Dear Sirs,

I'm working with an Ubuntu (10.04) system with Xenomai (2.5.6), with kernel 2.6.37.6 and with a Peak-System PC/104 can interface (isa), with two channels.

I connected the two channels of the can interface with a cable (with the two 120Ohms resistor connected at each side) and did the following two tests:

1)

...
rtcanconfig rtcan0 --baudrate=1000000 start
rtcanconfig rtcan1 --baudrate=1000000 start

then, in one terminal:
rtcanrecv rtcan0

in another one:
rtcansend rtcan1 0xA 0xB 0xC 0xD 0xE 0xF 0x01 0x02

Everything seems to work: I can see the message on the receiving terminal. I
also tried changing rtcansend options, and it works as well.

2)

Then I used the rtcan_rtt xenomai example program.

In one terminal:

./rtcan_rtt rtcan0 rtcan1 -r -c 250000

And in another one:

./rtcan_rtt rtcan1 rtcan0 -c 250000

I also modified the rtcan_rtt to print some additional debug messages, and I found that for each can message sent from the transmitter channel I receive ~356 messages on the other channel, with lot of overruns and huge times. Maybee I have some problems with the interrupts?

Note that with the rtcanrecv/rtcansend test, for each message sent with rtcansend, rtcanrecv receives one message.

Thanks in advance

Ettore