CAN user space API for RTEMS

[Jan.Sommer at dlr.de]

Great.
I did some search regarding RTEMS and CAN beforehand, but only found quite old discussions.
I blame the naming of the bus for that 😉.
@Pavel Pisa<mailto:ppisa at pikron.com> You have lots of experience with different CAN setups. In your Email from March you also discussed many different APIs. What is you take on can4linux? Would it be useful or is any of the others better suited?

Best regards,

    Jan

From: Gedare Bloom <gedare at rtems.org>
Sent: Wednesday, December 2, 2020 6:00 PM
To: Sommer, Jan <Jan.Sommer at dlr.de>; Pavel Pisa <ppisa at pikron.com>
Cc: devel at rtems.org
Subject: Re: CAN user space API for RTEMS

Hello Jan,

There are some interested parties in CAN for RTEMS (but mostly of the volunteer type). Have a look at Pavel's message from March this year: https://lists.rtems.org/pipermail/devel/2020-March/058161.html

Gedare

On Wed, Dec 2, 2020 at 8:41 AM <Jan.Sommer at dlr.de<mailto:Jan.Sommer at dlr.de>> wrote:
Hello,

We have some upcoming projects which will use RTEMS and will require CAN.
RTEMS doesn't have a CAN user interface and as far as I can see there is also no such thing in FreeBSD (please correct me if I'm wrong) which we could take in via rtems-libbsd.
Now, our options are to just use keep everything internal and use some custom driver (maybe based on some micro controller implementations) or contribute some kind of CAN subsystem to RTEMS.
I find the latter option more appealing, but then the question would be if we can use an API known from somewhere else like for spi and i2c and there doesn't seem to be a lot of choices:
- SocketCan --> seems to be too much work to implement in RTEMS (would probably need a socket implementation as well). I found some discussions about an implementation for FreeBSD, but it seems to have died.
- Can4Linux: Seems to be still maintained, the header file seems to be licensed under 3-Clause BSD. Is uses chardev, so it is probably reasonably easy to implement similar to spidev.

Would there be any interest in having a can4linux implementation in RTEMS? Or are there other/better available APIs?

Best regards,

    Jan

Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)
German Aerospace Center
Institute for Software Technology | Software for Space Systems and Interactive Visualization | Lilienthalplatz 7 | 38108 Braunschweig | Germany

Jan Sommer

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