Am 12.02.19 um 19:14 schrieb Steve Freyder via Xenomai: > > On 2/12/2019 11:53 AM, Wolfgang Grandegger via Xenomai wrote: >> >> Am 12.02.19 um 18:24 schrieb Johannes Holtz: >>> Am 12.02.19 um 18:05 schrieb Wolfgang Grandegger: >>>> Am 12.02.19 um 16:19 schrieb Johannes Holtz: >>>>> Am 12.02.19 um 16:00 schrieb Wolfgang Grandegger: >>>>>> Hello Johannes, >>>>>> >>>>>> Am 12.02.19 um 15:38 schrieb Johannes Holtz: >>>>>>> Am 12.02.19 um 12:24 schrieb Wolfgang Grandegger: >>>>>>>> Hello, >>>>>>>> >>>>>>>> Am 12.02.19 um 11:42 schrieb Johannes Holtz: >>>>>>>>> Am 11.02.19 um 17:46 schrieb Wolfgang Grandegger: >>>>>>>> ... snip ... >>>>>>>>>> UI suggest to write a simple test program to demonstrate the >>>>>>>>>> issue. It >>>>>>>>>> should just open the socket and trying to receive messages... >>>>>>>>>> just >>>>>>>>>> the >>>>>>>>>> necessary stuff. First with a blocking recv() and then >>>>>>>>>> non-blocking. >>>>>>>>>> >>>>>>>>>> What hardware and software are you using (arch, board, linux, >>>>>>>>>> xenomai)? >>>>>>>> ? >>>>>>>> >>>>>>>>>> Wolfgang. >>>>>>>>> The source code is attached: >>>>>>>>> >>>>>>>>> compiled with -I/opt/xenomai/include -D_GNU_SOURCE -D_REENTRANT >>>>>>>>> -D__XENO__ -lrtdm -L/opt/xenomai/lib -lxenomai -lpthread -lrt >>>>>>>>> -lnative >>>>>>>>> >>>>>>>>> can frames sent by rtcansend >>>>>>>>> >>>>>>>>> Test 1: blocking: >>>>>>>>> >>>>>>>>> ID:0 DLC:2hex: 81 00 <-- NMT request >>>>>>>>> ID:709 DLC:1hex: 00 <-- answer node #9 >>>>>>>>> ID:708 DLC:1hex: 00 <-- answer node #8 >>>>>>>>> ID:703 DLC:1hex: 00 <-- answer node #3 >>>>>>>>> ID:705 DLC:0hex: <-- here it gets weird ! DLC == 0 >>>>>>>>> ID:70400 DLC:1hex: 01 >>>>>>>>> ID:70600 DLC:1hex: 01 >>>>>>>>> ID:70100 DLC:1hex: 01 >>>>>>>>> ID:70200 DLC:1hex: 01 >>>>>>>>> ID:1010000 DLC:1hex: 08 >>>>>>>> This means that you can receive messages from the CAN bus. >>>>>>>> >>>>>>>>> ID:53220 DLC:124 out of bounds. abort. >>>>>>>> But that's wired. >>>>>>>> >>>>>>>>> Test 2: non blocking: >>>>>>>>> >>>>>>>>> ID:0 DLC:2hex: 81 00 <-- NMT request >>>>>>>>> ID:709 DLC:1hex: 00 <-- answer node #9 >>>>>>>>> ID:708 DLC:1hex: 00 <-- answer node #8 >>>>>>>>> ID:703 DLC:1hex: 00 <-- answer node #3 >>>>>>>>> ID:705 DLC:0hex: <-- same issue DLC is 0 >>>>>>>>> ID:70600 DLC:1hex: 01 >>>>>>>>> ID:70400 DLC:1hex: 01 >>>>>>>>> ID:70200 DLC:1hex: 01 >>>>>>>>> ID:70100 DLC:1hex: 01 >>>>>>>>> ID:1010000 DLC:1hex: 08 >>>>>>>>> ID:53220 DLC:124 out of bounds. abort. >>>>>>>> Looks identical. >>>>>>>> >>>>>>>>> Also, I found another possible error source and I don't know if >>>>>>>>> this >>>>>>>>> error picture would corresponds to this. >>>>>>>>> >>>>>>>>> However, While reviewing all settings, I noticed that I made a >>>>>>>>> mistake >>>>>>>>> with the RXBUF_SIZE which is set to 8096 instead of 8192. Must >>>>>>>>> have >>>>>>>>> been >>>>>>>>> asleep when writing this. I'm going to rebuild this module. >>>>>>>> Let's try to understand why rt_dev_recv() does return bogus dlc. >>>>>>>> >>>>>>>> What hardware and software are you using (arch, board, can >>>>>>>> controlelr, >>>>>>>> linux, xenomai)? >>>>>>>> >>>>>>>> Wolfgang. >>>>>>> I modified the program a little to send it's own requests via one >>>>>>> single >>>>>>> socket. The output look like this. >>>>>>> >>>>>>> send succeeded >>>>>>> ID:708 DLC:1hex: 00 >>>>>>> ID:709 DLC:1hex: 00 >>>>>>> ID:703 DLC:1hex: 00 >>>>>>> ID:706 DLC:1hex: 00 >>>>>>> ID:705 DLC:7hex: 00 00 01 01 00 09 07 >>>>>>> send succeeded >>>>>>> send succeeded >>>>>>> send succeeded >>>>>>> send succeeded >>>>>>> send succeeded >>>>>>> >>>>>>> And a parallel rtcanrecv output like this: >>>>>>> >>>>>>> root@machinectrl:~# rtcanrecv rtcan0 >>>>>>> #0: (1) <0x000> [2] 81 00 >>>>>>> #1: (1) <0x708> [1] 00 >>>>>>> #2: (1) <0x709> [1] 00 >>>>>>> #3: (1) <0x703> [1] 00 >>>>>>> #4: (0) <0x706> [0] >>>>>>> #5: (0) <0x500> [1] 01 >>>>>>> #6: (0) <0x400> [1] 01 >>>>>>> #7: (0) <0x100> [1] 01 >>>>>>> #8: (0) <0x200> [1] 01 >>>>>>> #9: (0) <0x000> [1] 08 >>>>>>> #10: (24) <0x220> [124] 00 00 82 00 00 00 01 08 01 00 00 00 f0 84 >>>>>>> 04 08 >>>>>> Why is "addr.can_ifindex = 24"? Something is broken in you build. >>>>> In the xenomai build? how do I find out what? it all compiled well. >>>>> >>>>> I patched the driver before building tkernel with >>>>> 0001-rtcan-ems_pci-driver-update-to-support-more-devices.patch.gz >>>> Can you show me that patch. >>> See attachment. >>>>> I used the ipipe patch from the stable release, >>>>> >>>>> and then build it normally. >>>>> >>>>> Might the RX buf size that I changed a problem? >>>> What exactly did you change? I think "rtcanrecv" does not use it. >>>> >>>> Wolfgang >>> The kernel option CONFIG_XENO_DRIVERS_CAN_RXBUF_SIZE I at first I set it >>> to a wrong value 8096 but eve after I changed it to 8192 it didnt >>> change anythingand now i set it back to 1024 with no improvement either. >> Ah, a value of 8096 does make trouble, e.g. with expression like the >> following: >> >> sock->recv_tail = (sock->recv_tail + cpy_size) & >> (RTCAN_RXBUF_SIZE - 1); >> >> Could you please make a *clean* rebuild from scratch with a value 2^N, >> either 8192 or 1024. >> >> Wolfgang. >> > > #if (RTCAN_RXBUF_SIZE)&((RTCAN_RXBUF_SIZE)-1) > #error RTCAN_RXBUF_SIZE is not a power of 2! > #endif Of course! I'm going to prepare a patch.
Wolfgang.
