Re: [Xenomai-help] Re: [Socketcan-users] send error: permission denied

[Jan Kiszka <jan.kiszka@domain.hid>]

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Wolfgang Grandegger wrote:
> Hi Daniel,
> 
> Daniel Schnell wrote:
>> Hi,
>>
>>  
>>
>> I am new to socket can.
>>
>>  
>>
>> I wanted to test the rtcan driver in combination with Linux and
>> Xenomai and made a little program according to the rtcansend program
>> but with some response time measurements.
>>
>>  
>>
>> However after setting up the socket I get –EPERM when trying to send a
>> packet to the can device. As the documentation doesn’t state anything
>> about this error when calling rt_dev_send() I wonder why the error if
>> at all doesn’t appear earlier if I try to setup the socket. The test
>> program already ran nicely when I tested the peak can drivers for
>> linux. I just changed the driver specific calls.
>>
>>  
>>
>> Attached you find the complete test file, the function task() is the
>> one to blame.
>>
>>  
>>
>> I am a bit stuck with this, so maybe someone can give me a slight hint
>> in what i am doing wrong.
> 
> I tried your program on my system and got the same error. The problem
> is, that rt_dev_send() is called from non-RT context, which is illegal.

...but should not matter if the caller is a Xenomai thread in "Linux" mode.

> At a first glance, it's not obvious to me why. Therefore I added the
> Xenomai Help ML to the CCs.

How did you all compile the program [1]? Using xeno-config
--posix-cflags / --posix-ldflags?

Jan


PS: Daniel, if you go the POSIX way, you don't have to use rt_dev_, you
can use the normal POSIX API directly. That services will be wrapped on
the Xenomai core just like pthread&friends.

[1]https://lists.berlios.de/pipermail/socketcan-users/attachments/20060821/ff454f48/cantest_rt.obj


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