Re: [Xenomai-help] Serial port support questions

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

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Lankheet, Jeroen wrote:
> Dear all,
> 
> I've just installed Xenomai on top of a Fedora distribution (x86).
> I'm using a Moxa industrial serial board (CP-134) in order to
> communicate through RS485.
> 
> I tried to run the serial port example from
> http://www.rts.uni-hannover.de/rtaddon/rt_serial_uprog.tar.bz2
> It seems that my system cannot open the rtser0 device: rt_serial_uprog:
> can't open rtser0 (write) I have some simple questions regarding this
> example.
> 
> 1. The xen_16550A module that should be loaded is not in the xenomai
> dir? In fact, my /src/xenomai dir lacks a directory with modules. What
> went wrong with installation?

Likely nothing. xeno_16550A is in fact a kernel driver that should be
under /lib/modules/<your-version>/kernel/drivers/xenomai/serial. Or you
compiled it into the kernel. Did you enable it at all in the kernel config?

> 2. What is rtser0? Is it a wrapper around the serial hardware for
> realtime I/O? I have no devices in /dev that match rtser* 3. I have 4
> ports in my sytem, 2 of them are RS232, 2 are RS485. How should I
> address them? 

The namespace for RTDM-based hard-RT devices is separated from normal
Linux devices, i.e. you will not find anything related under /dev. You
can open such devices via rt_dev_open (librtdm) or, when using the POSIX
skin wrapping mechanism, via normal open (libpthread_rt). In the latter
case you can even provide /dev/rtser0, the library will ignore the prefix.

> 
> 	Oct 17 13:15:19 localhost kernel: MOXA Smartio/Industio family
> driver version 1.9.5
> 	Oct 17 13:15:19 localhost kernel: Found MOXA CP-134U series
> board(BusNo=5,DevNo=9)
> 	Oct 17 13:15:19 localhost kernel: ACPI: PCI Interrupt
> 0000:05:09.0[A] -> GSI 18 (level, low) -> IRQ 169
> 	Oct 17 13:15:19 localhost kernel:         ttyM0 - ttyM3  max.
> baud rate = 921600 bps.
> 4. I've run this same example under RTAI. Although it couldn't read from
> rtser1, writing was successful. So I'm not sure that my configuration is
> proper. Is there a simple test, other than compiling/running example
> programs?

Did you already read <xenomai-src>/doc/txt/16550A-driver.txt? Based on
this description and the demo it must work, or we face some bug. Maybe
you should first start with testing the loopback scenario with on-board
serial ports (when available) to exclude moxa-related problems.

> 5. From the RTAI installation I have a /etc/rc.d/rc.rtai file that makes
> the /dev/rtf* and shm nodes. Isn't this required for Xenomai?

It is (if you make use of pipes or shared memory), check
ksrc/nucleus/udev for the required rules.

Jan


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