Installation guide

VxWorks Installation
CAN-API Installation
Manual • Doc. No.: C.2001.21 / Rev. 3.0 •
© 2000-2007 esd gmbh
Page 97 of 112
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.