RT-Socket-CAN - RTDM driver for CAN devices
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===========================================
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RT-Socket-CAN is an Open Source hard real-time protocol stack for CAN
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devices based on BSD sockets. This implementation is for RTDM, the
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Real-Time-Driver-Model. Note that there is a similar variant being
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developed for standard Linux using the Linux networking stack.
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Status:
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------
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Currently drivers are available for the following CAN controllers and
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devices:
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SJA1000 ISA devices
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SJA1000 Memory-mapped devices
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SJA1000 esd EPPC405 embedded controller and CPCI405 boards
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SJA1000 PEAK PCI card
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SJA1000 PEAK parallel port Dongle
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SJA1000 IXXAT PCI card
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MSCAN for MPC5200 boards
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Utilities for RT-Socket-CAN are available in "src/utils/can".
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Installation:
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------------
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This example installation is for the DENX "linuxppc_2_4_devel" tree
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(Linux 2.4.25) using the ELDK (see http://www.denx.de). It works in a
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similar way for other kernels and distributions including Linux 2.6.
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o Kernel space part:
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- Please install the Xenomai kernel space part as described in the
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README.INSTALL.
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- Configure RT-Socket-CAN as kernel modules as required by your
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hardware (and make sure that loadable module support is enabled):
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$ cd <linux-kernel-root>
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$ export CROSS_COMPILE=ppc_82xx-
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$ make menuconfig
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... Select "Loadable module support --->"
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[*] Enable loadable module support
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... Exit
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... Select "Real-time sub-system --->"
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"Real-time drivers --->"
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"CAN bus controller --->"
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[M] RT-Socket-CAN, CAN raw socket interface (NEW)
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(1024) Size of receive ring buffers (must be 2^N) (NEW)
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(4) Maximum number of devices (NEW)
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(16) Maximum number of receive filters per device (NEW)
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[M] MSCAN driver for MPC5200 (NEW)
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[*] Enable CAN 1 (NEW)
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[*] Enable CAN 2 (NEW)
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(66000000) Clock Frequency in Hz (NEW)
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(I2C1/TMR01) Pin Configuration
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<M> Philips SJA1000 CAN controller (NEW)
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<M> Standard ISA devices
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(4) Maximum number of ISA devices (NEW)
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<M> PEAK PCI cards
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... Exit and save
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Note: you can also statically link the MSCAN drivers into
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the kernel.
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- Make the Linux kernel and RT-Socket-CAN modules and copy them to
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the root filesystem:
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$ make dep
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$ make uImage
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$ cp -p arch/ppc/boot/images/uImage /tftpboot/icecube/uImage-rtcan
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$ make modules
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$ export DESTDIR=/opt/eldk/ppc_82xx
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$ make modules_install INSTALL_MOD_PATH=$DESTDIR
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$ find $DESTDIR/lib/modules/2.4.25/kernel/drivers/xenomai/rtcan
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.../rtcan
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.../rtcan/xeno_can.o
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.../rtcan/mscan
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.../rtcan/mscan/xeno_can_mscan.o
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.../rtcan/sja1000/xeno_can_sja1000.o
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.../rtcan/sja1000/xeno_can_peak_pci.o
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.../rtcan/sja1000/xeno_can_isa.o
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- Loading the RT-Socket-CAN modules
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Now boot the Xenomai enabled kernel on your target system.
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In case RT-Socket-CAN is built as kernel modules, you need to load
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them using modprobe or insmod, e.g. for this example build:
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# export MODDIR=/lib/modules/2.4.25/kernel/drivers/xenomai/rtcan
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# insmod $MODDIR/xeno_can.o
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# insmod $MODDIR/mscan/xeno_can_mscan.o
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# insmod $MODDIR/sja1000/xeno_can_sja1000.o
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# insmod $MODDIR/sja1000/xeno_can_peak_pci.o
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Note that various kernel module parameters can be passed with
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insmod. Please use "modinfo" to list them or check the
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corresponding source code files for further information.
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o User space part:
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- User space CAN utilities for RT-Socket-CAN are available in
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"src/utils/can". Please check the README in there for further
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information.
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Documentation:
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-------------
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The RTDM CAN profile is documented at
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http://www.xenomai.org/documentation/xenomai-3/html/xeno3prm/group__rtdm__can.html
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Feedback:
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--------
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Please report Xenomai related bugs and comments to the Xenomai mailing
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list (xenomai@xenomai.org).
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Please report CAN related bugs and comments to the "Socketcan" mailing
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list (Socketcan-users@lists.berlios.de) or directly to the main authors
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Wolfgang Grandegger (wg@grandegger.com) or Sebastian Smolorz
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(Sebastian.Smolorz@stud.uni-hannover.de).
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Credits:
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-------
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See CREDITS file in this directory.
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License:
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-------
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RT-Socket-CAN is free software, and you are welcome to redistribute it
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under the terms of the GNU General Public License. This program comes
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with ABSOLUTELY NO WARRANTY. See "COPYING" for details.
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