[Xenomai] rt-socket-can "no device" problem with advantech PCM-26D2CA CAN board

[=?gb18030?B?SmFjayBMZWU=?= <jacklee11@foxmail.com>]

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> Hello,
> 
> Am 02.09.2016 um 09:23 schrieb Jack Lee:
> >> Hello,
> >>
> >> Am 02.09.2016 um 08:23 schrieb Jack Lee:
> >>> Hi, everyone£¡
> >>>   I am using the advantech PCM-26D2CA CAN board, its details can be found here at
> >>> http://www.advantech.com/products/14263729-aaa3-4552-b990-99d16cdfee24/pcm-26d2ca/mod_9a1e9dbf-e22d-4770-a896-cecf40607084.
> >>> The original driver works fine, but I need it to be realtime.
> >>>   rt-can driver was compiled as modules previously. When booted and "#modprobe xeno_can_adv_pci" was executed,
> >>> "#dmesg | grep -i can" output was
> >>> ...
> >>> RT-Socket-CAN 0.90-2 - (c) 2006 RT-Socket-CAN Development Team
> >>> RTCAN SJA1000 driver initialized
> >>>
> >>> "#lsmod | grep -i can" output was
> >>> xeno_can_adv_pci
> >>> xeno_can_sja1000    used by xeno_can_adv_pci
> >>> xeno_can                  used by xeno_can_sja1000, xeno_can_adv_pci
> >>>
> >>> What strange is that /proc/rtcan/devices has no devices like rtcan0.
> >>> The /proc/rtcan directory just has three files: devices, sockets and versio
> >>
> >> What is the PCI device id of the CAN device? You can use "lspci -vv" to
> >> list the ids.
> >>
> >>> Does this CAN board supported by rt-socket-can? How can I implement real-timer driver for it?
> >>
> >> Most likely the device id is missing in the driver PCI device list:
> >>
> >>
> >> http://git.xenomai.org/xenomai-2.6.git/tree/ksrc/drivers/can/sja1000/rtcan_adv_pci.c#n87
> >>
> >> Wolfgang.
> >
> > Thank you, Wolfgang! My mailbox delays that I cannot add you in the contact, so I send to the xenomai list. Sorry for that.
> 
> No problem.
> 
> > CAN board information is below.
> > #lspci -vv
> > 03:00.0 CANBUS: Advantech Co. Ltd MIOe-3680 2-Port CAN-Bus MIOe Module with Isolation Protection
> > 	Subsystem: Advantech Co. Ltd MIOe-3680 2-Port CAN-Bus MIOe Module with Isolation Protection
> > 	Control: I/O+ Mem+ BusMaster+ SpecCycle- MemWINV- VGASnoop- ParErr- Stepping- SERR- FastB2B- DisINTx-
> > 	Status: Cap+ 66MHz- UDF- FastB2B- ParErr- DEVSEL=fast >TAbort- <TAbort- <MAbort- >SERR- <PERR- INTx-
> > 	Latency: 0, Cache Line Size: 64 bytes
> > 	Interrupt: pin A routed to IRQ 10
> > 	Region 0: Memory at d0c02000 (32-bit, non-prefetchable) [size=2K]
> > 	Region 1: Memory at d0c01000 (32-bit, non-prefetchable) [size=128]
> > 	Region 2: Memory at d0c00000 (32-bit, non-prefetchable) [size=128]
> > 	Capabilities: <access denied>
> 
> Could you please use "lspci -vvn" to get  numbers (instead of strings).
> 
> Wolfgang.

Thanks! The information is below.
#lspci -vvn
03:00.0 0c09: 13fe:c302
	Subsystem: 13fe:c302
	Control: I/O+ Mem+ BusMaster+ SpecCycle- MemWINV- VGASnoop- ParErr- Stepping- SERR- FastB2B- DisINTx-
	Status: Cap+ 66MHz- UDF- FastB2B- ParErr- DEVSEL=fast >TAbort- <TAbort- <MAbort- >SERR- <PERR- INTx-
	Latency: 0, Cache Line Size: 64 bytes
	Interrupt: pin A routed to IRQ 10
	Region 0: Memory at d0c02000 (32-bit, non-prefetchable) [size=2K]
	Region 1: Memory at d0c01000 (32-bit, non-prefetchable) [size=128]
	Region 2: Memory at d0c00000 (32-bit, non-prefetchable) [size=128]
	Capabilities: [40] Power Management version 3
		Flags: PMEClk- DSI- D1- D2- AuxCurrent=0mA PME(D0+,D1+,D2+,D3hot+,D3cold-)
		Status: D0 NoSoftRst+ PME-Enable- DSel=0 DScale=0 PME-
	Capabilities: [48] MSI: Enable- Count=1/2 Maskable- 64bit+
		Address: 0000000000000000  Data: 0000
	Capabilities: [58] Express (v1) Legacy Endpoint, MSI 00
		DevCap:	MaxPayload 512 bytes, PhantFunc 0, Latency L0s <64ns, L1 <1us
			ExtTag- AttnBtn- AttnInd- PwrInd- RBE+ FLReset-
		DevCtl:	Report errors: Correctable- Non-Fatal- Fatal- Unsupported-
			RlxdOrd- ExtTag- PhantFunc- AuxPwr- NoSnoop+
			MaxPayload 128 bytes, MaxReadReq 512 bytes
		DevSta:	CorrErr+ UncorrErr- FatalErr- UnsuppReq- AuxPwr- TransPend-
		LnkCap:	Port #0, Speed 2.5GT/s, Width x1, ASPM L0s, Exit Latency L0s unlimited, L1 unlimited
			ClockPM- Surprise- LLActRep- BwNot- ASPMOptComp-
		LnkCtl:	ASPM Disabled; RCB 64 bytes Disabled- CommClk-
			ExtSynch- ClockPM- AutWidDis- BWInt- AutBWInt-
		LnkSta:	Speed 2.5GT/s, Width x1, TrErr- Train- SlotClk- DLActive- BWMgmt- ABWMgmt-


Is ¡°0c09: 13fe:c302¡± the device ID? Can you show me some instructions to make this device work? I am really new to this.
I opened the link you paste above, perhaps the following two places should be modified.

A new line "ADV_PCI_DEVICE(0xc302), " should be added?
---------------------------------------------------------------
	static DEFINE_PCI_DEVICE_TABLE(adv_pci_tbl) = {
		ADV_PCI_DEVICE(0x1680),
		ADV_PCI_DEVICE(0x3680),
		ADV_PCI_DEVICE(0x2052),
		ADV_PCI_DEVICE(0x1681),
		ADV_PCI_DEVICE(0xc001),
		ADV_PCI_DEVICE(0xc002),
		ADV_PCI_DEVICE(0xc004),
		ADV_PCI_DEVICE(0xc101),
		ADV_PCI_DEVICE(0xc102),
		ADV_PCI_DEVICE(0xc104),
		/* required last entry */
		{ }
	};

How to deal with this one?
---------------------------------------------------------------
	switch (pdev->device) {
	case 0xc001:
	case 0xc002:
	case 0xc004:
	case 0xc101:
	case 0xc102:
	case 0xc104:
		nb_ports = pdev->device & 0x7;
		offset = 0x100;
		bar = 0;
		break;
	case 0x1680:
	case 0x2052:
		nb_ports = 2;
		bar = 2;
		bar_flag = 1;
		break;
	case 0x1681:
		nb_ports = 1;
		bar = 2;
		bar_flag = 1;
		break;
	default:
		goto failure_regions;
	}