I'll try the bind/unbind approach and see if I can both stacks to coexist, that sounds like the most elegant way
thanks! - Michael 2015-03-21 9:57 GMT+01:00 Wolfgang Grandegger <[email protected]>: > On 03/19/2015 10:57 AM, Michael Haberler wrote: > > status: > > > > I have Steve Batazzo's driver running on the beaglebone, using a stock > > Xenomai kernel from Robert Nelson's repo (linux-image-3.8.13-xenomai-r71 > > from http://repos.rcn-ee.net/debian/), current driver out of tree at > > https://github.com/mhaberler/rtcan-bb branch mah > > > > I also have a preliminary HAL driver for machinekit which talks to a > > Trinamic motor over RT-CAN just fine (beaglebone for now, x86 once I get > a > > CAN PCI card). > > > > I'm working with Steve to get the driver polished and hope we can inject > it > > into the Xenomai foodchain eventually, after which it will be eventually > > picked up by Robert's periodic builds, and the whole thing becomes an > > 'apt-get install' - affair. But we're not there yet. > > > > > > I have a few questions on RT-CAN (I guess really RTDM): > > > > - can the RTDM API ( > > https://xenomai.org/documentation/trunk/html/api/group__userapi.html) be > > used from a normal Posix thread (non-RT) just alike? from the rtcansend* > > utilities src it looks like at least for setup, even if the send/receive > > ops are done in an RT thread. > > > > - socket-CAN and RT-CAN interworking: I assume this is an either-or > affair, > > right? (background: for some jobs the RT-CAN features are overkill, and > in > > that case something like the python-can binding would be convenient to > use) > > If the resources (irq, mem, etc.) used by the device are clearly > separated, it might be possible to use one device (of the same type) for > Linux and the other for RTCAN. It will work for sure for devices using > different drivers (belonging to different controllers). > > Wolfgang. > > _______________________________________________ Xenomai mailing list [email protected] http://www.xenomai.org/mailman/listinfo/xenomai
