Re: CAN drivers for AT91SAM9263EK running linux

[Ryan Mallon <ryan@xxxxxxxxxxxxxxxx>]

Hans J. Koch wrote:
> On Mon, Jul 21, 2008 at 05:41:43PM +0530, Neelima Patil wrote:
>> I am looking for CAN dirvers for my AT91SAM9263EK ATMEL board running Angstrom Linux(2.6.24)
>> can you suggest some opensource drivers or stack for this board.
> 
> I wrote such a driver. It works, but isn't ready to be merged into the
> socketcan repository. You can find it here:
> 
> https://lists.berlios.de/pipermail/socketcan-core/2008-April/001154.html
> 
> (use the links to download the .bz2 attachment)

I sent this through to Neelima yesterday, but in case there is any other
interest I also developed a minimal CAN subsystem for Linux when working
on a board which had 3 sja1000 CAN controllers. I had evaluated using
can4linux and OpenCAN, both of which weren't well suited to our task.

The code is written for the 2.6.20 kernel, but is reasonably standalone
so porting to newer versions shouldn't be too much hassle. The source
code is available via anonymous ftp at server.bluewatersys.com.

The kernel drivers are in the file linux_can_subsystem.tar.gz. Unpack
the can/ diretory into the linux/drivers directory (you will need to add
to the drivers/Makefile and drivers/Kconfig). The can/ directory layout
is as follows:

 can/can_core.c    Generic CAN bus core code.
 can/chipsets/     CAN controller drivers. Has a driver for the sja1000.
 can/adapters/     CAN adapters. An adapter has one or more controller
chips on it, plus any additional logic needed. There is a driver called
salmon-can, which is for a custom board we designed which has 3 sja1000
CAN controllers on it.

There is also a file on our ftp site called utilities/can_tool.tar.gz
which is a simple C program which runs in user space and demonstrates
how the CAN bus is accessed. The interface provided by our CAN subsystem
is very close to the can4linux interface for compatibility.

The code is all GPL, so feel free to use it or adapt it into any other
CAN projects.

~Ryan

-- 
Bluewater Systems Ltd - ARM Technology Solution Centre

       Ryan Mallon                              Unit 5, Amuri Park
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