up from version 3 3 the target kernel version is not being won out of the interpretation of the command uname r but extracted out of contents of the file KERNEL_LOCATION include linux include version h If there wasn t any special KERNEL_LOCATION given at the command line of make KERNEL_LOCATION usr src linux is being used as default While translating the kernel sources the file version h is generated Normally this message has its cause in not translated kernel sources Until kernels 2 4 x it was enough if the distribution had installed this file From kernel 2 6 x on it is necessary that the kernel sources for the target system are configured and translated completely Then the file version h is being created 58 PCAN Driver for Linux User Manual n System With ubuntu systems you should set KERNEL_LOCATION usr src Linux headers uname r Q I like to have interrupt sharing with PCAN ISA or PCAN PC 104 A No problem since version 3 30 of the driver
5. message What s wrong A There is more than one possibility 1 The appropriate device is not registered as dev pcan 2 The appropriate device is not plugged in Q The compilation on my system doesn t work What can be wrong A The most common reason is not installed Linux kernel sources Often sources of another kernel than the one installed are used Sometimes both files doot vmlinuz autoconf h and doot vmlinuz version h of the distribution are not linked to the files they are assigned to lib modules uname r build include linux autoconf h and lib modules uname r build include linux version h Q The transmission performance of CAN messages is low if send a message with help of the write interface out of a script What is the problem A Every line in a script opens the path to a device and immediately closes this path again This opening and closing take time The 57 PCAN Driver for Linux User Manual n System transmission performance can be improved by letting another path open For example cat dev pcan32 gt dev null amp echo m s 0x123 2 0x11 0x12 gt dev pcan32 echo m s 0x123 2 0x11 0x12 gt dev pcan32 Q I got a lot of error messages when compiling the driver for a kernel 2 6 x system What s wrong A To compile for kernel 2 6 target system you need to have a pre configured kernel To accomplish this you need to install the target kernel sources
6. pcan o or pcan ko driver is supporting PCAN USB PCAN USB Hub PCAN USB Pro PCAN PCI PCAN miniPCl PCAN PCI Express PCAN cPCI PCAN ISA PCAN PC 104 PCAN PC 104 Plus PCAN PCI 104 Express PCAN Dongle PCAN PC Card as well as the PCAN ExpressCard Depending on the type of hardware PCI ISA Dongle PC Card and USB 8 channels for each type can be supported For PCAN ISA PCAN PC 104 and PCAN Dongle the base address and the used interrupt are settable If no parameters are provided the driver uses factory defaults A user program can communicate with the driver in three different ways ASCII formatted data can be provided or accepted over a read or write interface This data contains information from received or transmitted messages or about channel initializing parameters With a ioctl interface Through this interface user programs are able to receive and to transmit CAN messages as well However it is possible to get information about the channel status and to initialize the CAN channel As a network device with commonly used network socket calls This kind of interface is alternative to the previous kinds It is called the netdev drivers interface in contrast to the chardev drivers interface To use the netdev drivers interface with kernels before 2 6 25 you have to install the Socket CAN support from https gitorious org linux can Most of this manuals content covers the usage of the chardev dri
7. you must provide in the make command the option RT XENOMAI By default the PCAN driver will be compiled for non real time environment 51 PCAN Driver for Linux User Manual n System Because USB and PCCARD are still not supported on PCAN real time driver it is highly recommended to not compile PCAN real time driver with USB_SUPPORT or PCCARD_SUPPORT flags An example of command for compiling PCAN real time driver cd peak linux driver driver make clean make RT XENOMAI Possible other make switches are RT RTAI for a RTAI skin or RT NO_RT for no real time support at all 18 3 Runtime Environment You can load PCAN real time driver module as usual there are no changes compared to the standard loading procedure The PCAN API is the same in real time and non real time so you can open close read from or write to your PCAN device like usual But be careful reading and writing must be made in a real time task to be really effective For an example of how to use Xenomai for creating and using a real time task please refer to the examples transmitest and receivetest located in the test folder For compiling your program Xenomai libraries path and flags must be included in your Makefile They can t be obtained by using the xeno config script provided with Xenomai You can have an example of how using xeno config in the Makefile file located in the test folder 52 PCAN Driver for
8. 29 8 1 Interface Hardware Type 30 PCAN Driver for Linux User Manual co 00 00 00 na AWN 10 10 11 12 12 12 13 14 15 16 17 18 18 18 18 18 I O Port and Interrupt Settings Initial Bit Rate Assign Parameter netdev only Alternate Device Numbering Method Installation Test Use of Test Programs chardev only Most Important chardev Header Files 1 Manual Installation of the chardev Header Files Most Important netdev Header Files Compilation of the Driver Only 1 Use Cases 2 Support for Cross Compi lation Features of the Shared Library libpcan so chardev only Manual Installation of the chardev Shared Library Message Filters chardev only Error Handling Socket CAN Introduction and Basic Installation netdev only Real time Support with Xenomai 1 Installation 2 Compilation Environment 3 Runtime Environment 4 Troubleshooting System 30 31 32 32 35 39 39 40 41 41 43 44 45 46 47 48 51 51 51 52 53 PCAN Driver for Linux User Manual 19 FAQ Appendix A Usage of the Driver with chardev Mode A A A A 1 2 3 4 Polling Blocking wait Blocking wait with Timeout waiting for an I0 event with SelectQ Appendix B Historical Parts B B B B 1 WN devfs Compilation of Kernel Greater Than 2 5 x Obfuscation History of the Document System 54 62 63 63 64 67 67 68 68 69 PC
9. But you should be aware that interrupt sharing with ISA BUS is only possible with devices which are supported from the same driver e g the PCAN driver For example it is not possible to share a serial device with a PCAN device but two PCAN devices can share the same interrupt level Q I am trying to use the PCAN driver with Xenomai support My problem is when I load the module it registers the device with major 000 and doesn t do an entry into proc devices only into proc xenomai and proc pcan Therefore pcan_make_devices doesn t work Is that an error or supposed to be like that A It seems you want to use the Xenomai RTDM driver as a standard driver You have to know that with Xenomai s Real time Driver Model there is no real dev pcanX device node created This is the RTDM skin that provide the appropriates syscalls to user space libs libnative librtdm The pcan_make_devices script is not needed and do not work with Xeno pcanlib is also compiled differently with xenomai It is linked with xenomai user space libs and does not use real dev pcanX but calls RTDM system calls In other world you have to fully recompile peak Linux driver pcanlib and examples with RT XENOMAI reinstall and reload module to be able to use PCAN with Xenomai Do not expect to have some real dev pcanX nodes working if PCAN have been compiled with RT XENOMAI they only virtually exist for pcanlib with RTDM You also have to notice that in rea
10. PCAN Dongle you may need to load the parport subsystem support To do this please invoke as root user sbin modprobe parport This command installs the Parport Subsystem with Linux It is necessary to support the PCAN Dongle integration Login as root user in a console e g console or xterm Fork to the peak linux driver x y driver directory and type in sbin insmod pcan o type xxx yyy i10 0x300 0x378 irq 10 7 or from kernel 2 6 0 on sbin insmod pcan ko type xxx yyy i10 0x300 0x378 irgq 10 7 if you need USB support you have to do the same steps as in Specitics with the Driver Installation for PCAN USB The place holder xxx yyy are standing for isa sp or epp The parameter for io and irq can be left out if the standard assignments are configured with your hardware PCl channels USB channels and PCCARD based channels are found and installed without any special details but ISA PC 104 and parallel port supported channels have to be registered The standard assignments for ISA and PC 104 interfaces are io irq 0x300 10 0x320 5 The standard assignments for Dongle in SP EPP mode are io irq 0x378 7 0x278 5 17 PCAN Driver for Linux User Manual n System 7 1 Driver Loading Specifics for chardev With the following command you can see any error report after insmod ing as root user tail var log messages
11. program include lt fcntl h gt include lt libpcan h gt TPCANRdMsg msg int ret HANDLE h LINUX CAN Open dev pcan0 O_RDWR at this point the thread blocks until a message is available or an error occurs ret LINUX CAN Read h amp msg if ret use msg else A 3 Blocking wait with Timeout This method is a mix between the two predecessors Reading of the data blocks until a message is available an error occurs or the given timeout elapses It is more or less a skyhook to create simple programs without wasting system resources include lt fcntl h gt include lt libpcan h gt TPCANRdMsg msg 63 PCAN Driver for Linux User Manual n System int ret HANDLE h LINUX CAN Open dev pcan0 O_RDWR do at this point the thread blocks until a message is available an error occurs or the timout elapses ret LINUX CAN Read Timeout h amp msg 1000000 one second while ret CAN ERR _QRCVEMPTY if ret nutze msg else A 4 Waiting for an I0 event with Select Waiting for an O event with select is very resource efficient but complicated to use With select you can wait for multiple read write and exceptions events simultaneously Additionaly you can give a timeout as a maximum waiting time You can get more information with man select The following example monitors 2 path s for an input
12. sf usr lib libpcan so 0 usr lib libpcan so This process is only necessary if you install this program for the first time or if you want to update the library To use the test programs the library has to be installed Note The version minor number of the library can change as a result of minor or major improvements 45 PCAN Driver for Linux User Manual n System 15 Message Filters chardev only Up from driver version 6 0 message filters are supported for the chardev device With the netdev device message filters are part of Socket CAN To maintain backward compatibility after first open of a path to a device no message filter is set With the first time a message filter is set or reset the message filter chain will be activated It is possible to set more than one filter condition in a message chain for each path After a message is received the filter chain is walked trough to check for a pass condition If no pass condition is found the message is rejected 46 PCAN Driver for Linux User Manual n System 16 Error Handling The CAN error handling for the chardev driver has changed from version 5 x to version 6 x of the driver Now the handling is more compatible to the PCAN API implementation If a CAN error occurs a status message is enqueued into the channels receive queue A status message is marked with MSGTYPE_STATUS set in the MSGTYPE field of the TPCANMsg structure Depending on the kind of error de
13. version alias parport_lowlevel parport_pc options parport_pc io 0x378 irq 7 Normally irq none stands in the options line The assigned interrupt number must match the assigned interrupt number of the device Those works can only be done as root If the Parport Subsystem is already installed it can be removed with rmmod lp rmmod pcan rmmod parport pc rmmod parport You are not forced to use the Parport Subsystem Then the alternately use of the parallel port through PCAN Dongle and e g a printer is not possible any more For it the driver has to be translated with the PAR NO_PARPORT_SUBSYSTEM option Then the previous detail of modprobe parport is not necessary while installing V In some cases the dynamic assignment of major device numbers are unwelcome However this can be changed in the driver 70 PCAN Driver for Linux User Manual m System sources file pcan main h constant PCAN MAJOR Afterwards the driver has to be translated and installed again The best is to use the number 91 This already is intended for CAN devices Please note that conflicts to other installed CAN drivers can be possible Y From kernel version 2 6 on the behaviour during assignment of the minor numbers is being changed through the kernel parameter CONFIG USB DYNAMIC MINORS When CONFIG USB DYNAMIC MINORS is set the first free minor number is assigned to from 0 on Mand
14. 0 PCAN Driver for Linux User Manual n System Running an older kernel and using the netdev interface of the pcan driver with the following command you can see any error report after insmoding as root user tail var log messages Normally the output looks similar to this depending on your hardware interfaces and your configuration settings ar 6 17 39 51 xxxx kernel pcan Release 20070221 n ar 6 17 39 51 xxxx kernel pcan driver config mod isa pci dng usb pcc net ar 6 17 39 51 xxxx kernel pcan pci device minor 0 found ar 6 17 39 51 xxxx kernel pcan pci device minor 1 found ar 6 17 39 51 xxxx kernel pcan usb hardware revision 28 ar 6 17 39 53 xxxx kernel pcan registered netdevice can0 for pcan usb hw minor 32 ar 6 2 39 53 xxxx kernel pcan usb device minor 32 found 7 ar 6 17 39 53 xxxx kernel usbcore registered new driver pcan ar 6 17 39 53 xxxx kernel pcan PEAK PC CAN CARD 001 Al ar 6 17 39 53 xxxx kernel pcan pccard device minor 40 found 7 ar 6 17 39 53 xxxx kernel pcan registered netdevice canl for pcan pccard hw minor 40 ar 6 17 39 53 xxxx kernel pcan pccard device minor 41 found ar 6 17 39 53 xxxx kernel pcan registered netdevice can2 for pcan pccard hw minor 41 ar 6 17 39 53 xxxx kernel pcan pccard firmware 1 5 ar 6 17 39 53 xxxx kernel pcan registered netdevice can3 for pcan pci hw minor 0 ar 6 17 39 53 xxxx kernel pcan regis
15. 0 errors 0 dropped 0 carrier 0 collisions 0 txqueuelen 1000 RX bytes 0 0 0 b TX bytes 0 0 0 b eth0 lo KRA With this basic installation you can test your Socket CAN setup To test it you must have the Socket CAN can utilities compiled In a first console invoke PCAN Driver for Linux User Manual n System cangen vcan0 If you invoke in a second console candump vcan0 then you ll get the generated and loop backed CAN messages from your first invocation candump vcan0 vean0 567 6 69 98 3C 64 73 48 vean0 451 8 4A 94 E8 2A EC 58 55 62 vean0 729 8 BA 58 1B 3D AB D7 7E 50 vean0 1F2 8 E3 A9 E2 79 46 El 45 75 This output shows that your basic Socket CAN installation was successful Next you have to install the PCAN netdev driver a Note Currently most of the Socket CAN utilities can only be used as root user Due to the standard NET CAPABILITIES the access to the RAW sockets and to the BCM sockets are only granted to the user root analogue to the promiscuous mode on Ethernet devices But you may define CONFIG_CAN_RAW_USER and or CONFIG_CAN_BCM_USER in the Kconfig when integrated into the kernel to override this You may also try to put define CONFIG CAN RAW USER define CONFIG CAN BCM USER into your local usr src linux include linux autoconf h before compiling the Socket CAN source code or change the files raw c and bcm c after downloading Socket CAN This is a disadvantage of the external modul
16. 0000 00000000 00000000 00000000 0x0000 16 sp NA 00000378 007 0x001c 00000000 00000000 00000000 00000000 0x0000 32 usb NA ffffffff 255 0x001c 00000000 00000000 00000000 00000000 0x0000 33 usb NA 20003412 033 0x001c 00000000 00000000 00000000 00000000 0x0000 40 pccard NA 00000400 005 0x001c 00000000 00000000 00000000 00000000 0x0000 18 PCAN Driver for Linux User Manual m System 41 pccard NA 00000420 005 0x001c 00000000 00000000 00000000 00000000 0x0000 As default the driver is configured for the dynamic allocation of the major number a Note The contents of the ndev column It differentiates between chardev and netdev drivers netdev drivers show the network interface chardev drivers do not have a network interface NA With a properly configured and running UDEV system all devices files are generated on the fly If your target system does not have a running UDEV system you must create the device files manually each time after driver installation Please invoke the shell script for this pcan make devices 2 This script invocation installs two device files for each type of CAN adapter Please verify the result with the command ls l dev pcan a Note When using the real time flavor of the driver no device file is created For a netdev device the device file is created but currently it is only necessary to set the bit rate for the interface 19 PCAN Driver for Linux User Manual m Sy
17. 01c 00000000 00000000 00000000 00000000 0x0000 1 pei can3 7d00400 209 0x001c 00000000 00000000 00000000 00000000 0x0000 32 usb can0 00000000 033 0x001c 00000000 00000000 000000a6 00000000 0x0000 33 usb canl 00000000 255 0x001c 00000000 00000000 00000000 00000000 0x0000 40 pecard can4 00000180 169 0x001c 00000000 00000000 00000000 00000000 0x0000 41 pecard can5 000001a0 169 0x001c 00000000 00000000 00000000 00000000 0x0000 The ndev column shows the network device assignment For assignment of bitrates to network devices you can either set the desired bit rate as module load parameter or you can assign the bit rate after loading the driver with a simple command line invocation like echo i 0x4914 e gt dev pcan0 PCAN Driver for Linux User Manual n System For this reason it is important to create the chardev device entries too If your target does no create the device files automatically with UDEV you have to run with the script pcan make devices 2 even if only the netdev driver is used To test the correct installation of the netdev driver you can use the Socket CAN utility candump candump Usage candump can interfaces use CTRL C to terminate candump Options m lt mask gt default 0x00000000 v lt value gt default 0x00000000 i lt 0 1 gt inv_filter e lt emask gt mask for error frames t lt type gt timestamp Absolute Delta Zero color mode a enable additional ASCII o
18. 5 So the generation of the socket CAN modules do not apply to newer kernels For newer kernels you appropriately have to configure your kernel CONFIG_CAN CONFIG_CAN_RAW CONFIG_CAN_BCM CONFIG_CAN_VCAN to use the necessary modules To use Socket CAN on older Kernels you first have to fetch the Socket CAN sources and compile and load them To fetch the sources you might invoke git clone git gitorious org linux can can modules git cd can modules 48 PCAN Driver for Linux User Manual n System Then please follow the instructions given in the README file to compile and load Socket CAN With Socket CAN you get a driver for virtual CAN channels They are called vcanO vcan1 and so on To get the Socket CAN loaded you can invoke as root user modprobe can modprobe can raw modprobe can bcm modprobe vcan to load the necessary modules You might look into your kernel log e g var log messages to see the module banners printed at load time After loading you ll get this Ismod output lsmod grep can can_bem 16392 0 can_raw 9856 0 can 36072 2 can bcm can raw vcan 4360 0 Now you only have to bring up your new network nodes For example please invoke ifconfig vcan0 up This starts the network device vcanO To see if the network device is installed please call ifconfig vean0 Link encap UNSPEC HWaddr 00 00 00 00 00 00 00 00 00 00 00 00 RX packets 0 errors 0 dropped 0 overruns 0 frame 0 TX packets
19. 5 btr 0x4914 options pcan type epp btr 0x4914 options parport pc io 0x378 irq 7 Depending on the desired target hardware interfaces and transport protocols you may need more entries Please look into the Socket CAN documentation for more information With the special assign peak module load parameter you can assign the network device names of the CAN channels PCAN Driver for Linux User Manual n System corresponding to the assigned minor numbers e g network device name can40 corresponds devices minor number 40 If you omit this parameter the network device names are automatically assigned in channel initialization order A third option allows assigning individual network device names To accomplish it please add a string similar to this assign pcan32 canl pcan41 can2 a Note With kernels 2 4 x you should use a plus instead a comma to separate the entries To check the correct installation of the driver please invoke cat proc pcan You ll get a similar printout if there are no errors beses PEAK Systems CAN interfaces www peak system com fecccssesssssrrccscccssssse Release 20070221 no Sececssserestercsssssessssse PESSSSSSS SES ERE mod isa pci dng usb pec net KEDE SE SEE SES EERERE RE 6 anterfaces E magor 203 found SES S SES SES SESSEDDES n type ndev base irq btr read write irqs errors status 0 pei can2 7d00000 209 0x0
20. AN Driver for Linux User Manual a System 1 Disclaimer Part of this program is free software you can redistribute it and or modify it under the terms of the GNU General Public License or LGPL Lesser General Public License as published by the Free Software Foundation version 2 of the License This program is distributed in the hope that it will be useful but WITHOUT ANY WARRANTY without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE See the GNU General Public License for more details You should have received a copy of the GNU General Public License along with this program if not write to the Free Software Foundation Inc 51 Franklin Street Fifth Floor Boston MA 02110 1301 USA A Attention It is strictly prohibited to use the intellectual property from the provided source code for developing or producing a compatible hardware All rights are reserved by PEAK System Technik GmbH PCAN Driver for Linux User Manual a System 2 Changed Compilation Target Since Kernel 2 6 25 Since kernel version 2 6 25 the default compilation target has changed Please take care if you have updated your target kernel The CAN Network subsystem PF_CAN aka SocketCAN became part of the mainline Linux kernel since kernel version 2 6 25 For this reason the PEAK driver automatically compiles with the recommended netdev support when CONFIG_CAN is set in the kernel configuration The automatic configur
21. Linux User Manual n System 18 4 Troubleshooting A Attention On an old station after compiling the kernel patched for Adeos a problem that makes the kernel couldn t load can appear To solve this problem you can add lapic 1 to the kernel command line parameters in grub conf or lilo conf file depending on your bootloader If your kernel still crashes at start a solution for finding what is blocking your kernel is to compile it with Xenomai support in module and try to insert it after kernel was loaded It will then indicate in the log messages what the problem is The most common mistake when using a real time task is trying to print some text in the user terminal with printf command It is highly recommended to avoid doing that In most cases it will result in a kernel crash 53 PCAN Driver for Linux User Manual n System 19 FAQ Q The compilation and installation worked well can write messages to the CAN Bus but cannot read any message A Probably you have a kernel version greater or equal than 2 6 25 and you compiled for NET DEV SUPPORT since this is the default compilation target for kernels greater and equal than 2 6 25 Q The driver for my PCAN ISA card is not being installed What s wrong A One possibility is that the SJA 1000 chip on the card is setting back while checking the PeliCAN mode If the card with a PLD that has got a red point and the jumper JP11 is set on this may be t
22. Manual n System 8 1 Interface Hardware Type To register non hot pluggable devices permanently you have to use these settings type typel type2 where type is isa or sp or epp depending on your interface hardware Example type isa sp 8 2 1 O Port and Interrupt Settings If you like to use non standard settings for O ports or interrupt number assignments you have to add io iol io2 irq irgql irq2 where io is the hexadecimal number of the corresponding IO port and irq is the decimal number of the assigned interrupt line Examples io 0x300 0x378 irg 10 7 The standard assignments for ISA and PC 104 interfaces are io irq 0x300 10 0x320 5 The standard assignments for Dongle in SP EPP mode are io irq 0x378 7 0x278 5 30 PCAN Driver for Linux User Manual m System 8 3 Initial Bit Rate To prevent a wrong initial bit rate when loading the driver we added a driver load parameter which sets the initial bit rate of the related interfaces For example to set the initial bit rate to 1 Mbit sec the syntax is bitrate 0x0014 In order to make this setting persistent you have to modify etc modules conf or etc modprobe conf depending on your kernel version QO Note Please consider that all interfaces handled with this driver get the same initial bit rate The corresponding common bit rate codes are define CAN BAUD 1M 0x0014 1 Mbit s define CA
23. N BAUD 500K 0x001C 500 kBit s define CAN BAUD 250K 0x011C 250 kBit s define CAN BAUD 125K 0x031C 125 kBit s define CAN BAUD 100K 0x432F 100 kBit s fdefine CAN BAUD 50K 0x472F 50 kBit s define CAN BAUD 20K 0x532F 20 kBit s define CAN BAUD 10K 0x672F 10 kBit s define CAN BAUD 5K 0x7F7F 5 kBit s 31 PCAN Driver for Linux User Manual n System 8 4 Assign Parameter netdev only There are three choices to assign a network device name to CAN interfaces assign peak assign device node name network device name With the special assign peak module load parameter you can assign the network device names of the CAN channels corresponding to the assigned minor numbers e g Network device name can40 corresponds devices minor number 40 A third option allows assigning individual network device names To accomplish it please add a string similar to this assign pcan32 canl pcan41 can2 Q Note With kernels 2 4 x you should use a plus instead a comma to separate the entries If you omit this parameter the network device names are automatically assigned in channel initialization order An alternate numbering method for the canX netdev interface name does exist since v7 13 and above Please read the following paragraph to learn more about the extension of the assign parameter 8 5 Alternate Device Numbering Method The Kernels always en
24. PCAN Driver for Linux PCAn Driver for Linux User Manual vz7 x Document version 2 1 1 2014 10 14 PCAN Driver for Linux User Manual Product names mentioned in this document may be the trademarks or registered System trademarks of their respective companies They are not explicitly marked by and KOM 2014 PEAK System Technik GmbH PEAK System Technik GmbH Otto R hm Stra e 69 64293 Darmstadt Germany Phone 49 0 6151 8173 20 Fax 49 0 6151 8173 29 www peak system com linux peak system com Klaus hitschler gmx de Document version 2 1 1 2014 10 14 PCAN Driver for Linux User Manual a System Content 1 Disclaimer 6 2 Changed Compilation Target since Kernel 2 6 25 7 3 Changed Compilation Target since Kernel 3 6 8 4 Features of the pcan o or pcan ko Driver 9 4 1 Special Features of the chardev driver 10 4 2 Special Features of the netdev driver 10 5 Prelude 12 6 Installing Manually 13 6 1 Unpacking the Files 13 6 2 Prerequisites for Compilation of the Sources 15 6 3 Manual Compilation and Installation 16 7 Loading the Driver 17 7 1 Driver Loading Specifics for chardev 18 7 2 Driver Loading Specifics for netdev 20 7 3 Kernel Drivers 25 7 4 udev Support 26 7 5 pcan make devices 27 7 6 Specifics with the Driver Installation for PCAN USB 27 7 7 Specifics with the Driver Installation for PCAN PC Card 28 8 Customization of the modprobe Configuration File
25. access of CAN devices This kind of interface enhances the features compared to the chardev driver Especially it provides Possibility for multiple paths reading writing from to the same CAN channel 10 PCAN Driver for Linux User Manual n System Built in filter capabilities e g CAN ID range filters with can raw sockets Built in broadcast manager for cyclic sending of CAN messages and content filtering in the CAN data e g updates to userspace only on data change Simple user API accessible from mostly all programming languages since normal network socket calls are used creating PF_CAN analogue to PF_INET Local loopback of sent CAN frames for network transparent applications Socket CAN is accompanied from lots of useful tools and utilities please have look at https gitorious org linux can The interface to the driver constants and structures is defined in the header files can h and error h for kernels lower than 2 6 25 Attention Since kernel version 3 6 the netdev interface with all of the PEAK System PCAN interfaces is natively included in the mainline kernel So there is no need to install the pcan driver when planning to use the Socket CAN interface in applications 11 PCAN Driver for Linux User Manual m System 5 Prelude Note Before installing the software the hardware has to be installed in or at the computer Exception PCAN Dongle PCAN PC Card or PCAN USB This manual is describ
26. ation can furthermore be changed with NET NETDEV_SUPPORT to force netdev configuration or NET NO to force chardev configuration A Attention When using the netdev driver interface the chardev driver test tools cat dev pcanXX receivetest transmittest will not work correctly receiving of messages won t be possible To compile the PEAK Linux driver with the former default PEAK chardev interface please invoke make clean make NET NO PCAN Driver for Linux User Manual n System 3 Changed Compilation Target since Kernel 3 6 Since kernel version 3 6 PEAK System has made the effort to include in the SocketCAN Network subsystem of the mainline kernel the support of all the PEAK System PCAN interfaces while continuing to update the pcan driver When running such a kernel netdev driver users don t need to install the pcan driver anymore because all PEAK System PCAN interfaces are natively supported as soon as their are plugged into the PC For example setting the bitrate 500K to CAN interface canO is now available using the ip tool command ip link set can0 type can bitrate 500000 Thus when running such kernels only chardev applications configuration needs to install the pcan driver Therefore it is strongly recommended in that case to build the pcan driver with NET NO option make clean make NET NO PCAN Driver for Linux User Manual a System 4 Features of the pcan o or pcan ko Driver The
27. e column irq above is then changed into 20 pcan settings f dev pcan32 d 20 This has the following consequences ls l dev pcan grep pcanusb lrwxrwxrwx 1 root root 8 sept 29 16 26 dev pcan32 gt pcanusb0 crw rw rw 1 root root 180 0 sept 29 16 26 dev pcanusb0 dev pcanusb lrwxrwxrwx 1 root root 11 sept 29 16 26 devid 20 gt pcanusb0 33 PCAN Driver for Linux User Manual n System 1 dev pcan32 always exists backward compatibility with former versions of pcan as a softlink to the real device node dev pcanusbO 2 Anew sub directory dev pcanusb is created which contains a new softlink devid 20 which links to the real device node dev pcanusbO The creation of the new sub directory and the new softlink is entirely handled by 45 pcan rules This file is given as an example and everyone is able to modify it either the driver s original one under driver udev or the one installed in the system s Udev directory etc udev rules d The device id can also be used for naming the canX interfaces created by the driver when the netdev mode is not deactivated For some backward compatibility reasons this feature is not set by default To be able to use the flashed value of the device id of any PCAN device the pcan driver must be loaded with the assign devid parameter The devid keyword is compatible with all the other existing opti
28. e compilation For additional support on Socket CAN you may also check the mailing lists at http vger kernel org vger lists html linux can 50 PCAN Driver for Linux User Manual a System 18 Real time Support with Xenomai Since Release release_20061029_ real time support for the Xenomai real time environment www xenomai org was merged from a previous rt branch into the main branch Most of the work was done by Laurent Bessard and Edouard Tisserant The Xenomai project has been launched in August 2001 It has merged in 2003 with the RTAI project www gna org projects rtai to produce an industrial grade real time Free Software platform for GNU Linux called RTAl fusion on top of Xenomai s abstract RTOS core 18 1 Installation First of all in order to install PCAN rt driver a Xenomai real time environment must be installed on your workstation Download the Xenomai source code from the Xenomai website and install it by following the installation manual provided The Linux kernel of your workstation must be patched for using Adeos patches for a lot of architectures are included in the source code Before using Xenomai the list of dynamic libraries of your workstation must be updated If not the driver compilation will abort For that you can use ldconfig ensuring that the path to Xenomai libraries have been added to etc 1d so conf file 18 2 Compilation Environment To compile the PCAN real time driver
29. e installation of the driver and the library an on other target than the host system can t be supported through the given installation scripts We are glad about hints how to improve the Cross Compilation support Especially we are looking for successful ports of the driver to document the knowledge for other engineers 43 PCAN Driver for Linux User Manual n System 13 Features of the shared Library libpcan so Cchardev only The libpcan so library is providing an easier interface for using the features of the PCAN drivers The library interface is similar to the one from MS Windows and makes the porting of applications easier There are also some calls which adapt better to the specifics of Linux They are marked with a LINUX_ as prefix Example HANDLE LINUX_CAN_Open char szDeviceName int nFlags Application Shared library Figure 1 Calling hierarchy The interface of the library is described within the C C header file libpcan h Please note that 1ibpcan h includes the pcan h file The source code is under LGPL so it is for utilizing within proprietary software without any exceptions 44 PCAN Driver for Linux User Manual n System 14 Manual Installation of the chardev Shared Library Please change to the directory peak linux driver x y lib Login as root user and invoke cp libpcan so 0 1 usr lib libpcan so 0 1 ln sf usr lib libpcan so 0 1 usr lib libpcan so 0 ln
30. ed and the device files are created automatically The script to install device files for non UDEV target pcan_make_devices is still provided This script should not used together with udev 26 PCAN Driver for Linux User Manual n System Note The device nodes are removed also automatically when a hotplug device is removed There is a compatibility issue with updates of a modprobe configuration file and pcan_make_devices and the udev installation Please look at Customization of modules conf or modprobe conf for further details 7 5 pcan make devices Q Note That pcan_make_devices is obsolete with systems supporting udev Help invocation of pcan_make_devices Spcan make devices help Usage pcan make devices n help h Info Create n device nodes for each PCAN type You must be root to invoke pcan_make_devices To use pcan_make_devices a successful insmod modprobe pcan o or pcan ko must precede No device files must be created for Xenomai devices 7 6 Specifics with the Driver Installation for PCAN USB In order to use the driver the USB subsystem of the Linux kernel has to be enabled USB support for Linux was first introduced with kernel 2 4 The use of PCAN USB together with a Linux kernel version less than 2 4 7 is deprecated through the driver developer 27 PCAN Driver for Linux User Manual n System 7 7 Specifics with the Driver Installation for PCAN PC Card The user side o
31. event include lt fcntl h gt include lt unistd h gt include lt libpcan h gt TPCANRdMsg msg PCAN Driver for Linux User Manual PEAK System int ret int maxfd fd_set watchset testset create 2 sets to carry file descriptors HANDLE h LINUX CAN Open dev pcan0 O_RDWR request the associated file descriptor int fdpcan LINUX CAN FileHandle h FD_ZERO amp watchset clear the set of file descriptors FD_SET fdpcan amp watchset add the pcan descriptor FD_SET fdother amp watchset add another input descriptor determine the highest used file descriptor maxfd fdpcan gt fdother fdpcan fdother test if the file descriptors still in the set while FD_ISSET fdpcan amp watchset FD_ISSET fdother amp watchset watchset will be used later on again testset watchset wait until a input is ready err select maxfd 1 amp testset NULL NULL NULL if err lt 0 an error is occured return if FD_ISSET fdpcan amp testset read a message ret LINUX CAN Read h amp msqg if ret 65 PCAN Driver for Linux User Manual PEAK System use msg else if FD_ISSET fdother amp testset do what has to be done to delete the I0 event e g delete a file descriptor from the set close fdother FD CLR fdother amp watchset 66 PCAN Dri
32. f the PCMCIA subsystem of the kernel has undergone heavy changes through subsequent releases of kernel 2 6 x So we have to distinguish between the implementations Up from kernel 2 6 13 the vendor and card IDs are not any more registered in the configuration file etc pcmcia config since the relationship between manufacturer ID and device ID of the card and the associated driver is registered inside the driver The driver should be loaded before card plug in With these kernel versions you can use the pccardctl utility from the pcmcia package especially pccardctl eject and pccardctl insert to prepare a card for ejection or to notify an inserted card The former utility to do the same was called cardctl For earlier kernel versions than 2 6 13 you need entries in letc pcmcia config like device pcan class none module pcan card PCAN PCCARD manfid 0x0377 0x0001 bind pcan With these entries you can use your configured hotplug system to load the driver when the card is plugged in Also for kernels lower than 2 6 13 you can use the cardctl utility from the pcmcia package especially cardctl eject and cardctl insert to prepare a card for ejection or to notify an inserted card Note Removing a card with still open channels is not recommended 28 PCAN Driver for Linux User Manual m System 8 Customization of the modprobe Configuration File a Note modprobe installa
33. g cat proc ksyms If there is cryptic number letter combinations at the end of the symbols your system was generated with enabled CONFIG_MODVERSIONS A simple new compilation on your system is enough peak linux driver x y driver clean Your operating system doesn t support the PARPORT_SUBSYSTEM or you have a parallel interface which is unknown to the operating system and you like to use a PCAN Dongle with this interface Here you have to compile with the PAR NO switch peak linux driver x y driver clean PAR NO_PARPORT SUBSYSTEM You get runtime errors and want to see more information for diagnosis at var log messages Here you have to translate with the DBG DEBUG switch peak linux driver x y driver clean DBG DEBUG inations of these switches are also possible 42 PCAN Driver for Linux User Manual n System 12 2 Support for Cross Compi lation The driver its library and the test programs sometimes are used on other systems than the development system The process of generating the binary driver for another target is called Cross Compilation Partially the driver and its helper programs are supporting Cross Compilation Therefore the driver has to be compiled with the option make KERNEL LOCATION lt path to my kernel gt Whether the driver can be compiled for every possible target system and is working there can t be guaranteed because of so many different architectures Th
34. he reason Remedy To set the jumper to off Q My PCAN ISA CAN PC 104 or PCAN Dongle doesn t receive any data though I can send What s wrong AA possible reason is that a wrong interrupt is configured for the device Then single messages can be send however none can be received Not only the wrong assertion of the interrupt number but often the missing release of the interrupt in BIOS legacy ISA for the PCAN ISA card can be the reason Q My PCAN Dongle is being rejected while using it even if the installation was successful What s wrong A Normally the reason is a not assigned interrupt for the parport_pc while using it together with the PARPORT_SUBSYSTEM Q What possibilities do have to diagnose if have problems A Linux has a variety of choices First it s useful to look at recent messages with 54 PCAN Driver for Linux User Manual n System tail f var log messages If the driver is loaded you can see as root with sbin lsmod grep pcan More informations about the parameter of the driver can be asked with sbin modinfo pcan Closer information about assignment of major and minor numbers and about the use of resources can be queried with cat proc pcan Information about assignment of resources can be queried with cat proc interrupts cat proc ioports cat proc iomem Cat proc pci or cat proc bus pci devices depending on t
35. he kernel version cat proc bus usb devices Q Note The interrupts of the hardware aren t registered until its use To diagnose USB there are also programs with a graphical user interface like e g USBView With garbled installations sometimes paths for lation of the driver are set wrong That s why while translating the driver a message like this appears Host machine kernel version 2 4 18 4GB Driver kernel version 2 6 5 Path to kernel sources mnt usr src linux use KBUILD yes With this message it is possible to compare if the driver is really compiled for the used kernel The KBUILD mechanism is used from kernel 2 6 x on Q How do interpret the output of cat proc pcan 55 PCAN Driver for Linux User Manual n System A The second line gives information about the release of the driver In the third line the number of the found CAN channels and the assigned major number are shown From line four on the characteristics of the each CAN channel are described The first column shows the minor number assignment of the channel the second column shows the type of the channel the third column shows the network device assigment available The fourth column shows the current BTROBTR1 bit rate setting the next 2 columns show the assignment to base addresses ports and interrupt numbers The following four columns count the number of processed read write interrupt and errors transactions
36. ing the installation process on an x86 Linux computer with installed kernel 2 6 x and a SuSE 10 1 system Exceptions for kernel 2 4 x and x86 RedHat systems are particularly mentioned Since driver version 6 0 support for kernels 2 2 x has ceased If you need a driver for these kernels please have a look at the latest 5 x driver version During the installation sometimes a console and perhaps an editor as well will be used in the root mode If you want to login as root user within a console or xterm session you can use the su command or the built in menu file root console For Debian based systems ubuntu you have to use the sudo command instead or replace su with sudo su To start an editor in the root mode just invoke from the menu system terminals terminal system manager mode in KDE From the console command line you might invoke the editor kwrite kate or emacs For some distributions the standard path doesn t include the sbin folder Then installation commands have to typed in with sbin ahead Examples sbin modprobe instead of modprobe sbin insmod instead of insmod sbin rmmod instead of rmmod sbin modinfo instead of modinfo 12 PCAN Driver for Linux User Manual n System 6 Installing Manually 6 1 Unpacking the Files Unpack the file peak linux driver x y tar gz into an optional folder into
37. l time tests are not as verbose as in non real time This is due to the fact that printing to screen is not 59 PCAN Driver for Linux User Manual m System recommended from a real time thread Tests do just display statistics at the end of the test after Ctrl C For a minimal hello word example see in test minimal_xenomai directory For a more concrete example of use of PEAK Linux driver with Xenomai please consult source code of the CanFestival project OpenSource CanOpen stack www canfestival org Q I have problems to compile or load the driver What can do A First read this manual to see if you got a well known problem Second if it is a compiling problem then redirect your compiler output into a file and send the contents to linux peak system com If it is a loading problem do the same for the output of your loading procedure With loading or runtime problems it is very helpful to run a driver with debug mode enabled Then please attach the relevant parts of var log messages Q I got other questions or problems with the driver A Please consult linux peak system com Q I am enthusiastic about the driver or the documentation and want to contribute something to make it better Who do I have to consult A Please also contribute linux peak system com PEAK System and the authors are happy about every positive response Q When the socketCAN driver peak_pci ko was installed the driver
38. nel must have the proc filesystem enabled Dependent of your CAN interface hardware PCI USB and or PCCARD support must be enabled with your target kernel configuration 15 PCAN Driver for Linux User Manual n System 6 3 Manual Compilation and Installation A semi automatic installation with compilation can also be done with little effort Unpack the tar gz files to any directory and start compilation and installation Please note the prerequisites for compilation of the sources As default the driver and its utilities are compiled for netdev usage from kernel versions up from 2 6 25 otherwise for chardev usage with support for all hardware interfaces from PEAK If you need to customize the driver or switch to netdev usage please look at the chapter Compilation of the Driver Only cd peak linux driver x y make clean make su c make install Installation itself needs to be root After building the sources and the following binary installation on your target computer it s enough to type in sbin modprobe pcan to install the driver and any other useful modules Depending on your requirements you have to do this procedure every time you start your computer or your application This may be done in a startup script too 16 PCAN Driver for Linux User Manual m System 7 Loading the Driver a Note From kernel version 2 6 0 the kernel module extension is ko If the driver to be loaded is applicable for
39. ocan ko didn t load anymore What can do A If your system runs udev you only need to copy the file blacklist peak_pci conf into etc modprobe d The file blacklist peal_pci conf is located in the Documentation folder You need to do this as root user e g with 60 PCAN Driver for Linux User Manual m System sudo cp Documentation blacklist peak_pci conf etc modprobe d After copying please restart your computer and peak_pci ko will not load anymore To remove this option you simply need to erase letc modules d blacklist peak_pci conf and restart PCAN Driver for Linux User Manual n System Appendix A Usage of the Driver with chardev Mode There are 4 options to talk with the chardev driver Some code snippets explain the options A 1 Polling Polling is the worst of all possibilities But sometimes it becomes the easiest choise To poll the driver path have to be opend with the option O_NONBLOCK include lt fcntl h gt include lt libpcan h gt TPCANRdMsg msg int ret HANDLE h LINUX CAN Open dev pcan0 O_RDWR O NONBLOCK do ret LINUX CAN Read h amp msg while ret EAGAIN if ret use msg else 62 PCAN Driver for Linux User Manual n System A 2 Blocking wait Blocking wait should be preferred because it preserves system resources Normally blocking wait must run inside a separate thread to avoid blocking of the
40. ons of the assign parameter described in 8 4 For examples assign devid Requests pcan to use the device id value read from the PCAN device as X in the interface name canX If the device id feature is not supported by any PCAN device then the default rule is used instead so X will be the next free linux can number assign devid peak Requests pcan to use the device id value read from the PCAN device as X in the interface name canX Because of the following peak option if the device id feature is not supported by any PCAN device then the peak option rule is used instead so X will be the same than in dev pcanX 34 PCAN Driver for Linux User Manual n System 9 Installation Test Use of Test Programs chardev only Two test programs are attached for the initial test of the interfaces For using the programs please change to the directory peak linux driver x y test Please invoke receivetest help You get following response receivetest Version Release 20040412 a www peak system com AA Copyright C 2004 PEAK System Technik GmbH receivetest comes with ABSOLUTELY NO WARRANTY This is free software and you are welcome to redistribute it under certain conditions For details see attached COPYING file Receivetest a small test program which receives and prints CAN messages Usage receivetest f devicenode t ty
41. pe p port i irq b BTROBTR1 e options f devicenode path to device file default dev pcan0 t type of interface e g pci sp epp isa or usb default pci p port in hex notation if applicable e g 0X378 default 1st port of type i irq in dec notation if applicable e g 7 default irq of 1st port b BIROBTR1 code in hex e g 0X001C default 500 Kbit e accept extended frames default standard frames or help this help receivetest finished 0 The default bit rate settings for all CAN interfaces are set to 500 Kbit sec The bit rate can be customized through the command line parameters For using an ISA or Dongle interface with the standard settings following detail is enough receivetest t isa or receivetest t sp or receivetest t epp or PCAN Driver for Linux User Manual n System receivetest f dev pcan0 to get to the first PCAN PCl interface Every received message of the interface will be print out Entering Ctrl C cancels the program The program transmitest can be used to transmit data Please invoke transmitest help You get following output similar to receivetest transmitest Version Release 20040412 a www peak system com toe Copyright C 2004 PEAK System Technik GmbH transmitest comes with ABSOLUTELY NO WARRANTY This is free software and you are welcome to redistribu
42. r pcan h describes the interface to the driver and command constants You have to include this file if you want to have direct access to the driver with open ioctl read close etc The file peak linux driver lib libpcan h describes the interface to the dynamic linkable library libpcan so You have to include this file if your application needs to use the dynamic library O Note libpcan h is including the pcan h file 10 1 Manual Installation of the chardev Header Files Please copy the header files into the directory usr include as root user as followed and customize the access rights cp peak linux driver driver pcan h usr include pcan h chmod 644 usr include pcan h cp peak linux driver lib libpcan h usr include libpcan h chmod 644 usr include libpcan h 39 PCAN Driver for Linux User Manual n System 11 Most Important netdev Header Files For kernel versions lower than 2 6 25 the header file can h and other includes important for application programs should be taken from the Socket CAN source Appropriate Makefiles can be found e g at Linux can can utils and be downloaded using git clone git gitorious org linux can can utils 40 PCAN Driver for Linux User Manual n System 12 Compilation of the Driver Only 12 1 Use Cases In some use cases the installed driver doesn t fit to the configured operating system This could be following cases 1 Your kernel sources a
43. rake distributions use this configuration The read and write interface of the driver print out ASCII formatted data or accept ASCII formatted data as input The format of the messages for read and write is defined identically so that a redirection of data is possible cat dev pcand gt dev pcan8 The format of the data is like the previously mentioned description of the messages Additionally to the description of the messages the read output supplies a time stamp in milliseconds and microseconds If there is a redirection like above the time stamp is being ignored The write output also accepts details about initializing echo i 0x1234 e gt dev pcan8 The first parameter pinpoints the initialization the second parameter names an input value for both BTRO BTR1 registers of the SJA1000 chip The optional third parameter e enables the accept ion of extended frames Naturally a faster ioctl interface is also defined 71
44. raphic error Removed obfuscation added real time support Minor improvements netdev message filters and error handling described Added a special paragraf to explain NETDEV compilation target udev support explained support up to kernel 2 6 29 udev issues detailed Rework of the manual Added a hint how to blacklist peak_pci ko Added tips about linux can mainline drivers and iproute2 tools changed old berlios to new gitorious links set English language to entire doc and fixed some typos 69 System Date Hi 01 13 2002 Hi 02 10 2002 Hi 02 20 2002 Hi 02 21 2002 Hi 02 09 2003 Hi 02 23 2003 Hi 08 04 2003 Hi 05 02 2004 Hi 05 13 2004 Hi 08 14 2004 Hi 07 19 2005 Hi 11 30 2005 Hi 03 14 2006 Hi 05 14 2006 Hi 05 16 2006 Hi 10 29 2006 Hi 11 04 2006 Hi 02 27 2007 Hi 01 18 2009 Hi 02 03 2009 Hi 02 14 2009 Hi 01 16 2010 Hi 03 28 2010 SG 04 28 2014 PCAN Driver for Linux User Manual n System CAN hardware is only accepted based on Philips chip SJA1000 PCAN ISA or PCI hardware is immediately verified during installation In contrast to that the PCAN Dongle hardware is not verified until an open call That s the reason why no error is reported if a parallel port without plugged in PCAN Dongle is recognized The Parport Subsystem has to be configured to use a interrupt Therefore following lines have to be entered into the file etc modules conf or etc modprobe conf depending on your kernel
45. re not to be found in the standard directory usr src linux You still can compile with following invocations cd peak linux driver x y driver make clean make KERNEL LOCATION lt path to my kernel gt 2 You don t need or don t want support for some interface types Then you have to compile the driver with disabled support for some interfaces The makefile provides to enable or disable partial compilation with this switches USB USB_ SUPPORT or USB NO PCI PCI_ SUPPORT or PCI NO DNG DONGLE SUPPORT or DNG NO ISA ISA_SUPPORT or ISA NO PCC PCCARD SUPPORT or PCC NO NET NETDEV_ SUPPORT or NET NO As default all interfaces are enabled For example if you want to suppress PCAN Dongle and PCAN ISA Interfaces you have to compile cd peak linux driver x y driver make clean make DNG NO ISA NO As default for kernels lower than 2 6 25 the netdev driver is disabled If you like to use the netdev driver please compile with NET NETDEV_ SUPPORT 41 PCAN cd make make 4 cd make make 5 cd make make Comb Driver for Linux User Manual Em System The following section only applies to kernel versions 2 4 x or lower The driver is to be installed on RedHat Linux RedHat in contrast to SUSE as default uses the CONFIG_MODVERSIONS modifier to prohibit the installation of improper drivers If your operating system was generated with enabled CONFIG_MODVERSIONS you can see this easily by invokin
46. se The current way generates this warning and at worst translates all of the modules again Though there are approaches that the generation of external modules like pcan ko is getting easier This message can be ignored B 3 Obfuscation Q The source code module pcan_usb_kernel c only contains cryptic letters Is the file destroyed A No the contents of the files is obfuscated to save intellectual property Though it s still a translatable source code This feature does only apply for releases earlier than 20061029 Q During installation of the driver with USB support get following message Warning loading pcan o will taint the kernel non GPL license Proprietary What s the meaning of this message A This message points out that the driver for the PCAN USB module was not released under the GPL license The use of the driver as a module within Linux though is legal 68 PCAN Driver for Linux User Manual B 4 History of the Document Text First draft Rescue after loss of data Format revision read write tables Removed typos PCAN USB integrated Obfuscation of pcan usb kernel c is described devfs kernel 2 5 support LGPL 1st revision for kernel 2 6 x driver Enlarge FAO corrections Simple correction for RPM make procedure Additional compiler switches Replaced cat i with echo i Added a hint from Uwe Bonnes Added PCAN PC Card support removed devfs Corrected serious typog
47. stem Now you already can do your first test with your CAN hardware Just connect a CAN transmitter to your CAN interface and send messages with bit rate setting of 500 kbit sec Login on an user console and invoke cat dev pcan0 for the first PCAN PCI interface cat dev pcan8 for the first PCAN ISA or PCAN PC 104 interface cat dev pcani for the first PCAN Dongle interface in SP mode cat dev pcan24 for the first PCAN Dongle interface in EPP mode cat dev pcan32 for the first PCAN USB interface cat dev pcan40 for the first PCAN PC Card interface e The received messages should be shown This invocation can be made at more than one console for more than one interface at the same time Output of data is already possible With the call of echo m s 0x234 2 0x11 0x22 gt dev pcan0 for example a CAN message with standard frame is transmitted with the identifier 0x234 and two data bytes 0x11 and 0x22 from the first PCAN PCI interface The bit rate of the interface can as well be set from the so called write interface 7 2 Driver Loading Specifics for netdev A Attention Since kernel version 3 6 the netdev interface with all of the PEAK System PCAN interfaces is natively included in the mainline kernel So there is no need to install the pcan driver when planning to use the Socket CAN interface in applications See next paragraph to read some information about the native PEAK kernel drivers 2
48. t realtime variant chardev transmitest_rt cpp to transmit test realtime variant chardev wss transmit txt Test transmit instructions a PCAN Driver for Linux User Manual n 6 2 System Prerequisites for Compilation of the Sources Before compiling the following prerequisites have to be considered 1 Up from kernel version 2 6 x the completely configured kernel sources for your target system have to be installed If it is a standard installation the sources are located under lusr src linux in which this normally is a link e g to lusr src linux 2 6 6 For every kernel smaller or equal than 2 4 x only the kernel headers have to be installed It s not wrong to install the complete sources of the target system The kernel headers are installed if the invocation of cat lib modules uname r build include linux modversions h is ending without an error uname r is a placeholder for the result of the invocation uname r EZ The lib modules uname r build include linux version h file has to exist or being copied before from the path boot vmlinuz version h With kernels 2 6 x this file is created during the kernel compilation process Tools like make gcc etc have to be installed One of the test programs uses the g compiler The test programs need installed libpopt and libstdc with their header files dev variants Your target ker
49. tailed CAN_ERR_ information is set in the DATA 3 field of the same structure Error handling with netdev devices is similar however the error information is fit into the can_frame structure For details please look into the Socket CAN documentation 47 PCAN Driver for Linux User Manual a System 17 Socket CAN Introduction and Basic Installation netdev only The Socket CAN package is an implementation of CAN protocols Controller Area Network for Linux CAN is a networking technology which has wide spread use in automation embedded devices and automotive fields While there have been other CAN implementations for Linux based on character devices Socket CAN uses the Berkeley socket API the Linux network stack and implements the CAN device drivers as network interfaces The CAN socket API has been designed as similar as possible to the TCP IP protocols to allow programmers familiar with network programming to easily learn how to use CAN sockets Taken from the README file from the Socket CAN package The development on Socket CAN started end of 2002 at Volkswagen AG to have a common CAN IT interface for HMI and Car2Car prototypes Nowadays Socket CAN is maintained by a group of developers at https gitorious org linux can One of the Socket CAN maintainers Oliver Hartkopp did most of the netdev integration into the plain PCAN driver Q Note Socket CAN modules are part of the mainline kernel since version 2 6 2
50. tart ms TIME MS restart Where BITRATE 1 1000000 SAMPLE POINT 0 000 0 999 TQ NUMBER PROP SEG 1 8 PHASE SEG1 1 8 PHASE SEG2 1 8 25 PCAN Driver for Linux User Manual n System SJW 1 4 RESTART MS 0 NUMBER Thus setting the bitrate to a can interface is now possible using the bitrate bit timing parameters set aka sample point tq prop seg phase seg1 phase seg2 and sjw or the bitrate option followed by the numeric value if the kernel configuration option CONFIG_CAN_CALC_BITTIMING was set For example setting bitrate 500k to CAN interface canO might be done with ip link set can0 type can bitrate 500000 The restart ms option enables to define a timer in ms after which the CAN interface will be automatically restarted after a BUS OFF condition If the given numeric value is 0 then the automatic restart mechanism is disabled and user will have to manually call the ip link set canO type can restart command Last and complete version of how to use the ip link tool with CAN networks is available on line at https www kernel org doc Documentation networking can txt 7 4 udev Support From the driver version 6 8 udev support is provided When the driver becomes installed the udev rules 45 pcan rules are copied into the directory etc udev rules d After that each time PCAN device is recognized the driver is load
51. te it under certain conditions For details see attached COPYING file Transmitest a small test program which sends CAN messages Usage transmitest filename f devicenode t type p port i irq options filename mandatory name of message description file f devicenode path to device file default dev pcan0 t type of interface e g pci sp epp isa or usb default pci p port in hex notation if applicable e g 0X378 default 1 port of type i irq in dec notation if applicable e g 7 default irq of 1 port b BTROBTR1 code in hex e g 0X001C default 500 Kbit e accept extended frames default standard frames or help this help transmitest finished 0 This program expects similar parameters as receivetest with the exception of a file name In the file with this name the program expects a list of message descriptions which are to be send Those messages will be send cyclic until the ending by pressing Ctrl C The syntax of the description of the messages is PCAN Driver for Linux User Manual n System Descriptions of the first column of the message of the read write interface Tag Column 1 Description m r i Message string follows RTR message string follows Initialization string follows write only Comment follows write only Descriptions of the following columns of normal and RTR messages
52. tered netdevice can4 for pcan pci hw minor 1 ar 6 17 39 53 xxxx kernel pcan major 253 After insmod you have to bring your network devices up for example ifconfig can0 up Depending on the configuration of your system hotplugging etc you might get a log entry like Mar 6 17 39 53 xxxx ifup can0 PCAN Driver for Linux User Manual n System Mar 6 17 39 53 xxxx ifup No configuration found for can0 as the CAN network interface is currently not recognized and handled by these hotplugging scripts It s save to ignore these kind of log messages Before modprobing the netdev prepared modules you should edit your etc modprobe conf or etc modprobe conf local or etc modules conf depending on your kernel version and distribution and add at least these lines protocol family PF CAN alias net pf 29 can protocols in PF_CAN alias can proto 1 can raw alias can proto 2 can bcm protocol module options option can tpgen printstats 1 option can stats timer 0 virtual CAN devices alias vcan0 vcan alias vcanl vcan alias vcan2 vcan alias vcan3 vcan CAN hardware uncomment the currently used gt Peak System hardware ISA PCI Parallelport Dongle USB PC Card gt to set initial BTR values set and hardware dependent settings alias can0 pcan alias canl pcan alias can2 pcan alias can3 pcan options pcan assign peak options pcan type isa isa io 0x2C0 0x320 irg 10
53. tion options are put into a modprobe configuration file named either etc modprobe conf or etc modprobe conf local or etc modules conf or currently etc modprobe d pcan The name depends on kernel version and distribution Former modprobe installation options configured an invocation of pcan_make_devices in the modprobe configuration file These entries will not be modified by a fresher installation to avoid overwriting user made entries Please remove a potential invocation of pcan_make_devices inside this configuration files if your system supports udev The current entry locates in etc modprobe d pcan pcan automatic made entry begin if required add options and remove comment options pcan type isa sp install pcan sbin modprobe ignore install pcan pcan automatic made entry end At the end of the modprobe configuration file a marked addition is added through the installation The respective type and the eventually non standard base addresses and interrupt numbers are to be given there if the driver has to support the PCAN ISA or PCAN Dongle interfaces Have a look at the description about the manual loading of the driver Q Note As soon as there already is an entry with the word pcan the current entry is not to be changed If you wish to have a new entry you have to delete the old one first To do that you have to use an editor as root user 29 PCAN Driver for Linux User
54. umerate the devices in the same sequence order as long as the devices are plugged in the same sockets But as soon as a device is unplugged from a socket then plugged into another one it will be assigned a different number by the Kernel 32 PCAN Driver for Linux User Manual n System Thus when two PCAN USB adapters are swapped the same device nodes will identify a different device Some PCAN devices offer the ability of writing a number in their Flash memory so that one PCAN device can be distinguished from another and identical one With this feature for example a PCAN USB will always be assigned the same number whatever the USB socket it is plugged on If the device id read from the PCAN device is not 1 the default value then pcan environment automatically creates a new entry under dev using this number pcan driver suite is provided with some Udev default rules that propose an example of what can be done with this new and entirely dynamic system see driver udev 45 pcan rules Here is an example using a PCAN USB adapter which describes how to set value 20 to the device id and how things are handled by the system next cat proc pcan n type ndev base irq btr read 32 usb can0 ffffffff 255 0x001c 00000000 As usual the first PCAN USB is being assigned first value 32 by ocan Udev system dev pcan32 Its default device id value 255 se
55. utput s lt level gt silent mode 1 animation 2 nothing b lt can gt bridge mode send received frames to lt can gt log CAN frames into file L use log file format on stdout To receive from any CAN netdevice you might also invoke candump any instead of working with specific CAN netdevices candump can0 can2 PCAN Driver for Linux User Manual System 7 3 Kernel Drivers Since Kernel v3 6 PEAK System made the effort to include in the SocketCAN subsystem of the Linux kernel all the drivers needed to natively support the PCAN interfaces Thus when running such a kernel or a more recent one user doesn t need to install the pcan driver anymore if he wants to build SocketCAN applications These Kernel drivers offer more than the so called netdev interface of the pcan driver These drivers are compatible with the iproute2 tool utility which is part of all modern Linux distributions This tool has been modified to handle CAN protocol specific features so that setting a bitrate to a CAN interface is easier The help of the tool describes its usage ip link set can0 type can help Usage ip link set DEVICE type can bitrate BITRATE sample point SAMPLE POINT tq TQ prop seg PROP SEG phase segl PHASE SEG1 phase seg2 PHASE SEG2 sjw SJW oopback on off isten only on off triple sampling on off one shot on off berr reporting on off res
56. ver see chapter Specia Features of the chardev driver The netdev driver usage and installation is considered in depth in the chapter Specia Features of the netdev driver Parts of the following chapters are different for chardev or netdev implementations Exceptions are marked to pinpoint the difference PCAN Driver for Linux User Manual n System Since version 5 0 of the driver support for the XENOMAI real time add on to the Linux kernel is available You can get more information in the chapter Real time Support with Xenomai 4 1 Special Features of the chardev driver The driver can be used from more than one user program at the same time and the simultaneous use of lots of interfaces and or CAN channels is supported The reading or writing of messages can block if the receive buffer doesn t contain data any more or if the write buffer is full This behavior can be disabled by opening the path as non blocking If more than one user program communicates with the same CAN channel the input or output is shared e g Many user programs are accidentally sharing the received messages The select method is supported The interface to the driver constants and structures is defined in the header file pcan h 4 2 Special Features of the netdev driver The netdev driver interfaces to the kernels network modules via a so called Socket CAN framework Socket CAN aims to be a standard interface for
57. ver for Linux User Manual n System Appendix B Historical Parts B 1 devfs Up from Release 20030622 x the device file system is being supported optionally From kernel version 2 6 x the kernel developers depreciate the use of devfs so for the time being the driver is not supporting this Up from release release_20060501_a version 4 0 the parts for supporting devfs are removed from the driver Using the devfs it s not necessary to create device files manually any more This is taken over by the kernel in cooperation with the driver and the daemon devfsd The device file system has to be enabled within the kernel Compiling for devfs file system support If you translate the sources for a system with devfs support CONFIG_DEVFS_FS y this will be considered automatically cd peak linux driver driver make clean make DEVFS DEFS SUPPORT Q I compiled for device file system support Though it s not working A Is your devfsd the device file system daemon active Please check that 67 PCAN Driver for Linux User Manual n System B 2 Compilation of Kernel Greater Than 2 5 x Q While translating kernel 2 6 x following warning appears Warning Overriding SUBDIRS on the command line can cause inconsistencies Is something not right A I am afraid that the discussion within the kernel developer community about the right way of translating external modules hasn t found an end until this relea
58. your home directory Example tar xzf peak linux driver x y tar gz Within this directory you get following tree of files peak linux driver x y Documentation Any documentary COPYING GNU Public License PCAN Driver for Linux eng pdf this installation instructions template c template h template make todo txt Makefile A global makefile driver the driver and its sources Makefile the makefile for the driver pcan h Application interface definitions of the driver pcan_make devices a script for generating device nodes udev udev supporting stuff 45 pcan rules udev rules to modprobe driver for hotplug devices Src the driver sources test txt wstress libthe access library for chardev Makefile the makefile of the library chardev s libpcan h the library call prototypes chardev src the sources of the library chardev libpcan test the test programs Makefile the makefile to the test programs SPE The sources to the test programs 13 PCAN Driver for Linux User Manual System bitratetest c to test bitrate calculations chardev common c common h filtertest cppto test filter settings chardev parser cpp parser h receivetest c to receive test chardev transmitest cpp to transmit test chardev pcan settings c a tool to set the PCAN USB device number a receivetest_rt c to receive tes

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