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CAN Driver Installation Procedure + Current allocation

by Martin Mohan — last modified 2010-06-09 11:44

This procedure describes the step-by-step installation of the CAN driver on a Linux box.

Existing drivers levels and machine allocations

Currently the machine driver level and application allocation is as follow:
olserver33: Driver level ethercan-3.1.5 (latest ones): IMMS
olserver34: Driver level ethercan-3.0.7 (old ones): CoilRelaySever

Precondition

virgoApp is mounted
use CanAPI v3r6p4.

Installation Procedure

Compile the driver

# cd /virgo/ext/ethercan/ethercan-3.0.7/<OS_NAME>
# installEthercanLibs (run ./cantest to check they are installed).
# cd psys_linux
# uname -r (check kernel)
# make -f Makefile.k24            -  Makefile for PSYS-driver for kernel 2.4.x
# make -f Makefile.k26            -  Makefile for PSYS-driver for kernel 2.6.x

Create the device node

# cd /etc/udev/devices
# mknod --mode=a+rw psys c 61 0

Test the module by loading it

# cd /virgo/ext/ethercan/ethercan-3.0.7/<OS_NAME>/psys_linux/src/
# /sbin/insmod ./psysdrv.ko
# dmesg | grep psysdrv

The last line of the kernel messages shold be:

esd PSYS driver: version 0.4.6 16:52:06 Feb  5 2009

Install the driver

# cd ..
# make install

Clean-up by issuing:

# /sbin/rmmod psysdrv

Automatic Startup at Boot Time

Update module dependencies

# /sbin/depmod -A

Add the module at modprobe.conf

# vim /etc/modprobe.conf

Add the following line at the end:

alias psys psysdrv

Modify rc.sysinit:

# vim /etc/rc.sysinit

Add the following lines at the end:

# psysdrv module loading
modprobe psysdrv > /dev/null 2>&1

Reboot the WS and check if the driver module has been loaded via:

# /sbin/lsmod | grep psys
# /lib/modules/2.6.9-55.ELxenU/kernel/drivers/char/psysdrv.ko

You can check your applcation is using the correct libraries. e.g.

# ldd ../v2r1p1/Linux-i686-SL4/IMMSApp.exe | grep libntcan.so
# libntcan.so.3 => ../ethercan-3.0.7/../libntcan.so.3
# ldd ../v2r2/Linux-i686-SL4/IMMSApp.exe | grep libntcan.so
# libntcan.so.3 => ../ethercan-3.1.5/../libntcan.so.3

CAN Network Configuration

In order to define the involved CAN networks a configuration file (/etc/esd-plugin) should be set accordingly.

IMMS CAN Network (see /etc/esd-plugin in olserver33)

##Central building
PeerName[0]=      "192.168.101.17"
Net[0]=           0
KeepAliveTime[0]= 25000  # increase keep-alive timeout
ConnTimeout[0]=    8000  # increase connection timeout
CmdTimeout[0]=     5000  # increase command timeout

##Technical building
PeerName[1]=      "192.168.101.10"
Net[1]=           1
KeepAliveTime[1]= 25000  # increase keep-alive timeout
ConnTimeout[1]=    8000  # increase connection timeout
CmdTimeout[1]=     5000  # increase command timeout

##North End building
PeerName[2]=      "192.168.101.14"
Net[2]=           2
KeepAliveTime[2]= 25000  # increase keep-alive timeout
ConnTimeout[2]=    8000  # increase connection timeout
CmdTimeout[2]=     5000  # increase command timeout

##West End building
PeerName[3]=      "192.168.101.15"
Net[3]=           3
KeepAliveTime[3]= 25000  # increase keep-alive timeout
ConnTimeout[3]=    8000  # increase connection timeout
CmdTimeout[3]=     5000  # increase command timeout

##Intermediate West End building
PeerName[4]=      "192.168.101.16"
Net[4]=           4

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