[Xenomai] rtdm can on mpc5121e - no rtcan devices detected

[Xenomai] rtdm can on mpc5121e - no rtcan devices detected

[Andreas Gareis]

Hi Wolfgang, 

Thanks for your answer. 

On 11/30/2013 01:00, Wolfgang Grandegger wrote 
>Hi Andreas,
> 
>On 11/29/2013 03:06 PM, andreas.gareis wrote: 
>> Hello,
>> 
>> I am trying to get running xenomai with RTDM support on an embedde 
>>linux  system. A powerpc mpc5121e operates on this system. I've 
>>suceeded in  patching the linux (3.0.4) with xenomai (2.6.2.1). The 
>>xenomai kernel  seems to work correct as I was able to run some of the 
>>xenomai examples  and my own test application.
>> Now I want to use the CAN interface in realtime. I've activated 
>>"Real-time sub-system => Drivers => CAN drivers => RT-Socket-CAN,  CAN 
>>raw socket interface" and "Real-time sub-system => Drivers =>  CAN 
>>drivers => MSCAN driver for MPC52xx and MPC512x"
>> ("module" as well as "build-in")  and also  deactivated "Networking 
>>support => CAN bus subsystem support => Raw CAN  Protocol (raw access 
>>with CAN-ID filtering)" in the linux kernel  configuration. The entry 
>>"Networking support => CAN bus subsystem support

>> => CAN Device Drivers Freescale MPC5xxx onboard CAN controller" is 
>> enabled as the xenomai module "xeno_can_mscan.ko" isn't able to start 
>> without it.

>> When xenomai CAN modules are used as module (not build-in) I started 
>> the module "xeno_can.ko" and "xeno_can_mscan.ko" afterwards. No 
>> errors or warnings appear but there aren't new devices in "/dev", too.
> 
> Is the MSCAN device defined in your device tree (dts file)? If not, no 
> devices will be detected.

Yes, but I didn't modify the dts-file (which is used for "normal" (non
xenomai) Linux) as in rtcan_mscan_mpc5xxx.c there is a line which includes: 
 .compatible = "fsl,mpc5121-mscan" 
  
CAN0 entry in dts-file: 
   mscan@1300 { 
       compatible = "fsl,mpc5121-mscan"; 
       interrupts = <12 8>; 
       reg = <0x1300 0x80>; 
       fsl,mscan-clock-source = "ip"; 
   }; 

> RTCAN devices are not visible in /dev. It's not a character device. 
> You can find more informations in /proc/rtnet.
    
The files "devices" and "sockets" which are located in /proc/rtcan don't
have any entries. (/proc/rtnet doesn't exist on my system) 

>> How can I check if the module is working correctly? Or do I have to 
>> do some other initialization?
> 
> See above. When a MSCAN device is detected you should find a related 
> line in the kernel log (dmesg), starting with "MSCAN at ...".
> 
> Next time please make a CC to the Xenomai mailing list. 
> 
> Wolfgang. 

In kernelconfig I have enabled "Networking support => CAN bus subsystem
support => CAN Device Drivers Freescale MPC5xxx onboard CAN controller"
(Otherwise "insmod xeno_can_mscan.ko" gets stuck) 

After boot up dmesg shows: 

  I-pipe 2.13-03: pipeline enabled. 
  ... 
  I-pipe: Domain Xenomai registered. 
  Xenomai: hal/powerpc started. 
  Xenomai: scheduling class idle registered. 
  Xenomai: scheduling class rt registered. 
  Xenomai: real-time nucleus v2.6.0-rc5 (head) loaded. 
  Xenomai: debug mode enabled. 
  Xenomai: starting native API services. 
  Xenomai: starting POSIX services. 
  Xenomai: starting RTDM services. 
  ... 
  CAN device driver interface
  mpc5xxx_can 80001300.mscan: using 'ips_clk' with frequency divider 1
  mpc5xxx_can 80001300.mscan: MSCAN at 0xd10da300, irq 16, clock 66660000 Hz

  mpc5xxx_can 80001380.mscan: using 'ips_clk' with frequency divider 1
  mpc5xxx_can 80001380.mscan: MSCAN at 0xd10de380, irq 18, clock 66660000 Hz

  mpc5xxx_can 80002300.mscan: using 'ips_clk' with frequency divider 1
  mpc5xxx_can 80002300.mscan: MSCAN at 0xd10e2300, irq 90, clock 66660000 Hz

  mpc5xxx_can 80002380.mscan: using 'ips_clk' with frequency divider 1
  mpc5xxx_can 80002380.mscan: MSCAN at 0xd10e6380, irq 91, clock 66660000 Hz

  .. 
  can: controller area network core (rev 20090105 abi 8)
  ... 
  mpc5xxx_can 80001300.mscan: bitrate error 1.0%
  mpc5xxx_can 80001300.mscan: setting BTR0=0x05 BTR1=0x26
  can0 bitrate: 1010000, sample-point: 0.727
  mpc5xxx_can 80001380.mscan: bitrate error 1.0%
  mpc5xxx_can 80001380.mscan: setting BTR0=0x05 BTR1=0x26
  can1 bitrate: 1010000, sample-point: 0.727
  mpc5xxx_can 80002380.mscan: bitrate error 1.0%
  mpc5xxx_can 80002380.mscan: setting BTR0=0x05 BTR1=0x26
  can3 bitrate: 1010000, sample-point: 0.727 

After executing "insmod xeno_can.ko" dmesg shows: 
  RT-Socket-CAN 0.90.2 - (C) 2006 RT-Socket-CAN Development Team 

After executing "insmod xeno_can_mscan.ko" dmesg shows nothing. 

lsmod shows: 
  xeno_can_mscan 10840 0 - Live 0xd311a000
  xeno_can 16632 1 xeno_can_mscan, Live 0xd310b000 
  
Is there a problem when mpc5xxx_can is running before xeno_can_mscan is
loaded? 

Regards, Andreas

Re: [Xenomai] rtdm can on mpc5121e - no rtcan devices detected

[Tom Evans]

On 09/12/13 06:44, Andreas Gareis wrote:
> Hi Wolfgang,
>
> Thanks for your answer.
 > ...
>> RTCAN devices are not visible in /dev. It's not a character device.
>> You can find more informations in /proc/rtnet.
>
> The files "devices" and "sockets" which are located in /proc/rtcan don't
> have any entries. (/proc/rtnet doesn't exist on my system)

Did the CAN devices work before you installed Xenomai? Get them working there 
first.

On the device I'm using (Freescale i.MX53), the CAN drivers are connected via 
NETWORKING. So they don't show up in /dev, just as Ethernet doesn't show there 
either (/dev is so 1980's :-).

root@triton1:~# ls /proc/net/can
rcvlist_all  rcvlist_err  rcvlist_inv  reset_stats  version
rcvlist_eff  rcvlist_fil  rcvlist_sff  stats
root@triton1:~# ifconfig
can0      Link encap:UNSPEC  HWaddr 
00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
           UP RUNNING NOARP  MTU:16  Metric:1
           RX packets:0 errors:0 dropped:0 overruns:0 frame:0
           TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
           collisions:0 txqueuelen:256
           RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)
           Interrupt:82

can1      Link encap:UNSPEC  HWaddr 
00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
           UP RUNNING NOARP  MTU:16  Metric:1
           RX packets:2527 errors:0 dropped:0 overruns:0 frame:0
           TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
           collisions:0 txqueuelen:256
           RX bytes:19583 (19.1 KiB)  TX bytes:0 (0.0 B)
           Interrupt:83

eth0      Link encap:Ethernet  HWaddr 00:0C:C6:79:6C:6E
... And so on.

Check for interrupts:

root@triton1:~# cat /proc/interrupts
            CPU0
   6:          0      tzic  sdma
...
  64:          0      tzic  imx-i2c.2
  82:          0      tzic  can0
  83:       5832      tzic  can1
  87:     124900      tzic  imx25-fec.0


Tom

Re: [Xenomai] rtdm can on mpc5121e - no rtcan devices detected

[Andreas Gareis]

Von: Tom Evans
 Gesendet: Sonntag, 8. Dezember 2013 23:07
> 
> On 09/12/13 06:44, Andreas Gareis wrote:
> > Hi Wolfgang,
> >
> > Thanks for your answer.
>  > ...
> >> RTCAN devices are not visible in /dev. It's not a character device.
> >> You can find more informations in /proc/rtnet.
> >
> > The files "devices" and "sockets" which are located in /proc/rtcan 
> > don't have any entries. (/proc/rtnet doesn't exist on my system)
> 
> Did the CAN devices work before you installed Xenomai? Get them 
> working there first.
> 
> On the device I'm using (Freescale i.MX53), the CAN drivers are 
> connected via NETWORKING. So they don't show up in /dev, just as 
> Ethernet doesn't show there either (/dev is so 1980's :-).
> 
> root@triton1:~# ls /proc/net/can
> rcvlist_all  rcvlist_err  rcvlist_inv  reset_stats  version 
> rcvlist_eff  rcvlist_fil rcvlist_sff  stats root@triton1:~# ifconfig
> can0      Link encap:UNSPEC  HWaddr
> 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
>            UP RUNNING NOARP  MTU:16  Metric:1
>            RX packets:0 errors:0 dropped:0 overruns:0 frame:0
>            TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
>            collisions:0 txqueuelen:256
>            RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)
>            Interrupt:82
> 
> can1      Link encap:UNSPEC  HWaddr
> 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00
>            UP RUNNING NOARP  MTU:16  Metric:1
>            RX packets:2527 errors:0 dropped:0 overruns:0 frame:0
>            TX packets:0 errors:0 dropped:0 overruns:0 carrier:0
>            collisions:0 txqueuelen:256
>            RX bytes:19583 (19.1 KiB)  TX bytes:0 (0.0 B)
>            Interrupt:83
> 
> eth0      Link encap:Ethernet  HWaddr 00:0C:C6:79:6C:6E
> ... And so on.
> 
> Check for interrupts:
> 
> root@triton1:~# cat /proc/interrupts
>             CPU0
>    6:          0      tzic  sdma
> ...
>   64:          0      tzic  imx-i2c.2
>   82:          0      tzic  can0
>   83:       5832      tzic  can1
>   87:     124900      tzic  imx25-fec.0
> 
> 
> Tom
> 

Yes, the CAN devices worked before Xenomai installation. They were shown in
ifconfig and communication with other CAN-devices was possible.

When I select normal (non rt) CAN-support and xenomai kernel (without
RT-CAN) in the kernelconfig, working CAN devices are also available.

Now I want to use RT-CAN with xenomai. So, I activated "RT-Socket-CAN" and
"MSCAN driver for MPC52xx and MPC512x" in the kernelconfig. When "normal"
CAN support (Networking support => CAN bus subsystem support => CAN Device
Drivers Freescale MPC5xxx onboard CAN controller) is disabled, the xenomai
module "xeno_can_mscan.ko" isn't able to start. When "normal" CAN support is
enabled, the xenomai module "xeno_can_mscan.ko" can be loaded without errors
in dmesg, but there are no rtcan devices.


Andreas

Re: [Xenomai] rtdm can on mpc5121e - no rtcan devices detected

[Wolfgang Grandegger]

On Mon, 9 Dec 2013 19:17:47 +0100, "Andreas Gareis"

<andreas.gareis@hs-augsburg.de> wrote:

> Von: Tom Evans

>  Gesendet: Sonntag, 8. Dezember 2013 23:07

>> 

>> On 09/12/13 06:44, Andreas Gareis wrote:

>> > Hi Wolfgang,

>> >

>> > Thanks for your answer.

>>  > ...

>> >> RTCAN devices are not visible in /dev. It's not a character device.

>> >> You can find more informations in /proc/rtnet.

>> >

>> > The files "devices" and "sockets" which are located in /proc/rtcan 

>> > don't have any entries. (/proc/rtnet doesn't exist on my system)

>> 

>> Did the CAN devices work before you installed Xenomai? Get them 

>> working there first.

>> 

>> On the device I'm using (Freescale i.MX53), the CAN drivers are 

>> connected via NETWORKING. So they don't show up in /dev, just as 

>> Ethernet doesn't show there either (/dev is so 1980's :-).

>> 

>> root@triton1:~# ls /proc/net/can

>> rcvlist_all  rcvlist_err  rcvlist_inv  reset_stats  version 

>> rcvlist_eff  rcvlist_fil rcvlist_sff  stats root@triton1:~# ifconfig

>> can0      Link encap:UNSPEC  HWaddr

>> 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00

>>            UP RUNNING NOARP  MTU:16  Metric:1

>>            RX packets:0 errors:0 dropped:0 overruns:0 frame:0

>>            TX packets:0 errors:0 dropped:0 overruns:0 carrier:0

>>            collisions:0 txqueuelen:256

>>            RX bytes:0 (0.0 B)  TX bytes:0 (0.0 B)

>>            Interrupt:82

>> 

>> can1      Link encap:UNSPEC  HWaddr

>> 00-00-00-00-00-00-00-00-00-00-00-00-00-00-00-00

>>            UP RUNNING NOARP  MTU:16  Metric:1

>>            RX packets:2527 errors:0 dropped:0 overruns:0 frame:0

>>            TX packets:0 errors:0 dropped:0 overruns:0 carrier:0

>>            collisions:0 txqueuelen:256

>>            RX bytes:19583 (19.1 KiB)  TX bytes:0 (0.0 B)

>>            Interrupt:83

>> 

>> eth0      Link encap:Ethernet  HWaddr 00:0C:C6:79:6C:6E

>> ... And so on.

>> 

>> Check for interrupts:

>> 

>> root@triton1:~# cat /proc/interrupts

>>             CPU0

>>    6:          0      tzic  sdma

>> ...

>>   64:          0      tzic  imx-i2c.2

>>   82:          0      tzic  can0

>>   83:       5832      tzic  can1

>>   87:     124900      tzic  imx25-fec.0

>> 

>> 

>> Tom

>> 

> 

> Yes, the CAN devices worked before Xenomai installation. They were shown

in

> ifconfig and communication with other CAN-devices was possible.

> 

> When I select normal (non rt) CAN-support and xenomai kernel (without

> RT-CAN) in the kernelconfig, working CAN devices are also available.

> 

> Now I want to use RT-CAN with xenomai. So, I activated "RT-Socket-CAN"

and

> "MSCAN driver for MPC52xx and MPC512x" in the kernelconfig. When

"normal"

> CAN support (Networking support => CAN bus subsystem support => CAN

Device

> Drivers Freescale MPC5xxx onboard CAN controller) is disabled, the

xenomai

> module "xeno_can_mscan.ko" isn't able to start. When "normal" CAN

support



That's the real problem. What happen's if you want to start the CAN

device?



> is

> enabled, the xenomai module "xeno_can_mscan.ko" can be loaded without

> errors

> in dmesg, but there are no rtcan devices.



But the device are not probed because they are already bound to a the

Linux

CAN driver. You can unbind them before loading the RTCAN driver but then

you

will run into the same problem then reported above.



Wolfgang.

Re: [Xenomai] rtdm can on mpc5121e - no rtcan devices detected

[Andreas Gareis]

 Von: Wolfgang Grandegger
 Gesendet: Montag, 9. Dezember 2013 20:10
> 
> On Mon, 9 Dec 2013 19:17:47 +0100, "Andreas Gareis"
> <andreas.gareis@hs-augsburg.de> wrote:
> > Von: Tom Evans
> >  Gesendet: Sonntag, 8. Dezember 2013 23:07
> >>
> >> Did the CAN devices work before you installed Xenomai? Get them
> >> working there first.
> >>
> >
> > Yes, the CAN devices worked before Xenomai installation. They were
> > shown in 
> > ifconfig and communication with other CAN-devices was possible.
> >
> > When I select normal (non rt) CAN-support and xenomai kernel (without
> > RT-CAN) in the kernelconfig, working CAN devices are also available.
> >
> > Now I want to use RT-CAN with xenomai. So, I activated "RT-Socket-CAN"
> > and "MSCAN driver for MPC52xx and MPC512x" in the kernelconfig.
> > When "normal" CAN support (Networking support => CAN bus
> >  subsystem support => CAN Device Drivers Freescale MPC5xxx
> > onboard CAN controller) is disabled, the xenomai module
> > "xeno_can_mscan.ko" isn't able to start. When "normal" CAN support
> 
> That's the real problem. What happen's if you want to start the CAN device?
 
First I call "insmod xeno_can.ko". dmesg shows:
    RT-Socket-CAN 0.90.2 - (C) 2006 RT-Socket-CAN Development Team

Then I call "insmod xeno_can_mscan.ko".
This operation gets stuck (the insmod doesn't return). 
In dmesg there are no messages. 
lsmod shows that xeno_can is running and xeno_can_mscan is still loading.

> 
> > is
> > enabled, the xenomai module "xeno_can_mscan.ko" can be loaded
> > without errors in dmesg, but there are no rtcan devices.
> 
> But the device are not probed because they are already bound to a the Linux
> CAN driver. You can unbind them before loading the RTCAN driver but then
> you will run into the same problem then reported above.
> 
> Wolfgang.
> 
> 

Andreas

Re: [Xenomai] rtdm can on mpc5121e - no rtcan devices detected

[Wolfgang Grandegger]

On Mon, 9 Dec 2013 20:35:12 +0100, "Andreas Gareis"

<andreas.gareis@hs-augsburg.de> wrote:

> Von: Wolfgang Grandegger

>  Gesendet: Montag, 9. Dezember 2013 20:10

>> 

>> On Mon, 9 Dec 2013 19:17:47 +0100, "Andreas Gareis"

>> <andreas.gareis@hs-augsburg.de> wrote:

>> > Von: Tom Evans

>> >  Gesendet: Sonntag, 8. Dezember 2013 23:07

>> >>

>> >> Did the CAN devices work before you installed Xenomai? Get them

>> >> working there first.

>> >>

>> >

>> > Yes, the CAN devices worked before Xenomai installation. They were

>> > shown in 

>> > ifconfig and communication with other CAN-devices was possible.

>> >

>> > When I select normal (non rt) CAN-support and xenomai kernel (without

>> > RT-CAN) in the kernelconfig, working CAN devices are also available.

>> >

>> > Now I want to use RT-CAN with xenomai. So, I activated

"RT-Socket-CAN"

>> > and "MSCAN driver for MPC52xx and MPC512x" in the kernelconfig.

>> > When "normal" CAN support (Networking support => CAN bus

>> >  subsystem support => CAN Device Drivers Freescale MPC5xxx

>> > onboard CAN controller) is disabled, the xenomai module

>> > "xeno_can_mscan.ko" isn't able to start. When "normal" CAN support

>> 

>> That's the real problem. What happen's if you want to start the CAN

>> device?

>  

> First I call "insmod xeno_can.ko". dmesg shows:

>     RT-Socket-CAN 0.90.2 - (C) 2006 RT-Socket-CAN Development Team

> 

> Then I call "insmod xeno_can_mscan.ko".

> This operation gets stuck (the insmod doesn't return). 

> In dmesg there are no messages. 

> lsmod shows that xeno_can is running and xeno_can_mscan is still

loading.



Add some pr_info/printk to the drivers probe function to see where it

hangs.



Wolfgang.

Re: [Xenomai] rtdm can on mpc5121e - no rtcan devices detected

[Andreas Gareis]

> Von: Wolfgang Grandegger 

> 

> On Mon, 9 Dec 2013 20:35:12 +0100, "Andreas Gareis"

> < <mailto:andreas.gareis@hs-augsburg.de> andreas.gareis@hs-augsburg.de>
wrote:

> > Von: Wolfgang Grandegger

> >  Gesendet: Montag, 9. Dezember 2013 20:10

> >>

> >> On Mon, 9 Dec 2013 19:17:47 +0100, "Andreas Gareis"

> >> < <mailto:andreas.gareis@hs-augsburg.de> andreas.gareis@hs-augsburg.de>
wrote:

> >> > Von: Tom Evans

> >> >  Gesendet: Sonntag, 8. Dezember 2013 23:07

> >> >>

> >> >> Did the CAN devices work before you installed Xenomai? Get them

> >> >> working there first.

> >> >>

> >> >

> >> > Yes, the CAN devices worked before Xenomai installation. They were

> >> > shown in ifconfig and communication with other CAN-devices was

> >> > possible.

> >> >

> >> > When I select normal (non rt) CAN-support and xenomai kernel

> >> > (without

> >> > RT-CAN) in the kernelconfig, working CAN devices are also available.

> >> >

> >> > Now I want to use RT-CAN with xenomai. So, I activated

> "RT-Socket-CAN"

> >> > and "MSCAN driver for MPC52xx and MPC512x" in the kernelconfig.

> >> > When "normal" CAN support (Networking support => CAN bus

> subsystem

> >> > support => CAN Device Drivers Freescale MPC5xxx onboard CAN

> >> > controller) is disabled, the xenomai module "xeno_can_mscan.ko"

> >> > isn't able to start. When "normal" CAN support

> >>

> >> That's the real problem. What happen's if you want to start the CAN

> >> device?

> >

> > First I call "insmod xeno_can.ko". dmesg shows:

> >     RT-Socket-CAN 0.90.2 - (C) 2006 RT-Socket-CAN Development Team

> >

> > Then I call "insmod xeno_can_mscan.ko".

> > This operation gets stuck (the insmod doesn't return).

> > In dmesg there are no messages.

> > lsmod shows that xeno_can is running and xeno_can_mscan is still

> loading.

> 

> Add some pr_info/printk to the drivers probe function to see where it
hangs.

> 

> Wolfgang.

> 

 Sorry for my late answer. I've found the problem: I was using xenomai
2.6.0-rc5. In the function rtcan_mscan_mode_stop() in rtcan_mscan.c there is
a while() which is never terminated. So I used the code from current xenomai
version as there is a counter within the while(). The rtcan devices can be
used now.

 

Thank you for your help!

 

Andreas