Hello, at "ftp://ftp.denx.de/pub/xenomai/rtcan"; you can find a first version of RTCAN, an Open Source hard real-time protocol stack for CAN devices based on BSD sockets. It is based on the SJA1000 socket-based CAN driver for RTDM by Sebastian Smolorz (see CREDITS file).
Currently it consist of a RTDM driver patch for Xenomai and a tar archive with the RTCAN utilities. I have attached the README for further details. It would be nice if the RTCAN patch could be integrated into Xenomai. As this driver is bigger and more complex than the other RTDM drivers, it rises a few issues with RTDM driver integration and maintenance: - Where to put a few utility or test programs - Where to put miscellaneous files like README, CREDITS, etc. - Where to discuss RTCAN related question. For the moment, please report CAN related bugs, questions and comments to the Socketcan mailing list "[EMAIL PROTECTED]" at http://developer.berlios.de/projects/socketcan/ Wolfgang.
RTCAN is an Open Source hard real-time protocol stack for CAN devices based on BSD sockets. This implementation is for RTDM, the Real-Time- Driver-Model. Note that there is a similar variant being developed for standard Linux using the Linux networking stack. Status: ------ Note: this is a preliminary version of the RTCAN RTDM driver! It is available for the following CAN controller and devices: SJA1000 ISA devices SJA1000 PEAK PCI card SJA1000 PEAK parallel port Dongle MSCAN for MPC5200 boards Currently it consist of a RTDM driver patch for Xenomai and a tar archive with the RTCAN utilities: rtcan-xenomai-0.20.1.patch rtcan-utils-0.20.1.tar.bz2 Likely some internals will change sooner than later, e.g. it might be integrated into Xenomai. Nevertheless, the API is already settled well as a result of discussions on the "Socketcan" mailing list ([EMAIL PROTECTED]) Installation: ------------ This example installation is for the DENX "linuxppc_2_4_devel" tree (Linux 2.4.25) using the ELDK (see http://www.denx.de). It works in a similar way for other kernels and distributions including Linux 2.6. o General part: - Download the Xenomai distribution from the SVN repository, apply the RTCAN patch and run "bootstrap": $ svn co http://svn.gna.org/svn/xenomai/trunk xenomai $ export XENO_ROOT=$PWD/xenomai $ cd $XENO_ROOT $ patch -p1 < /tmp/rtcan-xenomai-0.20.1.patch $ scripts/bootstrap The "bootstrap" is necessary to get "include/rtdm/rtcan.h" copied to the installation directory with make install. Alternatively, you can copy it by hand. o Kernel space part: - Please install the Xenomai kernel space part as described in the README.INSTALL. The following variable should point to the Xenomai patched kernel: $ export KERNEL_ROOT=/home/wolf/test/linuxppc_2_4_devel-xenomai - Configure RTCAN as kernel modules as required by your hardware (and make sure that loadable module support is enabled): $ cd $KERNEL_ROOT $ export CROSS_COMPILE=ppc_82xx- $ make menuconfig ... Select "Loadable module support --->" [*] Enable loadable module support ... Exit ... Select "Real-time sub-system --->" "Real-time drivers --->" "CAN bus controller --->" [M] RTCAN raw socket interface (NEW) (1024) Size of receive ring buffers (must be 2^N) (NEW) (4) Maximum number of devices (NEW) (16) Maximum number of receive filters per device (NEW) [M] MSCAN driver for MPC5200 (NEW) [*] Enable CAN 1 (NEW) [*] Enable CAN 2 (NEW) (66000000) Clock Frequency in Hz (NEW) (I2C1/TMR01) Pin Configuration <M> Philips SJA1000 CAN controller (NEW) <M> Standard ISA devices (4) Maximum number of ISA devices (NEW) <M> PEAK PCI cards ... Exit and save Note: you can also statically link the MSCAN drivers into the kernel. - Make the Linux kernel and RTCAN modules and copy them to the root filesystem: $ make dep $ make uImage $ cp -p arch/ppc/boot/images/uImage /tftpboot/icecube/uImage-rtcan $ make modules $ export DESTDIR=/opt/eldk/ppc_82xx $ make modules_install INSTALL_MOD_PATH=$DESTDIR $ find $DESTDIR/lib/modules/2.4.25/kernel/drivers/xenomai/rtcan .../rtcan .../rtcan/xeno_rtcan.o .../rtcan/mscan .../rtcan/mscan/xeno_rtcan_mscan.o .../rtcan/sja1000/xeno_rtcan_sja1000.o .../rtcan/sja1000/xeno_rtcan_peak_pci.o .../rtcan/sja1000/xeno_rtcan_isa.o o User space part: - Please install the Xenomai user space part as described in the README.INSTALL. You need the path to the Xenomai installation directory to make the RTCAN utilities. - Unpack the RTCAN utility distribution: $ tar xjf rtcan-utils-0.20.1.tar.bz2 $ export RTCAN_ROOT $PWD/rtcan-utils-0.20.1 - Make the RTCAN utilities and install them: $ cd $RTCAN_ROOT $ export XENO_INSTDIR=/opt/eldk/ppc_82xx/usr/xenomai $ make $ make install Running and using RTCAN: ----------------------- Now boot the Xenomai enabled kernel on your target system. In case RTCAN is built as kernel modules, you need to load them using modprobe or insmod, e.g. for this example build: # export MODDIR=/lib/modules/2.4.25/kernel/drivers/xenomai/rtcan # insmod $MODDIR/xeno_rtcan.o # insmod $MODDIR/mscan/xeno_rtcan_mscan.o # insmod $MODDIR/sja1000/xeno_rtcan_sja1000.o # insmod $MODDIR/sja1000/xeno_rtcan_peak_pci.o Note that various kernel module parameters can be passed with insmod. Please use "modinfo" to list them or check the corresponding source code files for further information There are a few RTCAN utilities to configure RTCAN and to send and receive CAN messages, which have been installed in the Xenomai installation directory with "make install": # export XENO_ROOT=/usr/xenomai # export PATH=$PATH:$XENO_ROOT/bin # export LD_LIBRARY_PATH=$XENO_ROOT/lib # rtcanconfig --help Usage: rtcanconfig <can-interface> [Options] [up|down|start|stop|sleep] Options: -v, --verbose be verbose -h, --help this help -c, --ctrlmode=M1:M2:... listenonly or loopback mode -b, --baudrate=BPS baudrate in bits/sec -B, --bittime=BTR0:BTR1 BTR or standard bit-time -B, --bittime=BRP:PROP_SEG:PHASE_SEG1:PHASE_SEG2:SJW:SAM # rtcanrecv --help Usage: rtcanrecv <can-interface> [Options] Options: -f --filter=id:mask[:id:mask]... apply filter -e --error=mask receive error messages -t, --timeout=MS timeout in ms -v, --verbose be verbose -p, --print=MODULO print every MODULO message -n, --name=STRING name of the RT task -h, --help this help # rtcansend --help Usage: rtcansend <can-interface> [Options] <can-msg> <can-msg> can consist of up to 8 bytes given as a space separated list Options: -i, --identifier=ID CAN Identifier (default = 1) -r --rtr send remote request -e --extended send extended frame -l --loop=COUNT send message COUNT times -c, --count message count in data[0-3] -d, --delay=MS delay in ms (default = 1ms) -t, --timeout=MS timeout in ms -v, --verbose be verbose -p, --print=MODULO print every MODULO message -h, --help this help Here are a few self-explanary commands: # rtcanconfig rtcan0 --baudrate=125000 start # rtcansend rtcan2 --verbose --identifier=0x123 0xde 0xad <0x123> [2] de ad # rtcanrecv rtcan0 --verbose #1: <0x123> [2] de ad bash-2.05b# rtcanrecv rtcan0 --filter=0x120:0x120 Filter #0: id=0x00000120 mask=0x00000120 #0: <0x124> [2] de ad #1: <0x123> [3] 12 34 56 #2: <0x133> [4] 11 22 33 44 # rtcanrecv rtcan0 --error=0xffff #1: !0x00000008! [8] 00 00 80 19 00 00 00 00 ERROR PROC filesystem: the followingfiles provide useful information on the status of the CAN controller, filter settings, registers, etc. # cat /proc/rtcan/devices Name___________ _Baudrate State___ TX_Counter RX_Counter ____Errors rtcan0 125000 active 0 8 0 rtcan1 125000 active 0 8 0 rtcan2 125000 passive 8 0 14714 # cat /proc/rtcan/sockets fd Name___________ Filter ErrMask RX_Timeout_ns TX_Timeout_ns RX_BufFull 0 rtcan0 1 0x0ffff infinite infinite 0 1 rtcan0 1 0x00000 infinite infinite 0 # cat /proc/rtcan/rtcan2/info Device rtcan2 Controller SJA1000 Board PEAK-PCI Clock-Hz 8000000 Baudrate 125000 Bit-time brp=4 prop_seg=0 phase_seg1=13 phase_seg2=2 sjw=1 sam=0 Ctrl-Mode State passive TX-Counter 3 RX-Counter 0 Errors 45424 Refcount 0 # cat /proc/rtcan/rtcan0/filters fd __CAN_ID__ _CAN_Mask_ MatchCount 0 0x00000000 0x00000000 0 1 0x00000120 0x00000120 3 # cat /proc/rtcan/rtcan0/registers MSCAN registers at f0000900 canctl0 0x90 rxfrm synch canctl1 0xc0 cane clksrc ... # cat /proc/rtcan/rtcan2/registers SJA1000 registers 00: 00 00 4c 00 ff 00 03 1c 1a 00 00 02 d6 60 14 88 10: 02 26 60 de ad 04 04 00 ef c7 ef ef 40 00 00 c7 Documentation: ------------- Temoporarily, The RTDM CAN profile is documented using Doxygen in "api_doc/index.html" Feedback: -------- Please report Xenomai related bugs and comments to the Xenomai mailing list "xenomai-help@gna.org". Please report CAN related bugs and comments to the "Socketcan" mailing list ([EMAIL PROTECTED]) or directly to the main authors Wolfgang Grandegger ([EMAIL PROTECTED]) or Sebastian Smolorz ([EMAIL PROTECTED]). Credits: ------- See CREDITS file. License: ------- RTCAN is free software, and you are welcome to redistribute it under the terms of the GNU General Public License. This program comes with ABSOLUTELY NO WARRANTY. See "COPYING" for details.
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