--- /dev/null
+<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"
+ "http://www.w3.org/TR/html4/loose.dtd">
+<html>
+<head>
+ <title>[[!meta title="Simulink Blocks for CAN bus Support under Linux."]]</title>
+ <meta http-equiv="Content-Type" content="text/html; charset=utf-8">
+ <link><style type="text/css">
+ #main_content {max-width: 70em}
+ </style>
+</head>
+<body>
+
+<div id="main_content" style="max-width: 60em;">
+
+<p>
+The toolbox provides basic blocks for sending and receiving
+CAN messages for <a href="http://lintarget.sourceforge.net/">ERT Linux</a>
+Simulink target when mainlined
+<a href="http://elinux.org/CAN_Bus#SocketCAN_Supported_Controllers">socket based CAN bus</a>
+support is used. The <b>cantransmit</b> and <b>canreceive</b> blocks
+support directly encapsulation and conversion to the Simulink signals for basic
+data types: <tt>uint8</tt>, <tt>uint16</tt> and <tt>uint32</tt>.
+The standard Simulink defined <tt>CAN MESSAGE TYPE</tt> can be used
+when more complex structure of CAN message sending and receiption
+is required. The signal of <tt>CAN MESSAGE TYPE</tt> can be connected
+to <b>CAN Pack</b> and <b>CAN Unpack</b> blocks which encode or retrieve multiple
+signals to/from CAN message. The CAN Pack and CAN Unpack blocks
+are provided by <tt>canmsglib</tt> which is part of standard Simulink
+distribution.
+</p>
+
+<p>
+The code generation requires to include <b>CAN Setup</b> into diagram
+to work correctly. This block is used to setup baudrate for each CAN
+channel in the embedded environment but this option is ignored
+in the actual setup block implementation on Linux. The baudrate
+can be selected by system administrator from commandline
+<pre>
+ip link set can0 down
+ip link set can0 type can bitrate 1000000
+ip link set can0 down
+</pre>
+or on Debian based systems <tt>/etc/network/interfaces</tt>
+configuration file can be used to setup CAN interface baudrate
+at system startup
+<pre>
+allow-hotplug can0
+iface can0 can static
+ bitrate 1000000
+</pre>
+The later setup works automatic even with CAN-USB converter hotplug.
+</p>
+
+<h2 id="links">Links</h2>
+<dl>
+ <dt>Linux CAN bus toolbox repository</dt>
+ <dd><a href="http://rtime.felk.cvut.cz/gitweb/socketcan-simulink.git" target="_blank">http://rtime.felk.cvut.cz/gitweb/socketcan-simulink.git</a>
+ <br><tt>git clone git://rtime.felk.cvut.cz/socketcan-simulink.git</tt>
+ </dd>
+</dl>
+
+</div>
+
+</body>
+
+</html>
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</li>
</ul>
-<h2 id="linuxnative">Native Linux Real-Time and I/O Cards Support</h2>
+<h2 id="linuxnative">Native Linux Real-Time and I/O Cards and Devices Support</h2>
<p>Current version of the Linux ERT target is optimized to use the
proper Linux kernel timing mechanism with bounded maximal latencies.
on <a href="http://rtime.felk.cvut.cz/hw/index.php/Humusoft_MF6xx">DCE
HW Wiki page</a>.</p>
+<p>
+The basic blocks for <a href="can_bus/index.html">CAN messges sending and receiption
+under Linux are implemented.
+</p>
+
<h2 id="platformselect">RT-Capable Platform and Kernel</h2>
<p>
Standard distribution Linux kernel does not guarantee bounded latencies for many operations.
projects / ert_linux_web.git / commitdiff