Porting CANFestival to RTEMS

Isaac Gutekunst isaac.gutekunst at vecna.com
Thu Aug 20 12:22:07 UTC 2015

I guess it's time to learn more about the RTEMS runtime linker.

I do have a few specific questions:

What pat of CANFestival are you using?

What timer driver/library are you using?

What CAN driver are you using?

How did you glue the pieces together? Did you compile it by modifying 
the posix/unix drivers, or go the more bare metal based off the AVR? Is 
RSB involved? I'm stuck figuring out what I need to do, and what is the 
minimum required support infrastructure to get CANFestival to work. It 
seems like you need read, write

Would you be willing to provide some code?

Would it make sense for us to team up with the CANFestival developers to 
make a robust RTEMS port?


On 08/19/2015 09:54 PM, Ian Caddy wrote:
> We have ported CanFestival over to an RTEMS environment, although our
> system is a little different to normal.
> We have a Base application which is linked with RTEMS.
> Then we have other applications which the Base starts up depending on
> requirements / configuration.  We have a runtime link between these
> applications and the Base/RTEMS.
> We have used CANFestival in one of these applications.  It is setup as a
> CAN master node.  If you have any specific questions I would be more
> than happy to help out.
> regards,
> Ian Caddy
> On 20/08/2015 12:51 AM, Isaac Gutekunst wrote:
>> Hi
>> I'm thinking about porting CANFestival to RTEMS. I think it should be
>> relatively doable do to the posix support, and because the core files
>> don't have any platform specific code as far as I can tell.
>> Has anyone had any experience porting CANFestival so far, are could
>> offer some advice?
>> So far I've made a copy of the UNIX time and lincan drivers and renamed
>> them to can_rtems and timers_rtems as well as a couple of other
>> directories.
>> I've gotten to the point where I need to link against an RTEMS BSP, and
>> don't really know what to do. I want to include <rtems.h> and generate a
>> static library that I can link with my application, or if I'm really
>> lucky, run the existing examples on RTEMS.
>> Regarding CAN drivers, I have written a simplistic CAN driver framework
>> based on lincan and the current cpukit/dev/i2c style IMFS driver. This
>> should be easy to support in CANFestival, and could pave the way for
>> supporting lincan directly at some point.
>> Thanks,
>> Isaac
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