From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <4A689903.5010107@domain.hid> Date: Thu, 23 Jul 2009 19:08:19 +0200 From: Wolfgang Grandegger MIME-Version: 1.0 References: <4A6829D6.9060301@domain.hid> In-Reply-To: Content-Type: text/plain; charset=ISO-8859-1 Content-Transfer-Encoding: quoted-printable Subject: Re: [Xenomai-help] RE : State of implementation of CAN, CANOpen in Xenomai List-Id: Help regarding installation and common use of Xenomai List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: =?ISO-8859-1?Q?Berruer_S=E9bastien?= Cc: xenomai@xenomai.org Berruer S=E9bastien wrote: > I'm on the first step of the project and I have to choose a complete > system for my customer. I looking at the constraints both for hardware > and software and the possibly dependency between them. OK. >> I'm asking for the current state of the CAN implementation. Is it a >> partial or a >> complete implementation of the CAN standard? What are the guarantee >> about real >> time latency? >=20 > What exactly do you mean with CAN standard? RT-Socket-CAN allows > low-level access the CAN controller to send and receive messages, handl= e > errors and set the bit-timing. Standard, extended and RTR frames are > supported. >=20 > Sorry, I've made a misunderstood about the CAN organization. In fact, > the RT-Socket-CAN is a kind of user API for ease the use of CAN bus, > isn't it? It seems that, generally, the handling of protocol, like the > access to media or arbitration, is done in the chip. Yep. >> I've read in "RTDM and applications" that there would be an effort for >> implementing a CANOpen profile. But, the implementation of CANOpen >> protocol is >> let to users? I can't find any newer reference for that in sources or > in the >> documentation of Xenomai. What is the state of this project? >=20 > If you are looking for a free CANopen implementation, CANfestival might > be an option, which also supports RT-Socket-CAN, IIRC. Check > http://canfestival.org/ for further information. >=20 > My client asks for a complete implementation of the CANOpen protocol. I > will take all a look at this site and if it's clear for that use. Usually, only a sub-set of the CANopen protocol is implemented. Wolfgang