Re: Support of MCP2515 and AM35x High-End CAN controller in (RT-)SocketCAN

[Marc Kleine-Budde <mkl@pengutronix.de>]

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On 05/02/2012 09:51 AM, Marcus Liebhardt wrote:
> Hi everybody!
> 
> Looking for a low-cost solution for a real-time Linux system with CAN
> bus support, I am currently considering the Beaglebone [1] (similar to
> the Beagleboard) with the addition of a CAN bus cape [2]. The later
> provides two MCP2515 CAN controller and also allows the use of the
> integrated CAN controller [3] of the Beaglebone's ARM microprocessor
> (Cortex A8) .

Don't use mcp2515, you won't have any fun with it. Consider using a SoC
with an integrated CAN controller, like the freescale i.mx family or one
of the TIs with an integrated (and supported) CAN cores.

> I am thinking about using a Linux kernel plus the RT-patch
> (CONFIG_PREEMPT_RT), since it seems to be less work then setting up
> Xenomai and the MCP2515 is already supported by SocketCAN. However, I
> am not sure, if this set-up will satisfy our real-time constraints,
> since SocketCAN is not real-time safe. Furthermore, I couldn't find
> information about working solutions of patched Linux kernels on the
> Beaglebord besides this paper [4].
> Hence, I am also looking into the option of using Xenomai on the
> Beaglebone for which I found working examples, such as [4]. However,
> according to this list [5] the MCP2515 is not supported by
> RTcan/RT-SocketCAN. Is this still true?

If you have realtime contraints, do with mainline Linux + PREEMPT_RT and
use a proper CAN controller.

> Furthermore, is there support for the integrated CAN controller (AM35x
> HECC) in SocketCAN and/or RT-SocketCAN?

The Kconfig says that the TI HECC is supported.

Marc
-- 
Pengutronix e.K.                  | Marc Kleine-Budde           |
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