Hi Wolfgang,
Thanks for your answer.
On 11/30/2013 01:00, Wolfgang Grandegger wrote
>Hi Andreas,
>
>On 11/29/2013 03:06 PM, andreas.gareis wrote:
>> Hello,
>>
>> I am trying to get running xenomai with RTDM support on an embedde
>>linux system. A powerpc mpc5121e operates on this system. I've
>>suceeded in patching the linux (3.0.4) with xenomai (2.6.2.1). The
>>xenomai kernel seems to work correct as I was able to run some of the
>>xenomai examples and my own test application.
>> Now I want to use the CAN interface in realtime. I've activated
>>"Real-time sub-system => Drivers => CAN drivers => RT-Socket-CAN, CAN
>>raw socket interface" and "Real-time sub-system => Drivers => CAN
>>drivers => MSCAN driver for MPC52xx and MPC512x"
>> ("module" as well as "build-in") and also deactivated "Networking
>>support => CAN bus subsystem support => Raw CAN Protocol (raw access
>>with CAN-ID filtering)" in the linux kernel configuration. The entry
>>"Networking support => CAN bus subsystem support
>> => CAN Device Drivers Freescale MPC5xxx onboard CAN controller" is
>> enabled as the xenomai module "xeno_can_mscan.ko" isn't able to start
>> without it.
>> When xenomai CAN modules are used as module (not build-in) I started
>> the module "xeno_can.ko" and "xeno_can_mscan.ko" afterwards. No
>> errors or warnings appear but there aren't new devices in "/dev", too.
>
> Is the MSCAN device defined in your device tree (dts file)? If not, no
> devices will be detected.
Yes, but I didn't modify the dts-file (which is used for "normal" (non
xenomai) Linux) as in rtcan_mscan_mpc5xxx.c there is a line which includes:
.compatible = "fsl,mpc5121-mscan"
CAN0 entry in dts-file:
mscan@1300 {
compatible = "fsl,mpc5121-mscan";
interrupts = <12 8>;
reg = <0x1300 0x80>;
fsl,mscan-clock-source = "ip";
};
> RTCAN devices are not visible in /dev. It's not a character device.
> You can find more informations in /proc/rtnet.
The files "devices" and "sockets" which are located in /proc/rtcan don't
have any entries. (/proc/rtnet doesn't exist on my system)
>> How can I check if the module is working correctly? Or do I have to
>> do some other initialization?
>
> See above. When a MSCAN device is detected you should find a related
> line in the kernel log (dmesg), starting with "MSCAN at ...".
>
> Next time please make a CC to the Xenomai mailing list.
>
> Wolfgang.
In kernelconfig I have enabled "Networking support => CAN bus subsystem
support => CAN Device Drivers Freescale MPC5xxx onboard CAN controller"
(Otherwise "insmod xeno_can_mscan.ko" gets stuck)
After boot up dmesg shows:
I-pipe 2.13-03: pipeline enabled.
...
I-pipe: Domain Xenomai registered.
Xenomai: hal/powerpc started.
Xenomai: scheduling class idle registered.
Xenomai: scheduling class rt registered.
Xenomai: real-time nucleus v2.6.0-rc5 (head) loaded.
Xenomai: debug mode enabled.
Xenomai: starting native API services.
Xenomai: starting POSIX services.
Xenomai: starting RTDM services.
...
CAN device driver interface
mpc5xxx_can 80001300.mscan: using 'ips_clk' with frequency divider 1
mpc5xxx_can 80001300.mscan: MSCAN at 0xd10da300, irq 16, clock 66660000 Hz
mpc5xxx_can 80001380.mscan: using 'ips_clk' with frequency divider 1
mpc5xxx_can 80001380.mscan: MSCAN at 0xd10de380, irq 18, clock 66660000 Hz
mpc5xxx_can 80002300.mscan: using 'ips_clk' with frequency divider 1
mpc5xxx_can 80002300.mscan: MSCAN at 0xd10e2300, irq 90, clock 66660000 Hz
mpc5xxx_can 80002380.mscan: using 'ips_clk' with frequency divider 1
mpc5xxx_can 80002380.mscan: MSCAN at 0xd10e6380, irq 91, clock 66660000 Hz
..
can: controller area network core (rev 20090105 abi 8)
...
mpc5xxx_can 80001300.mscan: bitrate error 1.0%
mpc5xxx_can 80001300.mscan: setting BTR0=0x05 BTR1=0x26
can0 bitrate: 1010000, sample-point: 0.727
mpc5xxx_can 80001380.mscan: bitrate error 1.0%
mpc5xxx_can 80001380.mscan: setting BTR0=0x05 BTR1=0x26
can1 bitrate: 1010000, sample-point: 0.727
mpc5xxx_can 80002380.mscan: bitrate error 1.0%
mpc5xxx_can 80002380.mscan: setting BTR0=0x05 BTR1=0x26
can3 bitrate: 1010000, sample-point: 0.727
After executing "insmod xeno_can.ko" dmesg shows:
RT-Socket-CAN 0.90.2 - (C) 2006 RT-Socket-CAN Development Team
After executing "insmod xeno_can_mscan.ko" dmesg shows nothing.
lsmod shows:
xeno_can_mscan 10840 0 - Live 0xd311a000
xeno_can 16632 1 xeno_can_mscan, Live 0xd310b000
Is there a problem when mpc5xxx_can is running before xeno_can_mscan is
loaded?
Regards, Andreas
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