Hi everybody! Looking for a low-cost solution for a real-time Linux system with CAN bus support, I am currently considering the Beaglebone [1] (similar to the Beagleboard) with the addition of a CAN bus cape [2]. The later provides two MCP2515 CAN controller and also allows the use of the integrated CAN controller [3] of the Beaglebone's ARM microprocessor (Cortex A8) .
I am thinking about using a Linux kernel plus the RT-patch (* CONFIG_PREEMPT_RT*), since it seems to be less work then setting up Xenomai and the MCP2515 is already supported by SocketCAN. However, I am not sure, if this set-up will satisfy our real-time constraints, since SocketCAN is not real-time safe. Furthermore, I couldn't find information about working solutions of patched Linux kernels on the Beaglebord besides this paper [4]. Hence, I am also looking into the option of using Xenomai on the Beaglebone for which I found working examples, such as [4]. However, according to this list [5] the MCP2515 is not supported by RTcan/RT-SocketCAN. Is this still true? Furthermore, is there support for the integrated CAN controller (AM35x HECC) in SocketCAN and/or RT-SocketCAN? Best regards, Marcus Liebhardt PS: Due to the information about SocketCAN on Gitorious, I also signed up on [email protected]. In which case should one use that list? [1] http://beagleboard.org/bone [2] http://www.towertech.it/en/products/hardware/tt3201-can-cape/ [3] http://processors.wiki.ti.com/index.php/AM35x_High-End_CAN_Controller_%28HECC%29 [4] http://veter-project.blogspot.com/2011/09/real-time-enough-about-pwms-and-shaky.html [5] http://www.rts.uni-hannover.de/xenomai/lxr/source/ksrc/drivers/can/README -- Dipl.-Ing. (M.Sc.) Marcus Liebhardt Control Engineer Yujin Robot 주소: 대한민국 서울시 금천구 가산동 345-30 남성프라자 #601, 153-023. Address: Door #601, Namsung-Plaza, 345-30 Gasan-dong, Guemcheon-gu, Seoul, 153-023, Republic of Korea Website: http://www.yujinrobot.com Email: [email protected] Phone: +82-2-2104-0435
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