Utilities for RT-Socket-CAN
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===========================
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For further information on RT-Socket-CAN, especially the kernel space
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part, please have a look to "kernel/drivers/can/README".
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Installation:
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------------
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Please install the Xenomai user space part as described in the
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README.INSTALL.
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$ export CROSS_COMPILE=ppc_82xx-
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$ cd <xenomai-root>
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$ ./configure --prefix=/usr/xenomai --host=ppc-linux
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$ make
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$ export DESTDIR=/opt/eldk/ppc_82xx
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$ make install
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Utilities for RT-Socket-CAN are available in "src/drivers/can".
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With "make install" they get copied to the Xenomai installation
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directory.
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Running and using RT-Socket-CAN:
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-------------------------------
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Now boot the Xenomai enabled kernel on your target system.
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In case RT-Socket-CAN is built as kernel modules, you need to load
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them using modprobe or insmod, e.g. for this example build:
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# export MODDIR=/lib/modules/2.4.25/kernel/drivers/xenomai/rtcan
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# insmod $MODDIR/xeno_can.o
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# insmod $MODDIR/mscan/xeno_can_mscan.o
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# insmod $MODDIR/sja1000/xeno_can_sja1000.o
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# insmod $MODDIR/sja1000/xeno_can_peak_pci.o
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Note that various kernel module parameters can be passed with insmod.
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Please use "modinfo" to list them or check the corresponding source
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code files for further information
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There are a few RT-Socket-CAN utilities to configure RTCAN and to send
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and receive CAN messages, which have been installed in the Xenomai
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installation directory with "make install":
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# export XENO_ROOT=/usr/xenomai
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# export PATH=$PATH:$XENO_ROOT/bin
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# export LD_LIBRARY_PATH=$XENO_ROOT/lib
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# rtcanconfig --help
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Usage: rtcanconfig <can-interface> [Options] [up|down|start|stop|sleep]
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Options:
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-v, --verbose be verbose
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-h, --help this help
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-c, --ctrlmode=M1:M2:... listenonly or loopback mode
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-b, --baudrate=BPS baudrate in bits/sec
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-B, --bittime=BTR0:BTR1 BTR or standard bit-time
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-B, --bittime=BRP:PROP_SEG:PHASE_SEG1:PHASE_SEG2:SJW:SAM
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# rtcanrecv --help
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Usage: rtcanrecv <can-interface> [Options]
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Options:
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-f --filter=id:mask[:id:mask]... apply filter
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-e --error=mask receive error messages
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-t, --timeout=MS timeout in ms
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-v, --verbose be verbose
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-p, --print=MODULO print every MODULO message
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-n, --name=STRING name of the RT task
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-h, --help this help
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# rtcansend --help
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Usage: rtcansend <can-interface> [Options] <can-msg>
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<can-msg> can consist of up to 8 bytes given as a space separated list
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Options:
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-i, --identifier=ID CAN Identifier (default = 1)
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-r --rtr send remote request
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-e --extended send extended frame
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-l --loop=COUNT send message COUNT times
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-c, --count message count in data[0-3]
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-d, --delay=MS delay in ms (default = 1ms)
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-t, --timeout=MS timeout in ms
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-v, --verbose be verbose
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-p, --print=MODULO print every MODULO message
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-h, --help this help
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Here are a few self-explanary commands:
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# rtcanconfig rtcan0 --baudrate=125000 start
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# rtcansend rtcan2 --verbose --identifier=0x123 0xde 0xad
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<0x123> [2] de ad
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# rtcanrecv rtcan0 --verbose
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#1: <0x123> [2] de ad
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bash-2.05b# rtcanrecv rtcan0 --filter=0x120:0x120
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Filter #0: id=0x00000120 mask=0x00000120
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#0: <0x124> [2] de ad
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#1: <0x123> [3] 12 34 56
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#2: <0x133> [4] 11 22 33 44
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# rtcanrecv rtcan0 --error=0xffff
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#1: !0x00000008! [8] 00 00 80 19 00 00 00 00 ERROR
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PROC filesystem: the followingfiles provide useful information
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on the status of the CAN controller, filter settings, registers,
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etc.
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# cat /proc/rtcan/devices
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Name___________ _Baudrate State___ TX_Counter RX_Counter ____Errors
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rtcan0 125000 active 0 8 0
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rtcan1 125000 active 0 8 0
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rtcan2 125000 passive 8 0 14714
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# cat /proc/rtcan/sockets
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fd Name___________ Filter ErrMask RX_Timeout_ns TX_Timeout_ns RX_BufFull
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0 rtcan0 1 0x0ffff infinite infinite 0
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1 rtcan0 1 0x00000 infinite infinite 0
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# cat /proc/rtcan/rtcan2/info
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Device rtcan2
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Controller SJA1000
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Board PEAK-PCI
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Clock-Hz 8000000
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Baudrate 125000
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Bit-time brp=4 prop_seg=0 phase_seg1=13 phase_seg2=2 sjw=1 sam=0
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Ctrl-Mode
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State passive
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TX-Counter 3
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RX-Counter 0
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Errors 45424
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Refcount 0
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# cat /proc/rtcan/rtcan0/filters
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fd __CAN_ID__ _CAN_Mask_ MatchCount
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0 0x00000000 0x00000000 0
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1 0x00000120 0x00000120 3
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# cat /proc/rtcan/rtcan0/registers
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MSCAN registers at f0000900
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canctl0 0x90 rxfrm synch
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canctl1 0xc0 cane clksrc
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...
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# cat /proc/rtcan/rtcan2/registers
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SJA1000 registers
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00: 00 00 4c 00 ff 00 03 1c 1a 00 00 02 d6 60 14 88
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10: 02 26 60 de ad 04 04 00 ef c7 ef ef 40 00 00 c7
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