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1. NAME TDRV011 IOCTRELEASEBUF Release an allocated message buffer object DESCRIPTION This control function releases a previously defined CAN message object Any CAN bus transactions of the specified message object will be disabled After releasing the message object can be defined again with TDRVO11 IOCSDEFRXBUF and TDRVO11 IOCSDEFRMTBUF control functions A pointer to the callers message description TDRVO11 BUF DESC is passed by the argument argp to the driver typedef struct unsigned long identifier unsigned char msg_obj_num unsigned char rx queue num unsigned char extended unsigned char msg len unsigned char data 8 TDRVO11 BUF DESC PTDRVO11 BUF DESC msg obj num Specifies the number of the message object to be released Valid object numbers are in range between 1 and 15 All other parameters are not used and should be set to 0 TDRVO1 1 SW 82 Linux Device Driver Page 35 of 39 TEWS E TECHNOLOGIES EXAMPLE include tdrvOl1l h int fd int result TDRVO11 BUF DESC BufDesc BufDesc msg obj num 14 result ioctl fd if result lt 0 handle ioctl error TDRVO11 IOCTRELEASEBUF amp BufDesc ERRORS EFAULT Invalid pointer to the parameter buffer Please check the argument argp EINVAL Invalid argument This error code is returned if the message object number is out of range EBADMSG The requested message object is not defined
2. unsigned long identifier unsigned char msg_obj_num unsigned char rx_queue_num unsigned char extended unsigned char msg_len unsigned char data 8 TDRVO11 BUF DESC PTDRVO11 BUF DESC identifier Specifies the message identifier for the message object to be defined msg obj num Specifies the number of the message object to be defined Valid object numbers are in range between 1 and 15 rx queue num Specifies the associated receive queue for this message object All CAN messages received by this object are directed to this receive queue The receive queue numbers are in range between 1 and n in which n depends on the definition of NUM RX QUEUES see also 2 6 extended Set to TRUE for extended CAN messages msg len Unused for this control function Set to O TDRVO1 1 SW 82 Linux Device Driver Page 29 of 39 TEWS TECHNOLOGIES data Unused for this control function It is possible to assign more than one receive message object to one receive queue EXAMPLE include tdrv011 h int fd int result TDRVO011 BUF DESC BufDesc BufDesc msg_obj_num 15 BufDesc rx_queue_num 1 BufDesc identifier 1234 BufDesc extended TRUE Define message object 15 to receive th xtended message identifier 1234 and store received messages k in receive queue 1 x result ioctl fd TDRVO11 IOCSDEFRXBUF amp BufDesc if result lt 0 handle ioctl
3. TEWS The Embedded I O Company TECHNOLOGIES TDRV011 SW 82 Linux Device Driver Extended CAN Bus Version 1 0 x User Manual Issue 1 0 5 November 201 1 TEWS TECHNOLOGIES GmbH Am Bahnhof 7 25469 Halstenbek Germany Phone 49 0 4101 40580 Fax 49 0 4101 4058 19 e mail info tews com www tews com TDRV011 SW 82 Linux Device Driver Extended CAN Bus Supported Modules TENSE TECHNOLOGIES This document contains information which is proprietary to TEWS TECHNOLOGIES GmbH Any reproduction without written permission is forbidden TEWS TECHNOLOGIES GmbH has made any effort to ensure that this manual is accurate and T complete However TEWS TECHNOLOGIES GmbH TPMC901 reserves the right to change the product described in this document at any time without notice TEWS TECHNOLOGIES GmbH is not liable for any damage arising out of the application or use of the device described herein 2007 2011 by TEWS TECHNOLOGIES GmbH Issue Description Date 1 0 0 First Issue May 3 2007 1 0 1 File list and installation section modified March 4 2008 1 0 2 General revision January 22 2009 1 0 3 Address TEWS LLC removed November 26 2009 1 0 4 General revision September 17 2010 1 0 5 Minor layout corrections November 8 2011 TDRV011 SW 82 Linux Device Driver Page 2 of 39 Table of Contents TEWS TECHNOLOGIES 1 INTRODUGCTION annua nin trunca n acu ur rk a e ik t clan a cc 4 2 INSTALLATION inii nba ciini C
4. extended Set to TRUE for extended CAN messages msg len Contains the number of message data bytes 0 8 This parameter is used only for remote transmission object updates TDRVO1 1 SW 82 Linux Device Driver Page 33 of 39 TEWS TECHNOLOGIES data This buffer contains up to 8 data bytes data 0 contains message data 0 data 1 contains message data 1 and so on This parameter is used only for remote transmission object updates EXAMPLE include tdrv011 h int fd int result TDRVO11 BUF DESC BufDesc Update a receive message object BufDesc msg_obj_num 14 result ioctl fd TDRVO11 IOCSUPDATEBUF amp BufDesc if result lt 0 handle ioctl error Update a remote message object BufDesc msg_obj_num 10 BufDesc msg_len 1 BufDesc data 0 124 result ioctl fd TDRVO11 IOCSUPDATEBUF amp BufDesc if result lt 0 handle ioctl error ERRORS EFAULT Invalid pointer to the parameter buffer Please check the argument argp EINVAL Invalid argument This error code is returned if either the message object number is out of range or the requested message object is not defined EMSGSIZE Invalid message size msg len must be in range between 0 and 8 SEE ALSO Intel 82527 Architectural Overview 4 18 82527 Message Objects TDRVO1 1 SW 82 Linux Device Driver Page 34 of 39 TEWS TECHNOLOGIES 3 3 13 TDRV011 IOCTRELEASEBUF
5. Received CAN messages will be stored in receive queues Each receive queue contains a FIFO and a separate task wait queue The number of receive queues and the depth of the FIFO can be adapted by changing the following symbols in tdrv011def h NUM RX QUEUES Defines the number of receive queues for each device default 3 Valid numbers are in range between 1 and 15 RX FIFO SIZE Defines the depth of the message FIFO inside each receive queue default 2 100 Valid numbers are in range between 1 and MAXINT TDRVO1 1 SW 82 Linux Device Driver Page 7 of 39 TEWS TECHNOLOGIES 3 Device Input Output Functions This chapter describes the interface to the device driver I O system used for communication over the CAN Bus 3 1 open NAME open open a file descriptor SYNOPSIS include lt fcntl h gt int open const char filename int flags DESCRIPTION The open function creates and returns a new file descriptor for the file named by filename The flags argument controls how the file is to be opened This is a bit mask you create the value by the bitwise OR of the appropriate parameters using the operator in C See also the GNU C Library documentation for more information about the open function and open flags EXAMPLE int fd fd open dev tdrv011 0 O_RDWR if fd 1 handle error condition RETURNS The normal return value from open is a non negative integer file descriptor In the case of a
6. dev tdrv011_7 Car TPMC316 0 stat 0x07 ctrl 0x49 RxQ1 0 0 RxQ2 0 0 RxQ3 0 0 dev tdrv011_8 Car TPMC316 1 stat 0x07 ctrl 0x49 RxQ1 0 0 RxQ2 0 0 RxQ3 0 0 cat proc devices Character devices 1 mem 4 dev vc 0 4 tty 180 usb 226 drm 254 tdrvOlldrv TDRVO1 1 SW 82 Linux Device Driver Page 38 of 39 TEWS E TECHNOLOGIES cat proc interrupts CPUO CPUI 0 5860733 5901379 IO APIC edg timer 1 2099 1872 IO APIC edge 18042 2 0 0 XT PIC cascade 8 0 1 IO APIC edge rtc 9s 2 0 IO APIC level acpi 12 50793 50084 IO APIC edge i8042 14 155677 148926 IO APIC edg ided 169 712307 709746 IO APIC level radeon PCI 1 0 0 TDRVO11 177 0 2 IO APIC level uhci_hcd AMD AMD8111 TDRVO11 185 29775 31 IO APIC level uhci_hcd ethO0 193 0 1 IO APIC level libata ehci_hcd TDRVO11 NMI 0 0 LOC 11763048 11763049 ERR 0 IS 0 f lspci v TPMC816 XX 02 07 0 Network controller PLX Technology Inc PCI IOBus Bridge rev 0a Subsystem TEWS Datentechnik GmBH Unknown device 0330 Flags medium devsel IRQ 193 Memory at ff5fe000 32 bit non prefetchable I O ports at a400 size 128 Memory at ff5fd400 32 bit non prefetchable size 256 TPMC901 XX 02 08 0 Network controller PLX Technology Inc PCI IOBus Bridge rev 01 Subsystem TEWS Datentechnik GmBH Unknown device 0385 Flags
7. medium devsel IRQ 177 Memory at ff5fe400 32 bit non prefetchable I O ports at a800 size 128 Memory at ff5fd800 32 bit non prefetchable size 2K I O ports at a480 size 4 TPMC316 XX 02 09 0 Network controller TEWS Datentechnik GmBH Unknown device 013c rev 0a Subsystem TEWS Datentechnik GmBH Unknown device 000a Flags medium devsel IRQ 169 Memory at ff5fec00 32 bit non prefetchable I O ports at a880 size 128 Memory at ff5fe800 32 bit non prefetchable size 512 TDRV011 SW 82 Linux Device Driver Page 39 of 39
8. 3 ioctl NAME ioctl device control functions SYNOPSIS include lt sys ioctl h gt int ioctl int filedes int request void argp DESCRIPTION The ioctl function sends a control code directly to a device specified by filedes causing the corresponding device to perform the requested operation The argument request specifies the control code for the operation The optional argument argp depends on the selected request and is described for each request in detail later in this chapter The following ioctl codes are defined in tarvO1 1 h Function Description TDRV011 IOCXREAD Receive a CAN message TDRV011 IOCSWRITE Send a CAN message TDRV011_IOCSBITTIMING Setup new bit timing TDRV011_IOCSSETFILTER Setup acceptance filter masks TDRV011_IOCGGETFILTER Get the current acceptance filter masks TDRV011_IOCBUSON Enter the bus on state TDRV011_lIOCBUSOFF Enter the bus off state TDRV011_IOCFLUSH Flush one or all receive queues TDRV011_IOCGCANSTATUS Returns the contents of the CAN controller status register TDRV011 IOCSDEFRXBUF Define a receive buffer message object TDRV011 IOCSDEFRMTBUF Define a remote transmit buffer message object TDRV011 IOCSUPDATEBUF Update a remote or receive buffer message object TDRV011 IOCTRELEASEBUF Release an allocated message buffer object See behind for more detailed information on each control code To use these TDRV011 specific control codes the header file tdrv011 h must be included in the a
9. EBUSY The message object is currently busy transmitting data TDRV011 SW 82 Linux Device Driver Page 36 of 39 TEWS TECHNOLOGIES 4 Diagnostic If the TDRVO11 driver does not work properly it is helpful to get some status information from the driver respective kernel To get debug output from the driver enable the following symbols in tdrvO11 c by replacing undef with define and reinstall the driver define DEBUG TDRVO11 define DEBUG TDRVO11 INTR The Linux proc file system provides additional information about kernel resources drivers devices and so on The following screen dumps display information of a correct running TDRVO11 driver see also the proc man pages tail f var log messages before modprobing the TDRV011 driver ay 3 11 10 06 linuxsmp2 kernel TEWS TECHNOLOGIES TDRV011 6 4 2 and 1 Channel Extended CAN Bus version 1 0 x yyyy mm dd ay 3 11 10 06 linuxsmp2 kernel TDRVO11 Probe new device vendor 0x10B5 device 0x9050 type 816 ay 3 11 10 06 linuxsmp2 kernel TDRVO11 1x 182527 CAN controller ay 3 11 10 06 linuxsmp2 kernel ay 3 11 10 06 linuxsmp2 kernel TDRVO11 Add tdrv011 node into the list of kown major devices ay 3 11 10 06 linuxsmp2 kernel TDRVO11 Probe new device vendor 0x10B5 device 0x9050 type 901 ay 3 11 10 06 linuxsmp2 kernel TDRVO11 6x 182527 CAN con
10. EXAMPLE include tdrv011 h int fd ssize t NumBytes TDRV0O11 MSG BUF MsgBuf sgBuf identifier 1234 sgBuf timeout 200 sgBuf extended TRUE sgBuf msg_len 2 sgBuf data 0 0xaa sgBuf data 1 0x55 NumBytes ioctl fd TDRV011 IOCSWRITE amp MsgBuf if NumBytes gt 0 CAN message successfully transmitted TDRV011 SW 82 Linux Device Driver Page 17 of 39 RETURNS TEWS TECHNOLOGIES On success this function returns the size of structure TDRVO11 MSG BUF In case of an error a value of 1 is returned by ioctl The global variable errno contains the detailed error code ERRORS EINVAL EFAULT ECONNREFUSED EAGAIN ETIME EINTR TDRV011 SW 82 Linux Device Driver Invalid argument This error code is returned if the size of the message buffer is too small Invalid pointer to the message buffer The controller is in bus off state and unable to transmit messages Resource temporarily unavailable the call might work if you try again later This error occurs only if the device is opened with the flag O NONBLOCK set The allowed time to finish the write request has elapsed This occurs if currently no message object is available or if the CAN bus is overloaded and the priority of the message identifier is too low Interrupted function call an asynchronous signal occurred and prevented completion of the call When this happens you should try the call
11. Extended CAN Messages Up to 15 receive message queues with user defined size Variable allocation of receive message objects to receive queues Separate task queues for each receive queue and transmission buffer message object Standard bit rates from 20 kbit up to 1 0 Mbit and user defined bit rates Message acceptance filtering Definition of receive and remote buffer message objects Designed as Linux kernel module with dynamically loading Creates devices with dynamically allocated or fixed major device numbers DEVFS and SYSFS UDEV support for automatic device node creation VVVVVVVVVV The TDRV011 SW 82 device driver supports the modules listed below TPMC316 CAN Bus PMC Conduction Cooled TPMC816 Two Independent Channels Extended CAN Bus PMC TPMC901 6 4 2 Channels Extended CAN Bus PMC In this document all supported modules and devices will be called TDRV011 Specials for a certain device will be advised To get more information about the features and use of the supported devices it is recommended to read the manuals listed below TPMC316 TPMC816 and TPMC901 Hardware User manual TPMC316 TPMC816 and TPMC901 Engineering Manual TDRV011 SW 82 Linux Device Driver Page 4 of 39 TEWS TECHNOLOGIES 2 Installation The directory TDRV011 SW 82 on the distribution media contains the following files TDRVO1 1 SW 82 1 0 5 pdf This manual in PDF format TDRVO11 SW 82 SRC tar gz GZIP compressed archive with driver source code Re
12. again Page 18 of 39 TEWS TECHNOLOGIES 3 3 8 TDRV011 IOCSBITTIMING NAME TDRV011_IOCSBITTIMING Setup new bit timing DESCRIPTION This ioctl function modifies the bit timing register of the CAN controller to setup a new CAN bus transfer speed A pointer to the callers parameter buffer TDRVO11 BITTIMING is passed by the argument argp to the driver Keep in mind to setup a valid bit timing value before changing into the Bus On state typedef struct unsigned short timing_value unsigned short three_samples TDRV011_BITTIMING PTDRV011_BITTIMING timing_value This parameter holds the new values for the Bit Timing Register 0 bit 0 7 and for the Bit Timing Register 1 bit 8 15 Possible transfer rates are between 20 kBit per second and 1 0 MBit per second The include file tdrv011 h contains predefined transfer rate symbols TDRVO11 20KBIT TDRVO11 1 OMBIT For other transfer rates please follow the instructions of the Intel 82527 Architectural Overview which is also part of the engineering documentation three samples If this parameter is TRUE 1 the CAN bus is sampled three times per bit time instead of one Use one sample point for faster bit rates and three sample points for slower bit rates to make the CAN bus more resistant against noise spikes TDRVO1 1 SW 82 Linux Device Driver Page 19 of 39 TEWS E TECHNOLOGIES EXAMPLE include tdrv011 h int fd int result TD
13. number from which the data will be read Valid receive queue numbers are in range between 1 and n in which n depends on the definition of NUM RX QUEUES see also 2 6 extended Receives TRUE for extended CAN messages TDRVO1 1 SW 82 Linux Device Driver Page 13 of 39 TEWS TECHNOLOGIES status Receives status information about overrun conditions either in the CAN controller or intermediate software FIFO s Value Description TDRV011 SUCCESS No messages lost TDRVO011 FIFO OVERRUN One or more messages was overwritten in the receive queue FIFO This problem occurs if the FIFO is too small for the application read interval TDRV0O11 MSGOBJ OVERRUN One or more messages were overwritten in the CAN controller message object because the interrupt latency is too large Keep in mind Linux isn t a real time operating system Use message object 15 buffered to receive this time critical CAN messages reduce the CAN bit rate or upgrade the System speed TDRVO11 RAW FIFO OVERRUN One or more messages was overwritten in the FIFO between the interrupt service routine and post processing in the driver bottom half msg len Receives the number of message data bytes 0 8 data This buffer receives up to 8 data bytes data 0 receives message data 0 data 1 receives message data 1 and so on EXAMPLE include tdrv011 h int Eas ssize t NumBytes TDRV0O11 MSG BUF MsgBuf MsgBuf rx queue num 1 MsgBuf
14. result result ioctl fd TDRVO11 IOCBUSOFF if result 0 handle ioctl error ERRORS EBUSY Device busy Another concurrent process is writing to the device at the moment Try it again later SEE ALSO Intel 82527 Architectural Overview 3 2 Software Initialization TDRVO1 1 SW 82 Linux Device Driver Page 26 of 39 TEWS TECHNOLOGIES 3 3 8 TDRVO011 IOCFLUSH NAME TDRVO011 IOCFLUSH Flush one or all receive queues DESCRIPTION This ioctl function flushes the message FIFO of the specified receive queue s The optional argument argp passes the receive queue number to the device driver on which the FIFO is to be flushed If this parameter is 0 the FIFOs of all receive queues of the device will be flushed otherwise only the FIFO of the specified receive queue will be flushed EXAMPLE include tdrv011 h int fd int result flush all receive queues result ioctl fd TDRVO11 IOCFLUSH int 0 if result lt 0 handle ioctl error ERRORS EINVAL Invalid argument This error code is returned if the specified receive queue is out of range TDRVO1 1 SW 82 Linux Device Driver Page 27 of 39 TEWS TECHNOLOGIES 3 3 9 TDRV011 IOCGCANSTATUS NAME TDRV011 IOCGCANSTATUS Returns the contents of the CAN status register DESCRIPTION This ioctl function returns the current content of the CAN controller status register for diagnostic purposes T
15. timeout 200 NumBytes ioctl fd TDRV011 IOCXREAD amp MsgBuf if NumBytes 0 process received CAN message TDRVO1 1 SW 82 Linux Device Driver Page 14 of 39 RETURNS TEWS TECHNOLOGIES On success this function returns the size of structure TDRVO11 MSG BUF In case of an error a value of 1 is returned The global variable errno contains the detailed error code ERRORS EINVAL ECHRNG EFAULT ECONNREFUSED EAGAIN ETIME EINTR TDRV011 SW 82 Linux Device Driver Invalid argument This error code is returned if the size of the message buffer is too small The specified receive queue number is out of range Invalid pointer to the message buffer The controller is in bus off state and no message is available in the specified receive queue Note as long as CAN messages are available in the receive queue FIFO bus off conditions were not reported by a read function This means you can read all CAN messages out of the receive queue FIFO during bus off state without an error result Resource temporarily unavailable the call might work if you try again later This error occurs only if the device is opened with the flag O NONBLOCK set The allowed time to finish the read request has elapsed Interrupted function call an asynchronous signal occurred and prevented completion of the call When this happens you should try the call again Page 15 of 39 TEWS TECHNOLOGIES 3 3 2 TDRVO
16. 011 IOCSWRITE NAME TDRV011 IOCSWRITE Send a CAN message DESCRIPTION This ioctl function writes a CAN message to the specified CAN device A pointer to the caller s message buffer TDRVO11 MSG BUF is passed by the parameter argp to the driver This ioctl function dynamically allocates a free message object for this transmit operation The search begins at message object 1 and ends at message object 14 The first free message object found is used If currently no message object is available the write operation is blocked until any message object becomes free or a timeout occurs typedef struct unsigned long identifier long timeout unsigned char rx queue num unsigned char extended unsigned char status unsigned char msg len unsigned char data 8 TDRVO11 MSG BUF PTDRVO11 MSG BUF identifier Contains the message identifier of the CAN message to write timeout Specifies the amount of time in system ticks the caller is willing to wait for execution of write A value of 0 means wait indefinitely rx queue num Unused for this control function extended Contains TRUE 1 for extended CAN messages status Unused for this control function msg len Contains the number of message data bytes 0 8 TDRVO1 1 SW 82 Linux Device Driver Page 16 of 39 TEWS E TECHNOLOGIES data This buffer contains up to 8 data bytes data 0 contains message data 0 data 1 contains message data 1 and so on
17. AcceptMasksParam global mask extended Oxffffff80 Message object 15 identifier bits 0 7 don t care AcceptMasksParam message 15 mask Oxfffff800 result ioctl fd TDRV011 IOCSSETFILTER amp AcceptMasksParam if result lt 0 handle ioctl error ERRORS EFAULT Invalid pointer to the parameter buffer Please check the argument argp SEE ALSO Intel 82527 Architectural Overview 4 9 Acceptance Filtering TDRVO1 1 SW 82 Linux Device Driver Page 22 of 39 TEWS TECHNOLOGIES 3 3 5 TDRV011 IOCGGETFILTER NAME TDRV011 IOCGGETFILTER Get the current acceptance filter masks DESCRIPTION This ioctl function returns the current acceptance filter masks of the specified CAN Controller A pointer to the caller s parameter buffer TDRVO11 ACCEPT MASKS is passed by the parameter argp to the driver typedef struct unsigned long message_15_mask unsigned long global_mask_extended unsigned short global_mask_standard TDRVO11 ACCEPT MASKS PTDRV011_ACCEPT_MASKS message 15 mask This parameter receives the value for the Message 15 Mask Register The Message 15 Mask Register is a local mask for message object 15 This 29 bit identifier mask appears in bit 3 31 of this parameter global mask extended This parameter receives the value for the Global Mask Extended Register The Global Mask Extended Register applies only to messages using the extended CAN ident
18. R CE n HEX CH pa EUR IE In UE VE CH2Y FL dE Qu GE E CE LEN I CHINE US cS IU FII EQH o LY RUE Ca UE 5 2 1 Build and install the Device Driver eeeeeeeeeeeeeeeenne enne nnne nnn nnne nnn nnne 5 2 2 Uninstall the Device Driver 1 eeeeeeeeeeeeeee esee eeee enne nennen nennen nnn nnmnnn nnmnnn nnmnnn annaa 6 2 3 Install the Device Driver in the running Kernel eere nnn 6 2 4 Remove Device Driver from the running Kernel eere 6 2 5 Change Major Device Number sssseeseiseeeeeseeeees seen nnne nn nean nhan inna nn nnn sn tR asas ta sess natn Rusa 7 2 6 Receive Queue Configuration sseeseieeeeieeeeies esses nennen nn nn ansa nnne nnn nn anat nasi sn mann nn nn nna 7 3 DEVICE INPUT OUTPUT FUNCTIONS iinissna ui gG Rd Ud EE ABE KEI MID EE aEE Cbr RON SA 8 KE Ee AE 8 32 Clit nannan 10 xad E M 11 3 9 1 TDRVOT1 IOGXREAD 2 sstccccie tote ceedecdects ettet Etat mei Erates etes cea aae aa AE 13 3 9 2 TDRVOT1 IOGSMWHRITE ii tento eren tenete Ea ena onec ct cera ev zv aai d Pad 16 3 8 8 TDRVO011 IOCSBITTIMING sss nnne nene nns nn an sereni 19 3 834 TDRVO011 IOCSSETFILTER sse entere nsns sn netr en res nnn niea 21 3 85 TDRV011 IOCGGETFILTER sssssesesesseeeeeee ener nneren nennen sn nrnr inner
19. RVO11 BITTIMING BitTimingParam BitTimingParam timing value TDRVO11 100KBIT E BitTimingParam three samples FALSE result ioctl fd TDRVO011 IOCSBITTIMING amp BitTimingParam if result lt 0 handle ioctl error ERRORS EFAULT Invalid pointer to the parameter buffer Please check the argument argp SEE ALSO tdrv011 h for predefined bus timing constants Intel 82527 Architectural Overview 4 13 Bit Timing Overview TDRVO1 1 SW 82 Linux Device Driver Page 20 of 39 TEWS TECHNOLOGIES 3 3 4 TDRVO011 IOCSSETFILTER NAME TDRVO011 IOCSSETFILTER Setup acceptance filter masks DESCRIPTION This ioctl function modifies the acceptance filter masks of the specified CAN controller device The acceptance masks allow message objects to receive messages with a larger range of message identifiers instead of just a single message identifier A 0 value means don t care or accept a 0 or 1 for that bit position A 1 value means that the incoming bit value must match identically to the corresponding bit in the message identifier A pointer to the caller s parameter buffer TDRVO011 ACCEPT MASKS is passed by the parameter argp to the driver typedef struct unsigned long message_15_mask unsigned long global_mask_extended unsigned short global_mask_standard TDRVO11 ACCEPT MASKS PTDRV011_ACCEPT_MASKS message 15 mask This parameter specifies the value for the Mes
20. ect is already occupied EMSGSIZE Invalid message size msg len must be in range between 0 and 8 SEE ALSO Intel 82527 Architectural Overview 4 18 82527 Message Objects TDRVO1 1 SW 82 Linux Device Driver Page 32 of 39 TEWS TECHNOLOGIES 3 3 12 TDRV011 IOCSUPDATEBUF NAME TDRV011 IOCSUPDATEBUF Update a remote or receive buffer message object DESCRIPTION This ioctl function updates a previously defined receive or remote transmission message buffer object To update a receive message object a remote frame is transmitted over the CAN bus to request new data from a corresponding remote transmission message object on other nodes To update a remote transmission object only the message data and message length of the specified message object is changed No transmission is initiated by this control function A pointer to the callers message description TDRVO11 BUF DESC is passed by the argument argp to the driver typedef struct unsigned long identifier unsigned char msg_obj_num unsigned char rx queue num unsigned char extended unsigned char msg len unsigned char data 8 TDRVO11 BUF DESC PTDRVO11 BUF DESC identifier Unused for this control function Set to O msg obj num Specifies the number of the message object to be updated Valid object numbers are in range between 1 and 14 Keep in mind that message object 15 is available only for receive message objects rx queue num Unused Set to 0
21. en rns n nnns enne 23 3 8 6 TDRVO011 IOCBUSON sessi todas airasia intent etri nnns intres rents 25 3 82 7 TDRVO011 IOCBUSOFF essseeeseseseeesesesenne en tnna neient intet estin ss sans aan niae 26 39 9 9 TDRVO11 IOGFLUSE I aiite erorani code ta eite adt eod Rn red an beu c RE nerd aca gen 27 3 8 9 TDRV011 IOCGCANSTATUS sese ener snnt in terrens nnns nnrnr enne 28 3 3 10 TDRV011 IOCSDEFRXBUF esses nennen ener inrer enr sni nennen ns 29 3 3 11 TDRVO011 IOCSDEFRMTBUF sse enne nnn et ren nennt nnns tenens 31 3 3 12 TDRV011_IOCSUPDATEBUF sese nrnr inrer tensis in nnne ns 33 3 3 13 TDRVO011 IOCTRELEASEBUF sse nre arnie trenes 35 4 DIAGNODBSTC eennn neni rh kan iaa uua n uui airo e uic i c n re ki a 37 TDRV011 SW 82 Linux Device Driver Page 3 of 39 TEWS TECHNOLOGIES 1 Introduction The TDRV011 SW 82 Linux device driver allows the operation of the TDRVO11 Extended CAN PMC devices conforming to the Linux I O system specification This includes a device independent basic I O interface with open close and ioctl functions Special I O operation that do not fit to the standard I O calls will be performed by calling the ioctl function with a specific function code and an optional function dependent argument The TDRV011 SW 82 device driver supports the following features Transmission and reception of Standard and
22. error ERRORS EFAULT Invalid pointer to the parameter buffer Please check the argument argp EINVAL Invalid argument This error code is returned if either the message object number or the specified receive queue is out of range EADDRINUSE The requested message object is already occupied SEE ALSO Intel 82527 Architectural Overview 4 18 82527 Message Objects TDRVO1 1 SW 82 Linux Device Driver Page 30 of 39 TEWS TECHNOLOGIES 3 3 11 TDRV011 IOCSDEFRMTBUF NAME TDRV011 IOCSDEFRMTBUF Define a remote transmit buffer message object DESCRIPTION This ioctl function defines a remote transmission CAN message buffer object A remote transmission object is similar to normal transmission objects with exception that the CAN message is transmitted only after receiving a remote frame with the same identifier This type of message object can be used to make process data available for other nodes which can be polled around the CAN bus without any action of the provider node The message data remains available for other CAN nodes until this message object is updated with the control function TDRVO11 IOCSUPDATEBUF or cancelled with TDRVO11 IOCTRELEASEBUF A pointer to the callers message description TDRVO11 BUF DESC is passed by the argument argp to the driver typedef struct unsigned long identifier unsigned char msg_obj_num unsigned char rx queue num unsigned char extended unsigned char msg len unsigned cha
23. he content of the controller status register is received in an unsigned char variable A pointer to this variable is passed by the argument argp to the driver EXAMPLE include tdrv011 h int Edi int result unsigned char CanStatus result ioctl fd TDRVO11 IOCGCANSTATUS amp CanStatus if result 0 handle ioctl error ERRORS EFAULT Invalid pointer to the unsigned char variable which receives the contents of the CAN status register Please check the argument argp SEE ALSO Intel 82527 Architectural Overview 4 3 status Register 01H TDRVO1 1 SW 82 Linux Device Driver Page 28 of 39 TEWS TECHNOLOGIES 3 3 10 TDRV011 IOCSDEFRXBUF NAME TDRV011 IOCSDEFRXBUF Define a receive buffer message object DESCRIPTION This ioctl function defines a CAN message object to receive a single message identifier or a range of message identifiers see also Acceptance Mask All CAN messages received by this message object are directed to the associated receive queue and can be read with the standard read function see also 3 3 1 Before the driver can receive CAN messages it is necessary to define at least one receive message object If only one receive message object is defined at all preferably message object 15 should be used because this message object is buffered A pointer to the callers message description TDRVO11 BUF DESC is passed by the argument argp to the driver typedef struct
24. ifier This 29 bit identifier mask appears in bit 3 31 of this parameter global mask standard This parameter receives the value for the Global Mask Standard Register The Global Mask Standard Register applies only to messages using the standard CAN identifier The 11 bit identifier mask appears in bit 5 15 of this parameter The TDRV011 device driver copies the masks directly from the corresponding registers of the CAN controller into the parameter buffer without shifting any bit positions For more information see the Intel 82527 Architectural Overview 4 7 4 10 TDRVO1 1 SW 82 Linux Device Driver Page 23 of 39 TEWS E TECHNOLOGIES EXAMPLE include tdrv011 h int fd int result TDRVO011 ACCEPT MASKS AcceptMasksParam result ioctl fd TDRV011 IOCGGETFILTER amp AcceptMasksParam if result lt 0 handle ioctl error ERRORS EFAULT Invalid pointer to the parameter buffer Please check the argument argp SEE ALSO Intel 82527 Architectural Overview 4 9 Acceptance Filtering TDRVO1 1 SW 82 Linux Device Driver Page 24 of 39 TEWS TECHNOLOGIES 3 3 6 TDRV011 IOCBUSON NAME TDRV011_IOCBUSON Enter the bus on state DESCRIPTION This ioctl function sets the specified CAN controller into the Bus On state After an abnormal rate of occurrences of errors on the CAN bus or after driver startup the CAN controller enters the Bus Off state This cont
25. lease txt Release information ChangeLog txt Release history The GZIP compressed archive TDRV011 SW 82 SRC tar gz contains the following files and directories Directory path tdrvO11 tdrvO11 c Driver source code tdrvO11def h Driver include file tdrvO11 h Driver include file for application program 182527 h Driver include file CAN Controller Spec Makefile Device driver make file makenode Script to create device nodes in the file system include config h Driver independent library header file include tpxxxhwdep c Hardware dependent library include tpxxxhwdep h Hardware dependent library header file include tpmodule c Driver independent library include tpmodule h Driver independent library header file example tdrv011exa c Example application example Makefile Example application make file In order to perform an installation extract all files of the archive TDRVO011 SW 82 SRC tar gz to the desired target directory The command tar xzvf TDRV011 SW 82 SRC tar gz will extract the files into the local directory e Login as root and change to the target directory e Copy tdrv011 h to usr include 2 1 Build and install the Device Driver e Login as root e Change to the target directory e To create and install the driver in the module directory lib modules lt version gt enter make install e Only after the first build we have to execute depmod to create a new dependency description for loadable kernel modules This de
26. n error a value of 1 is returned The global variable errno contains the detailed error code TDRVO1 1 SW 82 Linux Device Driver Page 8 of 39 TEWS TECHNOLOGIES ERRORS ENODEV The requested minor device does not exist This is the only error code returned by the driver other codes may be returned by the I O system during open For more information about open error codes see the GNU C Library description Low Level Input Output SEE ALSO GNU C Library description Low Level Input Output TDRVO1 1 SW 82 Linux Device Driver Page 9 of 39 TEWS TECHNOLOGIES 3 2 close NAME close close a file descriptor SYNOPSIS include lt unistd h gt int close int filedes DESCRIPTION The close function closes the file descriptor filedes EXAMPLE int fd if close fd 0 handle close error conditions RETURNS The normal return value from close is 0 In the case of an error a value of 1 is returned The global variable errno contains the detailed error code ERRORS ENODEV The requested minor device does not exist This is the only error code returned by the driver other codes may be returned by the I O system during close For more information about close error codes see the GNU C Library description Low Level Input Output SEE ALSO GNU C Library description Low Level Input Output TDRVO1 1 SW 82 Linux Device Driver Page 10 of 39 TEWS TECHNOLOGIES 3
27. on channel assignment see cat proc tews tdrvO1 1 2 4 Remove Device Driver from the running Kernel e Toremove the device driver from the running kernel login as root and execute the following command modprobe tdrv011drv r If your kernel has enabled a dynamic file system all dev tdrv011_x nodes will be automatically removed from your file system after this Be sure that the driver isn t opened by any application program If opened you will get the response tdrv011drv Device or resource busy and the driver will still remain in the system until you close all opened files and execute modprobe r again TDRVO1 1 SW 82 Linux Device Driver Page 6 of 39 TEWS 4 TECHNOLOGIES 2 5 Change Major Device Number The TDRVO11 driver uses dynamic allocation of major device numbers by default If this isn t suitable for the application it is possible to define a major number for the driver If the kernel has enabled devfs the driver will not use the symbol TDRV011 MAJOR To change the major number edit the file tdrvO11def h change the following symbol to appropriate value and enter make install to create a new driver TDRV011 MAJOR Valid numbers are in range between 0 and 255 A value of 0 means dynamic number allocation Example define TDRVO11 MAJOR 122 Be sure that the desired major number isn t used by other drivers Please check proc devices to see which numbers are free 2 6 Receive Queue Configuration
28. pendency file is later used by modprobe to automatically load dependent kernel modules depmod aq TDRVO1 1 SW 82 Linux Device Driver Page 5 of 39 TEWS TECHNOLOGIES 2 2 Uninstall the Device Driver e Login as root e Change to the target directory e Toremove the driver from the module directory lib modules version misc enter make uninstall e Update kernel module dependency description file depmod aq 2 3 Install the Device Driver in the running Kernel e To load the device driver into the running kernel login as root and execute the following commands modprobe tdrv011drv e After the first build or if you are using dynamic major device allocation it is necessary to create new device nodes on the file system Please execute the script file makenode to do this If your kernel has enabled a dynamic device file system devfs or sysfs with udev then you have to skip running the makenode script Instead of creating device nodes from the script the driver itself takes creating and destroying of device nodes in its responsibility sh makenode On success the device driver will create a minor device for each TDRVO11 CAN Channel found The first TDRVO11 CAN Channel can be accessed with device node dev tdrv011 0 the second with dev tdrv011_1 the third with dev tdrv011 2 and so on The assignment of device nodes to physical TDRVO11 modules depends on the search order of the PCI bus driver For more details
29. pplication TDRVO1 1 SW 82 Linux Device Driver Page 11 of 39 TEWS TECHNOLOGIES RETURNS On success zero is returned In the case of an error a value of 1 is returned The global variable errno contains the detailed error code ERRORS EINVAL Invalid argument This error code is returned if the requested ioctl function is unknown Please check the argument request Other function dependant error codes will be described for each ioctl code separately Note the TDRVO11 driver always returns standard Linux error codes SEE ALSO GNU C Library description Low Level Input Output ioctl man pages TDRVO1 1 SW 82 Linux Device Driver Page 12 of 39 TEWS TECHNOLOGIES 3 3 1 TDRV011 IOCXREAD NAME TDRV011_IOCXREAD Receive a CAN message DESCRIPTION This ioctl function reads a CAN message from the specified receive queue A pointer to the caller s message buffer TDRVO11 MSG BUF is passed by the parameter argp to the driver typedef struct unsigned long identifier long timeout unsigned char rx queue num unsigned char extended unsigned char status unsigned char msg len unsigned char data 8 TDRVO11 MSG BUF PTDRVO11 MSG BUF identifier Receives the message identifier of the read CAN message timeout Specifies the amount of time in system ticks the caller is willing to wait for execution of read A value of 0 means wait indefinitely rx queue num Specifies the receive queue
30. r data 8 TDRVO11 BUF DESC PTDRVO11 BUF DESC identifier Specifies the message identifier for the message object to be defined msg obj num Specifies the number of the message object to be defined Valid object numbers are in range between 1 and 14 Keep in mind that message object 15 is only available for receive message objects rx queue num Unused for remote transmission message objects Set to 0 extended Set to TRUE for extended CAN messages msg len Contains the number of message data bytes 0 8 TDRVO1 1 SW 82 Linux Device Driver Page 31 of 39 TEWS TECHNOLOGIES data This buffer contains up to 8 data bytes data 0 contains message data 0 data 1 contains message data 1 and so on EXAMPLE include tdrv011 h int fd int result TDRVO011 BUF DESC BufDesc BufDesc msg_obj_num 10 BufDesc identifier 777 BufDesc extended TRUE BufDesc msg_len 1 BufDesc data 0 123 Define message object 10 to transmit the extended message identifier 777 after receiving of a remote frame with the same identifier result ioctl fd TDRVO11 IOCSDEFRMTBUF amp BufDesc if result lt 0 handle ioctl error ERRORS EFAULT Invalid pointer to the parameter buffer Please check the argument argp EINVAL Invalid argument This error code is returned if the message object number is out of range EADDRINUSE The requested message obj
31. rol function resets the init bit in the control register The CAN controller begins the busoff recovery sequence and resets the transmit and receive error counters If the CAN controller counts 128 packets of 11 consecutive recessive bits on the CAN bus the Bus Off state is exited The optional argument can be omitted for this ioctl function Before the driver is able to communicate over the CAN bus after driver startup this control function must be executed EXAMPLE include tdrv011 h int fd int result result ioctl fd TDRVO11 IOCBUSON if result lt 0 handle ioctl error SEE ALSO Intel 82527 Architectural Overview 3 2 Software Initialization TDRVO1 1 SW 82 Linux Device Driver Page 25 of 39 TEWS TECHNOLOGIES 3 3 7 TDRV011 IOCBUSOFF NAME TDRVO011 IOCBUSOFF Enter the bus off state DESCRIPTION This ioctl function sets the specified CAN controller into the Bus Off state After a successful execution of this control function the CAN controller is completely removed from the CAN bus and cannot communicate until the control function TDRV011_IOCBUSON is executed It is not possible to set the device bus off during a write operation of another concurrent process The optional argument can be omitted for this ioctl function Execute this control function before the last close to the CAN controller channel EXAMPLE include tdrv011 h int fd int
32. sage 15 Mask Register The Message 15 Mask Register is a local mask for message object 15 This 29 bit identifier mask appears in bit 3 31 of this parameter The Message 15 Mask is ANDed with the Global Mask This means that any bit defined as don t care in the Global Mask will automatically be a don t care bit for message 15 See also Intel 82527 Architectural Overview global mask extended This parameter specifies the value for the Global Mask Extended Register The Global Mask Extended Register applies only to messages using the extended CAN identifier This 29 bit identifier mask appears in bit 3 31 of this parameter global mask standard This parameter specifies the value for the Global Mask Standard Register The Global Mask Standard Register applies only to messages using the standard CAN identifier The 11 bit identifier mask appears in bit 5 15 of this parameter The TDRVO011 device driver copies the parameter directly into the corresponding registers of the CAN controller without shifting any bit positions For more information see the Intel 82527 Architectural Overview 4 7 4 10 TDRVO1 1 SW 82 Linux Device Driver Page 21 of 39 TEWS E TECHNOLOGIES EXAMPLE include tdrv011 h int fd int result TDRVO011 ACCEPT MASKS AcceptMasksParam Standard identifier bits 0 3 don t care AcceptMasksParam global mask standard 0xfe00 extended identifier bits 0 3 don t care
33. troller ay 3 11 10 06 linuxsmp2 kernel ay 3 11 10 06 linuxsmp2 kernel TDRVO11 Add tdrv011 node into the list of kown major devices ay 3 11 10 06 linuxsmp2 kernel TDRVO11 Probe new device vendor 0x1498 device 0x013C type 316 ay 3 11 10 06 linuxsmp2 kernel TDRVO11 2x 182527 CAN controller ay 3 11 10 06 linuxsmp2 kernel ay 3 11 10 06 linuxsmp2 kernel TDRVO11 Add tdrv011 node into the list of kown major devices after modprobing the driver TDRVO1 1 SW 82 Linux Device Driver Page 37 of 39 TEWS E TECHNOLOGIES cat proc tews tdrv011 after driver start reset condition EWS TECHNOLOGIES TDRV011 6 4 2 and 1 Channel Extended CAN Bus version 1 0 x yyyy mm dd Supported modules TPMC316 TPMC816 TPMC901 Registered Intel 82527 CAN controller channels dev tdrv011_0 Car TPMC816 0 stat 0x07 ctrl 0x49 RxQ1 0 0 RxQ2 0 0 RxQ3 0 0 dev tdrv011 1 Car TPMC901 0 stat 0x07 ctrl 0x49 RxQ1 0 0 RxQ2 0 0 RxQ3 0 0 dev tdrv011_2 Car TPMC901 1 stat 0x07 ctrl 0x49 RxQ1 0 0 RxQ2 0 0 RxQ3 0 0 dev tdrv011_3 Car TPMC901 2 stat 0x07 ctrl 0x49 RxQ1 0 0 RxQ2 0 0 RxQ3 0 0 dev tdrv011 4 Car TPMC901 3 stat 0x07 ctrl 0x49 RxQ1 0 0 RxQ2 0 0 RxQ3 0 0 dev tdrv011 5 Car TPMC901 4 stat 0x07 ctrl 0x49 RxQ1 0 0 RxQ2 0 0 RxQ3 0 0 dev tdrv011 6 Car TPMC901 5 stat 0x07 ctrl 0x49 RxQ1 0 0 RxQ2 0 0 RxQ3 0 0

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