text: 1============================================================================ 2 3can.txt 4 5Readme file for the Controller Area Network Protocol Family (aka Socket CAN) 6 7This file contains 8 9 1 Overview / What is Socket CAN 10 11 2 Motivation / Why using the socket API 12 13 3 Socket CAN concept 14 3.1 receive lists 15 3.2 local loopback of sent frames 16 3.3 network security issues (capabilities) 17 3.4 network problem notifications 18 19 4 How to use Socket CAN 20 4.1 RAW protocol sockets with can_filters (SOCK_RAW) 21 4.1.1 RAW socket option CAN_RAW_FILTER 22 4.1.2 RAW socket option CAN_RAW_ERR_FILTER 23 4.1.3 RAW socket option CAN_RAW_LOOPBACK 24 4.1.4 RAW socket option CAN_RAW_RECV_OWN_MSGS 25 4.1.5 RAW socket option CAN_RAW_FD_FRAMES 26 4.1.6 RAW socket returned message flags 27 4.2 Broadcast Manager protocol sockets (SOCK_DGRAM) 28 4.3 connected transport protocols (SOCK_SEQPACKET) 29 4.4 unconnected transport protocols (SOCK_DGRAM) 30 31 5 Socket CAN core module 32 5.1 can.ko module params 33 5.2 procfs content 34 5.3 writing own CAN protocol modules 35 36 6 CAN network drivers 37 6.1 general settings 38 6.2 local loopback of sent frames 39 6.3 CAN controller hardware filters 40 6.4 The virtual CAN driver (vcan) 41 6.5 The CAN network device driver interface 42 6.5.1 Netlink interface to set/get devices properties 43 6.5.2 Setting the CAN bit-timing 44 6.5.3 Starting and stopping the CAN network device 45 6.6 CAN FD (flexible data rate) driver support 46 6.7 supported CAN hardware 47 48 7 Socket CAN resources 49 50 8 Credits 51 52============================================================================ 53 541. Overview / What is Socket CAN 55-------------------------------- 56 57The socketcan package is an implementation of CAN protocols 58(Controller Area Network) for Linux. CAN is a networking technology 59which has widespread use in automation, embedded devices, and 60automotive fields. While there have been other CAN implementations 61for Linux based on character devices, Socket CAN uses the Berkeley 62socket API, the Linux network stack and implements the CAN device 63drivers as network interfaces. The CAN socket API has been designed 64as similar as possible to the TCP/IP protocols to allow programmers, 65familiar with network programming, to easily learn how to use CAN 66sockets. 67 682. Motivation / Why using the socket API 69---------------------------------------- 70 71There have been CAN implementations for Linux before Socket CAN so the 72question arises, why we have started another project. Most existing 73implementations come as a device driver for some CAN hardware, they 74are based on character devices and provide comparatively little 75functionality. Usually, there is only a hardware-specific device 76driver which provides a character device interface to send and 77receive raw CAN frames, directly to/from the controller hardware. 78Queueing of frames and higher-level transport protocols like ISO-TP 79have to be implemented in user space applications. Also, most 80character-device implementations support only one single process to 81open the device at a time, similar to a serial interface. Exchanging 82the CAN controller requires employment of another device driver and 83often the need for adaption of large parts of the application to the 84new driver's API. 85 86Socket CAN was designed to overcome all of these limitations. A new 87protocol family has been implemented which provides a socket interface 88to user space applications and which builds upon the Linux network 89layer, so to use all of the provided queueing functionality. A device 90driver for CAN controller hardware registers itself with the Linux 91network layer as a network device, so that CAN frames from the 92controller can be passed up to the network layer and on to the CAN 93protocol family module and also vice-versa. Also, the protocol family 94module provides an API for transport protocol modules to register, so 95that any number of transport protocols can be loaded or unloaded 96dynamically. In fact, the can core module alone does not provide any 97protocol and cannot be used without loading at least one additional 98protocol module. Multiple sockets can be opened at the same time, 99on different or the same protocol module and they can listen/send 100frames on different or the same CAN IDs. Several sockets listening on 101the same interface for frames with the same CAN ID are all passed the 102same received matching CAN frames. An application wishing to 103communicate using a specific transport protocol, e.g. ISO-TP, just 104selects that protocol when opening the socket, and then can read and 105write application data byte streams, without having to deal with 106CAN-IDs, frames, etc. 107 108Similar functionality visible from user-space could be provided by a 109character device, too, but this would lead to a technically inelegant 110solution for a couple of reasons: 111 112* Intricate usage. Instead of passing a protocol argument to 113 socket(2) and using bind(2) to select a CAN interface and CAN ID, an 114 application would have to do all these operations using ioctl(2)s. 115 116* Code duplication. A character device cannot make use of the Linux 117 network queueing code, so all that code would have to be duplicated 118 for CAN networking. 119 120* Abstraction. In most existing character-device implementations, the 121 hardware-specific device driver for a CAN controller directly 122 provides the character device for the application to work with. 123 This is at least very unusual in Unix systems for both, char and 124 block devices. For example you don't have a character device for a 125 certain UART of a serial interface, a certain sound chip in your 126 computer, a SCSI or IDE controller providing access to your hard 127 disk or tape streamer device. Instead, you have abstraction layers 128 which provide a unified character or block device interface to the 129 application on the one hand, and a interface for hardware-specific 130 device drivers on the other hand. These abstractions are provided 131 by subsystems like the tty layer, the audio subsystem or the SCSI 132 and IDE subsystems for the devices mentioned above. 133 134 The easiest way to implement a CAN device driver is as a character 135 device without such a (complete) abstraction layer, as is done by most 136 existing drivers. The right way, however, would be to add such a 137 layer with all the functionality like registering for certain CAN 138 IDs, supporting several open file descriptors and (de)multiplexing 139 CAN frames between them, (sophisticated) queueing of CAN frames, and 140 providing an API for device drivers to register with. However, then 141 it would be no more difficult, or may be even easier, to use the 142 networking framework provided by the Linux kernel, and this is what 143 Socket CAN does. 144 145 The use of the networking framework of the Linux kernel is just the 146 natural and most appropriate way to implement CAN for Linux. 147 1483. Socket CAN concept 149--------------------- 150 151 As described in chapter 2 it is the main goal of Socket CAN to 152 provide a socket interface to user space applications which builds 153 upon the Linux network layer. In contrast to the commonly known 154 TCP/IP and ethernet networking, the CAN bus is a broadcast-only(!) 155 medium that has no MAC-layer addressing like ethernet. The CAN-identifier 156 (can_id) is used for arbitration on the CAN-bus. Therefore the CAN-IDs 157 have to be chosen uniquely on the bus. When designing a CAN-ECU 158 network the CAN-IDs are mapped to be sent by a specific ECU. 159 For this reason a CAN-ID can be treated best as a kind of source address. 160 161 3.1 receive lists 162 163 The network transparent access of multiple applications leads to the 164 problem that different applications may be interested in the same 165 CAN-IDs from the same CAN network interface. The Socket CAN core 166 module - which implements the protocol family CAN - provides several 167 high efficient receive lists for this reason. If e.g. a user space 168 application opens a CAN RAW socket, the raw protocol module itself 169 requests the (range of) CAN-IDs from the Socket CAN core that are 170 requested by the user. The subscription and unsubscription of 171 CAN-IDs can be done for specific CAN interfaces or for all(!) known 172 CAN interfaces with the can_rx_(un)register() functions provided to 173 CAN protocol modules by the SocketCAN core (see chapter 5). 174 To optimize the CPU usage at runtime the receive lists are split up 175 into several specific lists per device that match the requested 176 filter complexity for a given use-case. 177 178 3.2 local loopback of sent frames 179 180 As known from other networking concepts the data exchanging 181 applications may run on the same or different nodes without any 182 change (except for the according addressing information): 183 184 ___ ___ ___ _______ ___ 185 | _ | | _ | | _ | | _ _ | | _ | 186 ||A|| ||B|| ||C|| ||A| |B|| ||C|| 187 |___| |___| |___| |_______| |___| 188 | | | | | 189 -----------------(1)- CAN bus -(2)--------------- 190 191 To ensure that application A receives the same information in the 192 example (2) as it would receive in example (1) there is need for 193 some kind of local loopback of the sent CAN frames on the appropriate 194 node. 195 196 The Linux network devices (by default) just can handle the 197 transmission and reception of media dependent frames. Due to the 198 arbitration on the CAN bus the transmission of a low prio CAN-ID 199 may be delayed by the reception of a high prio CAN frame. To 200 reflect the correct* traffic on the node the loopback of the sent 201 data has to be performed right after a successful transmission. If 202 the CAN network interface is not capable of performing the loopback for 203 some reason the SocketCAN core can do this task as a fallback solution. 204 See chapter 6.2 for details (recommended). 205 206 The loopback functionality is enabled by default to reflect standard 207 networking behaviour for CAN applications. Due to some requests from 208 the RT-SocketCAN group the loopback optionally may be disabled for each 209 separate socket. See sockopts from the CAN RAW sockets in chapter 4.1. 210 211 * = you really like to have this when you're running analyser tools 212 like 'candump' or 'cansniffer' on the (same) node. 213 214 3.3 network security issues (capabilities) 215 216 The Controller Area Network is a local field bus transmitting only 217 broadcast messages without any routing and security concepts. 218 In the majority of cases the user application has to deal with 219 raw CAN frames. Therefore it might be reasonable NOT to restrict 220 the CAN access only to the user root, as known from other networks. 221 Since the currently implemented CAN_RAW and CAN_BCM sockets can only 222 send and receive frames to/from CAN interfaces it does not affect 223 security of others networks to allow all users to access the CAN. 224 To enable non-root users to access CAN_RAW and CAN_BCM protocol 225 sockets the Kconfig options CAN_RAW_USER and/or CAN_BCM_USER may be 226 selected at kernel compile time. 227 228 3.4 network problem notifications 229 230 The use of the CAN bus may lead to several problems on the physical 231 and media access control layer. Detecting and logging of these lower 232 layer problems is a vital requirement for CAN users to identify 233 hardware issues on the physical transceiver layer as well as 234 arbitration problems and error frames caused by the different 235 ECUs. The occurrence of detected errors are important for diagnosis 236 and have to be logged together with the exact timestamp. For this 237 reason the CAN interface driver can generate so called Error Message 238 Frames that can optionally be passed to the user application in the 239 same way as other CAN frames. Whenever an error on the physical layer 240 or the MAC layer is detected (e.g. by the CAN controller) the driver 241 creates an appropriate error message frame. Error messages frames can 242 be requested by the user application using the common CAN filter 243 mechanisms. Inside this filter definition the (interested) type of 244 errors may be selected. The reception of error messages is disabled 245 by default. The format of the CAN error message frame is briefly 246 described in the Linux header file "include/linux/can/error.h". 247 2484. How to use Socket CAN 249------------------------ 250 251 Like TCP/IP, you first need to open a socket for communicating over a 252 CAN network. Since Socket CAN implements a new protocol family, you 253 need to pass PF_CAN as the first argument to the socket(2) system 254 call. Currently, there are two CAN protocols to choose from, the raw 255 socket protocol and the broadcast manager (BCM). So to open a socket, 256 you would write 257 258 s = socket(PF_CAN, SOCK_RAW, CAN_RAW); 259 260 and 261 262 s = socket(PF_CAN, SOCK_DGRAM, CAN_BCM); 263 264 respectively. After the successful creation of the socket, you would 265 normally use the bind(2) system call to bind the socket to a CAN 266 interface (which is different from TCP/IP due to different addressing 267 - see chapter 3). After binding (CAN_RAW) or connecting (CAN_BCM) 268 the socket, you can read(2) and write(2) from/to the socket or use 269 send(2), sendto(2), sendmsg(2) and the recv* counterpart operations 270 on the socket as usual. There are also CAN specific socket options 271 described below. 272 273 The basic CAN frame structure and the sockaddr structure are defined 274 in include/linux/can.h: 275 276 struct can_frame { 277 canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ 278 __u8 can_dlc; /* frame payload length in byte (0 .. 8) */ 279 __u8 data[8] __attribute__((aligned(8))); 280 }; 281 282 The alignment of the (linear) payload data[] to a 64bit boundary 283 allows the user to define own structs and unions to easily access the 284 CAN payload. There is no given byteorder on the CAN bus by 285 default. A read(2) system call on a CAN_RAW socket transfers a 286 struct can_frame to the user space. 287 288 The sockaddr_can structure has an interface index like the 289 PF_PACKET socket, that also binds to a specific interface: 290 291 struct sockaddr_can { 292 sa_family_t can_family; 293 int can_ifindex; 294 union { 295 /* transport protocol class address info (e.g. ISOTP) */ 296 struct { canid_t rx_id, tx_id; } tp; 297 298 /* reserved for future CAN protocols address information */ 299 } can_addr; 300 }; 301 302 To determine the interface index an appropriate ioctl() has to 303 be used (example for CAN_RAW sockets without error checking): 304 305 int s; 306 struct sockaddr_can addr; 307 struct ifreq ifr; 308 309 s = socket(PF_CAN, SOCK_RAW, CAN_RAW); 310 311 strcpy(ifr.ifr_name, "can0" ); 312 ioctl(s, SIOCGIFINDEX, &ifr); 313 314 addr.can_family = AF_CAN; 315 addr.can_ifindex = ifr.ifr_ifindex; 316 317 bind(s, (struct sockaddr *)&addr, sizeof(addr)); 318 319 (..) 320 321 To bind a socket to all(!) CAN interfaces the interface index must 322 be 0 (zero). In this case the socket receives CAN frames from every 323 enabled CAN interface. To determine the originating CAN interface 324 the system call recvfrom(2) may be used instead of read(2). To send 325 on a socket that is bound to 'any' interface sendto(2) is needed to 326 specify the outgoing interface. 327 328 Reading CAN frames from a bound CAN_RAW socket (see above) consists 329 of reading a struct can_frame: 330 331 struct can_frame frame; 332 333 nbytes = read(s, &frame, sizeof(struct can_frame)); 334 335 if (nbytes < 0) { 336 perror("can raw socket read"); 337 return 1; 338 } 339 340 /* paranoid check ... */ 341 if (nbytes < sizeof(struct can_frame)) { 342 fprintf(stderr, "read: incomplete CAN frame\n"); 343 return 1; 344 } 345 346 /* do something with the received CAN frame */ 347 348 Writing CAN frames can be done similarly, with the write(2) system call: 349 350 nbytes = write(s, &frame, sizeof(struct can_frame)); 351 352 When the CAN interface is bound to 'any' existing CAN interface 353 (addr.can_ifindex = 0) it is recommended to use recvfrom(2) if the 354 information about the originating CAN interface is needed: 355 356 struct sockaddr_can addr; 357 struct ifreq ifr; 358 socklen_t len = sizeof(addr); 359 struct can_frame frame; 360 361 nbytes = recvfrom(s, &frame, sizeof(struct can_frame), 362 0, (struct sockaddr*)&addr, &len); 363 364 /* get interface name of the received CAN frame */ 365 ifr.ifr_ifindex = addr.can_ifindex; 366 ioctl(s, SIOCGIFNAME, &ifr); 367 printf("Received a CAN frame from interface %s", ifr.ifr_name); 368 369 To write CAN frames on sockets bound to 'any' CAN interface the 370 outgoing interface has to be defined certainly. 371 372 strcpy(ifr.ifr_name, "can0"); 373 ioctl(s, SIOCGIFINDEX, &ifr); 374 addr.can_ifindex = ifr.ifr_ifindex; 375 addr.can_family = AF_CAN; 376 377 nbytes = sendto(s, &frame, sizeof(struct can_frame), 378 0, (struct sockaddr*)&addr, sizeof(addr)); 379 380 Remark about CAN FD (flexible data rate) support: 381 382 Generally the handling of CAN FD is very similar to the formerly described 383 examples. The new CAN FD capable CAN controllers support two different 384 bitrates for the arbitration phase and the payload phase of the CAN FD frame 385 and up to 64 bytes of payload. This extended payload length breaks all the 386 kernel interfaces (ABI) which heavily rely on the CAN frame with fixed eight 387 bytes of payload (struct can_frame) like the CAN_RAW socket. Therefore e.g. 388 the CAN_RAW socket supports a new socket option CAN_RAW_FD_FRAMES that 389 switches the socket into a mode that allows the handling of CAN FD frames 390 and (legacy) CAN frames simultaneously (see section 4.1.5). 391 392 The struct canfd_frame is defined in include/linux/can.h: 393 394 struct canfd_frame { 395 canid_t can_id; /* 32 bit CAN_ID + EFF/RTR/ERR flags */ 396 __u8 len; /* frame payload length in byte (0 .. 64) */ 397 __u8 flags; /* additional flags for CAN FD */ 398 __u8 __res0; /* reserved / padding */ 399 __u8 __res1; /* reserved / padding */ 400 __u8 data[64] __attribute__((aligned(8))); 401 }; 402 403 The struct canfd_frame and the existing struct can_frame have the can_id, 404 the payload length and the payload data at the same offset inside their 405 structures. This allows to handle the different structures very similar. 406 When the content of a struct can_frame is copied into a struct canfd_frame 407 all structure elements can be used as-is - only the data[] becomes extended. 408 409 When introducing the struct canfd_frame it turned out that the data length 410 code (DLC) of the struct can_frame was used as a length information as the 411 length and the DLC has a 1:1 mapping in the range of 0 .. 8. To preserve 412 the easy handling of the length information the canfd_frame.len element 413 contains a plain length value from 0 .. 64. So both canfd_frame.len and 414 can_frame.can_dlc are equal and contain a length information and no DLC. 415 For details about the distinction of CAN and CAN FD capable devices and 416 the mapping to the bus-relevant data length code (DLC), see chapter 6.6. 417 418 The length of the two CAN(FD) frame structures define the maximum transfer 419 unit (MTU) of the CAN(FD) network interface and skbuff data length. Two 420 definitions are specified for CAN specific MTUs in include/linux/can.h : 421 422 #define CAN_MTU (sizeof(struct can_frame)) == 16 => 'legacy' CAN frame 423 #define CANFD_MTU (sizeof(struct canfd_frame)) == 72 => CAN FD frame 424 425 4.1 RAW protocol sockets with can_filters (SOCK_RAW) 426 427 Using CAN_RAW sockets is extensively comparable to the commonly 428 known access to CAN character devices. To meet the new possibilities 429 provided by the multi user SocketCAN approach, some reasonable 430 defaults are set at RAW socket binding time: 431 432 - The filters are set to exactly one filter receiving everything 433 - The socket only receives valid data frames (=> no error message frames) 434 - The loopback of sent CAN frames is enabled (see chapter 3.2) 435 - The socket does not receive its own sent frames (in loopback mode) 436 437 These default settings may be changed before or after binding the socket. 438 To use the referenced definitions of the socket options for CAN_RAW 439 sockets, include <linux/can/raw.h>. 440 441 4.1.1 RAW socket option CAN_RAW_FILTER 442 443 The reception of CAN frames using CAN_RAW sockets can be controlled 444 by defining 0 .. n filters with the CAN_RAW_FILTER socket option. 445 446 The CAN filter structure is defined in include/linux/can.h: 447 448 struct can_filter { 449 canid_t can_id; 450 canid_t can_mask; 451 }; 452 453 A filter matches, when 454 455 <received_can_id> & mask == can_id & mask 456 457 which is analogous to known CAN controllers hardware filter semantics. 458 The filter can be inverted in this semantic, when the CAN_INV_FILTER 459 bit is set in can_id element of the can_filter structure. In 460 contrast to CAN controller hardware filters the user may set 0 .. n 461 receive filters for each open socket separately: 462 463 struct can_filter rfilter[2]; 464 465 rfilter[0].can_id = 0x123; 466 rfilter[0].can_mask = CAN_SFF_MASK; 467 rfilter[1].can_id = 0x200; 468 rfilter[1].can_mask = 0x700; 469 470 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter)); 471 472 To disable the reception of CAN frames on the selected CAN_RAW socket: 473 474 setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0); 475 476 To set the filters to zero filters is quite obsolete as not read 477 data causes the raw socket to discard the received CAN frames. But 478 having this 'send only' use-case we may remove the receive list in the 479 Kernel to save a little (really a very little!) CPU usage. 480 481 4.1.2 RAW socket option CAN_RAW_ERR_FILTER 482 483 As described in chapter 3.4 the CAN interface driver can generate so 484 called Error Message Frames that can optionally be passed to the user 485 application in the same way as other CAN frames. The possible 486 errors are divided into different error classes that may be filtered 487 using the appropriate error mask. To register for every possible 488 error condition CAN_ERR_MASK can be used as value for the error mask. 489 The values for the error mask are defined in linux/can/error.h . 490 491 can_err_mask_t err_mask = ( CAN_ERR_TX_TIMEOUT | CAN_ERR_BUSOFF ); 492 493 setsockopt(s, SOL_CAN_RAW, CAN_RAW_ERR_FILTER, 494 &err_mask, sizeof(err_mask)); 495 496 4.1.3 RAW socket option CAN_RAW_LOOPBACK 497 498 To meet multi user needs the local loopback is enabled by default 499 (see chapter 3.2 for details). But in some embedded use-cases 500 (e.g. when only one application uses the CAN bus) this loopback 501 functionality can be disabled (separately for each socket): 502 503 int loopback = 0; /* 0 = disabled, 1 = enabled (default) */ 504 505 setsockopt(s, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback)); 506 507 4.1.4 RAW socket option CAN_RAW_RECV_OWN_MSGS 508 509 When the local loopback is enabled, all the sent CAN frames are 510 looped back to the open CAN sockets that registered for the CAN 511 frames' CAN-ID on this given interface to meet the multi user 512 needs. The reception of the CAN frames on the same socket that was 513 sending the CAN frame is assumed to be unwanted and therefore 514 disabled by default. This default behaviour may be changed on 515 demand: 516 517 int recv_own_msgs = 1; /* 0 = disabled (default), 1 = enabled */ 518 519 setsockopt(s, SOL_CAN_RAW, CAN_RAW_RECV_OWN_MSGS, 520 &recv_own_msgs, sizeof(recv_own_msgs)); 521 522 4.1.5 RAW socket option CAN_RAW_FD_FRAMES 523 524 CAN FD support in CAN_RAW sockets can be enabled with a new socket option 525 CAN_RAW_FD_FRAMES which is off by default. When the new socket option is 526 not supported by the CAN_RAW socket (e.g. on older kernels), switching the 527 CAN_RAW_FD_FRAMES option returns the error -ENOPROTOOPT. 528 529 Once CAN_RAW_FD_FRAMES is enabled the application can send both CAN frames 530 and CAN FD frames. OTOH the application has to handle CAN and CAN FD frames 531 when reading from the socket. 532 533 CAN_RAW_FD_FRAMES enabled: CAN_MTU and CANFD_MTU are allowed 534 CAN_RAW_FD_FRAMES disabled: only CAN_MTU is allowed (default) 535 536 Example: 537 [ remember: CANFD_MTU == sizeof(struct canfd_frame) ] 538 539 struct canfd_frame cfd; 540 541 nbytes = read(s, &cfd, CANFD_MTU); 542 543 if (nbytes == CANFD_MTU) { 544 printf("got CAN FD frame with length %d\n", cfd.len); 545 /* cfd.flags contains valid data */ 546 } else if (nbytes == CAN_MTU) { 547 printf("got legacy CAN frame with length %d\n", cfd.len); 548 /* cfd.flags is undefined */ 549 } else { 550 fprintf(stderr, "read: invalid CAN(FD) frame\n"); 551 return 1; 552 } 553 554 /* the content can be handled independently from the received MTU size */ 555 556 printf("can_id: %X data length: %d data: ", cfd.can_id, cfd.len); 557 for (i = 0; i < cfd.len; i++) 558 printf("%02X ", cfd.data[i]); 559 560 When reading with size CANFD_MTU only returns CAN_MTU bytes that have 561 been received from the socket a legacy CAN frame has been read into the 562 provided CAN FD structure. Note that the canfd_frame.flags data field is 563 not specified in the struct can_frame and therefore it is only valid in 564 CANFD_MTU sized CAN FD frames. 565 566 As long as the payload length is <=8 the received CAN frames from CAN FD 567 capable CAN devices can be received and read by legacy sockets too. When 568 user-generated CAN FD frames have a payload length <=8 these can be send 569 by legacy CAN network interfaces too. Sending CAN FD frames with payload 570 length > 8 to a legacy CAN network interface returns an -EMSGSIZE error. 571 572 Implementation hint for new CAN applications: 573 574 To build a CAN FD aware application use struct canfd_frame as basic CAN 575 data structure for CAN_RAW based applications. When the application is 576 executed on an older Linux kernel and switching the CAN_RAW_FD_FRAMES 577 socket option returns an error: No problem. You'll get legacy CAN frames 578 or CAN FD frames and can process them the same way. 579 580 When sending to CAN devices make sure that the device is capable to handle 581 CAN FD frames by checking if the device maximum transfer unit is CANFD_MTU. 582 The CAN device MTU can be retrieved e.g. with a SIOCGIFMTU ioctl() syscall. 583 584 4.1.6 RAW socket returned message flags 585 586 When using recvmsg() call, the msg->msg_flags may contain following flags: 587 588 MSG_DONTROUTE: set when the received frame was created on the local host. 589 590 MSG_CONFIRM: set when the frame was sent via the socket it is received on. 591 This flag can be interpreted as a 'transmission confirmation' when the 592 CAN driver supports the echo of frames on driver level, see 3.2 and 6.2. 593 In order to receive such messages, CAN_RAW_RECV_OWN_MSGS must be set. 594 595 4.2 Broadcast Manager protocol sockets (SOCK_DGRAM) 596 4.3 connected transport protocols (SOCK_SEQPACKET) 597 4.4 unconnected transport protocols (SOCK_DGRAM) 598 599 6005. Socket CAN core module 601------------------------- 602 603 The Socket CAN core module implements the protocol family 604 PF_CAN. CAN protocol modules are loaded by the core module at 605 runtime. The core module provides an interface for CAN protocol 606 modules to subscribe needed CAN IDs (see chapter 3.1). 607 608 5.1 can.ko module params 609 610 - stats_timer: To calculate the Socket CAN core statistics 611 (e.g. current/maximum frames per second) this 1 second timer is 612 invoked at can.ko module start time by default. This timer can be 613 disabled by using stattimer=0 on the module commandline. 614 615 - debug: (removed since SocketCAN SVN r546) 616 617 5.2 procfs content 618 619 As described in chapter 3.1 the Socket CAN core uses several filter 620 lists to deliver received CAN frames to CAN protocol modules. These 621 receive lists, their filters and the count of filter matches can be 622 checked in the appropriate receive list. All entries contain the 623 device and a protocol module identifier: 624 625 foo@bar:~$ cat /proc/net/can/rcvlist_all 626 627 receive list 'rx_all': 628 (vcan3: no entry) 629 (vcan2: no entry) 630 (vcan1: no entry) 631 device can_id can_mask function userdata matches ident 632 vcan0 000 00000000 f88e6370 f6c6f400 0 raw 633 (any: no entry) 634 635 In this example an application requests any CAN traffic from vcan0. 636 637 rcvlist_all - list for unfiltered entries (no filter operations) 638 rcvlist_eff - list for single extended frame (EFF) entries 639 rcvlist_err - list for error message frames masks 640 rcvlist_fil - list for mask/value filters 641 rcvlist_inv - list for mask/value filters (inverse semantic) 642 rcvlist_sff - list for single standard frame (SFF) entries 643 644 Additional procfs files in /proc/net/can 645 646 stats - Socket CAN core statistics (rx/tx frames, match ratios, ...) 647 reset_stats - manual statistic reset 648 version - prints the Socket CAN core version and the ABI version 649 650 5.3 writing own CAN protocol modules 651 652 To implement a new protocol in the protocol family PF_CAN a new 653 protocol has to be defined in include/linux/can.h . 654 The prototypes and definitions to use the Socket CAN core can be 655 accessed by including include/linux/can/core.h . 656 In addition to functions that register the CAN protocol and the 657 CAN device notifier chain there are functions to subscribe CAN 658 frames received by CAN interfaces and to send CAN frames: 659 660 can_rx_register - subscribe CAN frames from a specific interface 661 can_rx_unregister - unsubscribe CAN frames from a specific interface 662 can_send - transmit a CAN frame (optional with local loopback) 663 664 For details see the kerneldoc documentation in net/can/af_can.c or 665 the source code of net/can/raw.c or net/can/bcm.c . 666 6676. CAN network drivers 668---------------------- 669 670 Writing a CAN network device driver is much easier than writing a 671 CAN character device driver. Similar to other known network device 672 drivers you mainly have to deal with: 673 674 - TX: Put the CAN frame from the socket buffer to the CAN controller. 675 - RX: Put the CAN frame from the CAN controller to the socket buffer. 676 677 See e.g. at Documentation/networking/netdevices.txt . The differences 678 for writing CAN network device driver are described below: 679 680 6.1 general settings 681 682 dev->type = ARPHRD_CAN; /* the netdevice hardware type */ 683 dev->flags = IFF_NOARP; /* CAN has no arp */ 684 685 dev->mtu = CAN_MTU; /* sizeof(struct can_frame) -> legacy CAN interface */ 686 687 or alternative, when the controller supports CAN with flexible data rate: 688 dev->mtu = CANFD_MTU; /* sizeof(struct canfd_frame) -> CAN FD interface */ 689 690 The struct can_frame or struct canfd_frame is the payload of each socket 691 buffer (skbuff) in the protocol family PF_CAN. 692 693 6.2 local loopback of sent frames 694 695 As described in chapter 3.2 the CAN network device driver should 696 support a local loopback functionality similar to the local echo 697 e.g. of tty devices. In this case the driver flag IFF_ECHO has to be 698 set to prevent the PF_CAN core from locally echoing sent frames 699 (aka loopback) as fallback solution: 700 701 dev->flags = (IFF_NOARP | IFF_ECHO); 702 703 6.3 CAN controller hardware filters 704 705 To reduce the interrupt load on deep embedded systems some CAN 706 controllers support the filtering of CAN IDs or ranges of CAN IDs. 707 These hardware filter capabilities vary from controller to 708 controller and have to be identified as not feasible in a multi-user 709 networking approach. The use of the very controller specific 710 hardware filters could make sense in a very dedicated use-case, as a 711 filter on driver level would affect all users in the multi-user 712 system. The high efficient filter sets inside the PF_CAN core allow 713 to set different multiple filters for each socket separately. 714 Therefore the use of hardware filters goes to the category 'handmade 715 tuning on deep embedded systems'. The author is running a MPC603e 716 @133MHz with four SJA1000 CAN controllers from 2002 under heavy bus 717 load without any problems ... 718 719 6.4 The virtual CAN driver (vcan) 720 721 Similar to the network loopback devices, vcan offers a virtual local 722 CAN interface. A full qualified address on CAN consists of 723 724 - a unique CAN Identifier (CAN ID) 725 - the CAN bus this CAN ID is transmitted on (e.g. can0) 726 727 so in common use cases more than one virtual CAN interface is needed. 728 729 The virtual CAN interfaces allow the transmission and reception of CAN 730 frames without real CAN controller hardware. Virtual CAN network 731 devices are usually named 'vcanX', like vcan0 vcan1 vcan2 ... 732 When compiled as a module the virtual CAN driver module is called vcan.ko 733 734 Since Linux Kernel version 2.6.24 the vcan driver supports the Kernel 735 netlink interface to create vcan network devices. The creation and 736 removal of vcan network devices can be managed with the ip(8) tool: 737 738 - Create a virtual CAN network interface: 739 $ ip link add type vcan 740 741 - Create a virtual CAN network interface with a specific name 'vcan42': 742 $ ip link add dev vcan42 type vcan 743 744 - Remove a (virtual CAN) network interface 'vcan42': 745 $ ip link del vcan42 746 747 6.5 The CAN network device driver interface 748 749 The CAN network device driver interface provides a generic interface 750 to setup, configure and monitor CAN network devices. The user can then 751 configure the CAN device, like setting the bit-timing parameters, via 752 the netlink interface using the program "ip" from the "IPROUTE2" 753 utility suite. The following chapter describes briefly how to use it. 754 Furthermore, the interface uses a common data structure and exports a 755 set of common functions, which all real CAN network device drivers 756 should use. Please have a look to the SJA1000 or MSCAN driver to 757 understand how to use them. The name of the module is can-dev.ko. 758 759 6.5.1 Netlink interface to set/get devices properties 760 761 The CAN device must be configured via netlink interface. The supported 762 netlink message types are defined and briefly described in 763 "include/linux/can/netlink.h". CAN link support for the program "ip" 764 of the IPROUTE2 utility suite is available and it can be used as shown 765 below: 766 767 - Setting CAN device properties: 768 769 $ ip link set can0 type can help 770 Usage: ip link set DEVICE type can 771 [ bitrate BITRATE [ sample-point SAMPLE-POINT] ] | 772 [ tq TQ prop-seg PROP_SEG phase-seg1 PHASE-SEG1 773 phase-seg2 PHASE-SEG2 [ sjw SJW ] ] 774 775 [ loopback { on | off } ] 776 [ listen-only { on | off } ] 777 [ triple-sampling { on | off } ] 778 779 [ restart-ms TIME-MS ] 780 [ restart ] 781 782 Where: BITRATE := { 1..1000000 } 783 SAMPLE-POINT := { 0.000..0.999 } 784 TQ := { NUMBER } 785 PROP-SEG := { 1..8 } 786 PHASE-SEG1 := { 1..8 } 787 PHASE-SEG2 := { 1..8 } 788 SJW := { 1..4 } 789 RESTART-MS := { 0 | NUMBER } 790 791 - Display CAN device details and statistics: 792 793 $ ip -details -statistics link show can0 794 2: can0: <NOARP,UP,LOWER_UP,ECHO> mtu 16 qdisc pfifo_fast state UP qlen 10 795 link/can 796 can <TRIPLE-SAMPLING> state ERROR-ACTIVE restart-ms 100 797 bitrate 125000 sample_point 0.875 798 tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1 799 sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1 800 clock 8000000 801 re-started bus-errors arbit-lost error-warn error-pass bus-off 802 41 17457 0 41 42 41 803 RX: bytes packets errors dropped overrun mcast 804 140859 17608 17457 0 0 0 805 TX: bytes packets errors dropped carrier collsns 806 861 112 0 41 0 0 807 808 More info to the above output: 809 810 "<TRIPLE-SAMPLING>" 811 Shows the list of selected CAN controller modes: LOOPBACK, 812 LISTEN-ONLY, or TRIPLE-SAMPLING. 813 814 "state ERROR-ACTIVE" 815 The current state of the CAN controller: "ERROR-ACTIVE", 816 "ERROR-WARNING", "ERROR-PASSIVE", "BUS-OFF" or "STOPPED" 817 818 "restart-ms 100" 819 Automatic restart delay time. If set to a non-zero value, a 820 restart of the CAN controller will be triggered automatically 821 in case of a bus-off condition after the specified delay time 822 in milliseconds. By default it's off. 823 824 "bitrate 125000 sample_point 0.875" 825 Shows the real bit-rate in bits/sec and the sample-point in the 826 range 0.000..0.999. If the calculation of bit-timing parameters 827 is enabled in the kernel (CONFIG_CAN_CALC_BITTIMING=y), the 828 bit-timing can be defined by setting the "bitrate" argument. 829 Optionally the "sample-point" can be specified. By default it's 830 0.000 assuming CIA-recommended sample-points. 831 832 "tq 125 prop-seg 6 phase-seg1 7 phase-seg2 2 sjw 1" 833 Shows the time quanta in ns, propagation segment, phase buffer 834 segment 1 and 2 and the synchronisation jump width in units of 835 tq. They allow to define the CAN bit-timing in a hardware 836 independent format as proposed by the Bosch CAN 2.0 spec (see 837 chapter 8 of http://www.semiconductors.bosch.de/pdf/can2spec.pdf). 838 839 "sja1000: tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1 840 clock 8000000" 841 Shows the bit-timing constants of the CAN controller, here the 842 "sja1000". The minimum and maximum values of the time segment 1 843 and 2, the synchronisation jump width in units of tq, the 844 bitrate pre-scaler and the CAN system clock frequency in Hz. 845 These constants could be used for user-defined (non-standard) 846 bit-timing calculation algorithms in user-space. 847 848 "re-started bus-errors arbit-lost error-warn error-pass bus-off" 849 Shows the number of restarts, bus and arbitration lost errors, 850 and the state changes to the error-warning, error-passive and 851 bus-off state. RX overrun errors are listed in the "overrun" 852 field of the standard network statistics. 853 854 6.5.2 Setting the CAN bit-timing 855 856 The CAN bit-timing parameters can always be defined in a hardware 857 independent format as proposed in the Bosch CAN 2.0 specification 858 specifying the arguments "tq", "prop_seg", "phase_seg1", "phase_seg2" 859 and "sjw": 860 861 $ ip link set canX type can tq 125 prop-seg 6 \ 862 phase-seg1 7 phase-seg2 2 sjw 1 863 864 If the kernel option CONFIG_CAN_CALC_BITTIMING is enabled, CIA 865 recommended CAN bit-timing parameters will be calculated if the bit- 866 rate is specified with the argument "bitrate": 867 868 $ ip link set canX type can bitrate 125000 869 870 Note that this works fine for the most common CAN controllers with 871 standard bit-rates but may *fail* for exotic bit-rates or CAN system 872 clock frequencies. Disabling CONFIG_CAN_CALC_BITTIMING saves some 873 space and allows user-space tools to solely determine and set the 874 bit-timing parameters. The CAN controller specific bit-timing 875 constants can be used for that purpose. They are listed by the 876 following command: 877 878 $ ip -details link show can0 879 ... 880 sja1000: clock 8000000 tseg1 1..16 tseg2 1..8 sjw 1..4 brp 1..64 brp-inc 1 881 882 6.5.3 Starting and stopping the CAN network device 883 884 A CAN network device is started or stopped as usual with the command 885 "ifconfig canX up/down" or "ip link set canX up/down". Be aware that 886 you *must* define proper bit-timing parameters for real CAN devices 887 before you can start it to avoid error-prone default settings: 888 889 $ ip link set canX up type can bitrate 125000 890 891 A device may enter the "bus-off" state if too much errors occurred on 892 the CAN bus. Then no more messages are received or sent. An automatic 893 bus-off recovery can be enabled by setting the "restart-ms" to a 894 non-zero value, e.g.: 895 896 $ ip link set canX type can restart-ms 100 897 898 Alternatively, the application may realize the "bus-off" condition 899 by monitoring CAN error message frames and do a restart when 900 appropriate with the command: 901 902 $ ip link set canX type can restart 903 904 Note that a restart will also create a CAN error message frame (see 905 also chapter 3.4). 906 907 6.6 CAN FD (flexible data rate) driver support 908 909 CAN FD capable CAN controllers support two different bitrates for the 910 arbitration phase and the payload phase of the CAN FD frame. Therefore a 911 second bittiming has to be specified in order to enable the CAN FD bitrate. 912 913 Additionally CAN FD capable CAN controllers support up to 64 bytes of 914 payload. The representation of this length in can_frame.can_dlc and 915 canfd_frame.len for userspace applications and inside the Linux network 916 layer is a plain value from 0 .. 64 instead of the CAN 'data length code'. 917 The data length code was a 1:1 mapping to the payload length in the legacy 918 CAN frames anyway. The payload length to the bus-relevant DLC mapping is 919 only performed inside the CAN drivers, preferably with the helper 920 functions can_dlc2len() and can_len2dlc(). 921 922 The CAN netdevice driver capabilities can be distinguished by the network 923 devices maximum transfer unit (MTU): 924 925 MTU = 16 (CAN_MTU) => sizeof(struct can_frame) => 'legacy' CAN device 926 MTU = 72 (CANFD_MTU) => sizeof(struct canfd_frame) => CAN FD capable device 927 928 The CAN device MTU can be retrieved e.g. with a SIOCGIFMTU ioctl() syscall. 929 N.B. CAN FD capable devices can also handle and send legacy CAN frames. 930 931 FIXME: Add details about the CAN FD controller configuration when available. 932 933 6.7 Supported CAN hardware 934 935 Please check the "Kconfig" file in "drivers/net/can" to get an actual 936 list of the support CAN hardware. On the Socket CAN project website 937 (see chapter 7) there might be further drivers available, also for 938 older kernel versions. 939 9407. Socket CAN resources 941----------------------- 942 943 You can find further resources for Socket CAN like user space tools, 944 support for old kernel versions, more drivers, mailing lists, etc. 945 at the BerliOS OSS project website for Socket CAN: 946 947 http://developer.berlios.de/projects/socketcan 948 949 If you have questions, bug fixes, etc., don't hesitate to post them to 950 the Socketcan-Users mailing list. But please search the archives first. 951 9528. Credits 953---------- 954 955 Oliver Hartkopp (PF_CAN core, filters, drivers, bcm, SJA1000 driver) 956 Urs Thuermann (PF_CAN core, kernel integration, socket interfaces, raw, vcan) 957 Jan Kizka (RT-SocketCAN core, Socket-API reconciliation) 958 Wolfgang Grandegger (RT-SocketCAN core & drivers, Raw Socket-API reviews, 959 CAN device driver interface, MSCAN driver) 960 Robert Schwebel (design reviews, PTXdist integration) 961 Marc Kleine-Budde (design reviews, Kernel 2.6 cleanups, drivers) 962 Benedikt Spranger (reviews) 963 Thomas Gleixner (LKML reviews, coding style, posting hints) 964 Andrey Volkov (kernel subtree structure, ioctls, MSCAN driver) 965 Matthias Brukner (first SJA1000 CAN netdevice implementation Q2/2003) 966 Klaus Hitschler (PEAK driver integration) 967 Uwe Koppe (CAN netdevices with PF_PACKET approach) 968 Michael Schulze (driver layer loopback requirement, RT CAN drivers review) 969 Pavel Pisa (Bit-timing calculation) 970 Sascha Hauer (SJA1000 platform driver) 971 Sebastian Haas (SJA1000 EMS PCI driver) 972 Markus Plessing (SJA1000 EMS PCI driver) 973 Per Dalen (SJA1000 Kvaser PCI driver) 974 Sam Ravnborg (reviews, coding style, kbuild help) 975


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10.08.13Benjamin Moore & Co., a unit of Berkshire Hathaway, announced the appointment of Michael Searles as Chief Executive Officer. Searles brings forty years of retail leadership experience to Benjamin Moore. In his career, he has served as a leader at many retail concepts, including Kids "R" Us, Wilsons Leather, and most recently Stage Stores, Inc.
"Michael Searles is a strong, adept leader who understands the importance of the independent retailer," said Warren Buffett, Chairman and CEO of Berkshire Hathaway. "Mike is committed to the strategy we have set forth and the commitment we have outlined to the dealer network. We are excited to have him joining the Benjamin Moore team"
"I am excited to be joining this talented organization at this time," said Searles. "The opportunities for continued success of this iconic brand are excellent and I look forward to working with the team to make them a reality."

subset: commoncrawl


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Findings from the five-city field experiment will be valuable to other cities and communities interested in implementing a
policy and practice to collect DNA evidence in property crimes. The NIJ-funded study provides a variety of best practices
and may also provide support as jurisdictions work with local lawmakers to provide funding for this law enforcement tool.
Even before the study was over, two of the five sites quickly moved to secure local funding to continue the program when NIJ
funding ended. Indianapolis—a non-site city that learned of the project's successes—began developing a similar program of
its own based on the preliminary findings from the study.
What should state and local jurisdictions look at when considering whether to adopt a policy for using DNA to solve property
Perhaps one of the most important lessons learned from the NIJ field experiment was this: a high level of collaboration between
city police, county prosecutors and county and state crime labs is required to be successful. In the field experiment, as
collaboration increased—fostered through biweekly conference calls, site visits and semiannual workshops—data systems and
investigative processes improved.
Indeed, producing the most cost-effective results in the use of DNA to solve property crimes requires collaboration across
multiple agencies: the police department, the crime laboratory and the prosecutor's office.
Go to DNA and Property Crimes home
National Institute of Justice, 810 Seventh Street, NW, Washington, DC 20531


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Generac QT06024JVAX Guardian Series Liquid-Cooled 2.4L 60kW 120/240 Volt 3-Phase Propane Gas Aluminum Generator
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Faith Fairchild Mysteries; Volume number 15
The Body in the Snowdrift
A Faith Fairchild Mystery
On Sale: 05/30/2006
Spend $49 and get FREE shipping on HC.com
Caterer Faith Fairchild has a bad feeling about her father-in-law's decision to celebrate his seventieth birthday with a family reunion ski week at the Pine Slopes resort in Vermont -- the Fairchilds' favorite getaway since Faith's husband, the Reverend Thomas Fairchild, was a toddler. At first her unease seems unfounded -- until Faith comes across a corpse on one of the cross-country trails, the apparent victim of a heart attack.
Then one catastrophe follows another: the mysterious disappearance of the Pine Slopes' master chef, a malicious prank at the sports center, a break-in at the Fairchild condo, the sabotage of a chairlift. And when a fatal "accident" with the snow-making machines stains the slopes blood red, Faith realizes she'll have to work fast to solve a murderous puzzle -- because suddenly not only are the reunion and the beloved resort's future in jeopardy . . . but Faith's life is as well.
- Imprint: Avon
- On Sale: 05/30/2006
- Trimsize: 4.19 in (w) x 6.75 in (h) x 0.84 in (d)
- Pages: 336
- List Price: 7.99 USD
- BISAC1: FICTION / Contemporary Women
- BISAC2: FICTION / Mystery & Detective / General
"[A]n attractive setting, great characters, good food and murder most foul... A perfect Faith concoction." - Publishers Weekly
"[W]ell told...close, careful observations of the complicated dynamics within large families...[Page] at her solid best." - New York Times Book Review
"[P]erfect puzzler." - Library Journal
"[W]ill leave her readers guessing until the very end and wanting another serving of Faith Fairchild." - Bangor Daily News (Maine)
"Fun for all readers, and some great recipes, too." - The Stuart News (Stuart, Florida)


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CeCe Frey Doesn't Want to Be 'All By Myself' on 'X Factor'
There are no guarantees when it comes to 'X Factor,' and CeCe Frey is well aware of that. "I am in dire need of a comeback," the contestant said during tonight's episode (Nov. 14). "I need to remind everybody that I do have the talent to be here."
The singer's passionate performance of Celine Dion's 'All By Myself' earned her a mixture of responses from the judges. "I'm just at a loss for words," commented L.A. Reid. "You sang the song really well. It's an improvement, it really is."
However, Britney Spears disagreed. "Sorry, I just don't get it," she remarked. Simon Cowell fleshed out a similar sentiment with his own opinion of her performance. "I like you … But the song is called 'All By Myself,' and I think you would have been better off singing it on your own, without anyone else in the room."
Demi Lovato rounded out the judges' remarks by offering emphatic praise and support. "I think that you nailed it," she began. "I feel like they're being way too hard on you … Out of anyone in this competition, I think you want it the most, and I hope America can see that."


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Main Site - :: Why Won't God Heal Amputees? ::
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Atheist Are A Living Proof That God Is Alive!11 September 2012, 13:10 I don't understand atheist, they want to force their believes on some of us who believe in God. It's my right to believe in what I believe, if are not a believer don't force that on us. I think most atheist are those people who grew up asking God the impossible, like bicycle or car now they are angry at God. I remember growing up going to church, my pastor told us that the bible says there will be a time when people say there's no God & children will give birth to children. These are the things we see & hear every day.I remember there's was a man who went to a barber shop to have his hair cut and his beard trimmed. As the barber began to work, they began to have a good conversation. They talked about so many things and various subjects. When they eventually touched on the subject of God, the barber said: "I don't believe that God exists." "Why do you say that?" asked the customer. "Well, you just have to go out in the street to realize that God doesn't exist. Tell me, if God exists, would there be so many sick people? Would there be abandoned children? If God existed, there would be neither suffering nor pain. I can't imagine a loving a God who would allow all of these things."The customer thought for a moment, but didn't respond because he didn't want to start an argument. The barber finished his job and the customer left the shop. Just after he left the barber shop, he saw a man in the street with long, stringy, dirty hair and an untrimmed beard. He looked dirty and unkempt. The customer turned back and entered the barber shop again and he said to the barber: "You know what? Barbers do not exist." "How can you say that?" asked the surprised barber. "I am here, and I am a barber. And I just worked on you!" "No!" the customer exclaimed. "Barbers don't exist because if they did, there would be no people with dirty long hair and untrimmed beards, like that man outside." "Ah, but barbers DO exist! What happens is, people do not come to me." "Exactly!"- affirmed the customer. "That's the point! God, too, DOES exist! What happens, is, people don't go to Him and do not look for him.Deaths of Famous People Who Mocked God, Here are some men and women who mocked God: John Lennon (Singer): Some years before, during an interview with an American Magazine, he said: "Christianity will end, it will disappear. I do not have to argue about that. I am certain. Jesus was ok, but his subjects were too simple. Today we are more famous than Him" (1966). Lennon, after saying that the Beatles were more famous than Jesus Christ, was shot six times.Tancredo Neves (President of Brazil): During the Presidential campaign, he said if he got 500,000 votes from his party, not even God would remove him from Presidency. Sure he got the votes, but he got sick a day before being made President, then he died.Cazuza (Bi-sexual Brazilian composer, singer and poet): During A show in Canecio (Rio de Janeiro), while smoking his cigarette, he puffed out some smoke into the air and said: "God, that's for you." He died at the age of 32 of AIDS in a horrible manner.The man who built the Titanic: After the construction of Titanic, a reporter asked him how safe the Titanic would be. With an ironic tone he said: "Not even God can sink it" The result: I think you all know what happened to the Titanic.Marilyn Monroe (Actress): She was visited by Billy Graham during a presentation of a show. He said the Spirit of God had sent him to preach to her. After hearing what the Preacher had to say, she said: "I don't need your Jesus". A week later, she was found dead in her apartment.Bon Scott (Singer): The ex-vocalist of the AC/DC. On one of his 1979 songs he sang: "Don't stop me, I'm going down all the way, down the highway to hell". On the 19th of February 1980, Bon Scott was found dead, he had been choked by his own vomit.Campinas (IN 2005)In Campinas, Brazil a group of friends, drunk, went to pick up a friend. The mother accompanied her to the car and was so worried about the drunkenness of her friends and she said to the daughter holding her hand, who was already seated in the car: "My Daughter, Go with God and May He Protect You." She responded: "Only If He (God) Travels In The Trunk, Cause Inside Here....It's Already Full " Hours later, news came by that they had been involved in a fatal accident, everyone had died, the car could not be recognized what type of car it had been, but surprisingly, the trunk was intact. The police said there was no way the trunk could have remained intact. To their surprise, inside the trunk was a crate of eggs, none was broken.Christine Hewitt (Jamaican Journalist and entertainer) said the Bible (Word of God) was the worst book ever written. In June 2006 she was found burnt beyond recognition in her motor vehicle.
Religions need books because they don't have gods.
Being a Christian, I've made my decision. That decision offers no compromise; therefore, I'm closed to anything else.
Second, it uses another false comparison, that the man with long, unkempt hair who hasn't gotten a haircut is like a nonbeliever who hasn't found God. The man can see the barbershop, even go inside and talk with the barber, without ever getting a haircut. It's a little difficult for a nonbeliever to do the same with God.
Seriously, you guys are the meanest people I have ever met. I hope you are happy and feel really good about yourself.
"If you can't explain it simply, you don't understand it well enough. " A. Einstein
Dont you know that no christians have ever died?
Duh. They have eternal life.


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Sneakers are the by far the most worn type of shoes. But before 10 years ago, that would have been unthinkable. What happened? Humans have become more open and pay less attention nowadays to style stereotypes and supposed etiquette. Your mother, your father, and even your grandparents can even get down with both subtle and bright coloured sneakers. Maybe not for your grandmother's 80th birthday party, but definitely at work, on vacation, at school or in the library and at the club – sneakers always work!
All at once, countless brands like Nike, Etnies, and Adidas had an enormous impact on the development of sneakers. They didn't simply just throw some shoes into the market with their established brand logos and names. Quite the opposite! Sneakers nowadays are meticulously designed and created to suit your every need. Comfort, craftsmanship, quality, and of course, aesthetic are always at the core.
Thanks to their many features and characteristics, there are very few wishes the sneakers of today cannot fulfil. This, however, can be both a blessing and a curse because the seemingly endless supply of shoes can make your decision confusing and difficult. Which sneakers suit me? What are the best types of sneakers for autumn and spring? How much do they cost, and where can I find sneakers at a great price?
Don't sweat it! We won't leave you hanging. We'll take you with us on a journey through the wide world of sneakers. We'll go into detail about the different features and show you exactly what each pair of shoes has to offer, as well as what you should consider when choosing the right pair for yourself. This way, you'll end up with a pair that perfectly fits both your style and your feet. We'll also give you some tips on how to keep your new favourite pair in great shape. Whether you're looking for lightweight, elegant, subtle, narrow, uniquely designed, or sporty sneakers, you'll be set in our sneaker shop.
The materials and features that make each pair special are listed in the product descriptions of each product under "features". If that's not the case or you still have questions, our skatedeluxe Customer Service Team and the rest of the skatedeluxe crew are ready and willing to help!
Unfortunately, we can't accept orders from Vereinigte Staaten. We only ship within Europe and to Japan.


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pheonix is a camper's delight! free pics from realitykings!...
phoenix invited me on a camping trip out in the woods somewhere. i was almost starting to think she was fucking with me cuz it took me forever to find her. but once i did, it was worth the wait. she was wearing what has to be the second best camping outfit next to being naked. she knew i was gonna be filming her and that i would take pictures but she didnt know that i brought billy along. but shes a good girl she played along and after showing us the goods she took us back to her tent. this is where the party really started. you guys already know what i mean...ass licking, 69ing, sucking, fucking...all the things one does when they go camping...
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The U.S. should consider automatically registering eligible voters and extending voting hours to counter the November election's long lines and administrative hurdles, Attorney General Eric Holder said.
Holder, speaking today at the John F. Kennedy Presidential Library in Boston, proposed expanding access for voters and overhauling a registration system he called "antiquated."
"It is important for national leaders, academic experts, and members of the public to engage in a frank, thorough and inclusive discussion about how our election systems can be made stronger and more accessible," Holder said in prepared remarks.
President Barack Obama called for changes on election night after voters in states including Florida and Virginia waited for hours to cast ballots. Obama, while thanking voters who stood in line "for a very long time," added, "By the way, we have to fix that."
Lawmakers and interest groups have responded with proposals and hearings, though legislative changes haven't made headway in the Congress.


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Hillsborough County Fire Rescue says a 36-year-old Seffner man is presumed dead after a sinkhole opened up in his bedroom. He disappeared into the gaping hole. His brother, who was in a nearby room, was unable to rescue him.
Hillsborough County Fire Rescue says a 36-year-old man remains trapped under rubble from a sinkhole that collapsed the bedroom portion of home in Seffner.
Hillsborough County Fire Rescue says a 36-year-old man is trapped under rubble inside a sinkhole that collapsed the bedroom portion of the home he was living in.
Jeff Bush
Jeremy Bush shed tears talking to reporters about trying to save his brother.
Jeremy Bush holds a picture of his brother, Jeff, while talking to reporters.
SEFFNER, Fla. -
Hillsborough County Fire Rescue officials say the victim, Jeff Bush, is presumed dead.
The collapse happened around 11:00 p.m. Thursday night.
At the time of the collapse, Jeff Bush woke his brother, Jeremy Bush, as he yelled for help.
Jeremy Bush tried to pull the victim from the hole, but he could not get Jeff out.
"It was something you would see in a movie. You wouldn't, in your wildest dreams, you wouldn't think anything like that could happen, especially here," he said.
There were six people at the home when it collapsed, including Jeremy Bush's wife and his 2-year-old daughter.
The first Hillsborough County deputy on scene, Deputy Douglas Duval, was able to safely pull the brother from the still collapsing hole. Neither the brother nor the deputy were injured.
"I reached down and was able to actually able to get him by his hand and pull him out of the hole. The hole was collapsing. At that time, we left the house," Duvall said.
During said Friday evening, "I've never seen anything like it."
It is unsafe for rescue crews to conduct any type of search, as the sinkhole is continuing to expand. Currently the sinkhole is approximately 30 feet wide and 20 feet deep with the unsafe zone extending 100 feet wide. The open hole is taking up most of the interior of the home.
Larry Madrid from Madrid Engineering Group said the event was unprecedented.
Madrid also said the side slopes of the hole are extremely steep.
Listening devices and cameras have been placed inside the hole, but so far there has been no contact with the victim. No sounds have been heard.
"We put engineering equipment into the sinkhole and didn't see anything compatible with life," Hillsborough County Fire Rescue spokeswoman Jessica Damico said. "The entire house is on the sinkhole."
Crews report they can hear sounds of continuous collapse and fear the home could completely collapse at any time.
Sheriff's office spokesman Larry McKinnon said authorities asked sinkhole and engineering experts to help with the recovery effort, and they were using equipment to see if the ground can support the weight of heavy machinery that was needed.
Bracken Engineering has condemned the house, located at 240 Faithway Drive, on an emergency basis. They determined that the bedroom area is the center of the sinkhole. Neighbors living on both sides of the house have been evacuated as a precaution.
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for more information on Florida sinkholes or follow this link:
Stay with ABCActionNews.com for the latest on the developing story.


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The event will be held the evening of Aug. 2 at the Nash Wash Wildlife Management Area east of Green River, officials said in a news release. There is no charge to attend the event, officials said.
During the event, biologists with the Utah DWR will catch bats using a fine mesh net strung across a pond. Brent Stettler, regional conservation outreach manager for the DWR, said the bats get "so focused on catching insects that they sometimes lose track of the net and get caught."
After biologists catch the bats, they will identify the animals, measure them and then release them unharmed, Stettler said.
"You'll be able to see, learn about and photograph the bats before the biologists release them," he said.
As the night progresses, biologists hope a larger variety of bats will be caught in the net.
"So, for the best experience, plan on staying past midnight," Stettler said. "You're also welcome to camp onsite and leave the next day."
Stettler said anyone who is interested in attending the even must preregister to participate. The number of participants is limited to 25, he said, adding that pets or young children should not be brought to "Meet the Bats Night" as it is not a suitable event for them.
The viewing site is accessible by car, and an indoor bathroom is available.
To register or for more information, call Stettler at 435-613-3707.
After registering, plan on meeting just off the Cisco exit (exit 204) on Interstate 70 at 7:30 p.m. on Aug. 2.


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Job Description
Title: KS2 Teacher
Company: A* Star Teachers
Location: North West London
A* Star Teachers currently have an exciting opportunity for an experienced KS2 Teacher to join a 'Good' Ofsted rated primary school North West London. This is a long term placement until the end of the academic year.
Some of the benefits of the school include:
* Two form entry
* Full time TA
* CPD opportunities available if required
* Excellent transport links
* Competitive daily rate
If you are an experienced KS2 Teacher looking for a fresh start in a fantastic school, please apply here or contact us directly on 0207 272 7070 or via email: email@example.com
* You must have the legal right to work in the UK
* You must hold QTS or a UK recognised equivalent teaching qualification
* This position is subject to an Enhanced DBS Disclosure, Overseas Police Clearances (if applicable) and professional reference checks
It is A* Star Teachers' policy, as a matter of courtesy, to respond to all applications within three working days. However, due to the volume of applications, we are sometimes unable to respond to each applicant individually. If we have not contacted you within three working days, your application has been unsuccessful and your details have not been retained. Please apply for any other position that you may feel suitable for in the future. A* Star Teachers is a Quality Marked Agency (continuously since 2002) and is committed to safeguarding and promoting the welfare of children and young people.


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Worcester Warriors 35-11 London Irish, Aviva Premiership
Worcester claim bonus point win
September 28, 2012
Worcester recorded their first win of the season%]
Worcester Warriors notched their first win of the Aviva Premiership campaign with a 35-11 victory over London Irish at Sixways on Friday night.
The hosts led 16-11 with less than 15 minutes remaining but three late tries saw their superiority rewarded with a bonus-point victory.
The kick-off to the game was delayed by 30 minutes after Irish arrived late due heavy traffic on the M5. When the action finally got under way, Worcester had the first chance after six minutes but Andy Goode's penalty attempt from just inside his own half fell narrowly short.
Two minutes later the Warriors suffered another setback when Nikki Walker left the field with a leg injury to be replaced by former Northampton centre Jon Clarke, who was making his home debut.
The Warriors had the better of the opening exchanges but failed to take advantage and it was Irish who scored the first try after 14 minutes. A neat pass from Marland Yarde sent Ofisa Treviranus away and the number eight had sufficient pace to hold off the cover defence for an excellent score. Steve Shingler missed the conversion but was soon on target with a simple penalty.
Saliosi Tagicakibau carelessly knocked-on the restart to give the Warriors a platform in the visitors' 22 and he was made to pay for his error as Aleki Lutui drove over from close range for the try which Goode converted.
Even at this early stage it seemed a contest between the stronger home pack against the more creative running of the Irish three-quarters, who were seeing too little of the ball. After 30 minutes another mistake from Tagicakibau cost his side dear when the wing received a yellow card for tip tackling Jonny Arr. Goode easily kicked the resulting penalty to put Worcester into the lead for the first time.
Shingler was given a penalty opportunity 50 metres out after the Warriors were penalised but he couldn't capitalise and the hosts deservedly led 10-8 at the interval.
Tagicakibau returned for the second half with Worcester having failed to take any advantage from his absence. The Warriors nearly extended their lead when Goode made a fine break, handing off a weak tackling attempt from Ian Humphreys in the process.
The outside half kicked ahead but a knock on just short of the line ruined Worcester's hopes of a second try but soon afterwards they were rewarded when Goode kicked another penalty.
Almost immediately Shingler nullified this with a 45-metre penalty and when Matt Kvesic was penalised for not releasing, the centre had a chance to put Irish back into the lead but his kick from halfway sailed wide. The next penalty chance fell to Goode and he was bang on target from nearly 50 metres.
The Worcester pack continued to dominate which resulted in Irish flanker Jamie Gibson being sin-binned for illegally stopping one of their drives. The Irish line was under intense pressure but somehow their defence held firm which meant it was only 16-11 to the hosts with 15 minutes remaining.
Three minutes later, Worcester scored the decisive try. Goode, Clarke and James Percival were heavily involved in a movement which ended with David Lemi outflanking the defence.
Goode missed that conversion but kicked two as Worcester scored two late tries through Semisi Taulava and Clarke to run out comfortable winners.
© ESPN Sports Media Ltd.
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Reading the forum on your cell phone? There's an easier way. We've enabled a Tapatalk app that makes browsing the forum a whole lot easier. Check it out in the iPhone or Android store if you don't own it already.
There ya go. The one I pulled out on the black carpet slab down here was a bitch.
Quote from: JoeC on May 02, 2013, 10:49:50 pmThere ya go. The one I pulled out on the black carpet slab down here was a bitch.Properly placed in good rock, 5'16 are much stronger than people think. Unless they get beat on, a powers 2 .75 " is super solid in most rock.. I used the 2.25 " x 3/8 for hand drilling in NH and never had any dobts
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text: Photo Gallery: Outdoor Channel's Facebook Memes Check out this gallery of memes from Outdoor Channel's Facebook page. Like what you see? LIKE Outdoor Channel on Facebook! Share This Photo Gallery Prev Next Comments Galleries Fishing Viewer Photos (2016) 2016 Outdoor Sportsman Awards Fishing Viewer Photos (2015) Fishing Viewer Photos (Jan. 2015) Turning Cabin Dreams into Reality Silver Riches of the Tsiu River To Catch A Great White Seaing Is Believing Spread Out and Find Your Crappie Reeling In Old Mexico A Crush on Bowfishing ICAST 2014: A 'Golden' Fishing Trip Opportunity Okuma 2014-15 New Products Savage Baits 2014-15 New Products New Golden Nuggets Tail Wagging The Dog View More Photo Galleries Prev Next Photo 1 of 11 Bacon How much do you think this hog weighs?


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As of Fall 2011, the Association of American Colleges and Universities will no longer maintain DiversityWeb.org as a one-stop resource for information about diversity in higher education. Having served for fifteen years as a comprehensive compendium of practices and resources for campus practitioners seeking to place diversity at the center of the academy's educational and societal mission, the website can no longer keep pace with the proliferation of resources now available online.
AAC&U will continue to produce Diversity & Democracy, a quarterly publication that supports higher education faculty and leaders as they design and implement programs that advance civic learning and democratic engagement, global learning, and engagement with diversity to prepare students for socially responsible action in today's interdependent but unequal world. To access Diversity & Democracy, previously hosted on DiversityWeb, visit www.aacu.org/diversitydemocracy.
To access AAC&U's diversity resources page, where the association will continue to highlight its own meetings, institutes, publications, projects, and other selected diversity resources available online, visit www.aacu.org/resources/diversity/index.cfm. AAC&U also features resources on making excellence inclusive in its newly launched LEAP Campus Toolkit: leap.aacu.org/toolkit.
|Association of American Colleges & Universities | 1818 R Street NW, Washington, DC, 20009


text: The Beatles No 1 Red Framed Collector Print - This The Beatles collector print is printed using an officially licensed image. All our posters and prints are printed using the highest quality papers and printing process. Comes in a custom made 25mm black wooden frame. Free delivery. Deal of the day up to 25% off. -


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Buxton Town Team has produced an illustrated map of Buxton, by a group of seven High Peak artists, as part of a Portas town projects.
The A1 colour map shows the town and its surroundings with illustrations of key points in its history, buildings and people.
Joe Dugdale, of the team, said: "The map aims to help local people and visitors to appreciate the town and its history." To purchase one, email email@example.com.