From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <48372098.7080702@domain.hid> Date: Fri, 23 May 2008 21:52:56 +0200 From: Wolfgang Grandegger MIME-Version: 1.0 References: <60078.189.4.74.190.1209348044.squirrel@domain.hid> <4815BFDA.1040904@domain.hid> <4815C3A5.1020606@domain.hid> <4815C937.6000700@domain.hid> <4815D4B1.8040207@domain.hid> <481682B8.4050104@domain.hid> <4816BF96.6010400@domain.hid> <57472.150.162.12.153.1209499591.squirrel@domain.hid> <48180F67.4080809@domain.hid> <482B8494.7050009@domain.hid> <482BD2D4.5070408@domain.hid> <482C922E.1080002@domain.hid> <482C9719.1080803@domain.hid> <482CA5B9.3030203@domain.hid> <482CA862.9070105@domain.hid> <482D988A.8040503@domain.hid> <48328F76.4090603@domain.hid> <4833A8F5.5070109@domain.hid> <4834344E.4090706@domain.hid> <48344261.2060102@domain.hid> <4834501C.30709@domain.hid> <48345105.1060008@domain.hid> <48353FC2.3060708@domain.hid> <49280.189.58.74.62.1211542371.squirrel@domain.hid> <4836AFD3.1090402@domain.hid> <4836C147.8020300@domain.hid> <48371813.6050007@domain.hid> In-Reply-To: <48371813.6050007@domain.hid> Content-Type: text/plain; charset=ISO-8859-1 Content-Transfer-Encoding: 7bit Subject: Re: [Xenomai-help] [Socketcan-users] RT - Socketcan List-Id: Help regarding installation and common use of Xenomai List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: Breno Cc: xenomai-help Breno wrote: > Wolfgang Grandegger wrote: >> Wolfgang Grandegger wrote: >> >>> breno@domain.hid wrote: >>> >>>>> Breno wrote: >>>>> >>>>>> Wolfgang Grandegger wrote: >>>>>> >>>>>>> Breno wrote: >>>>>>> >>>>>>> >>>>>>>> Wolfgang Grandegger wrote: >>>>>>>> >>>>>>>> >>>>>>>>> Breno wrote: >>>>>>>>> >>>>>>>>> >>>>>>>>> >>>>>>>>>> Hi Wolfgang, I got the cannetdriver26 as you suggested some e-mail >>>>>>>>>> ago. Sorry my ignorance but how can I get it working o my kernel. I >>>>>>>>>> mentioned before that you have a script do get it build. Could you >>>>>>>>>> help me again on this issue? >>>>>>>>>> >>>>>>>>>> >>>>>>>>> For what kernel? >>>>>>>>> >>>>>>>>> Wolfgang. >>>>>>>>> >>>>>>>>> >>>>>>>> Hi Wolfgang, I got a DENX Linux 2.6 Kernel Tree from DENX project. >>>>>>>> The last >>>>>>>> commit I have is: >>>>>>>> >>>>>>>> commit 76e8fbcc9e3e928a6898a93e6077264f5cb8f432 >>>>>>>> Author: Wolfgang Grandegger >>>>>>>> Date: Thu Mar 27 17:41:09 2008 +0100 >>>>>>>> >>>>>>>> Socket-CAN: merge with SVN trunk revision 690 >>>>>>>> >>>>>>>> >>>>>>> Can you use linux-2.6.25.4 from kernel.org for your hardware? >>>>>>> >>>>>>> Wolfgang. >>>>>>> >>>>>>> >>>>>> But it doesn't have support for Xenomai, rigth? If so, which version >>>>>> should I use? >>>>>> >>>>> You are right, an ADEOS i-Pipe patch is not yet avaliable for 2.6.25. >>>>> Just to understand your requirements. You want to use the Xenomai >>>>> real-time extension because you have hard real-time requirements, right? >>>>> Do you want to access the CAN bus from a Xenomai real-time task? If yes, >>>>> then you should use RT-Socket-CAN. >>>>> >>>>> >>>>>> Anyway,I got the Denx-2.6.25 and I wanna configure it on my system >>>>>> regardless of this >>>>>> version doesn't have Xenomai support. To get an correct kernel image on >>>>>> my >>>>>> present tree(2.6.24-commit 76e8fbcc9e3e928a6898a93e6077264f5cb8f432 ) I >>>>>> executed make lite5200_defconfig, at the kernel option and I set >>>>>> lite5200.dts >>>>>> and then do make zImage. That new tree seems have some differences, do >>>>>> you >>>>>> know what commands do I have to execute? I'm using lite5200 powerpc >>>>>> board. >>>>>> >>>>> It does not make sense to switch to 2.6.25 now if you have real-time >>>>> requirements. Please stop jumping from one setup to another. If >>>>> something is not working, I'm willing to help. >>>>> >>>>> Wolfgang. >>>>> >>>>> >>>> Hi Wolfgang, thanks for your support. I'm intending to use CAN along with >>>> rt-tasks. I had dropped the rt-socket CAN because of the error it appears >>>> when I send messages as explained some e-mails ago. For example: >>>> >>>> ./rtcanconfig rtcan0 -b100000 start ---> works properly! >>>> ./rtcanrecv rtcan1 & >>>> ./rtcansend rtcan0 -i0x123 1 2 3 4 5 6 7 8 >>>> #0 [8] <0x123> 00 00 00 04 05 06 07 08 ---> it seems to lose the threes >>>> first data. >>>> >>> Then let's try to fix that. Have you built and ran rtcansend and >>> rtcanrecv as I suggested (the one created by "$ make" in the Xenomai top >>> directory)? Did it make a difference? >>> >>> Do you see errors when you use the rtcanrecv option "-e 0xffff"? >>> >>> ./rtcanrecv -e 0xffff rtcan1 >>> >>> >>>> My socket-can applications works perfectly!!! >>>> >>> Fine, but it's not useful to call Socket-CAN from an Xenomai real-time >>> application. You will loose determinism. >>> >>> And we should continue this thread with CC to the Xenomai-help mailing >>> list because it might be useful for others as well. >>> >> >> Maybe there is something wrong with your MSCAN clock settings. >> >> What frequency have you specified for >> CONFIG_XENO_DRIVERS_CAN_MSCAN_CLOCK (check your kernel .config)? >> >> And what MPC5200 CPU do you have? Could you show use the initial output >> of your bootloader? >> >> Wolfgang. >> >> >> >> >> >> > Hi Wolfgang, I have a stick on my board with lite5200 v2.0b. And at the > top of my processor chip I have MPC5200b. The clock frequency is 400MHz. Well, this information does not match the boot output below. > My first messages on boot process is: > > U-Boot 1.1.4 (Feb 10 2006 - 11:06:33) > > CPU: MPC5200 v1.2 at 462 MHz Seems to be a Rev. A CPU at 462 MHz. 1.1.4 is very old, though. > Bus 132 MHz, IPB 66 MHz, PCI 33 MHz > > Board: Motorola MPC5200 (IceCube) BTW: do you have one or two PCI connectors on the board? > I2C: 85 kHz, ready > DRAM: 64 MB > FLASH: 16 MB > PCI: Bus Dev VenId DevId Class Int > 00 1a 1057 5803 0680 00 > In: serial > Out: serial > Err: serial > Net: FEC ETHERNET > IDE: Bus 0: not available > > Autostarting. Press any key to abort... > > Hit any key to stop autoboot: 5 > => tftp > Using FEC ETHERNET device > TFTP from server 192.168.1.100; our IP address is 192.168.1.101 > Filename '5200/cuImage.52xx'. > Load address: 0x100000 > Loading: *################################################################# > ################################################################# > ################################################################# > ################################################################# > done > Bytes transferred = 1329135 (1447ef hex) > => bootm > ## Booting image at 00100000 ... > Image Name: Linux-2.6.24.4-g5e9901e9-dirty > Created: 2008-04-15 16:35:09 UTC > Image Type: PowerPC Linux Kernel Image (gzip compressed) > Data Size: 1329071 Bytes = 1.3 MB > Load Address: 00400000 > Entry Point: 0040055c > Verifying Checksum ... OK > Uncompressing Kernel Image ... OK > > > The frequency specified on CONFIG_XENO_DRIVERS_CAN_MSCAN_CLOCK is > 66000000Hz. Is that correct? For MPC5200 Rev. B CPU, it should be 33000000, but you have an old Rev. A CPU and in that case 66000000 is correct. There is some help for corresponding Kconfig option: config XENO_DRIVERS_CAN_MSCAN_CLOCK depends on XENO_DRIVERS_CAN_MSCAN int "Clock Frequency in Hz" default 66000000 help The MSCAN driver selects the oscillator clock (SYS_XTAL_IN) as clock source for MSCAN, which is typically 33 MHz. Due to a hardware bug on the MPC5200 Rev. A chips, the IP bus clock (IP_CLK) is used instead, which is typically 66 or 132 MHz. How does your CAN cabling look like. Is the CAN bus properly terminated on both ends? Wolfgang.