SHOW:
|
|
- or go back to the newest paste.
| 1 | (c) SYSTEC electronic GmbH, D-07973 Greiz, August-Bebel-Str. 29 | |
| 2 | www.systec-electronic.com | |
| 3 | ||
| 4 | 2012-03-08 | |
| 5 | ||
| 6 | SocketCAN Driver for USB-CANmodul series | |
| 7 | ========================================= | |
| 8 | ||
| 9 | Requirements | |
| 10 | ------------- | |
| 11 | ||
| 12 | - | CONFIG_CAN_CALC_BITTIMING=y |
| 12 | + | |
| 13 | ||
| 14 | * Following kernel options have to be set: | |
| 15 | ||
| 16 | CONFIG_CAN=m | |
| 17 | CONFIG_CAN_RAW=m | |
| 18 | CONFIG_CAN_BCM=m | |
| 19 | CONFIG_CAN_DEV=m | |
| 20 | CONFIG_CAN_CALC_BITTIMING=y | |
| 21 | ||
| 22 | * CAN utilities from the SocketCAN repository for first tests | |
| 23 | ||
| 24 | $ git clone git://gitorious.org/linux-can/can-utils.git | |
| 25 | $ cd can-utils | |
| 26 | $ make | |
| 27 | ||
| 28 | Old repository on berlios: | |
| 29 | $ svn checkout svn://svn.berlios.de/socketcan/trunk socketcan | |
| 30 | $ cd socketcan/can-utils | |
| 31 | $ make | |
| 32 | ||
| 33 | ||
| 34 | Limitations | |
| 35 | ------------ | |
| 36 | ||
| 37 | * Firmware version >=4.06 must be installed on USB-CANmodul. | |
| 38 | In case of an older firmware version, please connect the USB-CANmodul to a | |
| 39 | Windows PC with a recent driver version. | |
| 40 | * There is currently no way to read out or set the digital I/Os of the | |
| 41 | user port or the CAN port (signals EN, /STB, /ERR, /TRM). | |
| 42 | * No support for the obsolete modules GW-002 and GW-001. | |
| 43 | This is not planned at all. | |
| 44 | ||
| 45 | ||
| 46 | Build the driver | |
| 47 | ----------------- | |
| 48 | ||
| 49 | Run make within the source directory | |
| 50 | ||
| 51 | $ cd systec_can | |
| 52 | $ make | |
| 53 | ||
| 54 | ||
| 55 | Load the driver from the local source directory | |
| 56 | ------------------------------------------------ | |
| 57 | ||
| 58 | 1. Load basic CAN drivers | |
| 59 | ||
| 60 | $ sudo modprobe can_raw | |
| 61 | $ sudo modprobe can_dev | |
| 62 | ||
| 63 | 2. Install firmware | |
| 64 | ||
| 65 | $ sudo make firmware_install | |
| 66 | ||
| 67 | 3. Load USB-CANmodul driver | |
| 68 | ||
| 69 | $ sudo insmod systec_can.ko | |
| 70 | ||
| 71 | - OR - | |
| 72 | ||
| 73 | Install the driver and firmware system-wide | |
| 74 | -------------------------------------------- | |
| 75 | ||
| 76 | $ sudo make modules_install | |
| 77 | $ sudo make firmware_install | |
| 78 | ||
| 79 | The kernel module should now be loaded automatically by udev | |
| 80 | when the device is connected. | |
| 81 | ||
| 82 | ||
| 83 | Run basic tests | |
| 84 | ---------------- | |
| 85 | ||
| 86 | 1. Connect the USB-CANmodul to the PC | |
| 87 | ||
| 88 | 2. Set up bitrate and start up the CAN interface | |
| 89 | ||
| 90 | $ ip link set can0 type can bitrate 125000 | |
| 91 | - OR if CONFIG_CAN_CALC_BITTIMING is undefined - | |
| 92 | $ ip link set can0 type can tq 500 prop-seg 6 phase-seg1 7 phase-seg2 2 | |
| 93 | ||
| 94 | $ ifconfig can0 up | |
| 95 | ||
| 96 | 3. Dump the traffic on the CAN bus | |
| 97 | ||
| 98 | $ cd can-utils | |
| 99 | $ ./candump can0 | |
| 100 | ||
| 101 | to display error frames (option -e is supported in newer candump versions only): | |
| 102 | ||
| 103 | $ ./candump -e can0,0:0,#FFFFFFFF | |
| 104 | ||
| 105 | 4. Transmit one CAN frame | |
| 106 | ||
| 107 | $ cd can-utils | |
| 108 | $ ./cangen -n 1 -I 640 -L 8 -D 4000100000000000 can0 | |
| 109 | ||
| 110 | 5. Print out some statistics | |
| 111 | ||
| 112 | $ ip -details -statistics link show can0 | |
| 113 | ||
| 114 | 6. Restart CAN channel in case of bus-off (i.e. short circuit) | |
| 115 | ||
| 116 | $ ip link set can0 type can restart | |
| 117 | ||
| 118 | ||
| 119 | Hardware address | |
| 120 | ----------------- | |
| 121 | ||
| 122 | The hardware address (like the MAC address of Ethernet controllers) | |
| 123 | of each CAN channel as shown with | |
| 124 | `ip link show can0` or `ifconfig can0` is formed the following way: | |
| 125 | ||
| 126 | S0:S1:S2:S3:DN:CN | |
| 127 | ||
| 128 | Sx - Serial Number in Hex with S0 contains the most significant byte | |
| 129 | DN - Device Number | |
| 130 | CN - Channel Number (00 - CAN1, 01 - CAN2) | |
| 131 | ||
| 132 | The unique hardware address can be used by a special udev rule to | |
| 133 | assign stable interface names and numbers. |
