MultiCAN¶
MultiCAN is the multi protocol support
Warning
This is the new version of the MultiCAN page. It may be incomplete. If you are missing something here have a look at the old no longer maintained MultiCAN page.
Prerequisites¶
License¶
The copyright is owned by the Helmholtzzentrum Berlin für Materialien und Energie GmbH, see License for Software Distributed by the HZB.
CAN Bus Interface cards¶
Currently we support the VME-CAN2 and VME-CAN4 interface cards by esd germany. MultiCAN can support other CAN hardware if you provide an SCI compatible layer.
almLib¶
In order to implement inhibit times, MultiCAN uses the almLib. This is a support module that directly accesses the timer chip of the VME-CPU board. Currently almLib supports the MVME 162 and the MVME 2100 CPU cards by motorola.
Software Distribution¶
darcs repositories¶
You can get a copy of our darcs repositories with these commands:
for EPICS 3.13:
darcs get http://www-csr.bessy.de/control/MultiCAN/repo/base-3-13/alarm
darcs get http://www-csr.bessy.de/control/MultiCAN/repo/base-3-13/mcan
darcs get http://www-csr.bessy.de/control/MultiCAN/repo/base-3-13/misc
darcs get http://www-csr.bessy.de/control/MultiCAN/repo/base-3-13/soft
for EPICS 3.14:
darcs get http://www-csr.bessy.de/control/MultiCAN/repo/base-3-14/alarm
darcs get http://www-csr.bessy.de/control/MultiCAN/repo/base-3-14/mcan
darcs get http://www-csr.bessy.de/control/MultiCAN/repo/base-3-14/misc
darcs get http://www-csr.bessy.de/control/MultiCAN/repo/base-3-14/soft
You can browse the darcs repositories here:
How you can contribute¶
Our development takes place in the darcs repositories, so if you want to have your changes commited in our repositories, it may be easier if you use darcs. But we can also convert mercurial bundles back to darcs.
Documentation¶
MultiCAN has been in use at the BESSY II storage ring for over 10 years now. Unfortunately the documentation has almost the same age.
Here is the original documentation and design document (pdf). It is also available in html.
Additionally, these documents describe specific parts of the system:
- sdo - CANOpen SDO objects for MultiCAN
- How to use CANOpen SDO objects in MultiCAN.
- sci
- The simple CAN interface, an API for accessing the CAN bus.
- vcan
- The CAN bus driver for VME-CAN2 and VME-CAN4 cards.
Authors¶
- Götz Pfeiffer (goetz.pfeiffer@helmholtz-berlin.de)
- Ralph Lange (ralph.lange@helmholtz-berlin.de)
- Berhard Kuner (berhard.kuner@helmholtz-berlin.de)
- Ingo Mueller (ingo.mueller@helmholtz-berlin.de)
- Ben Franksen (benjamin.franksen@helmholtz-berlin.de)
