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301 lines
8.5 KiB
301 lines
8.5 KiB
/**************************************************************************** |
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* examples/can/can_main.c |
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* |
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* Copyright (C) 2011 Gregory Nutt. All rights reserved. |
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* Author: Gregory Nutt <gnutt@nuttx.org> |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name NuttX nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**************************************************************************** |
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* Included Files |
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****************************************************************************/ |
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#include <nuttx/config.h> |
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#include <sys/types.h> |
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#include <stdio.h> |
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#include <stdlib.h> |
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#include <unistd.h> |
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#include <string.h> |
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#include <fcntl.h> |
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#include <errno.h> |
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#include <debug.h> |
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#include <nuttx/can.h> |
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#include "can.h" |
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/**************************************************************************** |
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* Pre-processor Definitions |
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****************************************************************************/ |
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#if defined(CONFIG_EXAMPLES_CAN_READONLY) |
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# undef CONFIG_EXAMPLES_CAN_WRITEONLY |
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# undef CONFIG_EXAMPLES_CAN_READWRITE |
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# define CAN_OFLAGS O_RDONLY |
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#elif defined(CONFIG_EXAMPLES_CAN_WRITEONLY) |
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# undef CONFIG_EXAMPLES_CAN_READWRITE |
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# define CAN_OFLAGS O_WRONLY |
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#else |
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# undef CONFIG_EXAMPLES_CAN_READWRITE |
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# define CONFIG_EXAMPLES_CAN_READWRITE 1 |
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# define CAN_OFLAGS O_RDWR |
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#endif |
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#ifdef CONFIG_CAN_EXTID |
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# define MAX_ID (1 << 29) |
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#else |
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# define MAX_ID (1 << 11) |
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#endif |
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/**************************************************************************** |
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* Private Types |
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****************************************************************************/ |
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/**************************************************************************** |
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* Private Function Prototypes |
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****************************************************************************/ |
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/**************************************************************************** |
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* Private Data |
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****************************************************************************/ |
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/**************************************************************************** |
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* Public Data |
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****************************************************************************/ |
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/**************************************************************************** |
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* Private Functions |
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****************************************************************************/ |
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/**************************************************************************** |
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* Public Functions |
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****************************************************************************/ |
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/**************************************************************************** |
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* Name: can_main |
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****************************************************************************/ |
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int can_main(int argc, char *argv[]) |
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{ |
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#ifndef CONFIG_EXAMPLES_CAN_READONLY |
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struct can_msg_s txmsg; |
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#ifdef CONFIG_CAN_EXTID |
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uint32_t msgid; |
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#else |
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uint16_t msgid; |
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#endif |
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int msgdlc; |
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uint8_t msgdata; |
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#endif |
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#ifndef CONFIG_EXAMPLES_CAN_WRITEONLY |
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struct can_msg_s rxmsg; |
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#endif |
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size_t msgsize; |
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ssize_t nbytes; |
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#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_CAN_NMSGS) |
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long nmsgs; |
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#endif |
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int fd; |
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int errval = 0; |
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int ret; |
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int i; |
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/* If this example is configured as an NX add-on, then limit the number of |
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* samples that we collect before returning. Otherwise, we never return |
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*/ |
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#if defined(CONFIG_NSH_BUILTIN_APPS) |
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nmsgs = CONFIG_EXAMPLES_CAN_NMSGS; |
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if (argc > 1) |
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{ |
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nmsgs = strtol(argv[1], NULL, 10); |
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} |
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message("can_main: nmsgs: %d\n", nmsgs); |
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#elif defined(CONFIG_EXAMPLES_CAN_NMSGS) |
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message("can_main: nmsgs: %d\n", CONFIG_EXAMPLES_CAN_NMSGS); |
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#endif |
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/* Initialization of the CAN hardware is performed by logic external to |
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* this test. |
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*/ |
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message("can_main: Initializing external CAN device\n"); |
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ret = can_devinit(); |
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if (ret != OK) |
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{ |
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message("can_main: can_devinit failed: %d\n", ret); |
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errval = 1; |
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goto errout; |
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} |
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/* Open the CAN device for reading */ |
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message("can_main: Hardware initialized. Opening the CAN device\n"); |
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fd = open(CONFIG_EXAMPLES_CAN_DEVPATH, CAN_OFLAGS); |
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if (fd < 0) |
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{ |
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message("can_main: open %s failed: %d\n", |
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CONFIG_EXAMPLES_CAN_DEVPATH, errno); |
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errval = 2; |
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goto errout_with_dev; |
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} |
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/* Now loop the appropriate number of times, performing one loopback test |
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* on each pass. |
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*/ |
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#ifndef CONFIG_EXAMPLES_CAN_READONLY |
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msgdlc = 1; |
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msgid = 1; |
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msgdata = 0; |
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#endif |
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#if defined(CONFIG_NSH_BUILTIN_APPS) |
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for (; nmsgs > 0; nmsgs--) |
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#elif defined(CONFIG_EXAMPLES_CAN_NMSGS) |
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for (nmsgs = 0; nmsgs < CONFIG_EXAMPLES_CAN_NMSGS; nmsgs++) |
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#else |
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for (;;) |
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#endif |
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{ |
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/* Flush any output before the loop entered or from the previous pass |
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* through the loop. |
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*/ |
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msgflush(); |
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/* Construct the next TX message */ |
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#ifndef CONFIG_EXAMPLES_CAN_READONLY |
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txmsg.cm_hdr.ch_id = msgid; |
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txmsg.cm_hdr.ch_rtr = false; |
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txmsg.cm_hdr.ch_dlc = msgdlc; |
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#ifdef CONFIG_CAN_EXTID |
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txmsg.cm_hdr.ch_extid = true; |
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#endif |
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for (i = 0; i < msgdlc; i++) |
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{ |
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txmsg.cm_data[i] = msgdata + i; |
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} |
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/* Send the TX message */ |
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msgsize = CAN_MSGLEN(msgdlc); |
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nbytes = write(fd, &txmsg, msgsize); |
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if (nbytes != msgsize) |
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{ |
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message("ERROR: write(%d) returned %d\n", msgsize, nbytes); |
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errval = 3; |
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goto errout_with_dev; |
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} |
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#endif |
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#ifdef CONFIG_EXAMPLES_CAN_WRITEONLY |
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message(" ID: %4d DLC: %d\n", msgid, msgdlc); |
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#endif |
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/* Read the RX message */ |
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#ifndef CONFIG_EXAMPLES_CAN_WRITEONLY |
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msgsize = sizeof(struct can_msg_s); |
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nbytes = read(fd, &rxmsg, msgsize); |
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if (nbytes < CAN_MSGLEN(0) || nbytes > msgsize) |
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{ |
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message("ERROR: read(%d) returned %d\n", msgsize, nbytes); |
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errval = 4; |
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goto errout_with_dev; |
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} |
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#endif |
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#ifndef CONFIG_EXAMPLES_CAN_READONLY |
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message(" ID: %4d DLC: %d\n", rxmsg.cm_hdr.id, rxmsg.cm_hdr.dlc); |
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#endif |
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/* Verify that the received messages are the same */ |
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#ifdef CONFIG_EXAMPLES_CAN_READWRITE |
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if (memcmp(&txmsg.cm_hdr, &rxmsg.cm_hdr, sizeof(struct can_hdr_s)) != 0) |
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{ |
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message("ERROR: Sent header does not match received header:\n"); |
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lib_dumpbuffer("Sent header", (FAR const uint8_t*)&txmsg.cm_hdr, |
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sizeof(struct can_hdr_s)); |
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lib_dumpbuffer("Received header", (FAR const uint8_t*)&rxmsg.cm_hdr, |
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sizeof(struct can_hdr_s)); |
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errval = 4; |
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goto errout_with_dev; |
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} |
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if (memcmp(txmsg.cm_data, rxmsg.cm_data, msgdlc) != 0) |
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{ |
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message("ERROR: Data does not match. DLC=%d\n", msgdlc); |
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for (i = 0; i < msgdlc; i++) |
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{ |
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message(" %d: TX %02x RX %02x\n", i, txmsg.cm_data[i], rxmsg.cm_data[i]); |
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errval = 5; |
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goto errout_with_dev; |
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} |
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} |
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/* Report success */ |
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message(" ID: %4d DLC: %d -- OK\n", msgid, msgdlc); |
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#endif |
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/* Set up for the next pass */ |
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#ifndef CONFIG_EXAMPLES_CAN_READONLY |
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msgdata += msgdlc; |
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if (++msgid >= MAX_ID) |
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{ |
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msgid = 1; |
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} |
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if (++msgdlc > CAN_MAXDATALEN) |
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{ |
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msgdlc = 1; |
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} |
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#endif |
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} |
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errout_with_dev: |
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close(fd); |
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errout: |
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message("Terminating!\n"); |
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msgflush(); |
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return errval; |
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}
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