2011 International Conference on Intelligence Science and Information Engineering
Research of Embedded WebServer Based on
CAN-TCP/IP Gateway
Fei Xiao
College of Mathematics and Computer Science
Huanggang Normal University
Huanggang, Hubei Province, China
jsjxiaof@126.com
Abstract - This article introduced the CAN, TCP/IP protocol
and the embeded CAN-TCP/IP gateway based on them,
researched and implemented embeded WebServer based on
CAN-TCP/IP gateway. Embeded Web server of CAN bus has
greatly enhanced usability and practicality of CAN-TCP/IP
gateway.
Keywords-- uClinuxΙCAN-TCP/IPΙEmbeded WebServer
I. THE OVERVIEW OF CAN AND TCP/IP
CAN Ε TCP/IP are two kinds of protocol which is
widely applied. TCP/IP is quite popular on the internet, it is
communication protocol offering communication to the
connected network computer. But its transmission and
efficiency are difficult to meet the requirements of the
scene. CAN is a kind of excellent fieldbus, however, remote
communication has a lot of deficiencies. With the
development of embeded products, especially the
appearance of Linux which has the feature by Source Code
of opening makes embedded system that connects the
advantage technology of TCP/IP and CAN has high
performance and practicality.
II. EMBEDDED CAN-TCP/IP GATEWAY
The embedded CAN-TCP/IP Gateway is developed by
uClinux system, it connects the advantages of both
technologies, that is, TCP/IP and CAN.
It implements the CAN bus and Ethernet TCP / IP
protocol conversion through which the CAN Ethernet can
transmit and receive CAN, it requires a PC on the network
can pass application software Operation Gateway, and
implement the sending and receiving information of CAN.
In LAN, run Ethernet communication program which is
based on Windows CAN-TCP/IP written on PC, link the
target board through Ethernet, comply the reception and
display of network information, and send information to
CAN network. The hardware structure of CAN-TCP/IP
Gateway is shown in Figure 1.
III. EMBEDDED WEBSERVER
In the field of measurement and control, we often need
to remotely inquire the real-time status of Control Object, or
execute some kind of control operations. Embedded
WebServer can achieve CAN bus Remote monitoring of
network device. In this way, Client needn’t install special
978-0-7695-4480-9/11 $26.00 © 2011 IEEE
DOI 10.1109/ISIE.2011.133
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Zemin Zhu
College of Mathematics and Computer Science
Huanggang Normal University
Huanggang, Hubei Province, China
zzm163com@163.com
Network Client, and operate embedded CAN-TCP/IP
Gateway through Internet browser directly at once. In the
uClinux operating system, we can use general Web Server,
they are mainly httpd, thttpd and Boa. Httpd is a most
simple Web Server, whose function is the weakest, and it
doesn’t support authentication or CGI. However, thttpd and
Boa support both authentication and CGI and so on, its
function is quite complete.In order to implement Dynamic
Web Technology, we choose an Boa Web Server which
supports CGI and is quite fit for embedded WebServer. Boa
is a single task http server, its Source Code is open and has
high performance. At present, the code in uClinux has
already included the boa source code. In a particular
uClinux system to achieving Boa, needs to do some
configuration and modification to the Boa.
FLASH unit SDRAM unit LAN Cable
ARMS3C4510B
Ethernet
LAN Cable CPU unit
Physical CAN Bus
layer Ethernet interface unit
Transceiver Controller
Figure 1 Hardware structure of CAN bus embedded TCP / IP Gateway
IV. REALIZATION OF EMBEDDED
WEBSERVER IN THE BOA WEB SERVER
A. Boa Server Configuration
The Boa Server Configuration is achieved by modifying
boa.conf and mime.types files, the configuration needed to
change are as followings:
1) Making Directory Manually
Because default root file system of uClinux is read-
only,we can’t use mkdir command, etc for the new
directory,Therefore, we need to build the directory to use
before compiling the kernel,which is achieved by modifying
the /uclinux-samsung/vendors/Samsung/4510b/makefile.
Add Home/webhome/web/cgi-bin to the back of
ROMFS_DIRS =bin dev etc home lib mnt proc usr var, with
modifying the kernel, romfs root file system which is
compiled includes these contents.
279
 2) Set Web SERVER_ROOT
Enter the contents of /uclinux-samsung/user/boa/src/,set
SERVER_ROOT by modifying the statement of #define
ERVER_ROOT“/home”in the define.h file.What’s more,we
can set it by modifying the order,for example, boa-c
/home/&.Moreover,the SERVER_ROOT which is set by the
command line can cover the things that set in the define.h
file.
3) Modify the boa.conf file
Modify the file in the ./uclinux- samsung/user/ boa/ src/
boa.conf:
Change user obody
Group ogroup
To User 0
Group 0;
Change DocumentRoot/var/www to Document Root/
home/web,in this way, the SERVER_ROOT of web server's
document is /home/web;
Change mimeTypes /etc/mime.types to MimeTypes
/home/web/mime.types;
Define a default home page and CGI program
content,that is,
Directory Index index.htm
Script Alias /cgi-bin/ /home/web/cgi-bin/
After setting, index.htm is the home defaults that the
Remote View Clients see when they access
WebServer.Then, edit CGI program written by C language
into a binary file,put in the contents of /cgi-bin/,CGI
program can be properly implemented.
Boa.conf file and mime.types file must put in the
SERVER_ROOT of WebServer,so copy boa.conf file and
mime.types file which are modified into the content
of“./uclinux-samsung/romfs/home/”. Then,modify them in
the /uclinux-samsung/Vendors/Samsung/4510b/inittab,add
the boa:unknown:/bin/boac/home in the back of
inet:unknown:/bin/inetd.
After configuration, recompile the kernel,select boa
options when compiling.download the compiled kernel to
the development board, start uClinux,finish IP
configuration, start Boa Web Server,then you can access
your website by IE.
B. CGI Introduction
There are four kinds of technology offered to choose for
achieving Dynamic Web pages; CGI(Common Gateway
Interface) Ε ASP (Active XServerPage) Ε PHP(Personal
Home Page)and JSP(Java Server Page).But ASPΕPHP and
other dynamic page technology are not supported by
uClinux at present. If we want to implement dynamic web
pages, we can only adopt CGI mode.
The use of CGI (Common Gateway Interface) is to offer
Web Servers a channel that executes external program, this
server technology makes it Interactive between the browser
and server. CGI program belongs to an external program,
which needs to be edited into an executable file in order to
run the server, its application structure is shown in Figure 2.
User input data is sent to the Web server by browser, the
Web server sends data to CGI program by stdin, probably
access some files of stored data,finally,using stdout outputs
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the outcome document of HTML form,send back
browser,and display it for the users by Web servers.
Browser on WEB Server
the network
ΞΞ CGI Program
Browser on the
network Documentation
Resources
CAN bus embedded Web
server
Figure 2 CGI work flow chart
CGI program can use any program to design
language,for eaxample, shell scripting language Ε Perl Ε
FortranΕPascalΕC language and so on.However,uClinux
don’t support PerlΕFortran language,etc,and C language
performs well on the platform-independence,Therefore, we
choose C language to write CGI programs.In addition,
uClinux does not support database,either, the data which
needs to be saved can be only saved in the files,these files
are also the ones when CGI queries data,but they are not to
access the database.
Devices in uClinux are also as files to access,so in the
CGI program,we can aslo read and write the devices,such as
sja1000 CAN,etc,that is, the operation of sending CAN and
receiving CAN.
C. Edit Web pages
Web pages is a HTML Web document,which requires
embedded form.When compiling Web pages,the related
CGI program is designed by ACTION property,for example,
ACTION=cgi-bin/CanServer; the method of submitting data
is specified by Mothod Properties,that is, METHOD =
POSTΰGET is also OKα.Put the file in the /home/web
content.This Page appears for IP address which other
browsers access the device.
D. Edit CGI program
CGI program can be divided into the following parts:
(1)accroding to POST method or GET method,receive data
from the submitted form; (2)the decoding of URL encoding;
(3)use printf () function to generate HTML source code,and
the data correctly return to the browser after decoding.Edit
the written CGI program into binary file and put in the
cgibin content,CGI program can be correctly executed.
Here introducing the CGI program core of CanTcp.c that
we edit,which completes CAN information receiving and
displays to the browser.It mainly includes two parts:read
CAN receiving information and output HTML data stream.
sjadev = open("/dev/sja1000",O_RDWR);
// open sja1000 device
if ( sjadev == -1 )
{
 printf("Cann't open file "); [2] Xiao Fei,Zhu Zemin,Yin Yedan. Driver Design of CAN Bus Device
exit(0); Based on Embeded uClinux[J]. Microcomputer Information,2008,pp.
84-85.
}
[3] Ma Xintao,Li Hongping. Research and Realization of Embeded
read(sjadev,buf,13); // read sja1000 device,put the CAN Gateway Based on ARM and Linux[J]. Information
information into buf Technology.2010,pp.49-50.
for (i = 0; i < 13;i++) [4] Wu Jian,Zhang Jiaqi,Jiang Pin. Implementation of WebServer and
itos(buf[i],strbuf+i); CGI On uClinux[J].Control Technology.2007, pp. 68-69.
// convert CAN Integer into a string
close(sja1000); // close CAN device
printf("Content-type:text/html\n\n");
printf("<HTML>\n");
// the sign of starting the HTML File
printf("<HEAD>\n");
// the header information of HTML file
printf("<TITLE>HTML & CGI Script Demo
Result</TITLE>\n");
// title Information
printf("</HEAD>\n");
printf("<BODY>\n");
printf("<H1>sja1000 CAN device receives information
and displays </H1>\n");
printf("CAN_ID0Κ %s\n", strbuf[0]);
// display CAN_ID0
printf("CAN_ID1Κ %s\n", strbuf[1]);
// display CAN_ID0
………………
printf("CAN_DATA7Κ %s\n", strbuf[12]);
// display CAN_DATA7
printf("</BODY>\n");printf("</HTML>\n");
fflush(stdout);
// take HTML information above as data stream
to send out
exit(0);
// end of program
V. Conclusion
WebServer in the embedded uClinux improves CAN-
TCP/IP Gateway's usability. The Boa WebServer server
which this article studies and uses is a small Web server,it
handles a limited number of client connections at the same
time.We can research thhttpd or other WebServer and
transplant it to the uClinux system, so that we can achieve
its producibility better.
Acknowledgment
I thank reviewers for constructive reviews and
suggestions that improved the quality of this manuscript.
This essay is the fruit of our several months’ consisting
work. This work was funded by the Fund of Huanggang
Normal University (NO: 07CA085) and Hubei Provincial
Department of Education funded projects
(NO: B20082701).

REFERENCES
[1] Lin Shibing, Yuan Yan, Yang Yupu. TCP / IP network and the CAN
Network Gateway Design and Implementation[J]. Computer
Engineering, 2007,pp. 249-250,264.

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