On Mon, 17 Sep 2007 12:03:28 +0200 Urs Thuermann wrote:
Hi,
Thanks for all of this informative documentation.
I have some typo/spello corrections below.
> This patch adds documentation for the PF_CAN protocol family.
>
> Signed-off-by: Oliver Hartkopp <[EMAIL PROTECTED]>
> Signed-off-by: Urs Thuermann <[EMAIL PROTECTED]>
>
> ---
> Documentation/networking/00-INDEX | 2
> Documentation/networking/can.txt | 635
> ++++++++++++++++++++++++++++++++++++++
> 2 files changed, 637 insertions(+)
>
> Index: net-2.6.24/Documentation/networking/can.txt
> ===================================================================
> --- /dev/null 1970-01-01 00:00:00.000000000 +0000
> +++ net-2.6.24/Documentation/networking/can.txt 2007-09-17
> 10:27:25.000000000 +0200
> @@ -0,0 +1,635 @@
> +============================================================================
> +
> +1. Overview / What is Socket CAN
> +--------------------------------
> +
> +The socketcan package is an implementation of CAN protocols
> +(Controller Area Network) for Linux. CAN is a networking technology
> +which has wide-spread use in automation, embedded devices, and
widespread
> +automotive fields. While there have been other CAN implementations
> +for Linux based on character devices, Socket CAN uses the Berkeley
> +socket API, the Linux network stack and implements the CAN device
> +drivers as network interfaces. The CAN socket API has been designed
> +as similar as possible to the TCP/IP protocols to allow programmers,
> +familiar with network programming, to easily learn how to use CAN
> +sockets.
> +
> +2. Motivation / Why using the socket API
> +----------------------------------------
> +
> +Socket CAN was designed to overcome all of these limitations. A new
> +protocol family has been implemented which provides a socket interface
> +to user space applications and which builds upon the Linux network
> +layer, so to use all of the provided queueing functionality. Device
> +drivers for CAN controller hardware register itself with the Linux
A device driver ... registers itself
> +network layer as a network device, so that CAN frames from the
> +controller can be passed up to the network layer and on to the CAN
> +protocol family module and also vice-versa. Also, the protocol family
> +module provides an API for transport protocol modules to register, so
> +that any number of transport protocols can be loaded or unloaded
> +dynamically. In fact, the can core module alone does not provide any
> +protocol and can not be used without loading at least one additional
cannot
> +protocol module. Multiple sockets can be opened at the same time,
> +on different or the same protocol module and they can listen/send
> +frames on different or the same CAN IDs. Several sockets listening on
> +the same interface for frames with the same CAN ID are all passed the
> +same received matching CAN frames. An application wishing to
> +communicate using a specific transport protocol, e.g. ISO-TP, just
> +selects that protocol when opening the socket, and then can read and
> +write application data byte streams, without having to deal with
> +CAN-IDs, frames, etc.
> +
> +Similar functionality visible from user-space could be provided by a
> +character decive, too, but this would lead to a technically inelegant
> +solution for a couple of reasons:
> +
> +* Intricate usage. Instead of passing a protocol argument to
> + socket(2) and using bind(2) to select a CAN interface and CAN ID, an
> + application would have to do all these operations using ioctl(2)s.
> +
> +* Code duplication. A character device cannot make use of the Linux
> + network queueing code, so all that code would have to be duplicated
> + for CAN networking.
> +
> +* Abstraction. In most existing character-device implementations, the
> + hardware-specific device driver for a CAN controller directly
> + provides the character device for the application to work with.
> + This is at least very unusual in Unix systems, for both, char and
^drop comma
> + block devices. For example you don't have a character device for a
> + certain UART of a serial interface, a certain sound chip in your
> + computer, a SCSI or IDE controller providing access to your hard
> + disk or tape streamer device. Instead, you have abstraction layers
> + which provide a unified character or block device interface to the
> + application on the one hand, and a interface for hardware-specific
> + device drivers on the other hand. These abstractions are provided
> + by subsystems like the tty layer, the audio subsystem or the SCSI
> + and IDE subsystems for the devices mentioned above.
> +
> + The easiest way to implement a CAN device driver is as a character
> + without such a (complete) abstraction layer, as is done by most
> + existing drivers. The right way, however, would be to add such a
> + layer with all the functionality like registering for certain CAN
> + IDs, supporting several open file descriptors and (de)multplexing
(de)multiplexing
> + CAN frames between them, (sophisticated) queueing of CAN frames, and
> + providing an API for device driver to register with. However, then
drivers
> + it would be no more difficult, or may be even easier, to use the
> + networking framework provided by the Linux kernel, and this is what
> + Socket CAN does.
> +
> + The use of the networking framework of the Linux kernel is just the
> + natural and most appropriate way to implement CAN for Linux.
> +
> +3. Socket CAN concept
> +---------------------
> +
> + As described in chapter 2 it is the main goal of Socket CAN to
> + provide a socket interface to user space applications which builds
> + upon the Linux networklayer. In opposite to the commonly known
network layer. In constrast to
> + TCP/IP and ethernet networking the CAN bus is a broadcast-only(!)
^insert comma
> + medium that has no MAC-layer adressing like ethernet. The CAN-identifier
addressing
> + (can_id) is used for arbitration on the CAN-bus. Therefore the CAN-IDs
> + have to be choosen unique on the bus. When designing a CAN-ECU
chosen uniquely
> + network the CAN-IDs are mapped to be sent by a specific ECU.
> + For this reason a CAN-ID can be treatened best as a kind of source address.
treated
> +
> + 3.1 receive lists
> +
> + The network transparent access of multiple applications leads to the
> + problem that different applications may be interrested in the same
interested
> + CAN-IDs from the same CAN network interface. The Socket CAN core
> + module - which implements the protocol family CAN - provides several
> + high efficient receive lists for this reason. If e.g. a user space
> + application opens a CAN RAW socket, the raw protocol module itself
> + requests the (range of) CAN-IDs from the Socket CAN core that are
> + requested by the user. The subscription and unsubscription of
> + CAN-IDs can be done for specific CAN interfaces or for all(!) known
> + CAN interfaces with the can_rx_(un)register() functions provided to
> + CAN protocol modules by the SocketCAN core (see chapter 5).
> + To optimize the CPU usage at runtime the receive lists are split up
> + into several specific lists per device that match the requested
> + filter complexity for a given use-case.
> +
> + 3.2 loopback
> +
> + As known from other networking concepts the data exchanging
> + applications may run on the same or different nodes without any
> + change (except if the according addressing information):
except for
> +
> + ___ ___ ___ _______ ___
> + | _ | | _ | | _ | | _ _ | | _ |
> + ||A|| ||B|| ||C|| ||A| |B|| ||C||
> + |___| |___| |___| |_______| |___|
> + | | | | |
> + -----------------(1)- CAN bus -(2)---------------
> +
> + To ensure that application A receives the same information in the
> + expample (2) as it would receive in example (1) there is need for
example
> + some kind of local loopback on the appropriate node.
> +
> + The Linux network devices (by default) just can handle the
> + transmission and receiption of media dependend frames. Due to the
reception of media dependent
> + arbritration on the CAN bus the transmission of a low prio CAN-ID
> + may be delayed from the receipition of a high prio CAN frame. To
by reception
> + reflect the correct* traffic on the node the loopback of the sent
> + data has to be performed right after a successful transmission. If
> + the CAN network interface is not capable to perform the loopback for
of performing
> + some reason the SocketCAN core can do this task as a fallback solution.
> + See chapter 6.2 for details (recommended).
> +
> + The loopback functionality is enabled by default to reflect standard
> + networking behaviour for CAN applications. Due to some requests from
> + the RT-SocketCAN group the loopback optionally may be disabled for each
> + seperate socket. See sockopts from the CAN RAW sockets in chapter 4.1 .
separate 4.1.
> +
> + * = you really like to have this when you're running analyser tools
> + like 'candump' or 'cansniffer' on the (same) node.
> +
> + 3.3 network security issues (capabilities)
> +
> + The Controller Area Network is a local field bus transmitting only
> + broadcast messages without any routing and security concepts.
> + In the majority of cases the user application has to deal with
> + raw CAN frames. Therefore it might be reasonable NOT to restrict
> + the CAN access only to the user root, as known from other networks.
> + Since the currently implemented CAN_RAW and CAN_BCM sockets can only
> + send and receive frames to/from CAN interfaces it does not affect
> + security of others networks to allow all users to access the CAN.
> + To enable non-root users to access CAN_RAW and CAN_BCM protocol
> + sockets the Kconfig options CAN_RAW_USER and/or CAN_BCM_USER may be
> + selected at kernel compile time.
> +
> + 3.4 network problem notifications
> +
> + The use of the CAN bus may lead to several problems on the physical
> + and media access control layer. Detecting and logging of these lower
> + layer problems is a vital requirement for CAN users to identify
> + hardware issues on the physical transceiver layer as well as
> + arbitration problems and error frames caused by the different
> + ECUs. The occurance of detected errors are important for diagnosis
occurrence
> + and have to be logged together with the exact timestamp. For this
> + reason the CAN interface driver can generate so called Error Frames
> + that can optionally be passed to the user application on the same
in
> + way like other CAN frames. Whenever an error on the physical layer
as
> + or the MAC layer is detected (e.g. by the CAN controller) the driver
> + creates an appropriate error frame. Error frames can be requested by
> + the user application using the common CAN filter mechanisms. Inside
> + this filter definition the (interrested) type of errors may be
(interested)
> + selected. The receiption of error frames is disabled by default.
reception
> +
> +4. How to use Socket CAN
> +------------------------
> +
> + Like TCP/IP, you first need to open a socket for communicating over a
> + CAN network. Since Socket CAN implements a new protocol family, you
> + need to pass PF_CAN as the first argument to the socket(2) system
> + call. Currently, there are two CAN protocols to choose from, the raw
> + socket protocol and the broadcast manager (BCM). So to open a socket,
> + you would write
> +
> + s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
> +
> + and
> +
> + s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM);
> +
> + respectively. After the successful creation of the socket, you would
> + normally use the bind(2) system call to bind the socket to a CAN
> + interface (which is different to TCP/IP due to different addressing
from
> + - see chapter 3). After binding (CAN_RAW) or connecting (CAN_BCM)
> + the socket, you can read(2) and write(2) from/to the socket or use
> + send(2), sendto(2), sendmsg(2) and the recv* counterpart operations
> + on the socket as usual. There are also CAN specific socket options
> + described below.
> +
> + The basic CAN frame structure and the sockaddr structure are defined
> + in include/linux/can.h:
> +
> + struct can_frame {
> + canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */
> + __u8 can_dlc; /* data length code: 0 .. 8 */
> + __u8 data[8] __attribute__((aligned(8)));
> + };
> +
> + The alignment of the (linear) payload data[] to a 64bit boundary
> + allows the user to define own structs and unions to easily access the
> + CAN payload. There is no given byteorder on the CAN bus by
> + default. A read(2) system call on a CAN_RAW socket transfers a
> + struct can_frame to the user space.
> +
> + The sockaddr_can structure has an interface index analogue to the
> + PF_PACKET socket, that also binds to a specific interface:
> +
> + struct sockaddr_can {
> + sa_family_t can_family;
> + int can_ifindex;
> + union {
> + struct { canid_t rx_id, tx_id; } tp16;
> + struct { canid_t rx_id, tx_id; } tp20;
> + struct { canid_t rx_id, tx_id; } mcnet;
> + struct { canid_t rx_id, tx_id; } isotp;
> + struct { int lcu, type; } bap;
> + } can_addr;
> + };
> +
> + To determine the interface index the an appropriate ioctl() has to
^ drop "the"
> + be used (example for CAN_RAW sockets without error checking):
> +
> + int s;
> + struct sockaddr_can addr;
> + struct ifreq ifr;
> +
> + s = socket(PF_CAN, SOCK_RAW, CAN_RAW);
> +
> + strcpy(ifr.ifr_name, "can0" );
> + ioctl(s, SIOCGIFINDEX, &ifr);
> +
> + addr.can_family = AF_CAN;
> + addr.can_ifindex = ifr.ifr_ifindex;
> +
> + bind(s, (struct sockaddr *)&addr, sizeof(addr));
> +
> + (..)
> +
> + To bind a socket to all(!) CAN interfaces the interface index might
Why "might be"? How about "would be" or "shall be" or "must be"
or simply "is"?
> + be 0 (zero). In this case the socket receives CAN frames from every
> + enabled CAN interface. To determine the originating CAN interface
> + the system call recvfrom(2) may be used instead of read(2). To send
> + on a socket that is bound to 'any' interface sendto(2) is needed to
> + specify the outgoing interface.
> +
> + Reading CAN frames from a bound CAN_RAW socket (see above) consists
> + of reading a struct can_frame:
> +
> + struct can_frame frame;
> +
> + nbytes = read(s, &frame, sizeof(struct can_frame));
> +
> + if (nbytes < 0) {
> + perror("can raw socket read");
> + return 1;
> + }
> +
> + /* paraniod check ... */
> + if (nbytes < sizeof(struct can_frame)) {
> + fprintf(stderr, "read: incomplete CAN frame\n");
> + return 1;
> + }
> +
> + /* do something with the received CAN frame */
> +
> + Writing CAN frames can be done analogue with the write(2) system call:
similarly,
or
analogously,
> +
> + nbytes = write(s, &frame, sizeof(struct can_frame));
> +
> + When the CAN interface is bound to 'any' existing CAN interface
> + (addr.can_ifindex = 0) it is recommended to use recvfrom(2) if the
> + information about the originating CAN interface is needed:
> +
> + struct sockaddr_can addr;
> + struct ifreq ifr;
> + socklen_t len = sizeof(addr);
> + struct can_frame frame;
> +
> + nbytes = recvfrom(s, &frame, sizeof(struct can_frame),
> + 0, (struct sockaddr*)&addr, &len);
> +
> + /* get interface name of the received CAN frame */
> + ifr.ifr_ifindex = addr.can_ifindex;
> + ioctl(s, SIOCGIFNAME, &ifr);
> + printf("Received a CAN frame from interface %s", ifr.ifr_name);
> +
> + To write CAN frames on sockets bound to 'any' CAN interface the
> + outgoing interface has to be defined certainly.
> +
> + strcpy(ifr.ifr_name, "can0");
> + ioctl(s, SIOCGIFINDEX, &ifr);
> + addr.can_ifindex = ifr.ifr_ifindex;
> + addr.can_family = AF_CAN;
> +
> + nbytes = sendto(s, &frame, sizeof(struct can_frame),
> + 0, (struct sockaddr*)&addr, sizeof(addr));
> +
> + 4.1 RAW protocol sockets with can_filters (SOCK_RAW)
> +
> + Using CAN_RAW sockets is extensively comparable to the commonly
> + known access to CAN character devices. To meet the new possibilities
> + provided by the multi user SocketCAN approach, some reasonable
> + defaults are set at RAW socket bindung time:
binding
> +
> + - The filters are set to exactly one filter receiving everything
> + - The socket only receives valid data frames (=> no error frames)
> + - The loopback of sent CAN frames is enabled (see chapter 3.2)
> + - The socket does not receive it's own sent frames (in loopback mode)
its
> +
> + These default settings may be changed before or after binding the socket.
> + To use the referenced definitions of the socket options for CAN_RAW
> + sockets include linux/can/raw.h .
sockets, include <linux/can/raw.h>.
> +
> + 4.1.1 RAW socket option CAN_RAW_FILTER
> +
> + The receiption of CAN frames using CAN_RAW sockets can be controlled
reception
> + by defining 0 .. n filters with the CAN_RAW_FILTER socket option.
> +
> + The CAN filter structure is defined in include/linux/can.h:
> +
> + struct can_filter {
> + canid_t can_id;
> + canid_t can_mask;
> + };
> +
> + A filter matches, when
> +
> + <received_can_id> & mask == can_id & mask
> +
> + which is analogue to known CAN controllers hardware filter semantics.
similar to
or
analagous to
> + The filter can be inverted in this semantic, when the CAN_INV_FILTER
> + bit is set in can_id element of the can_filter structure. In
> + opposite to CAN controller hardware filters the user may set 0 .. n
contrast
> + receive filters for each open socket separately:
> +
> + struct can_filter rfilter[2];
> +
> + rfilter[0].can_id = 0x123;
> + rfilter[0].can_mask = CAN_SFF_MASK;
> + rfilter[1].can_id = 0x200;
> + rfilter[1].can_mask = 0x700;
> +
> + setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
> +
> + To disable the receiption of CAN frames on the selected CAN_RAW socket:
reception
> +
> + setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
> +
> + To set the filters to zero filters is quite obsolete as not readed
read
> + data causes the raw socket to discard the received CAN frames. But
> + having this 'send only' use-case we may remove the receive list in the
> + Kernel to save a little (really a very little!) CPU usage.
> +
> + 4.1.2 RAW socket option CAN_RAW_ERR_FILTER
> +
> + As described in chapter 3.4 the CAN interface driver can generate so
> + called Error Frames that can optionally be passed to the user
> + application on the same way like other CAN frames. The possible
in as
> + errors are devided into different error classes that may be filtered
divided
> + using the appropriate error mask. To register for every possible
> + error condition CAN_ERR_MASK can be used as value for the error mask.
> + The values for the error mask are defined in linux/can/error.h .
> +
> + can_err_mask_t err_mask = ( CAN_ERR_TX_TIMEOUT | CAN_ERR_BUSOFF );
> +
> + setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
> + &err_mask, sizeof(err_mask));
> +
> + 4.1.3 RAW socket option CAN_RAW_LOOPBACK
> +
> + To meet multi user needs the local loopback is enabled by default
> + (see chapter 3.2 for details). But in some embedded use-cases
> + (e.g. when only one application uses the CAN bus) this loopback
> + functionality can be disabled (separately for each socket):
> +
> + int loopback = 0; /* 0 = disabled, 1 = enabled (default) */
> +
> + setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback,
> sizeof(loopback));
> +
> + 4.1.4 RAW socket option CAN_RAW_RECV_OWN_MSGS
> +
> + When the local loopback is enabled, all the sent CAN frames are
> + looped back to the open CAN sockets that registered for the CAN
> + frames' CAN-ID on this given interface to meet the multi user
> + needs. The receiption of the CAN frames on the same socket that was
reception
> + sending the CAN frame is assumed to be unwanted and therefore
> + disabled by default. This default behaviour may be changed on
> + demand:
> +
> + int set_recv_own_msgs = 1; /* 0 = disabled (default), 1 = enabled */
> +
> + setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS,
> + &recv_own_msgs, sizeof(recv_own_msgs));
^^^ and ^^^
variable name is incorrect.
> +
> + 4.2 Broadcast Manager protocol sockets (SOCK_DGRAM)
> + 4.3 connected transport protocols (SOCK_SEQPACKET)
> + 4.4 unconnected transport protocols (SOCK_DGRAM)
> +
> +
> +5. Socket CAN core module
> +-------------------------
> +
> + The Socket CAN core module implements the protocol family
> + PF_CAN. CAN protocol modules are loaded by the core module at
> + runtime. The core module provides an interface for CAN protocol
> + modules to subscribe needed CAN IDs (see chapter 3.1).
> +
> + 5.1 can.ko module params
> +
> + - stats_timer: To calculate the Socket CAN core statistics
> + (e.g. current/maximum frames per second) this 1 second timer is
> + invoked at can.ko module start time by default. This timer can be
> + disabled giving stattimer=0 on the module comandline.
by using
> +
> + - debug: When the Kconfig option CONFIG_CAN_DEBUG_CORE is set at
> + compile time, the debug output code is compiled into the module.
> + debug = 0x01 => print general debug information
> + debug = 0x02 => print content of processed CAN frames
> + debug = 0x04 => print content of processed socket buffers
> +
> + It is possible or have ORed values e.g. 3 or 7 for an output off
to use of
> + all available debug information. Using 0x02 and 0x04 may flood
> + your kernel log - so be careful.
> +
> + 5.2 procfs content
> +
> + As described in chapter 3.1 the Socket CAN core uses several filter
> + lists to deliver received CAN frames to CAN protocol modules. These
> + receive lists, their filters and the count of filter matches can be
> + checked in the appropriate receive list. All entries contain the
> + device and a protocol module identifier:
> +
> + [EMAIL PROTECTED]:~$ cat /proc/net/can/rcvlist_all
> +
> + receive list 'rx_all':
> + (vcan3: no entry)
> + (vcan2: no entry)
> + (vcan1: no entry)
> + device can_id can_mask function userdata matches ident
> + vcan0 000 00000000 f88e6370 f6c6f400 0 raw
> + (any: no entry)
> +
> + In this example an application requests any CAN traffic from vcan0.
> +
> + rcvlist_all - list for unfiltered entries (no filter operations)
> + rcvlist_eff - list for single extended frame (EFF) entries
> + rcvlist_err - list for error frames masks
> + rcvlist_fil - list for mask/value filters
> + rcvlist_inv - list for mask/value filters (inverse semantic)
> + rcvlist_sff - list for single standard frame (SFF) entries
> +
> + Additional procfs files in /proc/net/can
> +
> + stats - Socket CAN core statistics (rx/tx frames, match ratios,
> ...)
> + reset_stats - manual statistic reset
> + version - prints the Socket CAN core version and the ABI version
> +
> + 5.3 writing own CAN protocol modules
> +
> + To implement a new protocol in the protocol family PF_CAN a new
> + protocol has to be defined in include/linux/can.h .
> + The prototypes and definitions to use the Socket CAN core can be
> + accessed by including include/linux/can/core.h .
> + Additionally to functions that register the CAN protocol and the
Similar to ...
> + CAN device notifier chain there are functions to subscribe CAN
> + frames received by CAN interfaces and to send CAN frames:
> +
> + can_rx_register - subscribe CAN frames from a specific interface
> + can_rx_unregister - unsubscribe CAN frames from a specific interface
> + can_send - transmit a CAN frame (optional with local loopback)
> +
> + For details see the kerneldoc documentation in net/can/af_can.c or
> + the source code of net/can/raw.c or net/can/bcm.c .
> +
> +6. CAN network drivers
> +----------------------
> +
> + Writing a CAN network device driver is much easier than writing a
> + CAN character device driver. Analogue to other know network device
Similar to other known
> + drivers you mainly have to deal with:
> +
> + - TX: Put the CAN frame from the socket buffer to the CAN controller.
> + - RX: Put the CAN frame from the CAN controller to the socket buffer.
> +
> + See e.g. at Documentation/networking/netdevices.txt . The differences
> + for writing CAN network device driver are described below:
> +
> + 6.1 general settings
> +
> + dev->type = ARPHRD_CAN; /* the netdevice hardware type */
> + dev->flags = IFF_NOARP; /* CAN has no arp */
> +
> + dev->mtu = sizeof(struct can_frame);
> +
> + The struct can_frame is the payload of each socket buffer in the
> + protocol family PF_CAN.
> +
> + 6.2 loopback
> +
> + As described in chapter 3.2 the CAN network device driver should
> + support a local loopback functionality. If so the driver flag
> + IFF_LOOPBACK has to be set to omit the PF_CAN core to perform the
to cause (?)
> + loopback as fallback solution:
> +
> + dev->flags = (IFF_NOARP | IFF_LOOPBACK);
> +
> + 6.3 CAN controller hardware filters
> +
> + To reduce the interrupt load on deep embedded systems some CAN
> + controllers support the filtering of CAN IDs or ranges of CAN IDs.
> + These hardware filter capabilities vary from controller to
> + controller and have to be identified as not feasible in a multi-user
> + networking approach. The use of the very controller specific
> + hardware filters could make sense in a very dedicated use-case, as a
> + filter on driver level would affect all users in the multi-user
> + system. The high efficient filter sets inside the PF_CAN core allow
> + to set different multiple filters for each socket separately.
> + Therefore the use of hardware filters goes to the category 'handmade
> + tuning on deep embedded systems'. The author is running a MPC603e
> + @133MHz with four SJA1000 CAN controllers from 2002 under heavy bus
> + load without any problems ...
> +
> + 6.4 currently supported CAN hardware (May 2007)
> +
> + On the project website http://developer.berlios.de/projects/socketcan
> + there are different drivers available:
> +
> + vcan: Virtual CAN interface driver (if no real hardware is available)
> + sja1000: Philips SJA1000 CAN controller (recommended)
> + i82527: Intel i82527 CAN controller
> + mscan: Motorola/Freescale CAN controller (e.g. inside SOC MPC5200)
> + slcan: For a bunch of CAN adaptors that are attached via a
> + serial line ASCII protocol (for serial / USB adaptors)
> +
> + Additionally the different CAN adaptors (ISA/PCI/PCMCIA/USB/Parport)
> + from PEAK Systemtechnik support the CAN netdevice driver modell
model
> + since Linux driver v6.0: http://www.peak-system.com/linux/index.htm
> +
> + Please check the Mailing Lists on the berlios OSS project website.
> +
> + 6.5 todo (May 2007)
> +
> + The configuration interface for CAN network drivers is still an open
> + issue that has not been finalized in the socketcan project. Also the
> + idea of having a library module (candev.ko) that holds functions
> + that are needed by all CAN netdevices is not ready to ship.
> + Your contribution is welcome.
---
~Randy
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