Hi,
I would like to begin something that could be considered an Off-topic, but I
would like to ask to the orocos community about a piece of hardware that we
must buy.
We will have two new devices (robotics hands) that are controlled using Can
protocol. We would like to integrate it in orocos/ros, and my question is
someone could recommend us which hardware would fit better with a
Orocos/Xenomai environment:
- usb can device
- pci can card (peak, esd?)
Any advice from the experiences of the people?
Thanks in advance,
Leo
Off topic: Can bus
Hi,
> We will have two new devices (robotics hands) that are controlled using Can
> protocol. We would like to integrate it in orocos/ros, and my question is
> someone could recommend us which hardware would fit better with a
> Orocos/Xenomai environment:
>
> - usb can device
> - pci can card (peak, esd?)
We are using both an IXXAT PCI card as well as a peak PCIe card. IXXAT does not provide any Linux drivers, but the linux-can project provides some driver to be used with socket-can. Peak does provide Linux support, even RT support for Xenomai, however socket-can is only supported for non-rt Linux. The linux-can project also supports some peak devices, but maybe not to the same extent as the peak drivers do.
Xenomai contains a modified version of linux-can with support for rt-socket-can using rtdm. We tested a peak PCIe card with Xenomai successfully. The IXXAT card should work as well, however we did not test it so far.
The official peak linux driver explicitly states that USB devices are not supported with their RT implementation. I'm not sure about the bundled xenomai drivers, but I highly doubt USB and RT work well together.
Michael
Off topic: Can bus
A Dijous, 6 de juny de 2013, Michael Vistein va escriure:
> Hi,
>
> > We will have two new devices (robotics hands) that are controlled using
Can
> > protocol. We would like to integrate it in orocos/ros, and my question is
> > someone could recommend us which hardware would fit better with a
> > Orocos/Xenomai environment:
> >
> > - usb can device
> > - pci can card (peak, esd?)
>
> We are using both an IXXAT PCI card as well as a peak PCIe card. IXXAT does
not provide any Linux drivers, but the linux-can project provides some driver
to be used with socket-can. Peak does provide Linux support, even RT support
for Xenomai, however socket-can is only supported for non-rt Linux. The linux-
can project also supports some peak devices, but maybe not to the same extent
as the peak drivers do.
> Xenomai contains a modified version of linux-can with support for rt-socket-
can using rtdm. We tested a peak PCIe card with Xenomai successfully. The
IXXAT card should work as well, however we did not test it so far.
>
> The official peak linux driver explicitly states that USB devices are not
supported with their RT implementation. I'm not sure about the bundled xenomai
drivers, but I highly doubt USB and RT work well together.
so it seems that the peak pci could be a good candidate. I will investigate
further.
Thanks for all,
Leo
Off topic: Can bus
On Jun 6, 2013, at 05:52 , Leopold Palomo-Avellaneda wrote:
> Hi,
>
> I would like to begin something that could be considered an Off-topic, but I
> would like to ask to the orocos community about a piece of hardware that we
> must buy.
>
> We will have two new devices (robotics hands) that are controlled using Can
> protocol. We would like to integrate it in orocos/ros, and my question is
> someone could recommend us which hardware would fit better with a
> Orocos/Xenomai environment:
>
> - usb can device
> - pci can card (peak, esd?)
>
> Any advice from the experiences of the people?
>
> Thanks in advance,
>
> Leo
We use a USB/CAN device to run a COTS gripper. Kernel drivers (ntcan, socketcan) come with the device, which works fine under the PREMPT_RT patch.
HTH
S
Off topic: Can bus
A Dijous, 6 de juny de 2013, S Roderick va escriure:
> On Jun 6, 2013, at 05:52 , Leopold Palomo-Avellaneda wrote:
>
> > Hi,
> >
> > I would like to begin something that could be considered an Off-topic, but
I
> > would like to ask to the orocos community about a piece of hardware that
we
> > must buy.
> >
> > We will have two new devices (robotics hands) that are controlled using
Can
> > protocol. We would like to integrate it in orocos/ros, and my question is
> > someone could recommend us which hardware would fit better with a
> > Orocos/Xenomai environment:
> >
> > - usb can device
> > - pci can card (peak, esd?)
> >
> > Any advice from the experiences of the people?
> >
> > Thanks in advance,
> >
> > Leo
>
> We use a USB/CAN device to run a COTS gripper. Kernel drivers (ntcan,
socketcan) come with the device, which works fine under the PREMPT_RT patch.
controlling torques? How is your rate (Hz) of messages that you send to the
gripper?
Leo
Off topic: Can bus
On Jun 6, 2013, at 11:44 , Leopold Palomo-Avellaneda wrote:
> A Dijous, 6 de juny de 2013, S Roderick va escriure:
>> On Jun 6, 2013, at 05:52 , Leopold Palomo-Avellaneda wrote:
>>
>>> Hi,
>>>
>>> I would like to begin something that could be considered an Off-topic, but
> I
>>> would like to ask to the orocos community about a piece of hardware that
> we
>>> must buy.
>>>
>>> We will have two new devices (robotics hands) that are controlled using
> Can
>>> protocol. We would like to integrate it in orocos/ros, and my question is
>>> someone could recommend us which hardware would fit better with a
>>> Orocos/Xenomai environment:
>>>
>>> - usb can device
>>> - pci can card (peak, esd?)
>>>
>>> Any advice from the experiences of the people?
>>>
>>> Thanks in advance,
>>>
>>> Leo
>>
>> We use a USB/CAN device to run a COTS gripper. Kernel drivers (ntcan,
> socketcan) come with the device, which works fine under the PREMPT_RT patch.
>
> controlling torques? How is your rate (Hz) of messages that you send to the
> gripper?
Controlling a mix of position, velocity, and torque, depending on the mode. Rate = 500 Hz.
S
Off topic: Can bus
On Jun 6, 2013 3:23 PM, "Leopold Palomo-Avellaneda" <leopold [dot] palomo [..] ...>
wrote:
>
> Hi,
>
> I would like to begin something that could be considered an Off-topic,
but I
> would like to ask to the orocos community about a piece of hardware that
we
> must buy.
>
> We will have two new devices (robotics hands) that are controlled using
Can
> protocol. We would like to integrate it in orocos/ros, and my question is
> someone could recommend us which hardware would fit better with a
> Orocos/Xenomai environment:
>
> - usb can device
> - pci can card (peak, esd?)
>
> Any advice from the experiences of the people?
>
We have used the kvaser usb can II dongles for communicating with a vehicle
CAN bus. The drivers worked well with linux kernel, but they did not run in
hard realtime under Xenomai (and we did not try to make them work that
way). Wrapping CAN access in an orocos component is easy..it's only the
packing/unpacking of data into the CAN frame (and associated
scaling/offset) that is cumbersome.
/Sagar
> Thanks in advance,
>
> Leo
>
> --
> --
> Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
> Institut d'Organització i Control de Sistemes Industrials -IOC-
> Universitat Politècnica de Catalunya -UPC-
>
> Institute of Industrial and Control Engineering
> Technical University of Catalonia
> Avda. Diagonal 647, pl. 11
> 08028 BARCELONA (Spain)
>
> Tel. +34-934017163
> Fax. +34-934016605
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
Off topic: Can bus
2013/6/6 Sagar Behere <sagar [dot] behere [..] ...>
>
> On Jun 6, 2013 3:23 PM, "Leopold Palomo-Avellaneda" <
> leopold [dot] palomo [..] ...> wrote:
> >
> > Hi,
> >
> > I would like to begin something that could be considered an Off-topic,
> but I
> > would like to ask to the orocos community about a piece of hardware that
> we
> > must buy.
> >
> > We will have two new devices (robotics hands) that are controlled using
> Can
> > protocol. We would like to integrate it in orocos/ros, and my question is
> > someone could recommend us which hardware would fit better with a
> > Orocos/Xenomai environment:
> >
> > - usb can device
> > - pci can card (peak, esd?)
> >
> > Any advice from the experiences of the people?
> >
>
> We have used the kvaser usb can II dongles for communicating with a
> vehicle CAN bus. The drivers worked well with linux kernel, but they did
> not run in hard realtime under Xenomai (and we did not try to make them
> work that way). Wrapping CAN access in an orocos component is easy..it's
> only the packing/unpacking of data into the CAN frame (and associated
> scaling/offset) that is cumbersome.
>
> /Sagar
>
> > Thanks in advance,
> >
> > Leo
> >
> > --
> > --
> > Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
> > Institut d'Organització i Control de Sistemes Industrials -IOC-
> > Universitat Politècnica de Catalunya -UPC-
> >
> > Institute of Industrial and Control Engineering
> > Technical University of Catalonia
> > Avda. Diagonal 647, pl. 11
> > 08028 BARCELONA (Spain)
> >
> > Tel. +34-934017163
> > Fax. +34-934016605
> > --
> > Orocos-Users mailing list
> > Orocos-Users [..] ...
> > http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>
>
This is quite a vast question. Many things can be taken into account to
choose this (price, environment robustness, type : dongle, card add-on like
PC104 or PCI express board for standard desktop, integrated motherboard
with CPU, ...). Are you just trying to add CAN on an existing board (in
this case you should provide details on this board) or would you like a
complete HW controller ?
Off topic: Can bus
A Dijous, 6 de juny de 2013, Willy Lambert va escriure:
> 2013/6/6 Sagar Behere <sagar [dot] behere [..] ...>
>
> >
> > On Jun 6, 2013 3:23 PM, "Leopold Palomo-Avellaneda" <
> > leopold [dot] palomo [..] ...> wrote:
> > >
> > > Hi,
> > >
> > > I would like to begin something that could be considered an Off-topic,
> > but I
> > > would like to ask to the orocos community about a piece of hardware that
> > we
> > > must buy.
> > >
> > > We will have two new devices (robotics hands) that are controlled using
> > Can
> > > protocol. We would like to integrate it in orocos/ros, and my question
is
> > > someone could recommend us which hardware would fit better with a
> > > Orocos/Xenomai environment:
> > >
> > > - usb can device
> > > - pci can card (peak, esd?)
> > >
> > > Any advice from the experiences of the people?
> > >
> >
> > We have used the kvaser usb can II dongles for communicating with a
> > vehicle CAN bus. The drivers worked well with linux kernel, but they did
> > not run in hard realtime under Xenomai (and we did not try to make them
> > work that way). Wrapping CAN access in an orocos component is easy..it's
> > only the packing/unpacking of data into the CAN frame (and associated
> > scaling/offset) that is cumbersome.
[...]
> >
> This is quite a vast question. Many things can be taken into account to
> choose this (price, environment robustness, type : dongle, card add-on like
> PC104 or PCI express board for standard desktop, integrated motherboard
> with CPU, ...). Are you just trying to add CAN on an existing board (in
> this case you should provide details on this board) or would you like a
> complete HW controller ?
>
Well, I know that is a vast question. I'm a bit fear about to use a USB device
with Xenomai and RT. That was because I asked. But, if someone have used and
works, perfect.
About, the requirements, well as always, good, nice and cheaper !!!
It's just to build a system with two robotics hands controlled by one PC. As
always, to create a system that some student could make her/his PhD./Master,
make some publications and be happy!!!!
If I'm not wrong, it's not a complete HW controller, but you can control the
position, velocity and torque of the 16 motors. The hand is the Allegro hand.
Hope have been clear,
Regards,
Leo
Off topic: Can bus
2013/6/6 Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
> A Dijous, 6 de juny de 2013, Willy Lambert va escriure:
> > 2013/6/6 Sagar Behere <sagar [dot] behere [..] ...>
> >
> > >
> > > On Jun 6, 2013 3:23 PM, "Leopold Palomo-Avellaneda" <
> > > leopold [dot] palomo [..] ...> wrote:
> > > >
> > > > Hi,
> > > >
> > > > I would like to begin something that could be considered an
> Off-topic,
> > > but I
> > > > would like to ask to the orocos community about a piece of hardware
> that
> > > we
> > > > must buy.
> > > >
> > > > We will have two new devices (robotics hands) that are controlled
> using
> > > Can
> > > > protocol. We would like to integrate it in orocos/ros, and my
> question
> is
> > > > someone could recommend us which hardware would fit better with a
> > > > Orocos/Xenomai environment:
> > > >
> > > > - usb can device
> > > > - pci can card (peak, esd?)
> > > >
> > > > Any advice from the experiences of the people?
> > > >
> > >
> > > We have used the kvaser usb can II dongles for communicating with a
> > > vehicle CAN bus. The drivers worked well with linux kernel, but they
> did
> > > not run in hard realtime under Xenomai (and we did not try to make them
> > > work that way). Wrapping CAN access in an orocos component is
> easy..it's
> > > only the packing/unpacking of data into the CAN frame (and associated
> > > scaling/offset) that is cumbersome.
>
> [...]
> > >
> > This is quite a vast question. Many things can be taken into account to
> > choose this (price, environment robustness, type : dongle, card add-on
> like
> > PC104 or PCI express board for standard desktop, integrated motherboard
> > with CPU, ...). Are you just trying to add CAN on an existing board (in
> > this case you should provide details on this board) or would you like a
> > complete HW controller ?
> >
>
> Well, I know that is a vast question. I'm a bit fear about to use a USB
> device
> with Xenomai and RT. That was because I asked. But, if someone have used
> and
> works, perfect.
>
> About, the requirements, well as always, good, nice and cheaper !!!
>
Hum... well, this is not a requirement, this is a dream^^. But even in
keeping that, it doesn't express your need.
Let's be more concrete :
If you want something cheap (less than 100$ for complete kit) , this :
http://beagleboard.org/Products/BeagleBone%20Black
is able to send CAN messages and has an efficient CPU for doing plenty of
things (but it's not a working desktop PC, though it's arguable) but it's
will certainly not live long in an industrial application.
If you want something industrial, you'll maybe chose (amount so many
possibilities) a PC104 stack with a CPU + a CAN stack, that'll cost like
400$ + 200$
In ma case :
http://www.google.fr/url?sa=t&rct=j&q=&esrc=s&source=web&cd=1&ved=0CDUQF...
and
http://www.ixxat.fr/pc_i_04_104_fr.html
If you wants something that adapts on existing desktop PC, you probably
wants a dongle or a PCI card (something like that :
http://www.ixxat.fr/ipc-i-320-can-pci-interface_fr.html).
> It's just to build a system with two robotics hands controlled by one PC.
> As
> always
this is not evident by mail ^^
> , to create a system that some student could make her/his PhD./Master,
> make some publications and be happy!!!!
>
This is more like a need.
The last thing to precise is : do you already have any SW for interfacing
CAN that you want to reuse ?
Because some HW comes with distributed drivers and some doesn't. In your
case as you plan to use Xenomai, maybe the xenomai mailing list would be a
good place to ask for 1/ good hw that fits your needs, 2/ HW that is
interfaced correctly in xenomai
>
> If I'm not wrong, it's not a complete HW controller, but you can control
> the
> position, velocity and torque of the 16 motors. The hand is the Allegro
> hand.
>
> Hope have been clear,
>
> Regards,
>
> Leo
>
>
>
>
> --
> --
> Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
> Institut d'Organització i Control de Sistemes Industrials -IOC-
> Universitat Politècnica de Catalunya -UPC-
>
> Institute of Industrial and Control Engineering
> Technical University of Catalonia
> Avda. Diagonal 647, pl. 11
> 08028 BARCELONA (Spain)
>
> Tel. +34-934017163
> Fax. +34-934016605
>
Off topic: Can bus
A Dijous, 6 de juny de 2013, Willy Lambert va escriure:
> 2013/6/6 Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
>
> > A Dijous, 6 de juny de 2013, Willy Lambert va escriure:
> > > 2013/6/6 Sagar Behere <sagar [dot] behere [..] ...>
> > >
> > > >
> > > > On Jun 6, 2013 3:23 PM, "Leopold Palomo-Avellaneda" <
> > > > leopold [dot] palomo [..] ...> wrote:
> > > > >
> > > > > Hi,
> > > > >
> > > > > I would like to begin something that could be considered an
> > Off-topic,
> > > > but I
> > > > > would like to ask to the orocos community about a piece of hardware
> > that
> > > > we
> > > > > must buy.
> > > > >
> > > > > We will have two new devices (robotics hands) that are controlled
> > using
> > > > Can
> > > > > protocol. We would like to integrate it in orocos/ros, and my
> > question
> > is
> > > > > someone could recommend us which hardware would fit better with a
> > > > > Orocos/Xenomai environment:
> > > > >
> > > > > - usb can device
> > > > > - pci can card (peak, esd?)
> > > > >
> > > > > Any advice from the experiences of the people?
> > > > >
> > > >
> > > > We have used the kvaser usb can II dongles for communicating with a
> > > > vehicle CAN bus. The drivers worked well with linux kernel, but they
> > did
> > > > not run in hard realtime under Xenomai (and we did not try to make
them
> > > > work that way). Wrapping CAN access in an orocos component is
> > easy..it's
> > > > only the packing/unpacking of data into the CAN frame (and associated
> > > > scaling/offset) that is cumbersome.
> >
> > [...]
> > > >
> > > This is quite a vast question. Many things can be taken into account to
> > > choose this (price, environment robustness, type : dongle, card add-on
> > like
> > > PC104 or PCI express board for standard desktop, integrated motherboard
> > > with CPU, ...). Are you just trying to add CAN on an existing board (in
> > > this case you should provide details on this board) or would you like a
> > > complete HW controller ?
> > >
> >
> > Well, I know that is a vast question. I'm a bit fear about to use a USB
> > device
> > with Xenomai and RT. That was because I asked. But, if someone have used
> > and
> > works, perfect.
> >
> > About, the requirements, well as always, good, nice and cheaper !!!
> >
>
> Hum... well, this is not a requirement, this is a dream^^. But even in
> keeping that, it doesn't express your need.
it's a typical phrase that we have here translated to English. Obviously it's
a dream.
> Let's be more concrete :
>
> If you want something cheap (less than 100$ for complete kit) , this :
> http://beagleboard.org/Products/BeagleBone%20Black
> is able to send CAN messages and has an efficient CPU for doing plenty of
> things (but it's not a working desktop PC, though it's arguable) but it's
> will certainly not live long in an industrial application.
not needed but thanks for the link. I saw that some weeks ago and it seems a
good piece of hardware to play with.
> If you want something industrial, you'll maybe chose (amount so many
> possibilities) a PC104 stack with a CPU + a CAN stack, that'll cost like
> 400$ + 200$
> In ma case :
>
http://www.google.fr/url?sa=t&rct=j&q=&esrc=s&source=web&cd=1&ved=0CDUQF...
D506-4AEA-8CC3-F6E58E3CBC87.aspx&ei=jI6wUci3H4HDO-
zKgagC&usg=AFQjCNHRGVKTOvCmlIsdmJA1zl6uA7CMkg&sig2=6ZLILXhBu00dwFSOmWu6Xw&bvm=bv.47534661,d.ZWU
> and
> http://www.ixxat.fr/pc_i_04_104_fr.html
ok, interesting ...
>
> If you wants something that adapts on existing desktop PC, you probably
> wants a dongle or a PCI card (something like that :
> http://www.ixxat.fr/ipc-i-320-can-pci-interface_fr.html).
ok, it's more ore less what I wanted, I think ...
>
>
> > It's just to build a system with two robotics hands controlled by one PC.
> > As
> > always
>
>
> this is not evident by mail ^^
>
>
> > , to create a system that some student could make her/his PhD./Master,
> > make some publications and be happy!!!!
> >
>
> This is more like a need.
>
> The last thing to precise is : do you already have any SW for interfacing
> CAN that you want to reuse ?
no, we begin from scrach.
> Because some HW comes with distributed drivers and some doesn't. In your
> case as you plan to use Xenomai, maybe the xenomai mailing list would be a
> good place to ask for 1/ good hw that fits your needs, 2/ HW that is
> interfaced correctly in xenomai
Yes it's true, it's the second place to ask, but in general you see the same
people (more or less) in the lists ....
well, to me the question is if you need a realtime OS to use a can interface
to control positions and torques of a slow dynamic device. Or just an standard
linux kernel, or PREEMP_RT it's ok...
Regards,
and thanks for the info.
Off topic: Can bus
2013/6/6 Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
> A Dijous, 6 de juny de 2013, Willy Lambert va escriure:
> > 2013/6/6 Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
> >
> > > A Dijous, 6 de juny de 2013, Willy Lambert va escriure:
> > > > 2013/6/6 Sagar Behere <sagar [dot] behere [..] ...>
> > > >
> > > > >
> > > > > On Jun 6, 2013 3:23 PM, "Leopold Palomo-Avellaneda" <
> > > > > leopold [dot] palomo [..] ...> wrote:
> > > > > >
> > > > > > Hi,
> > > > > >
> > > > > > I would like to begin something that could be considered an
> > > Off-topic,
> > > > > but I
> > > > > > would like to ask to the orocos community about a piece of
> hardware
> > > that
> > > > > we
> > > > > > must buy.
> > > > > >
> > > > > > We will have two new devices (robotics hands) that are controlled
> > > using
> > > > > Can
> > > > > > protocol. We would like to integrate it in orocos/ros, and my
> > > question
> > > is
> > > > > > someone could recommend us which hardware would fit better with a
> > > > > > Orocos/Xenomai environment:
> > > > > >
> > > > > > - usb can device
> > > > > > - pci can card (peak, esd?)
> > > > > >
> > > > > > Any advice from the experiences of the people?
> > > > > >
> > > > >
> > > > > We have used the kvaser usb can II dongles for communicating with a
> > > > > vehicle CAN bus. The drivers worked well with linux kernel, but
> they
> > > did
> > > > > not run in hard realtime under Xenomai (and we did not try to make
> them
> > > > > work that way). Wrapping CAN access in an orocos component is
> > > easy..it's
> > > > > only the packing/unpacking of data into the CAN frame (and
> associated
> > > > > scaling/offset) that is cumbersome.
> > >
> > > [...]
> > > > >
> > > > This is quite a vast question. Many things can be taken into account
> to
> > > > choose this (price, environment robustness, type : dongle, card
> add-on
> > > like
> > > > PC104 or PCI express board for standard desktop, integrated
> motherboard
> > > > with CPU, ...). Are you just trying to add CAN on an existing board
> (in
> > > > this case you should provide details on this board) or would you
> like a
> > > > complete HW controller ?
> > > >
> > >
> > > Well, I know that is a vast question. I'm a bit fear about to use a USB
> > > device
> > > with Xenomai and RT. That was because I asked. But, if someone have
> used
> > > and
> > > works, perfect.
> > >
> > > About, the requirements, well as always, good, nice and cheaper !!!
> > >
> >
> > Hum... well, this is not a requirement, this is a dream^^. But even in
> > keeping that, it doesn't express your need.
>
> it's a typical phrase that we have here translated to English. Obviously
> it's
> a dream.
>
>
> > Let's be more concrete :
> >
> > If you want something cheap (less than 100$ for complete kit) , this :
> > http://beagleboard.org/Products/BeagleBone%20Black
> > is able to send CAN messages and has an efficient CPU for doing plenty of
> > things (but it's not a working desktop PC, though it's arguable) but it's
> > will certainly not live long in an industrial application.
>
> not needed but thanks for the link. I saw that some weeks ago and it seems
> a
> good piece of hardware to play with.
>
> > If you want something industrial, you'll maybe chose (amount so many
> > possibilities) a PC104 stack with a CPU + a CAN stack, that'll cost like
> > 400$ + 200$
> > In ma case :
> >
>
> http://www.google.fr/url?sa=t&rct=j&q=&esrc=s&source=web&cd=1&ved=0CDUQF...
> D506-4AEA-8CC3-F6E58E3CBC87.aspx&ei=jI6wUci3H4HDO-<http://www.google.fr/url?sa=t&rct=j&q=&esrc=s&source=web&cd=1&ved=0CDUQFjAA&url=http%3A%2F%2Fwww.advantech.com%2Fproducts%2FPCM-3362%2Fmod_2B69DA4C-%0AD506-4AEA-8CC3-F6E58E3CBC87.aspx&ei=jI6wUci3H4HDO->
>
> zKgagC&usg=AFQjCNHRGVKTOvCmlIsdmJA1zl6uA7CMkg&sig2=6ZLILXhBu00dwFSOmWu6Xw&bvm=bv.47534661,d.ZWU
> > and
> > http://www.ixxat.fr/pc_i_04_104_fr.html
>
> ok, interesting ...
>
> >
> > If you wants something that adapts on existing desktop PC, you probably
> > wants a dongle or a PCI card (something like that :
> > http://www.ixxat.fr/ipc-i-320-can-pci-interface_fr.html).
>
> ok, it's more ore less what I wanted, I think ...
>
> >
> >
> > > It's just to build a system with two robotics hands controlled by one
> PC.
> > > As
> > > always
> >
> >
> > this is not evident by mail ^^
> >
> >
> > > , to create a system that some student could make her/his PhD./Master,
> > > make some publications and be happy!!!!
> > >
> >
> > This is more like a need.
> >
> > The last thing to precise is : do you already have any SW for interfacing
> > CAN that you want to reuse ?
>
> no, we begin from scrach.
>
> > Because some HW comes with distributed drivers and some doesn't. In your
> > case as you plan to use Xenomai, maybe the xenomai mailing list would be
> a
> > good place to ask for 1/ good hw that fits your needs, 2/ HW that is
> > interfaced correctly in xenomai
>
> Yes it's true, it's the second place to ask, but in general you see the
> same
> people (more or less) in the lists ....
>
> well, to me the question is if you need a realtime OS to use a can
> interface
> to control positions and torques of a slow dynamic device. Or just an
> standard
> linux kernel, or PREEMP_RT it's ok...
>
My experience is that you don't need xenomai unless you want to do :
_ very high rates (I mean in the range of us)
_ critical safety that you have to prove (and even for that I'm not sure
xenomai is the right solution, but it is a solution)
In your case, I'm quite sure you can reach your needs with a PREEMPT_RT
(this is not my experience, but experiences I've read on this list some
times ago). Setting up and maintaining a xenomai application is some
overhead. Using PREEMP_RT is certainly less demanding on this point.
So to let students be aware of safety risks, and PREEMP_RT should be
enought (depending on your desktop hardware and time spent in kernel
configuration) for 1 to 10 ms loop duration.
>
> Regards,
>
> and thanks for the info.
>
> --
> --
> Leopold Palomo-Avellaneda <leopold [dot] palomo [..] ...>
> Institut d'Organització i Control de Sistemes Industrials -IOC-
> Universitat Politècnica de Catalunya -UPC-
>
> Institute of Industrial and Control Engineering
> Technical University of Catalonia
> Avda. Diagonal 647, pl. 11
> 08028 BARCELONA (Spain)
>
> Tel. +34-934017163
> Fax. +34-934016605
>