[Xenomai-help] Socket can devices?

[Xenomai-help] Socket can devices?

[Anders Bach Madsen]

Hey

We have installed a Xenomai system on a Atom based computer, which runs fine. We have connected a CAN card, which should be supported by the RT-Socket-CAN drivers in Xenomai. The card is also identified during boot and the proper kernel modules are loaded. We are however unable to create device nodes for this card, as we cannot find it in the list of devices!

Any suggestions on how to create the device files /dev/rtcan0 and /dev/rtcan1 ?

If more information is needed, please say so :)

/Anders 

Xenomai:

[    0.385244] I-pipe: Domain Xenomai registered.
[    0.385447] Xenomai: hal/i386 started.
[    0.385622] Xenomai: scheduling class idle registered.
[    0.385765] Xenomai: scheduling class rt registered.
[    0.389559] Xenomai: real-time nucleus v2.5.5.2 (Ghosts) loaded.
[    0.389968] Xenomai: SMI-enabled chipset found
[    0.390125] Xenomai: SMI workaround enabled
[    0.390292] Xenomai: NMI watchdog not available.
[    0.390453] Xenomai: starting native API services.
[    0.390595] Xenomai: starting POSIX services.
[    0.390786] Xenomai: starting RTDM services.

CAN card:

[    7.603720] RT-Socket-CAN 0.90.2 - (C) 2006 RT-Socket-CAN Development Team
[    7.663851] RTCAN SJA1000 driver initialized
[    7.688604]   alloc irq_desc for 20 on node -1
[    7.688614]   alloc kstat_irqs on node -1
[    7.688634] IXXAT-PCI-CAN 0000:03:07.0: PCI INT A -> GSI 20 (level, low) -> IRQ 20
[    7.688651] IXXAT-PCI-CAN: Initializing device 10b5:9050:2540
[    7.688817] IXXAT-PCI-CAN: base_addr=0xf80c6800 conf_addr=0xec80 irq=20 ocr=0xde cdr=0x80
[    7.688862] rtcan: registered rtcan0
[    7.688881] IXXAT-PCI-CAN: base_addr=0xf80c6a00 conf_addr=0xec80 irq=20 ocr=0xde cdr=0x80
[    7.688916] rtcan: registered rtcan1

Devices

rogd-xeno ~ # cat /proc/devices
Character devices:
  1 mem
  4 /dev/vc/0
  4 tty
  4 ttyS
  5 /dev/tty
  5 /dev/console
  5 /dev/ptmx
  7 vcs
 10 misc
 13 input
 21 sg
 29 fb
128 ptm
136 pts
150 rtpipe
180 usb
189 usb_device
202 cpu/msr
203 cpu/cpuid
226 drm
251 hidraw
252 usbmon
253 bsg
254 rtc

Block devices:
  1 ramdisk
259 blkext
  7 loop
  8 sd
 11 sr
 65 sd
 66 sd
 67 sd
 68 sd
 69 sd
 70 sd
 71 sd
 93 nftl
128 sd
129 sd
130 sd
131 sd
132 sd
133 sd
134 sd
135 sd


Best regards/Med venlig hilsen

Anders Bach Madsen
PhD Computer Science, Software Developer

R&D
Delta 4  
DK-8382 Hinnerup
http://www.rogd.dk
 
Tlf:   +45 8764 0884
Mobil: +45 2225 1331
Fax:   +45 8764 0844

Re: [Xenomai-help] Socket can devices?

[Sebastian Smolorz]

Anders Bach Madsen wrote:
> We have installed a Xenomai system on a Atom based computer, which runs
> fine. We have connected a CAN card, which should be supported by the
> RT-Socket-CAN drivers in Xenomai. The card is also identified during
> boot and the proper kernel modules are loaded. We are however unable to
> create device nodes for this card, as we cannot find it in the list of
> devices!
> 
> Any suggestions on how to create the device files /dev/rtcan0 and
> /dev/rtcan1 ?

There are no device nodes for RT-Socket-CAN devices. You are supposed to use 
the RTDM socket API. See the Xenomai examples and utils for usage examples:

http://www.rts.uni-hannover.de/xenomai/lxr/source/src/utils/can/rtcansend.c

-- 
Sebastian

Re: [Xenomai-help] Socket can devices?

[Anders Bach Madsen]

Thank you very much for the clarification, but this just raises my next question. How can I use canFestival and the RTDM socket api? I can't seem to find any information on this, not on the xenomai page or on the canfestival page. 

Are there anybody who is using canfestival together with RTDM can drivers? And can you provide a pointer to where I can find more information or provide some. That you be of great help.

/Anders

-----Oprindelig meddelelse-----
Fra: Sebastian Smolorz [mailto:smolorz@domain.hid
Sendt: 10. november 2010 13:43
Til: Anders Bach Madsen
Cc: xenomai@xenomai.org
Emne: Re: [Xenomai-help] Socket can devices?

Anders Bach Madsen wrote:
> We have installed a Xenomai system on a Atom based computer, which runs
> fine. We have connected a CAN card, which should be supported by the
> RT-Socket-CAN drivers in Xenomai. The card is also identified during
> boot and the proper kernel modules are loaded. We are however unable to
> create device nodes for this card, as we cannot find it in the list of
> devices!
> 
> Any suggestions on how to create the device files /dev/rtcan0 and
> /dev/rtcan1 ?

There are no device nodes for RT-Socket-CAN devices. You are supposed to use 
the RTDM socket API. See the Xenomai examples and utils for usage examples:

http://www.rts.uni-hannover.de/xenomai/lxr/source/src/utils/can/rtcansend.c

-- 
Sebastian

Re: [Xenomai-help] Socket can devices?

[Wolfgang Grandegger]

On 11/10/2010 03:32 PM, Anders Bach Madsen wrote:
> Thank you very much for the clarification, but this just raises my next question. How can I use canFestival and the RTDM socket api? I can't seem to find any information on this, not on the xenomai page or on the canfestival page. 

Check:

http://www.canfestival.org/documentation/supported-platforms-and-can-devices

> Are there anybody who is using canfestival together with RTDM can drivers? And can you provide a pointer to where I can find more information or provide some. That you be of great help.

There are people using CanFestival with Xenomai's RT-Socket-CAN. IIRC,
it can be selected with:

 ./configure --timers=xeno --can=socket ...

Maybe you can get more useful infos from the CanFestival mailing list.

Wolfgang.