【嵌入式】Simple CAN-bus adapter for accelerator control running under Linux and RTLinux.docVIP

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【嵌入式】Simple CAN-bus adapter for accelerator control running under Linux and RTLinux.doc

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Simple CAN-bus adapter for accelerator controlrunning under Linux and RTLinux. A. Chepurnov, F. Nedeoglo, D. Komissarov, O. Novozhilov chas@rtm-cs.npi.msu.su Abstract CAN-bus was chosen as basic fieldbus for newly designed distributed control system for electron linac. To provide CAN-bus access for PC CAN-bus ISA compatible adapters have been designed. The adapter is based on Philips SJA1000 CAN-bus controller and provides fast access to CAN-bus through direct memory mapping. To use the adapter under Linux the Linux kernel mode driver was developed. To support operation in real-time driver for RTLinux has been developed and tested. Both drivers provide the same POSIX IO compatible interface for application software. Introduction We decided to use CAN-bus in new control system for linac [1]. We use Linux together with RTLinux extension as developing and runtime environment for our control applications, so we were need in CAN-bus adapter which is supported under Linux [2,3]. We didn’t find on the market CAN-bus adapter supported under Linux. So, we decided to develop CAN-bus adapter to make its construction completely transparent for our programmers. As a result ISA-compatible passive ISA to CAN-bus adapter was designed and manufactured. The set of chips was very compact. The next step was to combine two independent CAN-bus adapters placed on the single half-size ISA board. It provides the access to two independent CAN-bus channels through single ISA slot of PC’s motherboard. Hardware structure of CAN-bus adapter Philips Semiconductor SJA1000 CAN-bus single-chip controller. Memory–map technique was used when control registers and message FIFO of SJA1000 are reflected in selected block of memory through ISA-bus. Interrupt driven and polling mode of operation are possible. CPLD with “In Circuit Programming via JTAG interface” feature is used to organise interface between multiplexed parallel bus of SJA1000 and ISA-bus. “Transmit” and “receive” li