<pre name="code" class="html">最近花了俩天时间,研究了socketcan,俩天之后驱动调通,欣喜之情,难以言表,特把这俩天的移植过程与大家共分享。<p></p><p>制作CAN相关工具,参考以下博文</p><p><a target=_blank target="_blank" href="http://blog.chinaunix.net/uid-20680966-id-4585059.html" target="_blank" rel="external nofollow" style="font-family: 微软雅黑, 黑体, Verdana; word-wrap: break-word; color: rgb(25, 89, 155); font-size: 20px; text-decoration: none;">交叉编译canutils与libsocketcan</a></p><p>编译过程如果提示<libsocketcan h="">, 终端输入export C_INCLUDE_PATH=$C_INCLUDE_PATH:这里添加<libsocketcan.h目录</libsocketcan></p><p>编译can-util我是用的是如下配置</p><p></p><pre class="plain" name="code">export C_INCLUDE_PATH=:/home/haoyupei/desktop/embeded_linux/yc2440/libsocketcan-0.0.10/include/:/home/haoyupei/desktop/embeded_linux/yc2440/libsocketcan-0.0.10/include/
./configure CC=“arm-none-linux-gnueabi-gcc -march=armv4t”
--prefix=/home/haoyupei/desktop/embeded_linux/yc2440/canutils
--host=arm-none-linux-gnueabi
libsocketcan_LIBS=“-L/home/haoyupei/desktop/embeded_linux/yc2440/libsocketcan-0.0.10/src/.libs -lsocketcan”
libsocketcan_CFLAGS=“-I/home/haoyupei/desktop/embeded_linux/yc2440/libsocketcan-0.0.10/include/”
注意把双引号引起来
编译出来的canconfig candump cansend ...留着以后验证使用,必须是交叉编译的,因为要在s3c2440中运行。
接下里就是移植修改sja1000了,这里我就不贴出来,sockcan的层次调用关系了,直接修改,修改之前备份源文件,以便将来恢复使用。
我这里使用的是linux3.2.65,操作IO的一些函数发生变化了,不过好在移植CAN的过程中没有用到
修改linux-3.2.65\drivers\net\can\sja1000\sja1000.h
/*
* sja1000.h - Philips SJA1000 network device driver
*
* Copyright (c) 2003 Matthias Brukner, Trajet Gmbh, Rebenring 33,
* 38106 Braunschweig, GERMANY
*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
* DAMAGE.
*
*/
#ifndef SJA1000_DEV_H
#define SJA1000_DEV_H
#include <linux/irqreturn.h>
#include <linux/can/dev.h>
#include <linux/can/platform/sja1000.h>
#define SJA1000_ECHO_SKB_MAX 1 /* the SJA1000 has one TX buffer object */
#define SJA1000_MAX_IRQ 20 /* max. number of interrupts handled in ISR */
/* SJA1000 registers - manual section 6.4 (Pelican Mode) */
#define REG_MOD 0x00
#define REG_CMR 0x01
#define SJA1000_REG_SR 0x02
#define REG_IR 0x03
#define REG_IER 0x04
#define REG_ALC 0x0B
#define REG_ECC 0x0C
#define REG_EWL 0x0D
#define REG_RXERR 0x0E
#define REG_TXERR 0x0F
#define REG_ACCC0 0x10
#define REG_ACCC1 0x11
#define REG_ACCC2 0x12
#define REG_ACCC3 0x13
#define REG_ACCM0 0x14
#define REG_ACCM1 0x15
#define REG_ACCM2 0x16
#define REG_ACCM3 0x17
#define REG_RMC 0x1D
#define REG_RBSA 0x1E
/* Common registers - manual section 6.5 */
#define REG_BTR0 0x06
#define REG_BTR1 0x07
#define REG_OCR 0x08
#define REG_CDR 0x1F
#define REG_FI 0x10
#define SFF_BUF 0x13
#define EFF_BUF 0x15
#define FI_FF 0x80
#define FI_RTR 0x40
#define REG_ID1 0x11
#define REG_ID2 0x12
#define REG_ID3 0x13
#define REG_ID4 0x14
#define CAN_RAM 0x20
/* mode register */
#define MOD_RM 0x01
#define MOD_LOM 0x02
#define MOD_STM 0x04
#define MOD_AFM 0x08
#define MOD_SM 0x10
/* commands */
#define CMD_SRR 0x10
#define CMD_CDO 0x08
#define CMD_RRB 0x04
#define CMD_AT 0x02
#define CMD_TR 0x01
/* interrupt sources */
#define IRQ_BEI 0x80
#define IRQ_ALI 0x40
#define IRQ_EPI 0x20
#define IRQ_WUI 0x10
#define IRQ_DOI 0x08
#define IRQ_EI 0x04
#define IRQ_TI 0x02
#define IRQ_RI 0x01
#define IRQ_ALL 0xFF
#define IRQ_OFF 0x00
/* status register content */
#define SR_BS 0x80
#define SR_ES 0x40
#define SR_TS 0x20
#define SR_RS 0x10
#define SR_TCS 0x08
#define SR_TBS 0x04
#define SR_DOS 0x02
#define SR_RBS 0x01
#define SR_CRIT (SR_BS|SR_ES)
/* ECC register */
#define ECC_SEG 0x1F
#define ECC_DIR 0x20
#define ECC_ERR 6
#define ECC_BIT 0x00
#define ECC_FORM 0x40
#define ECC_STUFF 0x80
#define ECC_MASK 0xc0
/*
* Flags for sja1000priv.flags
*/
#define SJA1000_CUSTOM_IRQ_HANDLER 0x1
/*
* SJA1000 private data structure
*/
struct sja1000_priv {
struct can_priv can; /* must be the first member */
int open_time;
struct sk_buff *echo_skb;
/* the lower-layer is responsible for appropriate locking */
u8 (*read_reg) (const struct sja1000_priv *priv, int reg);
void (*write_reg) (const struct sja1000_priv *priv, int reg, u8 val);
void (*pre_irq) (const struct sja1000_priv *priv);
void (*post_irq) (const struct sja1000_priv *priv);
void *priv; /* for board-specific data */
struct net_device *dev;
void __iomem *reg_base; /* ioremap'ed data to registers */
void __iomem *reg_reg; /* ioremap'ed address to registers */
unsigned long irq_flags; /* for request_irq() */
spinlock_t cmdreg_lock; /* lock for concurrent cmd register writes */
u16 flags; /* custom mode flags */
u8 ocr; /* output control register */
u8 cdr; /* clock divider register */
};
struct net_device *alloc_sja1000dev(int sizeof_priv);
void free_sja1000dev(struct net_device *dev);
int register_sja1000dev(struct net_device *dev);
void unregister_sja1000dev(struct net_device *dev);
irqreturn_t sja1000_interrupt(int irq, void *dev_id);
#endif /* SJA1000_DEV_H */
添加
void __iomem *reg_reg; /* ioremap'ed address to registers */用来发送地址
修改当前目录下sja1000_platform.c
<pre name="code" class="objc">/*
* Copyright (C) 2005 Sascha Hauer, Pengutronix
* Copyright (C) 2007 Wolfgang Grandegger <[email protected]>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the version 2 of the GNU General Public License
* as published by the Free Software Foundation
*
* 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., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/interrupt.h>
#include <linux/netdevice.h>
#include <linux/delay.h>
#include <linux/pci.h>
#include <linux/platform_device.h>
#include <linux/irq.h>
#include <linux/can/dev.h>
#include <linux/can/platform/sja1000.h>
#include <linux/io.h>
#include <mach/regs-mem.h>
#include "sja1000.h"
#define DRV_NAME "sja1000"
MODULE_AUTHOR("Sascha Hauer <[email protected]>");
MODULE_DESCRIPTION("Socket-CAN driver for SJA1000 on the platform bus");
MODULE_LICENSE("GPL v2");
/*
因为sja1000中地址与数据复用,
s3c2440AL地址与数据总线分开
需要模拟sja1000的控制时序
需要配置bank0和bank1的位宽为8
*/
static u8 sp_read_reg8(const struct sja1000_priv *priv, int reg)
{
iowrite8(reg, priv->reg_reg); /*发送地址*/
return ioread8(priv->reg_base); /*读取数据*/
}
static void sp_write_reg8(const struct sja1000_priv *priv, int reg, u8 val)
{
iowrite8(reg, priv->reg_reg); /*发送地址*/
iowrite8(val, priv->reg_base); /*写入数据*/
}
static u8 sp_read_reg16(const struct sja1000_priv *priv, int reg)
{
return ioread8(priv->reg_base + reg * 2);
}
static void sp_write_reg16(const struct sja1000_priv *priv, int reg, u8 val)
{
iowrite8(val, priv->reg_base + reg * 2);
}
static u8 sp_read_reg32(const struct sja1000_priv *priv, int reg)
{
return ioread8(priv->reg_base + reg * 4);
}
static void sp_write_reg32(const struct sja1000_priv *priv, int reg, u8 val)
{
iowrite8(val, priv->reg_base + reg * 4);
}
/*设置BS位宽为8位*/
static void set_bank_buswidth8(void)
{
unsigned int oldval_bwscon = *((volatile unsigned int*)S3C2410_BWSCON);
*((volatile unsigned int*)S3C2410_BWSCON) = (oldval_bwscon & ~(0xF<<4 | 0xF<<8)) | \
S3C2410_BWSCON_DW1_8 | S3C2410_BWSCON_DW2_8;
}
static int sp_probe(struct platform_device *pdev)
{
int err;
void __iomem *datar,*addr;
struct net_device *dev;
struct sja1000_priv *priv;
struct resource *res_mem, *res_irq, *res_reg;
struct sja1000_platform_data *pdata;
pdata = pdev->dev.platform_data;
if (!pdata) {
dev_err(&pdev->dev, "No platform data provided!\n");
err = -ENODEV;
goto exit;
}
res_mem = platform_get_resource(pdev, IORESOURCE_MEM, 0); /*添加使其支持读写数据,nGCS2*/
res_reg = platform_get_resource(pdev, IORESOURCE_MEM, 1); /*添加使其支持发送地址,nGCS1*/
res_irq = platform_get_resource(pdev, IORESOURCE_IRQ, 0);
if (!res_mem || !res_irq || !res_reg) {
err = -ENODEV;
goto exit;
}
if (!request_mem_region(res_mem->start, resource_size(res_mem),
DRV_NAME)) {
err = -EBUSY;
goto exit;
}
datar = ioremap_nocache(res_mem->start, resource_size(res_mem));
if (!datar) {
err = -ENOMEM;
goto exit_release;
}
/*以下是申請*/
if (!request_mem_region(res_reg->start, resource_size(res_reg),
DRV_NAME)) {
iounmap(datar);
release_mem_region(res_mem->start, resource_size(res_mem)); /*釋放之前申请的资源*/
err = -EBUSY;
goto exit;
}
addr = ioremap_nocache(res_reg->start, resource_size(res_reg));
if (!datar) {
release_mem_region(res_reg->start, resource_size(res_reg)); /*釋放之前申请的资源*/
iounmap(datar);
release_mem_region(res_mem->start, resource_size(res_mem)); /*釋放之前申请的资源*/
err = -ENOMEM;
goto exit;
}
dev = alloc_sja1000dev(0);
if (!dev) {
err = -ENOMEM;
goto exit_iounmap;
}
priv = netdev_priv(dev);
dev->irq = res_irq->start;
priv->irq_flags = res_irq->flags & (IRQF_TRIGGER_MASK | IRQF_SHARED);
priv->reg_base = datar;
priv->reg_reg = addr; /*自己添加*/
/* The CAN clock frequency is half the oscillator clock frequency */
priv->can.clock.freq = pdata->osc_freq / 2;
priv->ocr = pdata->ocr;
priv->cdr = pdata->cdr;
switch (res_mem->flags & IORESOURCE_MEM_TYPE_MASK) {
case IORESOURCE_MEM_32BIT:
priv->read_reg = sp_read_reg32;
priv->write_reg = sp_write_reg32;
break;
case IORESOURCE_MEM_16BIT:
priv->read_reg = sp_read_reg16;
priv->write_reg = sp_write_reg16;
break;
case IORESOURCE_MEM_8BIT:
default:
printk(KERN_INFO"\r\nSet sja1000 in 8bit mode");
set_bank_buswidth8(); /*bank1与bank2的位宽设置成8位*/
priv->read_reg = sp_read_reg8;
priv->write_reg = sp_write_reg8;
break;
}
dev_info(&pdev->dev, "%s device registered (reg_base=%p, reg_reg=%p, irq=%d)\n",
DRV_NAME, priv->reg_base,priv->reg_reg, dev->irq);
dev_set_drvdata(&pdev->dev, dev);
SET_NETDEV_DEV(dev, &pdev->dev);
err = register_sja1000dev(dev);
if (err) {
dev_err(&pdev->dev, "registering %s failed (err=%d)\n",
DRV_NAME, err);
goto exit_free;
}
dev_info(&pdev->dev, "%s device registered (reg_base=%p, reg_reg=%p, irq=%d)\n",
DRV_NAME, priv->reg_base,priv->reg_reg, dev->irq);
return 0;
exit_free:
free_sja1000dev(dev);
exit_iounmap:
iounmap(datar);
exit_release:
release_mem_region(res_mem->start, resource_size(res_mem));
exit:
return err;
}
static int sp_remove(struct platform_device *pdev)
{
struct net_device *dev = dev_get_drvdata(&pdev->dev);
struct sja1000_priv *priv = netdev_priv(dev);
struct resource *res;
unregister_sja1000dev(dev);
dev_set_drvdata(&pdev->dev, NULL);
if (priv->reg_base)
iounmap(priv->reg_base);
res = platform_get_resource(pdev, IORESOURCE_MEM, 0);
release_mem_region(res->start, resource_size(res));
free_sja1000dev(dev);
return 0;
}
static struct platform_driver sp_driver = {
.probe = sp_probe,
.remove = sp_remove,
.driver = {
.name = DRV_NAME,
.owner = THIS_MODULE,
},
};
static int __init sp_init(void)
{
return platform_driver_register(&sp_driver);
}
static void __exit sp_exit(void)
{
platform_driver_unregister(&sp_driver);
}
module_init(sp_init);
module_exit(sp_exit);
修改当前目录下sja1000.c
#define SJA1000_OFP_OCR OCR_TX0_PULLDOWN
#define SJA1000_OFP_CDR (CDR_CBP | CDR_CLK_OFF)
/*
* initialize SJA1000 chip:
* - reset chip
* - set output mode
* - set baudrate
* - enable interrupts
* - start operating mode
*/
static void chipset_init(struct net_device *dev)
{
struct sja1000_priv *priv = netdev_priv(dev);
/* set clock divider and output control register */
priv->write_reg(priv, REG_CDR, priv->cdr | CDR_PELICAN | SJA1000_OFP_CDR);
/* set acceptance filter (accept all) */
priv->write_reg(priv, REG_ACCC0, 0x00);
priv->write_reg(priv, REG_ACCC1, 0x00);
priv->write_reg(priv, REG_ACCC2, 0x00);
priv->write_reg(priv, REG_ACCC3, 0x00);
priv->write_reg(priv, REG_ACCM0, 0xFF);
priv->write_reg(priv, REG_ACCM1, 0xFF);
priv->write_reg(priv, REG_ACCM2, 0xFF);
priv->write_reg(priv, REG_ACCM3, 0xFF);
priv->write_reg(priv, REG_OCR, priv->ocr | OCR_MODE_NORMAL | SJA1000_OFP_OCR);
}
尤其是上面俩个宏定义必须要加,我就是因为上面的问题,纠缠我好几天,最后才发现问题。
接下来修改arch/arm/mach-s3c2440/mach-smdk2440.c添加如下platdevice
/*sja1000*/
// res_mem = platform_get_resource(pdev, IORESOURCE_MEM, 0); /*添加使其支持读写数据,nGCS2*/
// res_reg = platform_get_resource(pdev, IORESOURCE_MEM, 1); /*添加使其支持发送地址,nGCS1*/
// res_irq = platform_get_resource(pdev, IORESOURCE_IRQ, 0);
static struct resource s3c_sja1000_resource[] = {
[0] = {
.start = S3C2410_CS2,
.end = S3C2410_CS2,
.flags = IORESOURCE_MEM,
},
[1] = {
.start = S3C2410_CS1,
.end = S3C2410_CS1,
.flags = IORESOURCE_MEM,
},
[2] = {
.start = IRQ_EINT20,
.end = IRQ_EINT20,
.flags = IORESOURCE_IRQ | IRQF_TRIGGER_RISING,
//.flags = IORESOURCE_IRQ |IRQF_TRIGGER_LOW,
}
};
// struct sja1000_platform_data {
// u32 osc_freq; /* CAN bus oscillator frequency in Hz */
// u8 ocr; /* output control register */
// u8 cdr; /* clock divider register */
// };
static struct sja1000_platform_data s3c_sja1000_platdata = {
.osc_freq = 16000000, //16MHz
.ocr = 0,
.cdr = 0,
};
struct platform_device s3c_device_sja1000 = {
.name = "sja1000",
.id = 0,
.num_resources = ARRAY_SIZE(s3c_sja1000_resource),
.resource = s3c_sja1000_resource,
.dev = {
.platform_data = &s3c_sja1000_platdata,
}
};
&s3c_device_sja1000,//这个在static struct platform_device *smdk2440_devices[] __initdata 中添加
然后是配置内核开启NetWorking下CAN相关选项,编译进内核
上面修改主要注意sja1000_platform.c中sja1000的读写函数编写,我的是根据自己的原理图修改的,这里请根据你的原理图,修改读写函数。
启动开发板,ls /sys/class/net/ 会出现can0,如果你的没有出现那么就是你的读写函数问题,因为内核自己的问题我已经在sja1000.c中修改了,接下来是配置can0
运行canconfig can0 bitrate 125000 配置can0波特率125kbps
canconfig can0 start 启动can0
测试接收can数据帧，使用dsp-can适配器,周立功的can测试软件
candump can0
如果你没有在屏幕看见数据帧,检查自己的dsp-can适配器的波特率,到这一步你应该已经可看见数据帧了
查看can0详细信息
ip -s -d link show can0 这里的ip是交叉编译iproute2产生的,busybox自带的ip是不支持的,关于如何交叉编译iproute2,自己百度吧
clock 8000000
结论<>
内核自带的sja1000很稳定了,你需要自己修改sja1000_platform.c中读写函数,根据你自己的开发板,同时修改sja1000.c中chip_init,下一步参考can-utils中can操作,
编写程序吧。
![linux-svn卸载与安装[图]](data:image/gif;base64,R0lGODlhAQABAIAAAP///wAAACwAAAAAAQABAAACAkQBADs=)