CAN-API

Part 2:
Installation Guide
Software Manual

CAN-API Installation

Manual Doc. No.: C.2001.21 / Rev. 3.0 2000-2007 esd gmbh

esd electronic system design gmbh

Vahrenwalder Str. 207 30165 Hannover Germany
www.esd-electronics.com Fax: 0511/37 29 8-68
Phone: 0511/37 29 80 International: +49-5 11-37 29 80

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NOTE

The information in this document has been carefully checked and is believed to be entirely reliable. esd
makes no warranty of any kind with regard to the material in this document, and assumes no
responsibility for any errors that may appear in this document. esd reserves the right to make changes
without notice to this, or any of its products, to improve reliability, performance or design.
esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product
of esd gmbh.
esd does not convey to the purchaser of the product described herein any license under the patent rights
of esd gmbh nor the rights of others.

esd electronic system design gmbh

Vahrenwalder Str. 207
30165 Hannover
Germany
Phone:
Fax:
E-mail:
Internet:

+49-511-372 98-0
+49-511-372 98-68
info@esd-electronics.com
www.esd-electronics.com

USA / Canada:
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Suite 1
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USA
Phone:
Fax:
E-mail:
Internet:

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Manual Doc. No.: C.2001.21 / Rev. 3.0 2000-2007 esd gmbh

CAN-API Installation

Manual File:

I:\texte\Doku\MANUALS\PROGRAM\CAN\Schicht2\ENGLISCH\Univers\CAN-API-Installation_30e.en9

Manual Order no.:

C.2001.21
This order no. covers the two parts of the API manual:
Part 1: CAN API, Function Description and
Part 2: CAN API, Installation Guide (this manual).
2007-07-27

Date of Print:

Changes in the Software and/or Documentation

Chapter

Alterations in this manual versus previous version

Alterations in Alterations in
software
documentation

Tables 1. - 4. revised

2.

Chapter completely revised

4.1

Chapter revised

5.1

Chapter 5.1 Installation Under VxWorks completely revised and extended

for VxWorks 6.x support.

The following modules are inserted: CAN-PCI104/200, CAN-PCIe/200,

CAN-USB/2

Technical details are subject to change without notice.

CAN-API Installation

Manual Doc. No.: C.2001.21 / Rev. 3.0 2000-2007 esd gmbh

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This page is intentionally left blank.

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Manual Doc. No.: C.2001.21 / Rev. 3.0 2000-2007 esd gmbh

CAN-API Installation

Contents

Page

1. Guide to Your Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

2. Windows Operating Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Windows 2000 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1 Driver Installation of Plug-and-Play Capable CAN Modules . . . . . . . . . . . . . . . . . .
2.1.2 Driver Installation of Non Plug-and-Play Capable CAN Modules . . . . . . . . . . . . . . .
2.2 Windows XP/Server 2003 Installation (32- and 64-Bit Version) . . . . . . . . . . . . . . . . . . . . .
2.2.1 Driver Installation for Plug-and-Play Capable CAN Modules. . . . . . . . . . . . . . . . . . .
2.3 Windows Vista Installation (32- and 64-Bit Version) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 Driver Installation for Plug-and-Play Capable CAN Modules. . . . . . . . . . . . . . . . . . .
2.4 Driver Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 Windows NT 4.0 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.1 Installation of Software Drivers for the Host CPU . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5.2 Event Logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6 Windows 95/98/ME Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6.1 Installation of PCI-Bus Boards and CAN-USB-Mini . . . . . . . . . . . . . . . . . . . . . . . .
2.6.2 Installation of ISA-Bus Boards and CAN-PCC . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7 RTX Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7.1 Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7.2 Software Requirements and Differences to Win32 . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7.3 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7.4 Command Line Parameter for RTSS device driver . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8 Windows CE.NET Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.9 Installation and Configuration of the CAN-Bluetooth Module . . . . . . . . . . . . . . . . . . . . . .
2.9.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.9.2 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.10 Installation and Configuration of the EtherCAN Module . . . . . . . . . . . . . . . . . . . . . . . . .
2.10.1 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.10.2 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.11 Installing the SDK (Software Development Kit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.11.1 Installation Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.11.2 IDE Integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.11.3 Supported Programming Languages and Development Environments . . . . . . . . . . .

12
12
12
16
17
17
20
20
24
26
26
31
32
32
33
43
43
43
44
46
48
49
49
50
51
51
52
53
53
53
53

3. Firmware Update and CAN2.0A/B-Selection for Windows OS . . . . . . . . . . . . . . . . . . . . .

3.1 Firmware Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.2 Checking the Firmware Version Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1.3 Executing the Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Changing between CAN2.0A and CAN2.0B-Operation . . . . . . . . . . . . . . . . . . . . . . . . . . .

54
54
54
55
56
57

4. Unix Operating Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 Linux Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1.1 Linux Driver Installation (from V3.x.x on, except EtherCAN) . . . . . . . . . . . . . . . . .
4.1.2 Linux Driver Installation (drivers before version V.3.x.x. only) . . . . . . . . . . . . . . . . .
4.1.3 Linux Driver Installation of the EtherCAN-Module . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 LynxOS Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

58
58
59
67
71
76

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4.2.1 Files of the LynxOS Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Sequence of Installation Under LynxOS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 PowerMAX OS Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1 Files of the PowerMAX OS Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Sequence of Installation Under PowerMAX OS . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Solaris Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Files of the Solaris Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Sequence of Installation Under Solaris . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 SGI-IRIX6.5 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Files of the SGI-IRIX6.5-Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2 Sequence of Installation Under SGI-IRIX6.5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 AIX Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.1 Special Features of the AIX Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.2 Files of the AIX Package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6.3 Installation Sequence under AIX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

76
77
78
78
79
81
81
82
86
86
87
88
88
88
89

5. Installation of Real Time OS (Non Windows) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

5.1VxWorks Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
5.1.1 Notes on VxWorks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
5.1.2 Integration of the Driver in a Project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
5.1.3 Driver Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
5.1.4 Driver Start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
5.1.5 Test Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
5.1.6 CAN 2.0B (29-bit Identifier) Support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
5.2 Installation Under QNX4 and QNX6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
5.2.1 QNX4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
5.2.2 QNX6 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
6. Update of Local Firmware for Non-Windows Operating Systems . . . . . . . . . . . . . . . . . .
6.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Checking the Firmware Version Number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Executing the Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

108
108
109
110

7. References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

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CAN-API Installation

Guide to Your Installation

1. Guide to Your Installation

This document is valid for several esd-CAN boards. The boards are partly being sold installed into
closed cases (e.g. CAN-USB-Mini), but sometimes also just as boards. In generally applicable contexts
the term modules will therefore be used.
The installation descriptions given in this appendix are dependent on the module and operating system
used.
For the hardware installation please consult the module-specific manual 'Hardware Installation and
Technical Data.
The CAN software is shipped on CD-ROM. The CD contains the CAN driver, the DLL, the
configuration programs and the SDK (Software Development Kit) with the files which are required for
developing and testing your own applications. The CD also contains CAN tools like the monitor
program CANreal, CANrepro, CANscript and CANplot.

For installation, please follow the steps below (except CAN-Bluetooth and EtherCAN module):
1. Installation of driver
Look for the column with your operating system in the applicable table on the following pages.
In the lines of the table you will find your CAN module. These two points lead you to the field
which lists the chapters you need for your installation.
The first chapters describe the installation of the driver.
If you have a Windows operating system, you also have to carry out the second step and install
the SDK. For all other operating systems this is not required.
2. Installing the SDK (Software Development Kit - for Windows operating systems only)
After the driver has been installed, proceed to the installation of the SDK. This is described in
the chapter starting on page 53. The SDK installation is only required for Windows operating
systems.

Attention:

The installation of the CAN Bluetooth driver is an exception of these rules! The CAN
Bluetooth driver must always be installed last, that means after the installation of
possible other CAN drivers and after the installation of the CAN-SDK!
The installation of the EtherCAN driver can be executed at any time.

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Guide to Your Installation

The following tables shall be a guide to find the chapters that are important for your board and operating
system:
Corresponding Chapter for ...
Real Time Windows
OS

Non Real Time Windows Operating Systems

CAN Module

CAN-ISA/200
CAN-PC104/200
(SJA1000 version)

CAN-ISA/331

below
called
ISA-Bus
Boards

CAN-PC104/331
CAN-PCI104/200

Windows
NT

Windows
2000

Windows
Server 2003,
Windows XP
(32-, 64-bit)

2.5,
2.11

2.1.2
2.11

2.5,
2.11, 3.

2.1.2,
2.11, 3.

Windows
Vista

Windows
95/98/ME

Windows
CE.NET

Windows
RTX

2.6.2,
2.11

2.6.2,
2.11, 3.

2.7,
2.11

(32-, 64-bit)

CAN-PCIe/200
CAN-PCI/200

2.1.1, 2.4,
2.11

CPCI-CAN/200

2.2, 2.4,
2.11

2.3, 2.4,
2.11

2.6.1, 2.11

2.5, 2.11

CAN-PCI/266

PMC-CAN/266
CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

below
called
PCI-Bus
Boards

2.8,
2.11, 3.
2.5,
2.11, 3.

2.1.1, 2.4,
2.11, 3.

2.2, 2.4,
2.11, 3.

2.3, 2.4,
3.

2.6.1,
2.11, 3.

CAN-PCI/360

CPCI-CAN/360
only 32-bit
drivers:
2.1.1, 2.4,
2.11

only 32-bit
drivers:
2.1.1, 2.4,
2.11

2.7,
2.11, 3.

CAN-PCI/405

only 32-bit
drivers:
2.1.1, 2.4,
2.11

CAN-USB-Mini

2.1.1, 2.4,
2.11, 3.

2.2, 2.4,
2.11, 3.

2.3, 2.4,
2.11, 3.

2.6.1,
2.11, 3.

2.8,
2.11, 3.

CAN-USB/2

2.1.1, 2.4,
2.11, 3.

2.2, 2.4,
2.11, 3.

2.3, 2.4,
2.11, 3.

CAN-Bluetooth

2.9, 2.11

2.9, 2.11

2.10, 2.11 2.10, 2.11,

2.10, 2.11

2.10, 2.11

2.6.2,
2.11

EtherCAN
CAN-PCC

2.5,
2.11

2.1.2,
2.11

- ... No implementation available at the moment

Table 1: Guide to find the relevant chapters for the Windows software installation
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CAN-API Installation

Guide to Your Installation

Corresponding Chapter for
Unix Operating Systems

CAN Module
Linux

LynxOS

PowerMAX OS

Solaris

SGIIRIX6.5

AIX

4.1.1

4.1.1,
6.

4.2,
6.

4.4

4.1.1

4.1.1

4.1.1

4.4

4.5

4.6

CAN-ISA/200
CAN-PC104/200
(SJA1000 version)
CAN-PC104/200
(82527 version)

below called
ISA-Bus
Boards

CAN-ISA/331
CAN-PC104/331
CAN-PCI104/200
CAN-PCIe/200
CAN-PCI/200
CPCI-CAN/200
CAN-PCI-/266
PMC-CAN/266
CAN-PCI/331

below called
PCI-Bus
Boards

4.2,
6.

CPCI-CAN/331
PMC-CAN/331
CAN-PCI/360

4.1.1,
6.

CPCI-CAN/360

CAN-PCI/405

4.5

CAN-USB-Mini

4.1.1
6.

CAN-USB/2

4.1.1
6.

EtherCAN

4.1.3

CAN-PCC

VME-CAN2

4.1.2

4.2

4.3

VME-CAN4

4.1.2

4.2

4.3

4.4

CAN-Bluetooth

- ... No implementation available at the moment

Table 2: Guide to find the relevant chapters for the Unix operating systems

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Guide to Your Installation

Corresponding Chapter for
Real Time Operating Systems

CAN Module
VxWorks

QNX4

QNX6

5.2.1

5.2.2

RTOS-UH

CAN-ISA/200
CAN-PC104/200
(SJA1000 version)
CAN-PC104/200
(82527 version)

below
called
ISA-Bus
Boards

CAN-ISA/331
CAN-PC104/331

5.1

5.1,
6.

5.2.1,
6.

5.2.2,
6.

5.1

CAN-PCI104/200
CAN-PCIe/200
CAN-PCI/200

5.2.2

CPCI-CAN/200
CAN-PCI-/266
PMC-CAN/266
CAN-PCI/331
CPCI-CAN/331

below
called
PCI-Bus
Boards

5.1,
6.

5.2.1,
6.

5.2.2,
6.

PMC-CAN/331
CAN-PCI/360
CPCI-CAN/360
CAN-PCI/405

5.1, 6.
-

5.2.2, 6.
-

5.2.2

5.2.2, 6.

CAN-USB-Mini

CAN-USB/2

CAN-Bluetooth

EtherCAN

CAN-PCC

VME-CAN2

*)

VME-CAN4

5.1

*)

- ...
*)

No implementation available at the moment

Note: For the operating system RTOS-UH drivers for host CPUs are available. Installation notes are not yet
available.

Table 3: Guide to find the relevant chapters for the Real Time operating system

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CAN-API Installation

Guide to Your Installation

CAN
Module
PMC-CPU/405
CPCI-405
CPCI-CPU/750

Local Operating Systems (driver running locally at the CAN module)

Linux

VxWorks
(5.4, 5.5.x, 6.x)

QNX6

RTOS-UH

*)

5.1

5.2.2

*)

4.1.1

5.1

5.2.2

*)

*)

*)

EPPC-405

EPPC-405-HR

EPPC-405-UC

- ...
*)

5.1

No implementation available at the moment

Note: For these operating systems local drivers are available. Installation notes are not yet available.

Table 4: Guide to find the relevant chapters for the host boards and embedded systems

CAN-API Installation

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Windows 2000 Installation

2. Windows Operating Systems

2.1 Windows 2000 Installation
In order to install the device driver for Windows 2000 the user must have administrator privileges. For
these Windows versions non plug-and-play capable CAN modules (ISA, PC104 and Parallel Port) are
supported by installing the Windows NT driver which is described in chapter 2.1.2.
2.1.1 Driver Installation of Plug-and-Play Capable CAN Modules
A non-USB module has to be plugged in before the Windows startup, an USB based CAN module may
also be plugged in while Windows is running. Windows will indicate the detection of the new hardware
by launching the Found New Hardware Wizard. Click Next to proceed with the installation.

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CAN-API Installation

Windows 2000 Installation

Choose Search for a suitable driver for my device (recommended) and click the Next button. The
reported device type in this and the following dialogues depends on the CAN module hardware.

Check the box CD-ROM drives if you have the CAN driver CD inserted into your optical drive
otherwise check Specify a location. Click Next to proceed with the driver installation.

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Windows 2000 Installation

If you dont install from the CAN driver CD you have to locate the driver files with the next step.

The New Hardware Wizard automatically selects the correct INF file, which again depends on the
CAN module hardware. Click Next to start the installation process.

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Windows 2000 Installation

If Windows is configured to warn when unsigned (non-WHQL certified) drivers are about to be
installed, a Security Alert dialogue will appear. The Security Alert dialogue has to be a answered with
Yes to continue the driver installation. For more details about device driver and software signing refer
to chapter 2.4.

Now all necessary driver files are copied to your system. Finally the Hardware Wizard should indicate
the successful installation of the driver. Click Finish to complete the installation.

After the driver installation has been completed, you may open the device manager to verify the correct
installation and configure driver settings. Refer to chapter 2.4 for details.

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Windows 2000 Installation

2.1.2 Driver Installation of Non Plug-and-Play Capable CAN Modules
Note: For ISA-/PC104-bus based CAN modules and the CAN-PCC the Windows NT drivers are
used. Please refer to chapter 2.6.2 for installation instruction.
2.1.2.1 CAN-PCC only: Stopping the System Driver for the Parallel Interface
The CAN-PCC-module is run via the parallel interface of the computer. The Windows 2000 driver
accesses this interface. To ensure that the CAN driver has got unrestricted access to the parallel port,
the Windows 2000 driver has to be stopped before the CAN driver is started.
This can be accomplished by two calls which are available after the installation. They can be reached
via Programs/CAN:
-

before calling the CAN driver Disable parallel port services (Windows 2000) has to be called and
the computer has to be rebooted

if the parallel port is to be used for other matters (e.g. as print port), the CAN driver has to be
stopped first and Enable parallel port services (Windows 2000) has to be called and then the
computer has to be rebooted
Note:

If starting the CAN driver has been changed in the Device Manager from Manual to
Automatic, this has to be re-changed, if the parallel port is to be used for other
applications again and not for the CAN driver anymore.

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2.2 Windows XP/Server 2003 Installation (32- and 64-Bit Version)

In order to install the device driver for Windows XP and Windows Server 2003 (32-bit and 64-bit) the
user must have Administrator privileges. For the 64-bit Windows versions only plug-and-play capable
CAN modules (PCI, PCIe, CPCI, PMC, PCI104 and USB) are supported. For the 32-bit Windows
versions the non Plug and Play capable modules are supported via the Windows NT driver. See chapter
2.1.2 for details.
2.2.1 Driver Installation for Plug-and-Play Capable CAN Modules.
A non-USB module has to be plugged in before the Windows startup, an USB-based CAN-module may
also be plugged in while Windows is running. Windows will indicate the detection of the new hardware
by launching the Found New Hardware Wizard. Select No, not this time from the available options and
proceed by clicking the Next button.

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In the following dialogue box choose Install from a list or specific location (Advanced) before you click
the Next button. The reported device type in this and the following dialogues depends on the CAN
module hardware.

Select Search for the best driver in these locations and choose Search removable media if you install
from the CAN driver CD or choose Include this location in the search and browse for the location of
the driver files. By pressing the Next button the Wizard starts installing the device driver.

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If Windows is configured to ignore file signature warnings the installation process is started and no
further dialogue will appear. If Windows is configured to warn when unsigned (non-WHQL certified)
drivers are about to be installed, a Security Alert dialogue will appear. The dialogue text depends on
the Windows version (32- or 64-bit).
The complete CAN driver package for Windows 64-bit versions is digitally signed and you will see a
dialogue box, which indicates that Windows has verified that the device driver is released by esd and
hasnt been tampered. As both (32-bit and 64-bit) driver packages are not signed by the WHQL
(Windows Hardware Quality Labs) the Security Alert dialogue has to be a answered with Yes to
continue the driver installation. For more details about device driver and software signing refer to
chapter 2.4.

After copying the necessary driver files to the system Windows displays a message indicating that the
installation was successful. Click Finish to complete the installation.

After the driver installation has been completed, you may open the device manager to verify the correct
installation and configure some driver parameter. Refer to chapter 2.4 for details.
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Windows Vista Installation

2.3 Windows Vista Installation (32- and 64-Bit Version)

In order to install the device driver for Windows Vista the user must have administrator privileges. For
Windows Vista only plug-and-Play capable CAN modules (PCI, PCIe, CPCI, PMC, PCI104 and USB)
are supported.
2.3.1 Driver Installation for Plug-and-Play Capable CAN Modules.
A non-USB module has to be plugged in before the Windows Vista startup, an USB-based CANmodule can also be plugged in while Windows Vista is running. Windows Vista will signal the
detection of the new hardware by opening the dialogue box below. The text in the dialogue box may
differ depending on the CAN module:

Choose Locate and install driver software to continue the device driver installation. As driver
installation requires administrator privileges the UAC (User Account Control) opens the dialogue
below, which has to be accepted.

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Depending on the configuration of the Windows Update Driver Settings, which can be changed via the
Hardware tab of the System Properties dialogue which is opened if you select Control
Panel/System/Advanced System Settings, Windows Vista will ask you if you want to search for a
suitable driver online. If such a dialogue appears choose Dont search online, otherwise wait until the
online search on Windows Update is completed which may take up to one minute.

Insert your esd CAN driver disc and the installation process will continue. If the driver files are located
on your hard disc choose I dont have the disc. Show me other options.

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In the latter case choose Browse my computer for driver software (advanced) which is followed by a
file dialogue to locate the driver files.

The following Windows Security dialogue depends on the Windows Vista (32- or 64-bit) version. The
complete CAN driver package for Windows Vista 64-bit is digitally signed and you will see the
dialogue box below, which indicates that Windows Vista has verified that the device driver is released
by esd and hasnt been tampered. You may select the Always trust software from ... check before
selecting the Install button to prevent this dialogue installing other signed driver packages by esd.

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The CAN driver package for Windows Vista 32-bit isnt digitally signed and you will see the dialogue
box below. Select Install the driver software anyway to continue the installation. For more details about
device driver and software signing refer to chapter 2.4.

After copying the necessary driver files to the system Windows displays a message indicating that the
installation was successful. Click Close to complete the installation.

After the driver installation has been completed, you may open the device manager to verify the correct
installation and configure some driver parameter. Refer to chapter 2.4 for details.

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Driver Configuration

2.4 Driver Configuration

This chapter is valid for the operating systems Windows 2000, Windows XP/Server 2003 and Windows
Vista, described in the preceding chapters.
To configure some settings of the device driver or check the installed version you have to open the
Windows Device Manager. All device drivers for esd CAN modules are installed in the CAN Interface
class as shown below.

To configure the driver you have to double-click the device instance to open the Properties dialogue
of the device. Select the Feature tab.

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Driver Configuration

The dialogue box shows the following information:

Driver, firmware and hardware revision.

The serial number (if serial number access is supported by the hardware).
The timestamp frequency (if timestamping is supported by the hardware and the driver) and the
information if this is a hardware (HW) or software (SW) applied timestamp.
The CAN module and driver related device capabilities.
The version of the libraries which are installed together with the driver.
The dialogue box allows to configure the parameter Base Net and the Smart Disconnect Feature.
In Base Net a logical network number is assigned to the CAN module to distinguish between several
physical ports. If a module has got more than one physical CAN port, the logical network number
entered in Base Net is assigned to the first physical port and the following ports are numbered
successively. The default value for the first instance of a hardware is always 0.
Attention: If there is more than one CAN module in the system, the user has to make sure that
the logical net numbers which are assigned to the physical ports do not overlap !
The Smart Disconnect Feature can be enabled or disabled, if supported by the CAN hardware. The
default after installation is disabled.
Attention: Parameter changes are invalid until the next start of the driver !

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Windows NT 4.0 Installation

2.5 Windows NT 4.0 Installation

2.5.1 Installation of Software Drivers for the Host CPU
2.5.1.1 Starting Installation
When updating it is necessary to de-install the old driver version, as shown in section 2.5.1.5.
Attention: The complete installation, configuration and starting the driver can only be done with
administrator rights on the Windows NT computer!
You will find the device driver on the CD-ROM in a corresponding sub-directory.
For installation the CD-ROM containing the device driver has to be inserted into the drive and the
installation program has to be executed. This can either be achieved by directly calling the program
setup.exe or by pressing the install icon in dialogue box add/remove program properties in the
folder control panel.
The following installation process is interactive-controlled. In the course of installation you can choose
between one of three configurations:
Configuration

Description

Typical

Driver, DLL and program to update the local firmware.

Compact

Driver, DLL and configuration programs.

Custom

User-defined configuration.
Table 5: Configuration selection

After the installation and before the start of the driver, the computer has to be re-booted. This can be
done directly from the setup program after the installation is finished.
Continue with the installation of the SDK, as described on page 53.

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2.5.1.2 Calling Configuration Program CAN Control
For the configuration of the driver the program CAN Control is part of the product package. It is called
from the system control.

The following figures show a system with four esd-CAN modules (CAN-ISA/331, CAN-PCI/331,
CAN-PCI/200 and CAN-PCC) exemplary. CAN Control only displays the esd-CAN modules which
are installed in the system. If you have only installed one CAN module, only one file card is shown.
The following figure shows the setting options for CAN-ISA modules:

The following figure shows the setting options for the CAN-PCC module.

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Under Interface you enter the number of the CAN module for which the settings are to be valid. In Base
Net a base network number is assigned to the CAN module. If a module has got more than one physical
CAN interface, the first gets the logical network number specified in Base Net, and the following are
counted up from there.
Attention: The user has to make sure that no number is assigned twice when logical network
numbers are assigned!
Enter your hardware configuration regarding the I/O port address for each CAN module, set the
interrupt level and click OK. The driver is now installed and configured.

The following figure shows the setting options for CAN-PCI modules. Here, only logical CAN
networks are assigned:

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2.5.1.3 CAN-PCC only: Stopping the Windows-NT Drivers for the Parallel Interface
The CAN-PCC module is operated by the parallel interface of the computer. It is standard for the
Windows-NT driver to access this interface. For a free access of the CAN driver to the parallel port,
the Windows-NT driver has to be stopped before starting the CAN driver. For this, you have to
proceed as follows:
1. Select System Control Panel under Settings.
2. Here you have to double click the icon Devices. The following window will open:

3. In this window you now have to cancel the device Parport. The system now tells you that the
devices Parallel and ParVdm are also cancelled.
4. In order to prevent having to repeat this procedure with every system run-up, Startup has to be set
to Manual for all three devices Parallel, Parport and ParVdm. With this setting the devices are not
started automatically with every system run-up.

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2.5.1.4 Starting the Driver
In order to start the driver, the command net start xxxx is to be entered in the command line
first.
For the various CAN modules the drivers are called as follows:
CAN Module

Commands for Starting the Drivers

CAN-ISA/200
CAN-PC104/200
(SJA1000 version)
CAN-ISA/331
CAN-PC104/331

net start c200i

net start c331i

CAN-PCI/200
CAN-PCI/266
CPCI-CAN/200

net start c200

PMC-CAN/266
CAN-PCI/331
CPCI-CAN/331

net start c331

PMC-CAN/331
CAN-PCI/360
CPCI-CAN/360
CAN-PCC

net start c360

net start cpcc

Table 6: Commands for starting the driver

If the driver starts without complication, the start type of the driver can be set in dialogue system
control/devices from manual to automatic, so that the driver is activated after each reboot and can also
be used by users without administrator rights.
If a problem arises when starting the driver, the error cause can be taken from the system event log file
of Windows NT 4.0.

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2.5.1.5 De-Installation of Software Driver
The driver is de-installed in three steps:
Attention: Stopping the driver and the complete de-installation can only be done with
administrator rights on the Windows NT computer!
1. Terminating all applications which use the services of the driver.
2. The driver has to be stopped in dialogue control panel/devices or by entering net stop xxxx
in the command line.
CAN Module

Commands for Stopping the Drivers

CAN-ISA/200
CAN-PC104/200
(SJA1000 version)
CAN-ISA/331
CAN-PC104/331

net stop c200i

net stop c331i

CAN-PCI/200
CAN-PCI/266
CPCI-CAN/200

net stop c200

PMC-CAN/266
CAN-PCI/331
CPCI-CAN/331

net stop c331

PMC-CAN/331
CAN-PCI/360
CPCI-CAN/360
CAN-PCC

net stop c360

net stop cpcc

Table 7: Commands for stopping the drivers

3. Select entry for the CAN driver in the folder control panel in dialogue box add/remove program
properties and press icon add/remove, in order to delete all files and registry entries of the driver.

2.5.2 Event Logging

All error situations at start or during operation are registered in the system event log file of Windows
NT 4.0.

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Windows 95/98/ME Installation

2.6 Windows 95/98/ME Installation

The Windows 95/98/ME software supports a maximum of 5 CAN modules of the same type within one
system. The number of different CAN modules in one system is not limited.
Note: The CAN-USB-Mini module does not run under Windows 95!

2.6.1 Installation of PCI-Bus Boards and CAN-USB-Mini

1. Install the board according to the hardware installation description.
2. After run-up Windows 9x/ME detects the board and opens an information window. If Windows
has not found the driver (e.g. if it is the first installation), you are asked to insert the data carrier
(disk or CD-ROM) with the driver.
3. At the end of the software installation you have to shut down the computer. Terminate all active
applications before you shut down the computer. After restart, the driver is automatically started and
in the device manager the new device type CAN Controller now exists, which can be used to display
and edit all esd-CAN boards.
4. Now install the SDK as being described on page 53. The SDK contains the files which are required
for developing your own applications as well as the monitor program CANreal.
Special features at installation of CAN-PCI/360:
CAN-PCI/360-modules which were manufactured before 01.01.2000 report their maximum memory
upgrade of 128 Mbyte to the system during installation, even if they have got less capacity. These
boards might get into conflict with graphics boards which act similarly. For these boards the actual
memory space requirement can be configured via the Device Manager. More about the Device
Manager can be found in chapter Changing the Resources Settings via the Device Manager on
page 39.
CAN-PCI/360-modules which were manufactured after 01.01.2000 do not have this problem
anymore.

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2.6.2 Installation of ISA-Bus Boards and CAN-PCC
2.6.2.1 Comment on the Hardware Installation of ISA-Boards
Install the board only in the computer after you have determined the right configuration (address area)
by means of the Windows-9x/ME system control.
After the installation described below, you have also to install the SDK (see page 53).
CAN-2.0B Support of the CAN-ISA/200 and CAN-PC104/200:
Starting from driver revision 1.2.0 you can select between a driver for 11-bit identifiers (CAN 2.0A)
and a driver for 29-bit-identifiers (CAN 2.0B) during the installation of CAN-ISA/200 and CANPC104/200. The CAN 2.0B-driver is slightly slower than the CAN 2.0A-driver, even if you only
use it to transmit and receive 11-bit-identifiers, because the CAN controller has to be accessed more
frequently.
Prerequisite for the CAN 2.0B-operation is that your module has not got a CAN controller of type
82C200 (delivered until 12/1999), but has got an SJA1000, for instance.
2.6.2.2 Installation of the Device Drivers
1. Call
The Windows-9x/ME driver of the CAN-ISA boards is installed by means of the Hardware Wizard.
It is started in the System Control Panel window by selecting the Hardware icon:

After that the start window of the hardware wizard has to open:

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2. The following window asks, if the hardware is to be searched for. Since the board is unknown to
the system (no plug-and-play), No has to be selected. If Yes is selected, the computer will search
for the board for a relatively long time and then report the discovery of an unknown board.

3. Then the window for the selection of the type of hardware to be installed appears.

Here Other devices has to be selected and then Next has to be clicked. (Only if already an esd-CAN
driver had been installed, the selection CAN Interface would appear. It is not shown before or during
the installation.)
If you haven't already done so, you should now put the data carrier (disk or CD-ROM),
contained in the product package, into your drive.

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4. In the window which opens after the hardware-type selection first Have Disk and then Next have
to be clicked.

5. The following window appears. Click the button Find.

6. Now select the file canesd.inf and click OK.

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7.

The following window, which displays all esd-CAN drivers, has to open (this example only
shows the ISA/331 driver). Select the driver of your board and click Next.

8.

(Only for CAN-ISA boards, otherwise continue with step 9) Windows 9x/ME installs the driver,
checks the system resources, compares them to the configurations possible for the CAN-ISA
board and offers a possible configuration for the board in the following window:

The Input/Output range proposed by the system control does not have to correspond to the
default-I/O range which is set on board by means of jumpers or coding switches.
Attention: Therefore it is absolutely necessary to compare the jumper (or coding switch)
position on the CAN-ISA board to the I/O-address space selected by the
system, and change the jumpers/coding switches, if required.

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Click Next
If the system does not propose settings:
If the system says that it does not have any resources for the CAN-ISA board, the installation
has to be completed nevertheless. In this case the resources in the system have to be distributed
again manually by means of the device manager after the installation.
9.

The successful installation of the software driver is shown by the following window:

10.

In order to complete the software installation you have to shut down your computer after
terminating all applications which are still open!

Then switch off the computer and install the hardware now as described in the hardware
manual! Compare the default setting to the setting selected under point 8 and change the
jumpers (or coding switches, depending on board type), if necessary.
11.

Switch on the computer again after the installation and restart Windows 95. The driver is
automatically loaded by Windows 95. The device manager now has the new device class CAN
Controller under which all esd CAN boards can be shown and configured.
Now install the SDK, as described on page 53. The SDK contains the files that are necessary
for the development of your own applications and it contains the monitor program CANreal.

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2.6.2.3 Starting the Device Drivers
2.6.2.3.1 ISA-Bus Boards
Switch on the computer again after installation and restart Windows 9x/ME. The driver is automatically
loaded and started by Windows 9x/ME. In the device manager there is now the new device class CAN
Controller, under which all esd-CAN boards can be shown and configured.
2.6.2.3.2 CAN-PCC
Switch on the computer again after installation and restart Windows 9x/ME. The driver is automatically
loaded by Windows 9x/ME but not started. In the device manager, however, the new device class CAN
Controller exists, under which all esd-CAN boards can be shown and configured.
For starting the driver the command cpcc start has to be entered explicitly in the command line.
This is necessary to be able to share the parallel interface with other device drivers. After successfully
starting the driver, it has an exclusive access to the parallel interface until it will be stopped again by
means of cpcc stop.
Another reason for executing an explicit start command is that the driver is not being assigned with its
own resources within Windows 9x/ME, but that it uses the available resource Parallel Interface.
Therefore no smart icon Resources (see the following chapter) exists for this driver within the device
manager. In smart icon Status the parallel interface to be used (LPT1, LPT2, LPT3) has to be entered
below port instead and the driver automatically uses the current Windows-9x/ME configuration (I/Oaddress, interrupt) for this interface.
Attention:
For the operation of the CAN-PCC under
Windows 9x/ME the parallel port has to be set to
operating mode Force ECP in the properties
window. If the hardware does not support this
setting, the bidirectional mode has to be selected
(Force Bidir.).

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2.6.2.4 Changing the Resource Settings by Means of the Device Manager
2.6.2.4.1 Overview
Attention:

Changing the default settings by the device manager or the registry editor can cause
conflicts so that one or more devices are not recognized by the system anymore!
The device manager and the registry editor are configuration tools for advanced users
who are familiar with the parameter configuration and know that changes can have
various effects.

The CAN-ISA boards have fixed resource settings which are either distributed by the hardware assistant
during the Windows setup or which can be configured later by the device manager.
It might occur that Windows 9x/ME is unable to configure the CAN-ISA board, because it gets into
conflict with other devices. Should this be the case the board has to be configured again.
In order to change the device setting manually, the Device Manager, which is called via Settings under
System Control Panel, can be used. By using the device manager errors can be prevented which are
likely to occur when editing the registry entries directly.
If you want to solve the device conflicts manually by means of the device manager, you can use
following strategies, for instance:

If the conflicting device is a plug-and-play device, deactivate it to release its resources.

If the conflicting device is a conventional device, deactivate it by removing the board from the
system and unloading the drivers.

Distribute the resources which are used by other devices again in order to release resources for the
conflict device.

Change the jumpers (or coding switches, depending on the board type) on the CAN-ISA board in
order to adjust the board to the new settings.

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2.6.2.4.2 Activating the Device Manager
1. Call
Click icon of Device Manager in Settings under System Control Panel.
or
Click My Computer with right mouse button, click Properties in Context menu and then click the
Device Manager.

2. Double clicking the desired device type in the list with the left mouse button lists all devices of this
type in the computer.
3. Select the device to be configured by double clicking. Or else mark the device and click the
Properties icon.

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2.6.2.4.3 Changing the Resource Settings by Means of the Device Manager
1. Select the device class CAN Controller in the device manager by double clicking.
The tree branches and shows all devices of this type available in your computer.
2. Double clicking a device opens up its property window.
Click the Resources icon under the device properties.

The Conflicting Device List shows the settings of other devices which are conflicting the current
setting of the CAN-ISA board.
3. Select the setting which is to be changed, for instance the interrupt level, under resource type. Click
the Change setting icon in order to keep the changed values.
Changes can only be made, if the option Use automatic settings has been deactivated.
The Interrupt and Input/Output-range (address space) settings can be changed independently.
The dialogue box Input/Output range shows the various settings which are supported. An interrupt
which is marked by an asterisk (*) signifies that this interrupt is already used by another device.
After clicking the Change setting icon an error message might appear which states that the resource
setting cannot be changed. In this case you have to select other settings until the system accepts one
of the chosen settings.
4. Select settings which are not conflicting other devices and click OK. Remember that the I/Orange setting by jumper (or coding switches, depending on the board type) has to comply with
the selected setting!
5. Finish Windows 9x/ME, then change the hardware settings of devices which have been configured
again and restart Windows 9x/ME.
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2.6.2.4.4 Changing the Logical Network Number
1. Double click the device class CAN Controller in the device manager.
The tree branches and all devices of this type available in your computer are shown.
2. Double clicking a device opens its property window.
Click the Status icon in the property window.

3. In Physical Net Mapping logical network numbers can be assigned to the physical interfaces of the
CAN board. By means of the network numbers the CAN board can be addressed by the software.
When starting the driver for the first time, logical network numbers starting from 0 are assigned to
boards supported by the driver. If more than one esd CAN board of various types (e.g. CANPCI/331 and CAN-ISA/331) are used in a computer, overlapping network numbers cannot be
avoided and therefore have to be set manually.
4. A change in logical network numbers remains invalid until the computer is restarted.

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RTX Installation

2.7 RTX Installation

RTX is a real-time extension for Windows NT/2000/XP that provides high-speed and deterministic
real-time capabilities. The extension is developed and distributed by the company Ardence.
2.7.1 Implementation
The support for an esd CAN module consists of a driver part and the NTCAN library part. The
hardware specific driver part has to be loaded for each supported CAN module the library part has to
be loaded once into the RTSS environment. Driver and library are implemented as RTSS DLL, which
means that they are RTSS processes that export functions for use by other RTSS processes, share a
common address space with other RTSS processes and accurately mirror the automatic resolution of
references to exported functions like implicitly loaded Win32 DLLs.
The driver doesnt export any functions and an RTSS application will never reference to the driver
directly. An RTSS application will always reference to the API functions exported by the NTCAN
library described in this manual. The NTCAN RTSS DLL may be loaded without a driver to create
RTSS applications which refer to the NTCAN API even if the CAN hardware isnt present in all cases.
2.7.2 Software Requirements and Differences to Win32
Software Requirements:

Ardence RTX version 5.x or 6.x

Differences versus Win32 implementations of the NTCAN-API:

Overlapped operations are not supported in the RTSS environment.

Unlike to Win32 the Tx-timeout is a transaction timeout, i.e. the timeout is not valid for the
transmitted CAN messages but for a complete transmission job.
Firmware update in the RTSS environment is not supported. If a firmware update is necessary, it
has to be performed in the Win32 environment with the appropriate Windows device driver.

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RTX Installation
2.7.3 Installation
In order to support the CAN modules in the RTSS environment it is necessary to make RTX manage
these devices. For Windows NT the device has to be disabled through the Windows control panel
because there are no Plug and Play or Power Management concerns with Windows NT (skip Step 1
below). Managing devices on Windows 2000 or Windows XP requires converting a Windows device
into an RTX device (see RTX Runtime Documentation for details).
Step 1: Converting to RTX device
Before the RTSS device driver can control the device the CAN module has to converted into a RTX
controlled device. This is performed using the RTX Properties control panel applet.
Select the Devices Tab (RTX 5.x) or Plug and Play Tab (RTX 6.x). In this applet under Devices the
CAN module has to be selected and assigned to the RTX driver according to the following figure:

If there has already been installed a driver under Windows 2000/XP for this CAN module it will be
listed as CAN-Interface. If not, it will be listed as Other PCI Bridge Device.
After the conversion the CAN module has to be removed by means of the device manager and the
computer has to be rebooted. You will find detailed information on this procedure e.g. in the release
notes of RTX 5.0 in the chapter Managing RTX Devices in Windows 2000.
After reboot the CAN modules has to listed in the device manager as shown in the following figure:

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RTX Installation

Step 2: Starting the driver

Next step is to start the driver. This can be performed with the command line version or the GUIversion of the RTX-tool RTSSStart. At the command line the following command has to be executed:
rtssstart driver.rtss [Arguments]
where driver.rtss has to be replaced with the name of the driver (e.g. c331.rtss).
In the GUI-version the start may be performed like this:

If an error occurs at start the numeric error code is displayed in the RTX-text console and the RTSSprocess is terminated. In this case the driver can be started with the option -v to submit the RTX-text
console more tips to the source of the error.
If an error occurs in the start sequence it can be checked with the RTX-task manager, respectively the
RTX-object viewer, if the driver is active.

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RTX Installation
Step 3: Loading the NTCAN API library
Next step is to load the NTCAN API library. This can be performed with the command line version or
the GUI-version of the RTX-tool RTSSStart. At the command line the following command has to be
executed:
rtssstart ntcan.rtss [Arguments]
If an error occurs at start the numeric error code is displayed in the RTX-text console and the RTSSprocess is terminated.
If an error occurs in the start sequence it can be checked with the RTX-task manager, respectively the
RTX-object viewer, if the driver is active.
2.7.4 Command Line Parameter for RTSS Device Driver
There are several command line options to configure the driver startup:
Option

Argument

Description

-V

After the start the driver returns the version number in the RTX-console
and terminates immediately.

-v

mask

Additional debug output during startup in the RTX-console. The mask

parameter may be given decimal or hexadecimal with leading 0x

-h

Display a list of all possible command line options and terminate

immediately.

-p

prio

This option configures the priority of the IST thread that processes the
CAN messages. The default value for prio is 127.

baudrate

This option configures the default baudrate according to the baudrate

table. The default value for baudrate is to stay off-bus as long as the
baudrate is set explicitly by the application.

net number

This option configures the logical base net number which is assigned to
the first physical port of the CAN module. The logical net numbers are
incremented by one for each additional physical port. The default value
for net number is 0.

-b

-n

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RTX Installation
Example:
The call
c405.rtss -v0xFF -n2 -p118
- starts the driver with additional outputs and
- assigns the logical base-net number 2 and an IST (interrupt service thread) priority of 118 to the
first CAN module and
If the driver is started without any command line options the logical net number 0 is assigned to the first
physical CAN port, all IST threads get a priority of 127 and the CAN modules remain off-bus until a
baudrate is explicitly assigned by the application.

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Windows CE.NET Installation

2.8 Windows CE.NET Installation

Sorry no installation notes available for Windows CE.NET at the moment.

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Installation of the CAN-Bluetooth Module Under Windows

2.9 Installation and Configuration of the CAN-Bluetooth Module

The CAN-Bluetooth module runs under the operating systems Windows 2000 and Windows XP. This
chapter explains the installation and general configuration of the module. The further configuration via
the integrated Web-server is described in the CAN-Bluetooth manual.
Attention: The CAN Bluetooth driver must always be installed after the CAN-SDK has been
installed! If different esd-CAN modules are used in one system, the CAN Bluetooth
driver must always be installed last!

2.9.1 Installation
1. Call installation program canbtdrv.exe.
2. After the window esd Bluetooth
CAN Interface Driver has opened,
click
Install.

3. Start Installation

4. The computer shows whether the

installation was successful or not.

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Installation of the CAN-Bluetooth Module Under Windows

2.9.2 Configuration
After the installation you will find in menu Start under Programs the configuration program
esd Bluetooth CAN Interface Driver. Here you select CANBT Config and the window CAN Control
Panel opens.

Here the following settings can be made:

Interface

The software supports a maximum of five different esd-CAN Bluetooth interfaces.

Here you select the interface that you want to configure.

Base Net

Here the logical CAN network number is entered. Values between 0 and 255 are
permissible.

Virtual COM

The Bluetooth interface is managed as virtual COM-interface. Values between 1 and

11 are permissible.
Note:

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Bluetooth devices usually use virtual serial interfaces for communication.

The assignment between COMx and Bluetooth device is configured by
means of the software which controls your Bluetooth hardware (such as
PC-Card).

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Installation of the EtherCAN Module Under Windows

2.10 Installation and Configuration of the EtherCAN Module

The EtherCAN client driver supports Windows NT, Windows 2000, Windows XP, Windows Server
2003 and Windows Vista (32- and 64-bit versions). This chapter explains the installation and general
configuration of the module.
Note:

Before host software installation the EtherCAN module should be assigned an IP address
within the subnet.
The description of the IP-address assignment and the further configuration via the
integrated Web-server are described in the manual EtherCAN, Hardware Manual.

2.10.1 Installation
1. Start the installation program setup.exe which is located in the directory EthetCAN/Win32
of the CAN driver CD
2. Follow the instructions of the
installation program.
3. When the Setup Type is requested,
please choose Typical.
4. The success or failure of the
installation will be displayed at the
end of installation.

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Installation of the EtherCAN Module Under Windows

2.10.2 Configuration
The EtherCAN driver is implemented as a user mode driver which can be integrated with a
logical net number as other CAN modules for NTCAN-API based applications.
After the installation you will find the configuration dialogue in Start / Settings / System /CAN
Control. You have to use this dialogue to create logical EtherCAN ports which link the remote
EtherCAN module to a logical NTCAN net number.
Start CAN Control by a double click on the icon.
You have to configure the following parameter:
Interface In the drop down box you can choose the
EtherCAN port which is to be
configured. With the Add button you can
create up to 20 logical EtherCAN ports.
With the Delete button you can remove
the currently selected EtherCAN port.
The default after installation are 5
EtherCAN ports. The first five ports
cant be deleted.
Virtual CAN port
You have to assign a virtual network number between 0 and 255 and have to check the
enabled box before this port is available in your software. Please make sure that this logical
net number isnt already used by another EtherCAN module or a physical CAN module.
TCP/IP Configuration
Setup the IP address or hostname (if known by a DNS server) of the EtherCAN device. The
description of the IP-address assignment within the system is described in the manual
EtherCAN, Hardware Manual. A change of the default port 22080 isnt supported at the
moment.
Timeouts Currently three separate timeouts can be configured.
The connection timeout defines the time the EtherCAN client software waits for a response
during the initial connection before the client software returns with a timeout.
The command timeout defines the time after which a request to the EtherCAN module has
to be replied before the client software returns with a timeout.
The keep alive timeout defines the time after which a keep alive request has to be replied
by the EtherCAN module before the host driver tries to reset and re-establish the
connection.
Default

The Default button restores all client driver defaults for the timeout parameter.

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Installing the SDK

2.11 Installing the SDK (Software Development Kit)

After driver installation you can proceed with the installation of the CAN-SDK. It contains the
necessary files, documentation and tools to develop, debug and test your own NTCAN-API based
applications for all Windows versions.
Note: If you have installed an older version (V 1.x) of the CAN SDK uninstall this version before
you install this new version. If you have already installed a CAN SDK revision 2.x you can
overwrite the older installation.
To install the CAN SDK start setup.exe in the directory CAN_SDK of the CAN driver CD. The
installer is digitally signed.
2.11.1 Installation Options
At the start of the installation you are asked for the installation language. Currently an installation in
English and German is supported. The installation language also defines the language of the installed
documentation, if available in both languages.
Proceeding the setup you can choose between the full installation, the compact installation and a
custom installation. The full installation installs everything. The compact installation installs only the
files which are necessary for software development. The custom installation lets you choose which
components of the SDK are to be installed. The categories currently available are Tools,
Documentation, Sample Code and Software Development files.
2.11.2 IDE Integration
Many Integrated Development Environments (IDEs) allow to define paths relative to an environment
variable. For this reason during the installation the environment variable CanSdkDir is created which
is set to the installation directory of the CAN SDK. Using this environment variable in paths makes a
project independent of the installation directory of the CAN SDK.
2.11.3 Supported Programming Languages and Development Environments
Please refer to the release notes which gets installed with the CAN SDK for a complete list of supported
programming languages and development environments.

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Firmware Update and CAN 2.0A/B Selection Under Windows

3. Firmware Update and CAN2.0A/B-Selection for Windows OS

3.1 Firmware Update
3.1.1 Overview
The update function of the local firmware has no effect on the boards CAN-xxx/200 , CAN-PCI/266,
CPCI-CAN/200 and PMC-CAN/266, because these boards do not have a local CPU. The module CANPCC also does not support the update function.
The firmware of the EtherCAN modules can be updated by means of a standard FTP-client. The
firmware update mode is activated by means of a web-browser (see manual EtherCAN, Hardware
Manual).
The firmware of the local microprocessor of the intelligent CAN boards is stored in the Flash EPROM.
When the board is shipped you will receive the firmware version which had been the latest at the time
of the hardware manufacturing.
The disks or CD-ROM, included in the shipping, contain an update program by means of which you
can program the flash EPROM with the latest software at the time of shipping.
Depending on the module and the operating system you will either find the update program canupd
or the update program updxxx on your data carrier. The programs will be installed onto your hard
disk during the installation of the driver.
Both programs are equal in functionality. While canupd is a universal update program for various
modules, updxxx offers specific updates for individual modules.
The modules are identified by means of the character combination when called:
CAN Module

Entry Syntax for updxxx

CAN-ISA/331
CAN-PC104/331

updc331i

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

updc331

CAN-PCI/360
CPCI-CAN/360

updc360

CAN-PCI/405
CAN-USB-Mini
CAN-USB/2

1*)
updusb331
updusb2292

Table 8: Entry syntax for update program updxxx

1*) In contrast to the other CAN modules the firmware-update of the CAN-PCI/405 is automatically executed during the drivers installation. No extra
action is required.

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Firmware Update and CAN 2.0A/B Selection Under Windows

3.1.2 Checking the Firmware Version Number
With the update program you can check the local firmware revision of the Flash EPROM and update
the Flash EPROM, if necessary.
It is recommended, to compare the revision number of the delivered firmware at the floppy disk
with the firmware stored in the Flash EPROM after the host driver installation!
1. The software driver of the host CPU has to be started before canupd or updxxx is started (refer
to previous chapters).
2. Open a window and switch to the installation directory.
3. Start canupd using the windows command shell
Calling the program without parameters returns the output of the included firmware program with
revision numbers onto the monitor. Because canupd is a universal tool, it includes firmware
programs for several hardware applications.
Calling the program with the following number of the logical network number of the required board
returns the output of the revision numbers of the local firmware stored in the Flash EPROM onto
the monitor.
Input example: canupd 0
(Alternatively the firmware revision and the driver revision of the host CPU can be checked using the
event log after the driver is started. Additionally the event log shows the firmware revisions which are
suitable for the software driver shown.)

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Firmware Update and CAN 2.0A/B Selection Under Windows

3.1.3 Executing the Update
1. Calling canupd (or updxxx) with the logical net number (see above).
2. After the version control the user is asked, if the program is to be continued with the update or not.
-

If y for YES is typed, the Flash EPROM will be reprogrammed regardless of the
firmware version which is more up-to date !

If n for NO is typed, the program is interrupted. The old firmware remains unchanged in the
Flash-EPROM.

3. To activate the new firmware the local microprocessor has to be reset. This is done by stopping and
restarting the software driver of the host CPU, e.g. by the command line:
net stop xxxx
net start xxxx
At Windows XP systems this is executed if the device is enabled or disabled at the device manager
or via a restart of the computer.
CAN Module
CAN-ISA/331
CAN-PC104/331

Entry for xxxx in the Command Line

c331i

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

c331

CAN-PCI/360
CPCI-CAN/360

c360

CAN-USB-Mini

usb331

CAN-USB/2

usb2292

Table 9: Driver names at the entries of the command line

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Firmware Update and CAN 2.0A/B Selection Under Windows

3.2 Changing between CAN2.0A and CAN2.0B-Operation

All CAN modules which support the update function under Windows also offer the possibility to
choose between operating the driver with 11-bit CAN identifiers (CAN 2.0A) or 29-bit CAN identifiers
(CAN 2.0B).
Note:

If the 29-bit option shall be used at a module (CAN2.0B), this must be state in order
(order no. C.1102.01).
When shipped the default setting of the modules is 11-bit CAN identifier (CAN
2.0A). Only at modules that have been ordered with the option C.1102.01 the default
setting is 29-bit CAN identifier.

The entry into the command line has to be the following:

Entry Syntax for
CAN2.0A (11-bit-ID)

Entry Syntax for

CAN2.0B (29-bit-ID)

CAN-ISA/331
CAN-PC104/331

updc331i -ta netnumber

updc331i -tb netnumber

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

updc331 -ta netnumber

updc331 -tb netnumber

CAN-PCI/360
CPCI-CAN/360

CAN-USB-Mini

updusb331 -ta netnumber

updusb331 -tb netnumber

CAN-USB/2

updusb2292 -ta netnumber

updusb2292 -tb netnumber

CAN Module

Table 10: Changing to CAN2.0A or CAN2.0B

Parameter Description:
netnumber ...

The logical net number is has to be set with this parameter (0, 1, 2, ..). The
parameter has to be set mandatory! The value has to be entered separated by an
blank from the preceding characters.
Attention:

The operating mode selected for one net is valid for all other nets
of the module, too!

In order to activate the new setting the local processor has to be reset. Resetting and rebooting are
described above under step 3.

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Linux Installation

4. Unix Operating Systems

4.1 Linux Installation
Notes on the Linux Driver History:
Driver versions from V3.x.x (compilation is executed by customer)
In this driver package the customer executes the compilation of the driver. Therefore a flexible
usage of different Linux kernels is possible.
Driver versions up to V3.x.x (compilation is executed by esd)
The Linux drivers with a version number smaller than V3.x.x are compiled for one specific Linux
kernel version. The compilation is executed by esd in consultation with the customer.
Adjustments to kernel changes are only possible by adjustment and new compilation by esd.

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Linux Installation
4.1.1 Linux Driver Installation (from V3.x.x on, except EtherCAN)
Note:
- On most Linux installations the driver installation is only possible with superuser rights.
- Please read the current README file that comes with the software!
- Please note the drivers delivered on the CD are most likely outdated. The increasing speed in
Linux kernel development makes it almost impossible for us to provide you with drivers on CD,
which work with all Linux versions and distributions. Thus we installed a download site on our
website. In order to circumvent any problems before they occur, we advise you to visit this site
before actually installing a driver from this CD.
The latest driver archives can be found here: "http://www.esd-electronics.com/german/candriver"
- Please note: In order to provide the Linux CAN-drivers from our website, we needed to change
the archive format to encrypted ZIP.
The password can be received from our CAN-CD or via email from our support.

4.1.1.1 Files of the Linux Package

The software drivers for Linux are distributed on CD-ROM or delivered as archive via e-mail. The
following files are contained:
File
README

Description
current notes and information

Makefile

driver compilation rules

config.mk

configuration file for the compile process

It may be necessary to edit this file, in order to suit any peculiarities of the
current system (mainly the KERNELPATH, see page 64 )

libntcan.a

static CAN-API library (located in directory ./lib *) )

libntcan.so

dynamic CAN-API library (located in directory ./lib *) )

ntcan.h

header of the NTCAN-API/Library (located in directory ./lib *) )

This is the only header that has to be include in the application. Please do
not use any defines located in any of the other headers, in order to keep
your applications working with future version of the driver!

cantest.c

source code of the example-application cantest (located in subdirectory

./example) (see CAN-API manual part 1 [1])

cantest

binary of example-program cantest (located in subdirectory ./bin *) )

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Linux Installation
File

xxxx.o
xxxx.c
xxxx.h

Description
source- and object-files (located in subdirectory ./src)
This driver is released as a combination of binary-objects (*.o) and
source-files (*.c and *.h). This way esd can provide a CAN-driver working
with many different Linux-kernels. The source files are NOT under the GPL
(GNU Public Licence)! You are not allowed to modify, redistribute or sell the
files! They are intellectual property of esd-electronics gmbh.
BEWARE: Do not try to use any defines or data-structures located in these
files in your own sources. This will lead to non-working
applications in the future.
This tool is only delivered with CAN modules that are equipped with a local
processor (e.g. CAN-PCI/331). (located in subdirectory ./bin *) )
This tool can be used to switch the firmware of such a card between
CAN 2.0A-firmware (used for reception of CAN-messages with 11-bitidentifier) and CAN-2.0B-firmware (used for additional reception of CANmessages with 29-bit identifier).

updcrd

Syntax:

updcrd -tx net

Parameter: crd: CAN module ID, e.g. pci331, usb331 (see table on
page 62)
x:
a, if CAN 2.0A firmware
b, if CAN 2.0B firmware
net: Net number of the CAN interface in the system
(0, 1, 2, ...)
*) Note: In driver archives for x86_64-Linux the path for libraries and binaries exists twice: Once for 32-bit (./lib32
and ./bin32) and once for 64-bit (./lib64 and ./bin64).

Table 11: Files of the Linux package

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Linux Installation
Operating System
User Space
Application Program
NTCAN-API
NTCAN Library

Kernel Space

Driver Interface

OS-Layer

Shipped as Source

Legend:

CAN Nucleus
- API (changing with kernel versions)
- OS-dependent
- API + ABI (constant over several kernel versions)
- OS-independent
- API + ABI (constant over several kernel versions)
- OS-dependent

API = Application Program Interface

ABI = Application Binary Interface

Board Layer
CAN Driver

Fig. 1: Linux driver architecture

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Linux Installation
4.1.1.2 CAN-Module-ID and Default Parameters of the Driver
Default Values *)

Module ID
crd

major

Address
io

Interrupt
irq

isa200

53

0x1E8

CAN-ISA/331
CAN-PC104/331

isa331

52

0x1E0

CAN-PCI104/200
CAN-PCI/200
CAN-PCIe/200
CPCI-CAN/200
CAN-PCI/266
PMC-CAN/266

pci200

54

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

pci331

50

CAN-PCI/360
CPCI-CAN/360

pci360

51

CAN-USB-Mini

usb331

50

CAN-USB/2

usb2292

50

CAN-PCI/405

pci405

53

CPCI-405 (local driver)

cpci405

53

CPCI-CPU/750
(local driver)

cpci750

53

VME-CAN2

VME-CAN4

CAN Module
CAN-ISA/200
CAN-PC104/200
(SJA1000 version)

*) The default values can be overwritten by the command insmod (see following chapter).

Table 12: CAN-module ID and default parameter

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Linux Installation
4.1.1.3 Installation
Note: It is absolutely necessary to install the kernel sources and configure them to comply with
the running kernel, before installing the CAN-driver!
1.

Unpacking the Archive

In order to unpack the tar-archive the file has to be unzipped and untarred:
1.1.1 Unzip the Archive
unzip esdcan-crd-os-arch-ver-ext.zip
with
crd
os
arch
ver
ext

=
=
=
=
=

card-id (e.g.: crd=pci200 or crd =cpci405, see table on page 62)

host-operating-system (e.g.: os =linux_2_4_x)
host-architecture (e.g.: arch =x86 or arch =x86_64)
driver version (e.g.: ver =3.7.2)
extension (applicable to certain cards only, e.g.: ext=gcc2)

You will be prompted for a password.

The password can be found in the accompanying file README_FIRST
(delivered on the CAN-CD or per e-mail).
Resulting file: esdcan-crd-os-arch-ver-ext.tar
1.1.2 Untar the Driver Directory
tar -xvf esdcan-crd-os-arch-ver-ext.tar
with
crd
os
arch
ver
ext

=
=
=
=
=

card-id (e.g.: crd=pci200 or crd=cpci405, see table on page 62)

host-operating-system (e.g.: os=linux_2_4_x)
host-architecture (e.g.: arch=x86 or arch=x86_64)
driver version (e.g.: ver=3.7.2)
extension (applicable to certain cards only, e.g.: ext=gcc2)

You will end up with a directory named as the archive.

1.2 Unzip and Untar in a Single Step
Alternatively the unzipping and untaring of the driver directory can be accomplished in a
single step with:
unzip -p esdcan-crd-os-arch-ver-ext.zip | tar -xv
The unpacked files will be stored in a directory that carries the same name as the archive
file.
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Linux Installation
2.

Compiling the Driver

cd ./esdcan-crd-os-arch-ver-ext
In some cases you need to edit a configuration file for the compilation:
In config.mk you need to set the variable KERNELPATH correctly. Normally the default path
should be correct. If your Linux configuration differs from the standard, correct the line
accordingly:
KERNELPATH = <your-path-to-the-kernel-source>
Note for Linux kernel > 2.6.0:

On some systems you might need to be "root" to

compile the driver.

Compilation of the driver is simply started by typing:

make
For some cards there are warnings like COMPILING FOR xxx. These can be ignored and will
be removed in future versions.
Now, you have a file called as described below, which is the actual driver-module in the same
directory:
esdcan-crd-os-arch-kver
Dynamic loadable driver-file with
crd
=
module ID (e.g.: crd = pci200 or crd=cpci405;
see table on page 62)
os
=
host operating system (e.g.: os = linux; ...)
arch
=
host architecture (e.g.: arch = x86)
kver
=
target-version information ((e.g.: kver: 2.4.18)
For Linux the kernel version is coded here, because the
compiled version is kernel specific!)
Example:
For a CAN-PCI/331 for 32-Bit-x86-Linux with 2.4.21-99-smp kernel the driver file
(driver version 3.6.1) is called:
esdcan-pci331-linux-x86-3.6.1-2.4.21-99-smp
Note for Linux kernel > 2.6.0:

The driver file is called esdcan-crd.ko and is

generated inside of the src- subdirectory.

Example (for Linux kernel > 2.6.0):

For the above mentioned CAN-PCI/331 the driver file is called:
esdcan-pci331.ko
Page 64 of 112

(the file is located in ./src subdirectory)

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CAN-API Installation

Linux Installation
3.

File Locations
It is recommended to store the driver module in the following directory:
/lib/modules/kernel-version/
The variable kernelversion has to be replaced by the according string of the system. The
string (it should be equivalent to the os-string in the driver's name (see above)) is returned, if
the following command is called:
uname -r
The dynamic shared library libntcan.so should be placed in the directory
/usr/local/lib/ or an equivalent path, which is contained in the LD_LIBRARY_PATH
env-variable.
Note: On 64-bit systems, there are two versions of libntcan.so. One in ./lib32 and
one in ./lib64. The first belongs into /usr/local/lib on most Linux
distributions. The later should be kept together with other 64-bit libraries, e.g. in
/usr/local/lib64.
The static version of the library libntcan.a can be kept wherever you want. Here at esd we
prefer to keep it with the sources of a project, on the other hand, one might like to install it with
the shared-lib at /usr/local/lib/ .
Installation-note:
The shared library should belong to user and group root with the following file access
permissions: u=rwx, g=rx, o=rx
After installation of the library, the root-user should call:
ldconfig -n /usr/local/lib (if installed to this directory)
Afterwards there is a link libntcan.so.v --> libntcan.so.v.mv.r .
For your own convenience it is advised to generate another link in your library-directory:
libntcan.so --> libntcan.so.v
The static-library, if installed in /usr/local/lib/, should also belong to user/group
root, but it does not need (and should not have) the executable-flag.
Leading to the following file access permissions: u=rw, g=r, o=r

CAN-API Installation

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Page 65 of 112

Linux Installation
4.

Make the inodes (as Superuser)

cd /dev
mknod --mode=a+rw can0 c xx 0
mknod --mode=a+rw can1 c xx 1

==>

as many as physical CAN nets provided

by the modules

with
xx = major number of the driver (see table on page 62)
5.

Load the Driver File (as Superuser)

Syntax:
insmod ./esdcan-crd-os-arch-kver [major=m]
with the following optional parameter:

m = non-default major

The naming of the kernel module is equivalent to the naming of the driver archive as printed
on page 62 (exception: kernel 2.6.x).
Note:

6.

With the module CAN-PCI/405 this call returns after approx. 5 seconds!

Checking the Installation

Whether the installation has been successful or not, can be checked in the following file:
/var/log/messages
kernel:
kernel:
kernel:
kernel:
loaded

esd
esd
esd
esd

CAN
CAN
CAN
CAN

driver:
driver:
driver:
driver:

pci405
baudrate not set
mode=0x00000000, major=53, 4 nodes on 1 cards
version 0.3.1 14:36:35 Feb 13 2003: successfully

After a successful installation, the CAN bus can be accessed by means of the NTCAN-API.
The application has to be linked to the library libntcan.a (static) or libntcan.so
(shared).
Note:

esd strongly recommends usage of the shared library!

If the example application cantest is called, the available CAN nets are displayed.
7.

Unload the Driver File (as Superuser)

Kernel 2.4.x:
rmmod esdcan-crd-os-arch-kver

Kernel 2.6.x:
rmmod esdcan-crd.ko

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CAN-API Installation

Linux Installation
4.1.2 Linux Driver Installation (drivers before version V.3.x.x. only)
Note:
The installation of drivers with version numbers V3.x.x is described from page 59 on.
-

The installation is only possible with superuser rights.

The object mode of the CAN-API is not supported by Linux CAN drivers before version
V3.x.x!

If the CAN-USB-Mini module is used with the Linux driver with version number < 3.x.x, it
is not allowed to remove it from the USB bus while a handle is opened! It is recommended to
update such a driver.

CAN-API Installation

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Linux Installation
4.1.2.1 Files of the Linux Package
The software drivers for Linux are distributed on CD-ROM or delivered as archive via e-mail. The
following files are contained:
File

Description

README.ican4

current notes and

information

e.g.
ican4

dynamically loadable driver

The letter combination ican4 signifies

the files of the module VME-CAN4. For
other modules these letters are changed as
follows:
CAN Module

File Name

VME-CAN2

ican2

VME-CAN4

ican4

updican4

program for firmware update

libntcan.a

library with ntcan-API for static linking

ntcan.h

header for ntcan-API

cantest.c

source code of example program cantest (see CAN-API manual part 1 [1])

cantest

binary file of example program cantest

Table 13: Files of the Linux package

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CAN-API Installation

Linux Installation
4.1.2.2 Sequence of Installation
1.

Unpacking the Archive

In order to unpack the tar-archive file or the tar-archive disk the following command has to be
called:
tar -xvf ican4-vx.y.z.tar
or
tar -xvf /dev/fd0
Note:

ican4 has to be entered for the VME-CAN4 module. For other modules
the character combination shown in the following table has to be entered.
The same applies to the following commands.
CAN Module

Entry Syntax

VME-CAN2

ican2

VME-CAN4

ican4

Table 14: Input syntax for unpack the archive

2.

Generating the inodes (as Superuser)

For VME-CAN2:
cd /dev
mknod --mode=a+rw can0 c 50 0
mknod --mode=a+rw can1 c 50 1
For VME-CAN4 :
cd /dev
mknod --mode=a+rw
mknod --mode=a+rw
mknod --mode=a+rw
mknod --mode=a+rw

3.

can0
can1
can2
can3

c
c
c
c

50
50
50
50

0
1
2
3

Loading the CAN Driver (as Superuser)

Example for VME-CAN4 (for other boards see table above):
insmod ican4

(3A. Unloading the CAN Driver)

The CAN driver has to be unloaded, e.g., after an update of the local firmware in order to
reset the processor of the CAN module. The CAN driver of the VME-CAN4, e.g. can be
unloaded by the following command:
rmmod ican4
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Linux Installation
4.

Checking the Installation

Whether the installation has been successful or not, can be checked in the following file:
/var/log/messages

After a successful installation, the CAN bus can be accessed by means of the NTCAN-API
(integration of libntcan.o into the application).

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CAN-API Installation

Linux Installation
4.1.3 Linux Driver Installation of the EtherCAN-Module
Note:
- The installation is only possible with superuser rights (user: root).
- Please read the current README file that comes with the software!

4.1.3.1 Files of the Linux Package

The software drivers for Linux are distributed on a CD-ROM, which contains the following files:
File

Description

README.x.x

current notes and information

cantest.c

source code of the example-application cantest (located in

subdirectory ./example) (see CAN-API manual part 1 [1])

cantest

binary of example-program cantest (located in subdirectory

./bin)

makefile.ethercan

example makefile for compiling the file cantest.c

installEthercanLibs

bash script for installation of libraries and include files

etc/esd-plugin

example config file for ntcanEthPlugin

(to be stored as /etc/esd-plugin)

pdf/CAN-API_Part1_
Function_e.pdf

documentation of esd-NTCAN-API (this manual)

Part 1: Function Description,
Part 2: Installation Guide [1]

pdf/CAN-API_Part2_
Installation_e.pdf
pdf/psys.pdf

documentation of esd system abstraction layer API

include/ntcan.h

header of the ntcan-API/Library (to be stored e.g. at

/usr/local/include)
This is the only header that has to be include in the
application. Please do not use any defines located in any
of the other headers, in order to keep your applications
working with future version of the driver!

lib/libntcan.so.x.x.x

shared library containing the NTCAN-API (to be stored e.g.

at /usr/local/lib)

lib/ntcanEthPlugin.so.x.x.x

dynamically loadable plugin for libntcan.a or

libntcan.so (to be stored at e.g. /usr/local/lib)

CAN-API Installation

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Linux Installation
File

Description

psys_linux/include/psys.h
psys_linux/include/
psyslinux.h

Psys header files, esd System Abstraction Layer API (to be

stored e.g. at. /usr/local/include)

psys_linux/lib32/
libpsys.so.x.y.z

32-bit shared library, containing esd System Abstraction

Layer (to be stored at e.g. under /usr/local/lib)

psys_linux/lib64/
libpsys.so.x.y.z

64-bit shared library, containing esd System Abstraction

Layer (to be stored e.g. at /usr/local/lib64)

psys_linux/src/psysdrv.c

source of the psys-driver

psys_linux/src/psysdrv.h

Psys-driver header

psys_linux/src/Makefile

KBuild-Makefile needed for the module generation with

kernel 2.6.x

psys_linux/Makefie

makefile for PSYS-driver for kernel 2.4.x or 2.6.x

psys_linux/README

release notes and installation hints for psys / psys-driver

psys_linux/LICENSE

license covering PSYS driver and library

Table 15: Files of the EtherCAN Linux package

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CAN-API Installation

Linux Installation
4.1.3.2 Installation
1.

Unpacking the Archive

In order to unpack the zipped tar-archive file the following command has to be called:
tar xvfz ethercan-lx-2.0.10-ntcan-3.0.6- psys-1.3.0-gcc-3.3.1-glibc-2.3.2.tgz

The unpacked files will be stored in a directory that carries the same name as the archive file.
2.

Compile and Load Psys-Driver

Therefore follow the installation instructions in psys_linux/README

3.

Installing the Libraries and Header Files

In order to install the libraries and header files the following command has to be called (with
supervisor rights):
./installEthercanLibs
All library files will be stored in /usr/local/lib
and all include files will be stored in /usr/local/include.

4.

Adapt /etc/esd-plugin
See chapter Configuration on page 74

5.

Compiling the Example Program cantest

With the call
make -f makefile.ethercan
the test- and example program cantest will be compiled.

After successful installation you can access the CAN-Bus via the esd NTCAN API (link libntcan
with your application). For an API documentation see the standard esd NTCAN API (ntcan.pdf)
documentation.

CAN-API Installation

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Linux Installation
4.1.3.3 Configuration
All user configurable stuff concerning EtherCAN can be found in the file /etc/esd-plugin.
List of available keywords in /etc/esd-plugin (with 0 < x < 4):
Keyword

Description

Default Value

PeerName[x]

host name or IP-address of EtherCAN server

Net[x]

CAN net number assigned to EtherCAN server with

above PeerName[x]

ConnTimeout[x]

Time to wait until connection to the EtherCAN server is

established. If timeout exceeds, canOpen() returns
NTCAN_SOCK_CONN_TIMEOUT.

2500 ms

CmdTimeout[x]

Timeout for special commands send from client to

EtherCAN-server.

2500 ms

KeepAliveTime[x]

If there is no CAN traffic, client sends a keep-alive

message to server. If sending the keep-alive message
fails, the connection to the server is disconnected and the
EtherCAN client will try to reconnect the server.

2500 ms

TCPNoDelay[x]

0:
1:

50 + x

Nagle algorithm active (i.e.: Coalesce a number of

TCP messages and send them all at once)
Nagle algorithm off (i.e.: Immediately send TCP
messages without any inhibit)

Table 16: Configuration keywords

Example 1: EtherCAN configured as CAN net 30 and all other parameters in default setting.
PeerName[1]=
Net[1]=

"10.0.16.58"
30

Example 2: EtherCAN configured as CAN net 20 and, with increased timeouts, because it is located
outside the company network.
PeerName[0]=
Net[0]=
KeepAliveTime[0]=
ConnTimeout[0]=
CmdTimeout[0]=

Page 74 of 112

"134.66.177.1"
20
10000 # increase keep-alive timeout
25000 # increase connection timeout
5000 # increase command timeout

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CAN-API Installation

Linux Installation
4.1.3.4 Linking Against libntcan (gcc-Option -rdynamic)
Attention! It is mandatory to use the option -rdynamic when linking against libntcan,
because the dynamically loaded library ntcanEthPlugin.so (beside delivering
some new functionality) itself needs some symbols from within libntcan.
Without -rdynamic this does not work!
If your application (on runtime) complains about ntcanEthPlugin.so:
undefined symbol: openRegistryCanIf Ether the option
-rdynamic is still missing in your makefile.

4.1.3.5 Special NTCAN_XXX Return Codes, not yet Documented in ntcan.pdf

Currently all NTCAN_XXX return codes should be available in the NTCAN documentation. See also
ntcan.h.
For return values less then NTCAN_ERRNO_BASE (0x100) , you have to look into errno.h provided
b y y o u r s ys t e m ( t yp i c a l l y t h i s c a n b e f o u n d s o m e w h e r e u n d e r
/usr/src/linux/include/asm-xxx ...)

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Page 75 of 112

Installation Under LynxOS

4.2 LynxOS Installation

Note: The object mode of the CAN-API is not supported by LynxOS.

4.2.1 Files of the LynxOS Package

The software drivers for LynxOS are contained on a 3.5-disk with the following files:
File

Description

instcan

script for loading and unloading the driver

README.c331

current information and notes

c331

dynamically loadable driver

c331.info

parameter file for the driver

(is read at installation and
deinstallation)

c331dbg

debug version of the dynamically

loadable driver (should only be
used, if problems arise during
installation)

The character combination c331

represents the files of module CANPCI/331. For other modules this
combination is changed as shown
below:

CAN Module

File name

VME-CAN2

ican2

VME-CAN4

ican4

CAN-ISA/331
CAN-PC104/331

c331i

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

c331

ntcan.o

ntcan-API

ntcan.h

header for the ntcan-API

canupd

program for firmware update

cantest.c

source code of the example program cantest (see CAN-API manual part 1
[1])

cantest

binary file of the example program cantest

Table 17: Files of the LynxOS package

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CAN-API Installation

LynxOS Installation
4.2.2 Sequence of Installation Under LynxOS
1.

Unpacking the Archive

In order to unpack the tar-archive the following command has to be called:
tar -xvf c331-lynx-v1.0.0.tar
Note:

c331 has to be entered for the CAN-PCI/331 module. For other modules the
character combination shown in the following table has to be entered:
CAN Module

Entry

VME-CAN2

ican2

VME-CAN4

ican4

CAN-ISA/331
CAN-PC104/331

c331i

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

c331

Table 18: Input syntax for unpack the archive

2.

Loading the CAN Driver:

instcan c331

(2.B Unloading the CAN Driver:)

The CAN driver has to be unloaded, e.g., after an update of the local firmware in order to
reset the processor. In the CAN-PCI/331 module, e.g., the driver can be unloaded by the
following command:
instcan -u c331

CAN-API Installation

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Page 77 of 112

PowerMAX OS Installation

4.3 PowerMAX OS Installation

Note: The object mode of the CAN-API is not supported by PowerMAX OS.

4.3.1 Files of the PowerMAX OS Package

The software drivers for PowerMAX OS are on a 3.5-disk, which contains the following files:
File

Description

README.ican4

current notes and

information

e.g.
ican4

dynamically loadable
driver

The letter combination ican4 signifies

the files of the module VME-CAN4. For
other modules these letters are changed as
follows:
CAN Module

File Name

VME-CAN2

ican2

VME-CAN4

ican4

libntcan.o

ntcan-API

ntcan.h

header for ntcan-API

cantest.c

source code of example program cantest (see CAN-API manual part 1

[1])

cantest

binary file of example program cantest

Table 19: Files of the PowerMAX OS package

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PowerMAX OS Installation
4.3.2 Sequence of Installation Under PowerMAX OS
1.

Copy the tar-Archive vmecan4_v1.2.tar in the Home Directory

2.

Unpacking the Archive

In order to unpack the tar-archive the following command has to be called:
tar xvf vmecan4_v1.2/ican4
Note:

ican4 has to be entered for the VME-CAN4 module. For other modules the
character combination shown in the following table has to be entered. The same
applies to the following commands.
CAN Module

Entry Syntax

VME-CAN2

ican2

VME-CAN4

ican4

Table 20: Input syntax for unpack the archive

3.

Generating the inodes (as Superuser)

cd 4_2/vmecan4_v1.2/ican4/
or
cd 4_3/vmecan4_v1.2/ican4/

4.

Only at the First Installation: Add Adapter Definition

At the first installation of the CAN modules the following lines hat to be added to the file
/usr/include/sys/adapt3er_vme.h/ :
#define ADAPTER_ICAN2
#define ADAPTER_ICAN4

(AVB+0x12)
(AVB+0x13)

/* 0x212 - esd ican2 */

/* 0x213 - esd ican4 */

5.

Only if an Existing Driver is Updated:

If an existing driver should be updated, the following line is necessary:
modadmin -U ican4

6.

Installation
- in case of first installation:
./install -f
with following reboot
- in case of an update:
./install -u

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PowerMAX OS Installation
7.

Change Directory:
change to
~/4_2/vmecan4_v1.2
or
~/4_3/vmecan4_v1.2

for PowerMAX OS 4.2

for PowerMAX OS 4.3

8.

Start Driver:
After calling
modadmin -l ican4
the driver displays his start message.

9.

Starting cantest:
After starting cantest with
./cantest
the program shows four accessible CAN nets (net 0...3)

After a successful installation, the CAN bus can be accessed by means of the NTCAN-API
(integration of libntcan.o into the application).

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CAN-API Installation

Solaris Installation

4.4 Solaris Installation

Note: The object mode of the CAN-API is not supported by Solaris.

4.4.1 Files of the Solaris Package

The software drivers for Solaris are contained on a 3.5-disk. This disk contains the following files:
File

Description

install

script for installation of driver

README.c331

current notes and information

c331

dynamically loadable driver

c331.conf

parameter file for driver

(is read at installation and
deinstallation)

The character combination c331

signifies the files of the CAN-PCI/331
module. For other modules the
characters change as follows:
CAN Module

File Name

CAN-ISA/331
CAN-PC104/331

c331i

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

c331

VME-CAN4

ican4

ntcan.o

ntcan-API

ntcan.h

header for ntcan-API

canupd

program for firmware update

cantest.c

source code of example program cantest (see CAN-API manual part 1

[1])

cantest

binary file of example program cantest

Table 21: Files of the Solaris package

CAN-API Installation

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Solaris Installation
4.4.2 Sequence of Installation Under Solaris
1.

Unpacking the Archive

In order to unpack the tar-archive you have to call the following command:
tar -xvf c331-solaris-vx.x.x.tar
(x.x.x = driver version number)
Note:

The entry c331 has to be made for the CAN-PCI/331 module. Please specify
the corresponding letter combination shown in the table below for other modules:
CAN Module

Entry Syntax

CAN-ISA/331
CAN-PC104/331

c331i

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

c331

VME-CAN4

ican4

Table 22: Entry syntax when unpacking the archive

2.

Preparing the System to Dynamically Create inodes:

To make sure that during the driver installation inodes are automatically created under the
/dev directory, it is necessary to conform the file /etc/devlink.tab. This has to be
made with superuser rights. It is recommendable to make a backup of this file before starting.
The following line has to be added to the file:
type=can;

\M0

When installing the driver for the first time, the files /dev/canx should be automatically
created now, x indicating the (hexadecimal) network number.

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Solaris Installation
3.

Conforming the Configuration File

3.1

Conforming the Configuration File for CAN-ISA Modules:

Before the driver is installed for the first time, its driver configuration file has to be conformed
to the hardware configuration. The following properties have to be available in driver.conf,
where driver has to be substituted by the according driver name. Only the properties printed
in italics have to be conformed. For a summarizing overview of the (bus-specific) properties)
please consult the according manual pages (driver.conf, sysbus, pci).
Name

Parameter

Meaning

name

String

Driver name

class

String

Bus type

interrupts

Numeric

Interrupt vector

interruptpriorities

Numeric

Interrupt priority level (IPL)

reg

Numeric

Three values, separated by commas. The second corresponds to the

CAN interface basis address and the third describes the size of the I/O
area in bytes.

Table 23: Properties of the driver configuration file

The value given in reg has to correspond to the basis address configured in the hardware by
means of jumpers or coding switches. The IPL level has to be assigned to a high-level interrupt
and the interrupt vector must not have been assigned by another hardware component.
Below an example configuration file for a CAN-ISA/331 is shown. Its basis address has been
configured at 0x1E0 and it is to use the interrupt vector 7 with an IPL of 11:
# Copyright (c) 1998, by esd gmbh.
#
name="isa331" class="sysbus" interrupts=7 interrupt-priorities=11 reg=1,0x1e0,8;

3.2

Conforming the Configuration File for CAN-PCI Modules:

Since PCI devices report themselves, the configuration and assignment of resource is
automatically when the system is started (Plug & Play). The device driver automatically adopts
the assigned resource so that it does not have to be manually assigned in the driver configuration
file. The only parameter which can be set is the interrupt priority to be used by the IPL driver (see
also example c331.conf).
# Copyright (c) 1999-2000 electronic system design gmbh
#
# do not remove the next line
interrupt-priorities=9;

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Solaris Installation
3.1

Conforming the Configuration File for the VME-CAN4 Module:

Before the driver is installed for the first time, its driver configuration file has to be conformed
to the hardware configuration. The following properties have to be available in driver.conf,
where driver has to be substituted by the according driver name. Only the properties printed
in italics have to be conformed. For a summarizing overview of the (bus-specific) properties)
please consult the according manual pages (driver.conf, sysbus, pci).
Name

Parameter

Meaning

name

String

Driver name, here always: ican4

class

String

Bus type here always: vme

interrupts

Numeric

Interrupt level and vector

Four interrupts at the same interrupt level with interrupt vectors with the
offset of 1, 4 and 5 have to be defined (see following example).
Note:
The hardware of the VME-CAN4 supports up to 8
interrupt vectors. Because of the compatibility to the
VME-CAN2 the vectors 1, 2, 5 and 6 are used (according
entries: 0x80, 0x81, 0x84, 0x85).
Attention: The interrupt level has to carefully selected to obviate
conflicts with existing interrupts of the system!

reg

Numeric

Contains six values separated by commas, that define the address range
of the VME-CAN4:
- The first value defines the 1. address range: 0xad => A16
- The second value defines the board address within the 1. address
range that is used to initialize the address registers of the VMECAN4:
0xe000 + (coding_switch_setting 0x100)
(only, if the geographical addressing is inactive, please refer
hardware manual of VME-CAN4)
- The third value defines the size of the 1. address range in bytes and
thus the offset to the next board within the A16-address range of the
system: always 0x100
- The fourth value defines the 2. address range: 0x4d => A32
- The fifth value defines the A32-address of the VME-CAN4 board:
e.g. 0x10000000
- The sixth value defines the size of the 2. address range in bytes:
always 0x00100000
Note: Due to reasons of the address coding the offset to the next
board within the A32-address range in the system is
0x00200000!

Table 24: Properties of the driver configuration file

Below an example configuration file for the VME-CAN4:
name="ican4"
class="vme"
interrupts=6,0x80,6,0x81,6,0x84,6,0x85
reg=0xad,0xe100,0x100,0x4d,0x10000000,0x00100000;

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Solaris Installation
4.

Installing the CAN Driver

In order to install the driver the script install has to be executed as superuser. It copies the
driver files into the target directory, installs and starts the driver. From now on the driver will be
automatically loaded and started with every system start.
After it has been successfully installed, you can access the CAN bus via the NTCAN-API
(including ntcan.o into the application).

5.

Checking the Installation

5.1

For CAN-PCI Modules Only:

If the installation script has been executed correctly, the driver is started and automatically loaded
with every system start.
By entering "modinfo | grep d3x" into the root you can check whether the driver is
loaded or not. An output similar to the following has to appear:
205 f5d11000

5.2

34d9 132

c331 (CAN-PCI/331 driver v1.3.3)

For All Modules:

You can check whether the installation was successful by reading the driver boot message in the
following file:
/var/adm/messages

6.

Unloading the CAN driver

Unloading the CAN driver is. For example, necessary after an update of the local firmware for
resetting the processor. For the CAN-ISA/331 module this can be achieved by the following
command, which has to be executed as a superuser:
rem_drv c331i

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SGI-IRIX6.5 Installation

4.5 SGI-IRIX6.5 Installation

Note: The object mode of the CAN-API is not supported by SGI-IRIX6.5 .

4.5.1 Files of the SGI-IRIX6.5-Package

The software drivers for SGI-IRIX6.5 are shipped on a 3.5 disk. The disk contains the following files:
File

Description

c331

CAN driver (object code)

c331.master

driver configuration file

c331.sm

driver configuration file

The letter combination c331 indicates

the files of module CAN-PCI/331. For
other modules these letters will be
substituted as follows:
CAN Module

File Name

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331
CAN-PCI/405

c331
pci405

makefile

makefile for installing and loading the driver

ntcan.o

ntcan-API

ntcan64.o

ntcan-API / 64-bit version

ntcan.h

Header for the ntcan-API

cantest.c

source code of the example program cantest (see CAN-API manual part 1
[1])

cantest

binary file of the example program cantest

Table 25: Files of the SGI-IRIX6.5 package

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SGI-IRIX6.5 Installation
4.5.2 Sequence of Installation Under SGI-IRIX6.5
1.

Login as Root

2.

Unpacking the Archive

In order to unpack the tar-archive of the CAN modules CAN-PCI/331, CPCI-CAN/331 and
PMC-CAN/331 you have to call the following command:
tar -xvf c331-IPyy-vx.x.x.tar
with
x.x.x
yy

= software driver version (e.g. 2.1.0)

= processor identification (e.g. 32 for SGI-O2)

In order to unpack the tar-archive of the CAN module CAN-PCI/405 you have to call the
following command:
tar -xvf esdcan-pci405-irix-mips-x.x.x-IPyy-z.z
with
x.x.x
yy
z.z
3.

= software driver version (e.g. 0.3.2)

= processor identification (e.g. 27)
= operating system version (e.g. 6.5)

Change Directory (e.g. CAN-PCI/331, CPCI-CAN/331 and PMC-CAN/331)

cd c331-IPXX-v2.1.0

4.

Install Driver Data

smake install

5.

Load Driver
smake load

CAN-API Installation

If the driver has been installed and loaded correctly, a message of the driver
has to appear on the screen now.

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AIX Installation

4.6 AIX Installation

4.6.1 Special Features of the AIX Implementation
- the CAN driver has been designed for operating system version AIX 4.2.1
- hardware platform: PowerPC
- implemented esd-CAN modules: CAN-PCI/331, CPCI-CAN/331
- 29-bit identifiers are not yet being supported
- the object mode of the CAN-API is not supported by AIX
4.6.2 Files of the AIX Package
The software drivers for AIX are contained on a 3.5 disk. The disk contains a tar-archive.
File

Description

README.c331

current notes and information

c331

dynamically loadable driver

The character combination c331 signifies

the files of the following modules:
CAN Module
CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

ntcan.o

ntcan-API

ntcan.h

header for ntcan-API

nttest.c

source code of example program cantest

File Name
c331

Table 26: Files of AIX package

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AIX Installation
4.6.3 Installation Sequence under AIX
1.

Login as Root

2.

Unpacking the Archive

In order to unpack the tar-archive the following command has to be called:
tar -xvf c331-ppc-vx.y.z.tar
(x.y.z = driver version number)

3.

Copying the Files

At unpacking the directory /c331-ppc-vx.y.z is created.
Copy the files cfg_pci331 and ucfg_pci331 from this directory into the directory
/usr/lib/methods/.
Copy from this directory the file c331 into the directory /usr/lib/drivers/pci/.

4.

Create Entries in the Data Base

run odmadd pci331

5.

Call the Configuration Manager

cfgmgr -v

6.

Check the Files and Create Symbolical Links

Check whether the devices c33100 and c33101 are entered in directory /dev/. Create a
symbolical link:
ln -s /dev/c33100 /dev/can0
ln -s /dev/c33101 /dev/can1
The driver is now installed.

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AIX Installation
7.

Check Whether the Driver Runs With CAN tool CANreal

- Make sure that the wiring and terminations are correct and make sure that at least one other
working CAN participant has been connected!
- Start the monitor program CANreal:
./canreal &
- Set the baud rate of your CAN network for network 0 in CANreal and click Init.
Init done appears in the window.
- Click Add Id to select the identifier area of 0 to 2047.
- Click Start to display the messages of the CAN bus.

8.

Test Program cantest

In addition to CANreal, which has got a UNIX-typical user interface, you can also use the test
program cantest under AIX. It is operated by means of command line specification (for
details see chapter Test Program cantest in CAN API manual part 1 [1]).
- compile cantest:
gcc -o cantest nttest.c ntcan.o
- call cantest:
./cantest

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VxWorks Installation

5. Installation of Real Time OS (Non Windows)

5.1VxWorks Installation
Each VxWorks CAN driver package contains a file relnotes.htm in HTML format which contains
the revision history of the drivers and late-breaking information which did not make into one of the
manuals. Please read this file before installing the driver.
Note: The local CAN driver of the boards CPCI-405, PMC-CPU/405 and CPCI-CPU/750 is part
of the BSP and is not deployed in a separate software package.

5.1.1 Notes on VxWorks

5.1.1.1 Supported Host-CPU Architecture and Operating System Versions
The CAN driver is available by esd for various CPU architectures and VxWorks operating system
versions. All binaries are compiled with the GCC compiler which corresponds to the VxWorks release.
Please state the host CPU architecture and the VxWorks version ordering a driver license for a specific
board. The following combinations are currently supported:
5.4

VxWorks Version ->

5.5.x

6.x

386/486

PowerPC

486/
Pentium

PowerPC

Pentium
(I -IV)

PowerPC

CAN-ISA/200

CAN-PC104/200
(SJA1000 version)

CAN-ISA/331
CAN-PC104/331

CAN-PCI104/200
CAN-PCI/200
CAN-PCI/266
CPCI-CAN/200
PMC-CAN/266

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

CAN-PCI/360
CPCI-CAN/360

VME-CAN4

Host CPU
CAN-Module

... CAN-API driver available for the listed host CPU

-...

no driver available at the moment (please ask our support for the current development status)

Table 27: Supported host CPUs and VxWorks versions

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VxWorks Installation
5.1.1.2 Local CAN Drivers for CAN Modules that Act as Hosts Themselfs
Compared to the modules described in the previous chapter these modules come with a complete
VxWorks BSP containing a local CAN driver. Using these modules as target is not supported at the
moment.
CAN Module

Local Driver for

CAN-API

Operation of the Module as Target in the System

with external CAN Driver

PMC-CPU/405

included in BSP

in preparation for module version PMC-CPU/405-A

CPCI-405

included in BSP

in preparation for module version CPCI-405-A

CPCI-CPU/750

included in BSP

not scheduled

EPPC-405

included in BSP

n.a.

EPPC-405-HR

included in BSP

n.a.

EPPC-405-UC

included in BSP

n.a.

Table 28: CAN modules with local VxWorks operating system and local CAN driver

5.1.2 Integration of the Driver in a Project

The integration and installation of the VxWorks 6.x CAN drivers and libraries is different to VxWorks
5.x. For VxWorks 6.x the driver installation and configuration is integrated into the WindRiver
Workbench. For earlier versions of VxWorks the driver and libraries are deployed as binaries which
have to be linked to your application or BSP together with a configuration file which has to be adapted
to your hardware configuration.
5.1.2.1 Content of the driver package for VxWorks 6.x
The driver software for VxWorks 6.x comes as a package for all supported host CPU architectures and
CAN hardware with the following directory layout structure:
Directory

Description

doc\

Documentation of driver installation and NTCAN-API

src\

Example code (cantest.c) also included in binary format which can be

optionally added to your project.

target\

This directory contains all necessary files to integrate and configure the driver. For
driver installation and integration with the WindRiver Workbench the
complete folder has to be copied into the target directory of your VxWorks 6.x
installation keeping the directory hierarchy. The CAN driver support will be
available with the next start of the Workbench.
Table 29: Directory hierarchy of the VxWorks 6.x package

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VxWorks Installation
5.1.2.2 Content of the driver package for VxWorks 5.x
The driver software for VxWorks 5.x comes as a CAN hardware specific package with the directory
structure /VxWorks-Version/CPU-Architecture/. Supported VxWorks versions are 5.4 and 5.5.1.
Each directory contains the following files:
File

Description

ldc331i

script for loading the driver

c331i.sys

CAN driver (binary code)

c331iini

example startup code for the driver

(binary code)

c331iini.c

example configuration and startup

code for the driver (source code)

The character combination c331i

signifies files of the CAN-ISA/331
module. For other modules the
characters have to be changed as
follows:
CAN Module

File Name

CAN-ISA/200
CAN-PC104/200

c200i

CAN-ISA/331
CAN-PC104/331
PMC-CAN/331

c331i

CAN-PCI/200
CPCI-CAN/200

c200

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

c331

CAN-PCI/360
CPCI-CAN/360

c360

VME-CAN4

can4

ntcan.o

ntcan-API

ntcan.h

header for ntcan-API

cantest.c

source code of example program cantest (see CAN-API manual part 1 [1])

cantest

binary file of example program cantest

Table 30: Files in the VxWorks 5.x package

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VxWorks Installation
5.1.3 Driver Configuration
5.1.3.1 Configuration of the VxWorks 6.x Driver
The integration of the CAN driver in your application and the configuration of the driver parameter is
done with the WindRiver Workbench. After the driver installation you will have a new node in your
Workbench VxWorks kernel parameter tree with the name esd gmbh Driver, Protocol Stacks and
Software.

Below this entry you will find the node CAN Fieldbus which contains the configuration of esd CAN
drivers.
Below CAN Fieldbus there is a node CAN board drivers where you can add the driver for the CAN
modules you want to support in your project. Every driver support consists of a node XXX Board
Configuration to include and configure board specific parameter and XXX Device Driver to configure
driver specific parameter.
Below CAN Fieldbus there is a node CAN support components to include additional components of the
CAN support.
For configuration option and details please refer to property description of the configuration parameter
in the Workbench.
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VxWorks Installation
5.1.3.2 Configuration of the VxWorks 5.x Driver
Driver for VxWorks 5.x are configured calling the driver start with a pointer to an initialized structure
of the type CAN_INFO. This can be either performed modifying the code of the example startup file
caninit.c (recommended) or by calling the driver start routine from within your own application. In
either case please take a look into the caninit.c to see configuration examples for several target
architectures.
The following text describes the member of the CAN_INFO structure:
struct CAN_INFO
{
unsigned long
unsigned char
unsigned char
unsigned char
unsigned char
};

base;
net[4];
prio;
irq;
reserved[6];

base

CAN-ISA modules:
I/O-address of the CAN-ISA module.
base has to be set to the value configured on the hardware via jumpers or coding
switches. If base is set to 0, the driver terminates the search for further CAN
interfaces.
CAN-PCI modules:
For x86 host CPU architectures the base address of the CAN hardware is configured
usually by a BIOS. In order to tell the device driver to use this address you have to
set the parameter base to -1. You have to make that your BSP got enough unused
entries in the MMU-Memory Descriptor table to enter the PCI-address area of the
CAN module there (this is usually the case).
For PPC host CPU architectures where the BSP or a bootloader performs the PCI
bus configuration you have to set the parameter base to -1. In this case the PCIaddress space is accessed with the common VxWorks offset of 0xC0000000. The
offset value of the address area is set in the driver.
For PPC host CPU architectures without PCI bus configuration by the BSP or
bootloader you have to find a 3 MB free page size aligned physical address area
which address is used for the parameter base .

net[0]

Logical network number which is to be assigned to the first physical CAN port in this
module. If a module has got more than one CAN port, the ports get consecutive numbers
starting with this number.
The values of net[1] to net[3] are ignored by the driver.
The user has to make sure that all logical CAN network numbers are only assigned once
in a system, otherwise the driver might not be initialized correctly.

prio

Priority of back-end task, which is, depending on the hardware, started for each physical
interface or module.

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VxWorks Installation
irq

CAN-ISA modules:
Interrupt vector for this CAN-ISA module
CAN-PCI modules:
For x86 host CPU architectures the interrupt of the CAN hardware is configured
usually by a BIOS. In order to tell the device driver to use this address you have to
set the parameter irq to -1.
For PPC host CPU architectures where the BSP or a bootloader performs the PCI
bus configuration you have to set the parameter irq to -1.
For PPC host CPU architectures without PCI bus configuration by the BSP or
bootloader you have to find out the interrupt used by your target for the PCI slot of
the corresponding CAN module in your host hardware manual and set the parameter
irq to this value regarding an BSP specific interrupt vector offset.

5.1.4 Driver Start

5.1.4.1 Start of the VxWorks 6.x Driver
The driver can either be set to auto start via the Workbench (recommended) or can be started by your
application by calling xxxStart() where xxx is the driver specific prefix as described below:
CAN Module

Entry Syntax

CAN-ISA/200
CAN-PC104/200 (SJA1000 version)

c200i

CAN-ISA/331
CAN-PC104/331

c331i

CAN-PCI/200
CPCI-CAN/200

c200

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

c331

CAN-PCI/360
CPCI-CAN/360

c360

VME-CAN4

can4

CPCI-405
CPCI-CPU/750
PMC-CPU/405
EPPC-405
EPPC-405-HR

This CAN drivers will be

started by calling
canStart().

EPPC-405-UC
Table 31: Entry syntax for starting the driver

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VxWorks Installation
5.1.4.2 Start of the VxWorks 5.x Driver
If you use a modified caninit.c to start your driver you should call xxxStart() otherwise you have
to call the xxx_install() routine which is exported by the driver with an initialized CAN_INFO
structure. In both cases xxx is the driver specific prefix as described above.
5.1.5 Test Application
The driver package comes with the test program canTest which can be either optionally configured
to your application via the Workbench (VxWorks 6.x) or can be linked to your application or loaded
via a target shell (VxWorks 5.x). With the help of this program you can check the function of the CAN
interface. canTest is described in the chapter Test program cantest in CAN-API manual part 1 [1].
Since VxWorks allows less parameters in the command line as required by canTest, the parameters
have to be entered as string - in apostrophes. The string is evaluated by the test program. Default values
are used for all parameters which are not included in the string.

5.1.6 CAN 2.0B (29-bit Identifier) Support

All CAN modules support 29 bit identifier according to CAN 2.0B. Starting with firmware revision
0.C.09 the following active CAN modules have a firmware which can be switched between 11 bit active
and 29 bit passive support and 29/11 bit active support.
CAN-ISA/331,
CAN-PC104/331
CAN-PCI/331,
CPCI-CAN/331,
PMC-CAN/331
CAN-PCI/360,
CPCI-CAN/360
VME-CAN4,
When the driver is running the current firmware mode is put out to stdout by calling
xxx_switch (op, net)
you can switch between the two operating modes while the driver is running where xxx is the driver
specific prefix.
op

operating mode
If 0 is entered for op, the current operating mode is shown. If 1 is entered, the firmware
recognizes the new operating mode, but only switches to it after the following boot-up.

net logical network number

After a switch of the operating mode you have to reset your hardware.

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QNX4 Installation

5.2 Installation Under QNX4 and QNX6

The installation can only be made with superuser rights.
The installation of QNX6 drivers is described from page 103 on.

5.2.1 QNX4
5.2.1.1 Files of the QNX4 Packages
The software drivers for the QNX package are shipped on a 3.5 disk. The disk contains the following
files:
File

Description
current notes and installation
information

readme
c331

CAN resource manager for

CAN-PCI/331

The character combination c331

signifies files of the CAN-PCI/331
module. For other modules the
characters have to be changed as
follows:
CAN Module

File Name

CAN-ISA/200
CAN-PC104/200

c200i

(SJA1000 version)

CAN-ISA/331
CAN-PC104/331

c331i

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

c331

updc331

program for firmware update

libntcan3s.lib

CAN-API library (stack parameter)

libntcan3r.lib

CAN-API library (register parameter)

ntcan.h

header for CAN-API

cantest.c

source code of example program cantest (see CAN-API manual part 1

[1])

cantest

binary file of example program cantest

Table 32: Files of the QNX4 packages

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QNX4 Installation
5.2.1.2 Sequence of Installation Under QNX4
5.2.1.2.1 Installation of ISA-Boards
First install the hardware of the module. When installing ISA boards, please make sure to set the board
address correctly. The address corresponding to the standard configuration (e.g. 0x1E8 for CANISA/200) should be set before shipping already.
Calling the Resource Manager
Log in as root.
Start the resource manager (e.g. for QNX4, CAN-ISA/200): c200i &
After this call an output similar to the following is to appear on the screen:
C200i[0x1e8]:
C200i[0x1e8]:
C200i[0x1e8]:
C200i[0x1e8]:
C200i[0x1e8]:
C200i[0x1e8]:
C200i[0x1e8]:

Using I/O-Base 0x1E8

Using Interrupt 5
"CAN_ISA200" with 1 Nets identified
Hardware-Version=1.0.00
Firmware-Version=0.0.00
Driver-Version =1.0.00
Net 0 successfully created

Note: Depending on the module the resource manager is called by means of different commands. The
character combination c200i for QNX4 shown in the example above, has to be substituted
for other modules as follows:
CAN Module

Entry Syntax QNX4

CAN-ISA/200
CAN-PC104/200
(SJA1000 version)
CAN-ISA/331
CAN-PC104/331

c200i

c331i

Table 33: Input syntax when calling the resource manager

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QNX4 Installation
Command Line of the Resource Manager for ISA Boards
The resource manager can be configured by means of the parameters explained below.
Parameter
-h

Function
Showing a help text

-n net

Assigning the logical network number.

net = 0...255
default: net = 0

-p port

Selecting the ISA board in the system by means of the port address set via the
hardware (see also hardware manual of the module).

-i irq

Setting the interrupt to be used by the board.

You have to determine an available interrupt which has to be set here.
If this parameter is not specified, interrupt 5 will be used.
Table 34: Parameters of the resource manager on ISA boards

Example for the installation of two CAN-ISA/200 boards in one system:

Call

Function

c200i -p0x1e8 -i5 -n0 &

Interrupt 5 and the CAN network number 0 are assigned to

the CAN-ISA/200 module with the address 0x1E8 .

c200i -p0x1e0 -i7 -n1 &

Interrupt 7 and the CAN network number 1 are assigned to

the CAN-ISA/200 module with the address 0x1E0 .

Table 35: Example for the installation of two CAN-ISA/200 boards

Now you can test the communication on the CAN bus by means of the example program cantest.
Attention! Make sure that your module is correctly wired! A second CAN participant is required
to make the module work correctly, because otherwise the CAN controller creates error
messages. Make also sure that the bus is correctly terminated.

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QNX4 Installation
5.2.1.2.2 Installation of PCI-Boards
First install the module hardware.
Log in as root.
Start the resource manager (example CAN-PCI/331): c331 &
Now an output similar to the one below has to appear on the screen:
C331[0]:
C331[0]:
C331[0]:
C331[0]:
C331[0]:
C331[0]:
C331[0]:

Using Interrupt 12
"CAN_PCI331" with 2 Nets identified
Hardware-Version=1.1.00
Firmware-Version=0.c.00
Driver-Version =1.0.00
Net 0: Successfully created
Net 1: Successfully created

Note: Depending on the module the resource manager might be called by means of different
commands. The character combination c331 , as shown in the example above, has to be
substituted for other modules as shown below:
CAN Module

Entry Syntax QNX4

CAN-PCI/200
CPCI-CAN/200
CAN-PCI/266

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

c331

-... has not been implemented yet

Table 36: Input syntax when calling the resource manager on PCI boards

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QNX4 Installation
Command Line of the Resource Manager for PCI Boards
The resource manager can be configured by means of the parameters described below.
Parameter
-h
-n net

-p index

Function
Showing a help text.
Assigning the logical network number.
net = 0...255
default: net = 0
Selecting the esd-CAN-PCI boards in the system.
The boards are numbered starting with 0. The assignment of numbers and boards
is determined by the plug-and-play controller. In case of doubt, the assignment
should be checked by means of a test.
Table 37: Parameters of the resource manager on PCI boards

Example for the installation of two CAN-PCI/331 boards in one system:

Call

Function

c331 -p0 -n0 &

The CAN network numbers 0 and 1 are assigned to the CANPCI/331 module with the PCI number 0.

c331 -p1 -n2 &

The CAN network numbers 2 and 3 are assigned to the CANPCI/331 module with the PCI number 1.

Table 38: Example for the installation of two CAN-PCI/331 boards

Now you can test the communication on the CAN bus by means of the example program cantest.
Attention! Make sure that your module is correctly wired! A second CAN participant is required
to make the module work correctly, because otherwise the CAN controller creates error
messages. Make also sure that the bus is correctly terminated.

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QNX6 Installation
5.2.2 QNX6
5.2.2.1 Files of the QNX6 Package
The software drivers for the QNX package are shipped on a 3.5 disk. The disk contains the following
files:
File

Description

readme

current notes and

installation information

CHANGELOG

change list / driver history

The character combination pci331i20 signifies files of the CAN-PCI/331

module. For other modules the
characters have to be changed as follows
CAN Module

devcan-pci331-i20
upd-isa331
upd-pci331
upd-pci360

CAN resource manager for

CAN-PCI/331 under QNX6
programs for firmware
update (shipping on
request)

Code

CAN-ISA/200
...isa200-sja1000
CAN-PC104/200
(SJA1000 version)

CAN-PCI/200
CAN-PCI/104/200
...pci200-sja1000
CAN-PCIe/200
CPCI-CAN/200
CAN-PCI/266
PMC-CAN/266
CAN-ISA/331
CAN-PC104/331

...isa331-i20

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

...pci331-i20

CAN-PCI/360
CPCI-CAN/360

...pci360-i20

CPCI-405

...cpci405pcimsgx

libntcan.so.x

dynamic CAN-API library (x... library version)

ntcan.h

header of CAN-API

cantest.c

source code of example program cantest (see CAN-API manual part

1 [1])

cantest

binary file of example program cantest

Table 39: Files of the QNX6 package

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QNX6 Installation
5.2.2.2 Sequence of Installation Under QNX6
5.2.2.2.1 Installation of ISA-Boards
First install the hardware of the module. When installing ISA boards, please make sure to set the board
address correctly. The address corresponding to the standard configuration (e.g. 0x1E8 for CANISA/200) should be set before shipping already.
Calling the Resource Manager
Log in as root.
Start the resource manager (e.g. for CAN-ISA/200):
devcan-isa200-sja1000 -v &
After this call an output similar to the following is to appear on the screen:
CAN_ISA_200 version 3.3.0 build 17:03:04 Dec 15 2004
Card[0]: Baud=0x7fffffff Mode=0x00000000 Nodes=can0
Card[0]: Hardware-version 1.0.0
Depending on the module the resource manager is called by means of different commands. The code
isa200-sja1000 in the character combination devcan-isa200-sja1000 shown in the
example above, has to be substituted for other modules as described in table 39 on page 103.

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QNX6 Installation
Command Line of the Resource Manager for ISA Boards:
With the command
devcan-isa200-sja1000 -h
the input syntax of all available parameters (here CAN-ISA/200) is listed:
devcan-isa200-sja1000 [-b baudrate][-m mode][-n net][-v[v..]][-c card-options] &

The resource manager can be configured by means of the parameters explained below.
Parameter

Function

-b baudrate

Input of baudrate (default value: module is OFF Bus)

-m mode

Not supported at the moment (default value = 0)

-n net

Assigning the logical network number.

net = 0...255 (default value = 0)

-v[v...]

Verbose level

-p prio

Back-end handling priority (default value = 19)

-h

Showing a help text

-c card_options

Setting of the I/O-address and the interrupts of a CAN module:

io = address (I/O-address)
irq = interrupt (An unused interrupt of the system has to be determined
and set with this parameter.)

Table 40: Parameters of the resource manager on ISA boards

Example for the installation of two CAN-ISA/200 boards in one system:

devcan-isa200-sja1000 -n0 -c io=0x1e8,irq=5 -n1 -c io=0x1e0,irq=7 &
Now you can test the communication on the CAN bus by means of the example program cantest.

Attention! Make sure that your module is correctly wired! A second CAN participant is required
to make the module work correctly, because otherwise the CAN controller creates error
messages. Make also sure that the bus is correctly terminated.

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QNX6 Installation
5.2.2.2.2 Installation of PCI-Boards
First install the module hardware.
Log in as root.
Start the resource manager (example CAN-PCI/331):
devcan-pci331-i20 -v &
Now an output similar to the one below has to appear on the screen:
pci331 version 3.3.1 build 17:01:52 Dec 15 2004
Card[0]: Baud=0x7fffffff Mode=0x00000000 Nodes=can0 can1
Card[0]: Hardware-version 1.1.4 Firmware-version 0.12.30
Note: Depending on the module the resource manager might be called by means of different
commands. The code pci331-i20 in the character combination devcan-pci331-i20,
as shown in the example above, has to be substituted for other modules as described in table 39
on page 103.

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QNX6 Installation
Command Line of the Resource Manager for PCI Boards:
With the command
devcan-pci331-i20 -h
the input syntax of all available parameters (here CAN-PCI/331) is listed:
devcan-pci331-i20 [-b baudrate][-m mode][-n net][-v[v..]][-c card-options] &

The resource manager can be configured by means of the parameters described below.
Parameter

Function

-b baudrate

Input of baudrate (default value: module is OFF Bus)

-m mode

Not supported at the moment (default value = 0)

-n net

Assigning the logical network number.

net = 0...255 (default value = 0)

-v[v...]

Verbose level

-p prio

Back-end handling priority (default value = 19)

-h

Showing a help text

pci = index

-c card_options

sdid = id

(= PCI Indexas indicated by the QNX Shell

command pci -v
(= Subsystem IDas indicated by the QNX Shell
command pci -v

If no parameter value is set, access to all boards is enabled).

Table 41: Parameters of the resource manager on PCI boards
Example for the installation of two CAN-PCI/331 boards in one system:
devcan-pci331-i20 -n0 -c pci=0 -n2 -c pci=1 &
Now you can test the communication on the CAN bus by means of the example program cantest.

Attention! Make sure that your module is correctly wired! A second CAN participant is required
to make the module work correctly, because otherwise the CAN controller creates error
messages. Make also sure that the bus is correctly terminated.

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Firmware Update for Non-Windows Operation Systems

6. Update of Local Firmware for Non-Windows Operating Systems

6.1 Overview
The update program for the local firmware is implemented only for Linux, LynxOS, VxWorks and
QNX operating systems at the moment.
The update function is insignificant for the CAN-xxx/200 board and CPCI-xxx/200, because this boards
do not have a local processor. The CAN-PCC module also does not support the update function.
The firmware for the local processor of the intelligent CAN boards is stored into Flash-EPROM
memory components. When the board is shipped you will receive the firmware version which had been
the latest at the time of the hardware manufacturing.
The disks or CD-ROM, included in the shipping, contain an update program by means of which you
can program the flash EPROM with the latest software at the time of shipping.
Depending on the module and the operating system you will either find the update program canupd
or the update program updxxx on your data carrier. The programs will be installed onto your hard
disk during the installation of the driver.
Both programs are equal in functionality. While canupd is a universal update program for various
modules, updxxx offers specific updates for individual modules.
The modules are identified by means of the character combination when called:
Entry Syntax for updxxx
CAN Module

VxWorks,
QNX4

LynxOS

Linux

QNX6

CAN-ISA/331
CAN-PC104/331

updc331i

updisa331

upd-isa331

CAN-PCI/331
CPCI-CAN/331
PMC-CAN/331

updc331

updpci331

upd-pci331

updpci360

upd-pci360

updc360

CAN-PCI/360

n.a.

CAN-PCI/405

n.a.

1*)

CPCI-CAN/360

n.a.

USB-Mini

n.a.

2*)

updusb331

n.a.

Table 42: Entry syntax for update program updxxx

1*) In contrast to the other CAN modules the firmware of the CAN-PCI/405 is part of the driver binary and
automatically downloaded during driver startup. No extra action is required.
2*) Please contact our support team for more information about CPCI-CAN/360 firmware update.

Attention!

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Do not execute updc360 or updpci360 for the CPCI-CAN/360

module! This will produce a faulty firmware programming that is complexly
to repair.

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Firmware Update for Non-Windows Operation Systems

6.2 Checking the Firmware Version Number

With the update program you can check the local firmware revision of the Flash EPROM and update
the Flash EPROM, if necessary.
It is recommended, to compare the revision number of the delivered firmware at the floppy disk
with the firmware stored in the Flash EPROM after the host driver installation!
Calling the program canupd or updxxx without parameters returns the output of the included
firmware program with revision numbers onto the monitor. Because canupd is a universal tool, it
includes firmware programs for several hardware applications.
Under the operating system Linux it is also possible to check the firmware version in the directory
/var/log/messages after loading the driver.
Calling the program with the following number of the logical network number of the required board
returns the output of the revision numbers of the local firmware stored in the Flash EPROM onto the
monitor.
Input example: canupd 0
The program automatically compares the firmware versions and shows in clear text on the monitor,
whether the stored version is still up-to-date, or if an update is required.

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Firmware Update for Non-Windows Operation Systems

6.3 Executing the Update

1. Calling canupd or updxxx with desired logical network number (see above).
2. After the version has been checked, you will be asked, whether the program is to carry on with the
update or not.
-

If you enter y for YES, the Flash-EPROM is then being programmed again, regardless of the
firmware version which is more up-to-date.

n for NO cancels the procedure. The firmware in the Flash-EPROM remains unchanged.

3. In order to activate the new firmware, the local processor has to be reset. This can be achieved by
stopping and restarting the software driver of the host-CPU.
The following table shows the command entries which are required for this procedure:

CAN Module

CAN-ISA/331

CAN-PC104/331

Stopping and Restarting the CAN Driver with Operating System ...
LynxOS

VxWorks

stop:
instcan -u c331i

stop:
terminate system

restart:
instcan c331i

restart:
c331iStart()

QNX

Linux

stop:
terminate shell by
Ctrl-C
or
terminate process by
kill process
restart: c331i &

CAN-PCI/331
stop:
instcan -u c331

stop:
terminate system

restart:
instcan c331

restart:
c331Start()

CPCI-CAN/331
PMC-CAN/331

CAN-PCI/360

stop:
terminate shell by
Ctrl-C
or
terminate process by
kill process
restart: c331 &

stop:
terminate system
restart:
c360Start()

stop:
terminate shell by
Ctrl-C
or
terminate process by
kill process

stop syntax:
see Linux installation
description on page 66
*)
restart syntax:
see Linux installation
description on page 66
*)

restart: c360 &

CAN-USB-Mini

*) Supported Linux kernel and standard configuration prerequisited.

Table 43: Commands for stopping and restarting the CAN drivers

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References

7. References
[1]

CAN-API Manual, Part 1: Function Description

esd electronic system design gmbh

CAN-API Installation

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Index

Index
A
AIX 9, 10, 88

L
Linux 9, 108
LynxOS 9, 76, 108

B
Base Net 25, 28

M
matrix 8

C
CAN 2.0B 57
CAN Control 27
CAN-Bluetooth 8-10, 49
CAN-ISA/200 8-10
CAN-ISA/331 8-10
CAN-PC104/200 8-10
CAN-PC104/331 8-10
CAN-PCC 8-10
CAN-PCI/200 8-10
CAN-PCI/266 8-10
CAN-PCI/331 8-10
CAN-PCI/360 8-10
CAN-PCI/405 8-10
CAN-USB-Mini 8-10, 12
CPCI-405 Host 11
CPCI-CAN/200 8-10
CPCI-CAN/331 8-10
CPCI-CAN/360 8-10
CPCI-CPU/750 11

P
parallel interface 29
Parport 29
ParVdm 29
PCI 27
Physical Net Mapping 42
PMC-CAN/331 8-10
PMC-CPU/405 11
PowerMAX OS 9, 78

D
de-installation 31
E
ECP 38
EtherCAN 8-10, 51, 71
F
firmware version 55, 109
H
hardware wizard 33
I
I/O-Port 28
Input/Output range 36
Interface 28
ISA 8-10

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Q
QNX4 10, 98, 108
QNX6 10, 98
R
registry 39
resources 38
RTX 8, 43
S
SDK 7, 53
SGI-IRIX6.5 9, 86
Solaris 9, 81, 108
U
update 54
V
VME-CAN2 9, 10
VME-CAN4 9, 10
VxWorks 10, 92, 93, 108
W
Windows2000/XP 8
Windows95/98/ME 8
WindowsNT 8, 26

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