CSTACK & FreeRTOS

FreeRTOS V6.1.0

MCU: ARM Cortex-M3

Compiler: IAR 5.3

修改CSTACK的大小會當機！

如果當機的話，可以修改port.c.

---------------------------------------------------------------

portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )

{

/* Simulate the stack frame as it would be created by a context switch

interrupt. */

   pxTopOfStack--; /* 將該行移除或加回，就可解決當機的問題 */

....

....

---------------------------------------------------------------

針對不同的CSTACK size, linker會把CSTACK排在不同的地方；可能是RAM的開頭或尾巴。

Test CAN-USB/2

Start-up device

% cd ../can-usb2/SocketCAN/ntcanSckPlugin32-1.0.3-2.0.3-ntcan-3.3.0/iproute2/iproute2-2.6.31/ip

% ./ip link set can0 up type can bitrate 25000

Stop device

% ./ip link set can0 down

Reference: ..\can-usb2\SocketCAN\ntcanSckPlugin32-1.0.3-2.0.3-ntcan-3.3.0\doc

Files: CAN-API_Part1_Function_Manual.pdf, page 90

Before starting the test, the start-up process isn't necessary.

Test: Show device info

% cd ../can-usb2/SocketCAN/ntcanSckPlugin32-1.0.3-2.0.3-ntcan-3.3.0/cantest

% ./cantest

CAN Test Rev 2.9.11  -- (c) 1997-2010 esd electronic system design gmbh

Available CAN-Devices:

Net  60: ID=SocketCAN Dll=3.3.00 Driver=2.0.03 Firmware=1.0.06 S/N=GF000754

         Hardware=1.0.00 Baudrate=00000004 Status=00000000 Features=0022

         Timestamp=000493334fa504c2 TimestampFreq=1000000 Hz

Syntax: cantest test-Nr [net id-1st id-last count

        txbuf rxbuf txtout rxtout baud testcount data0 data1 ...]

Test  0:  canSend()

Test  1:  canWrite()

Test 51:  canWrite() with incrementing ids

Test  2:  canTake()

Test 12:  canTake() with time-measurement for 10000 can-frames

Test 22:  canTakeT()

Test 32:  canTake() in Object-Mode

Test 42:  canTakeT() in Object-Mode

Test  3:  canRead()

Test 13:  canRead() with time-measurement for 10000 can-frames

Test 23:  canReadT()

Test  4:  canReadEvent()

Test 64:  Retrieve bus statistics (every tx timeout)

Test 74:  Reset bus statistics

Test  5:  canSendEvent()

Test  8:  Create auto RTR object

Test  9:  Wait for RTR reply

Test 19:  Wait for RTR reply without text-output

Comment

Baudrate=00000004, which representing baudrate is 250000bps

Reading Test

% ./cantest 23 60 1 100 20 20 20 20 20 4 50 50 4 22

Comment

test-Nr: 23

net: 60

id-1st: 1

last-id: 100

count: 20

txbuf: 20

rxbuf: 20

txtout: 20

rxtout: 20

baud: 4 (250000bps)

testcount: 22

Write Test

./cantest 51 60 1 100 20 20 20 20 20 4 50 50 4 22

Comment

test-Nr: 51

net: 60

id-1st: 1

last-id: 100

count: 20

txbuf: 20

rxbuf: 20

txtout: 20

rxtout: 20

baud: 4 (250000bps)

testcount: 22

Baudrate table

0: 1000 kbps

E *2) 800 kbps

1: 666.6 kbps

2: 500 kbps

3: 333.3 kbps

4: 250 kbps

5: 166 kbps

6: 125 kbps

7: 100 kbps

10 *2): 83.3 kbps

8: 66.6 kbps

9: 50 kbps

A: 33.3 kbps

B: 20 kbps

C: 12.5 kbps

D: 10 kbps

CAN-USB/2 start-up process

Reference:

../can-usb2/SocketCAN/socketcan-trunk-r1110/kernel/2.6/Documentation/networking/can.txt 6.5.3

Install SocketCAN plugin

% cd ~max/src/can-usb2/SocketCAN/ntcanSckPlugin32-1.0.3-2.0.3-ntcan-3.3.0/

% make

% ./install.sh

% cd iproute2/iproute2-2.6.31

% make

Start CAN-USB/2

% cd ~max/src/can-usb2/SocketCAN/ntcanSckPlugin32-1.0.3-2.0.3-ntcan-3.3.0/iproute2/iproute2-2.6.31/ip

Start device

% ./ip link set can0 up type can bitrate 250000 

Display device status-1

% ./ip -details -statistics link show can0

Display device status-2

% cd /sys/class/net/can0/statistics

Paths

/sys/class/net/can0

Documents

../can-usb2/SocketCAN/socketcan-trunk-r1110/kernel/2.6/Documentation/networking/can.txt

Device working status

#1

% cd /sys/class/net/can0

% cat operstate

#2

% ../can-usb2/SocketCAN/socketcan-trunk-r1110/test/canecho

Device properties

Reference:../can-usb2/SocketCAN/socketcan-trunk-r1110/kernel/2.6/Documentation/networking/can.txt 

Chapter6

% cd ~max/src/can-usb2/SocketCAN/ntcanSckPlugin32-1.0.3-2.0.3-ntcan-3.3.0/iproute2/iproute2-2.6.31/ip/

% ./ip link set can0 type can tq 16 prop-seg 6 phase-seg1 6 phase-seg2 2 sjw 1

% ./ip link set can0 type can bitrate 250000

% ./ip -details -statistics link show can0

% ./ip -details link show can0

Device operation

Start CAN interface

% ../can-usb2/SocketCAN/socketcan-trunk-r1110/etc/can_if start

Device testing

% ../can-usb2/SocketCAN/ntcanSckPlugin32-1.0.3-2.0.3-ntcan-3.3.0/cantest/cantest

% ../can-usb2/SocketCAN/socketcan-trunk-r1110/can-utils/cangen interface

Programming reference

% ../can-usb2/SocketCAN/ntcanSckPlugin32-1.0.3-2.0.3-ntcan-3.3.0/doc

Command-Line Conventions

command的參數傳遞可分為兩種，以 "-" 加上一個單一字母或 "--" 加上一字串。

例如：如下兩個參數對於command來說皆相同。

-h

--help

CAN-USB/2

Driver install (Linux kernel 2.6)

% cd socketcan-trunk-r1110/kernel/2.6

% make

% sudo make modules_install

% sudo /sbin/depmod -a

Check installation

% ls /sys/class/net/

There should be have an entry "can0".

Socket CAN

Socket CAN uses the Berkeley socket API, the Linux  network stack and implements the CAN device drivers as network interface.

一般皆使用Character-device方式實作CAN driver.

若以Character-device實作CAN device driver，其限制：只有一個Process可以使用；更換不同的CAN Controller時，可能需要動到App。

以Socket CAN的方式操作，同時有多個Process可以存取CAN device，且可以同時Listening相同ID的訊息。以Character-device的方式並非無法達成，只是成品看起來會很醜，而且不好用。

對於Application來說，透過一個已定義好的Abstraction layer存取device。和硬體相關的介面也有定義，所以只要實作這些API即可。

Return a function pointer

Without a pre-defined function pointer type

float (*GetPtr1(const char opCode))(float, float) {    if(opCode == '+')       return &Plus;    else       return &Minus; // default if invalid operator was passed }

參考來源：

"float (*GetPtr1(const char opCode))(float, float)"
- The Function Pointer Tutorials - Syntax (在「Google 網頁註解」中檢視)