README=============================================================================	   ADVANTECH CAN comunication cards device driver, Ver. 1.0,		  Installation & Program Guide		    for Linux Kernel 2.4.xx	       Copyright (C) 2002, ADVANTECH Co, Ltd.=============================================================================Contents1. Introduction2. System Requirement3. Installation4. User space program for this driver5. Troubleshooting-----------------------------------------------------------------------------1. Introduction      ADVANTECH CAN comunication cards device driver, Ver. 1.0,   supports following boards.        - PCI-1680	: 2 port Isolated PCI CAN-bus Card.	    This driver supports Linux Kernel 2.4.xx, Intel x86  hardware    platform. Any problem occurs, please contact ADVANTECH at    support@ADVANTECH.com.tw.   This driver and utilities are published in form of source code under   GNU General Public License in this version. Please refer to GNU General   Public License announcement in each source code file for more detail.   In ADVANTECH's ftp sites, you may always find latest driver at   ftp://ftp.ADVANTECH.com  or ftp://ftp.ADVANTECH.com.tw.   This version of driver can be installed as Loadable Module (Module driver)   Before you install the driver, please refer to hardware installation    procedure in the User's Manual.-----------------------------------------------------------------------------2. System Requirement   - Hardware platform: Intel x86    - Kernel version: 2.4.x   - gcc version 2.72 or later-----------------------------------------------------------------------------3. Installation   3.1 Hardware installation       Just install the card into your computer, please refer to hardware       installation procedure in the User's Manual.        3.2 Driver files and device naming convention       The driver file may be obtained from ftp, CD-ROM or floppy disk. The       first step, anyway, is to copy driver file "adv_can.tar.gz" into        specified directory. e.g. /can. The execute commands as below.       # cd /pci_can       # tar -zxvf pci_can.tar.gz         3.3 Module driver configuration       Module driver is easiest way to install. If you prefer static driver       installation, please skip this paragraph.       1. Find "Makefile" in /can/pci_can/driver/, then run          # make	  The driver files "pci_can.o"  will be properly compiled	  and copied to system directories respectively.   3.4 Driver load.       After configure your driver, you can load the driver manully or automatic       load it at the boot time.       1. Manully load	  You can load the driver by following command:	  # cd /can/pci_can/driver/	  # insmod pci_can.o	  This will activate the moduler driver. You can see CAN Cards found. 	  You may run "lsmod" to check if "pci_can" is activated.       2. Auto load driver at the boot time.	  For the above description, you may manually execute "insmod"           to activate this driver.           However, it's better to have a boot time configuration to           eliminate manual operation. Boot time configuration can be           achieved by rc file. We offer one "rc.can" file to simplify           the procedure under "pci_can/driver".	  	  Run following command for setting rc files.	  # cd /can/pci_can/driver	  # cp ./rc.can /etc/rc.d	  # cd /etc/rc.d	  Modify the /etc/rc.d/rc.can file, change the following line:	  	  insmod /can/pci_can/driver/pci_can.o	  	  Then modify the /etc/rc.d/rc.local,	  Add "/etc/rc.d/rc.can" in last line,           Reboot and check if pci_can.o activated by "lsmod" command.      3.5 Create device driver file   	Ensure you have insert the adv_can module in the kernel(which can   	be show by the lsmod command)   	then use the command:   	   	# cd /can/pci_can/drvier   	# ./install   	   	Check the created device file:   	   	#ls -l /dev/can*   	crw-r--r--   1 root    root     254,   0 Jun 15 15:32 /dev/can0   	crw-r--r--   1 root    root     254,   1 Jun 15 15:32 /dev/can1   					 |     |	   					 |     |---- the minor number   					 |---------- the major number   	you also can get the major number of this device driver from system:   	   	# cat /proc/devices   	   	you can find the major number of the adv_can device driver, and ensure   	the major number displayed use ls command is as same as the major get    	from system. Other wise use the following command to create the correct   	device driver file:   	   	# mknod /dev/can0 c 254 0   	# mknod /dev/can1 c 254 1   			     |-----the major number which get from system   3.6 Driver rmmove.        You can use the following command to remove the driver from the system:		# rmmod pci_can-----------------------------------------------------------------------------4. User space program for this driver      4.1 Include file   	  To program for this driver, the user must include the    	  "./driver/adv_can.h" head file. You also can copy this head    	  file to your owner work dirctory and include it.      4.2 Message and CAN device struct  	CAN message struct used to send or recieve a message to or from the driver: 		typedef struct {         	unsigned char ff;     /*infomation of frame, 0 for sff, 128 for eff*/  		unsigned char rtr;     /*remore frame*/        	unsigned int  id;       /* message id */		unsigned char dlen;     /* message length */        	unsigned char data[8];  /* message */	} can_msg_t;		CAN device struct used to setup the option of the hardware, such as	baud rate and other value.		typedef struct {        	unsigned char accode[4];   /* access code */        	unsigned char accmask[4];  /* access mask */		unsigned char speed;       /* baud rate */		unsigned char interruptmask;		unsigned char protocol;	   /*protocol*/		unsigned char filtertype;    /* filter type */	}CAN_STRUCT;	   4.3 Command   	  This driver can accept the following command, both of these two command   	  can be translated to the driver use the ioctl() method:   	     	  IOCTL_SET_CAN   	  	setup the hardware use a CAN_STRUCT, eg:   	  	ioctl(fd,IOCTL_SET_CAN,&can);   	  IOCTL_RESET_CAN   	  	reset the hardware, eg:   	  	ioctl(fd, IOCTL_RESET_CAN, NULL);   	       4.4 Access to the driver      	  4.4.1 Device driver file   	  	Device file is used to access the device. In the userspace,    	  	the only way to access the device is through the device file.   	  	For this driver, it has two device file, "/dev/can0" for    	  	channel 1 and "/dev/can1" for channel 0. The hardware can be   	  	controled through access these two device file, use the method   	  	such as open(), close(), read(), write() and ioctl().      	  4.4.1 Open   	  	Before access the device file, you need to open it.   	  	Just open the "/dev/can0" or "/dev/can1" as the nomal file.   	     	  4.4.2 Reset and setup the hardware   	  	After open the device file, you need to reset and setup the   	  	device through ioctl command as following. 		note: the data field of setup struct is different up to protocol.   	  			set to 2.0A protocol:					ioctl(fd, IOCTL_RESET_CAN, NULL);  			can.accode[0]=0x0;      			can.accmask[0]=0xff;    			can.protocol=CAN_PROTOCOL_20A;			can.speed=CAN_125K;		/* baud	rate 125Kbps */ 						ioctl(fd,IOCTL_SET_CAN,&can);				set to 2.0B protocol:				        ioctl(fd, IOCTL_RESET_CAN, NULL);  			for(int i=0;i<4;i++) can.accode[i]=0x0;      			for(int i=0;i<4;i++) can.accmask[i]=0xff;    			can.protocol=CAN_PROTOCOL_20B;			can.speed=CAN_125K;		/* baud	rate 125Kbps */ 			can.filtertype = 0;	  		ioctl(fd,IOCTL_SET_CAN,&can);  		  		  	  4.4.3 Send and recieve message   	  	You can use the standard i/o function(read(), writer()) to read   	  	and write a message to the driver:   	  			case protocol 2.0A:				     msg.id = 0x15;		    		     msg.info = 0;		     msg.dlen = 8;		     for(i=0;i<8;i++)			msg.data[i] = data[i];    		     write(fd, &msg, CAN_MSG_LEN);		case protocol 2.0B:		     msg.id = 0x15;		     msg.info = PELICAN_SFF;		     msg.dlen = 8;		     for(i=0;i<8;i++)			msg.data[i] = data[i];    		     write(fd, &msg, CAN_MSG_LEN);    		    	  4.4.4 Close    	  	Remember to close the device file which has been open before exit    	  	from the program, other wise, the device driver module will can't    	  	be removed from kernel. Juse use the close() function to close it.      	  4.4.5 The program following   	  	The must be control in order:   	  	   	  			open()   	  			  |   	  			  |   	  			reset   	  			  |   	  			  |   	  			setup   	  			  |   	  		    read(),write()	     	  		          |   	  		          |   	  		        close()   	  		           	There are two example program "send.c" and "receive.c". They will be found   	in ./pci_can/test directory.    	The "send.c" program show how to send a message to a refer port.   	The "receive.c" program show how to recieve a message from a port.   	You can complie them use:   	# cd /can/pci_can/test   	# make 	# ./send        0       a        s 			|       |	 |----frame(s for SFF, e for EFF, r for RTR, x for SFF and RTR, y for EFF and RTR)   			|       |---- the CAN protocol, a or b, a for 2.0A b for 2.0B   			|---------- the portnum 	# ./receive     1       a			|       |   			|       |---- the CAN protocol, a or b, a for 2.0A b for 2.0B   			|---------- the portnum  -----------------------------------------------------------------------------5. Troubleshooting   The boot time error mesages and solutions are stated as clearly as   possible. If all the possible solutions fail, please contact our technical   support team to get more help.   Error msg:   pci_can.o: init_module: No such device   Hit: insmod errors can be caused by incorrect module parameters,    includeing invalid IO or IRQ parameters   Solution:   The driver can find the hardware use the given io and irq parameters,   check the hardware install to ensure the correct io and irq parameters.