ardupilot/libraries/AP_CANManager/AP_CANTester.h

115 lines
3.4 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include "AP_CANDriver.h"
#include <AP_HAL/Semaphores.h>
#include <AP_UAVCAN/AP_UAVCAN.h>
#ifndef HAL_ENABLE_CANTESTER
#define HAL_ENABLE_CANTESTER 0
#endif
#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_CANMANAGER_ENABLED && HAL_ENABLE_CANTESTER
class CANTester : public AP_CANDriver
{
public:
CANTester()
{
// update protected var for parameter interface
AP_Param::setup_object_defaults(this, var_info);
}
static const struct AP_Param::GroupInfo var_info[];
/* Do not allow copies */
CANTester(const CANTester &other) = delete;
CANTester &operator=(const CANTester&) = delete;
void init(uint8_t driver_index, bool enable_filters) override;
bool add_interface(AP_HAL::CANIface* can_iface) override;
bool run_kdecan_enumeration(bool start_stop);
static CANTester *get_cantester(uint8_t driver_index);
private:
enum {
TEST_NONE,
TEST_LOOPBACK,
TEST_BUSOFF_RECOVERY,
TEST_UAVCAN_DNA,
TEST_TOSHIBA_CAN,
TEST_KDE_CAN,
TEST_UAVCAN_ESC,
TEST_UAVCAN_FD_ESC,
TEST_END,
};
struct loopback_stats_s {
uint32_t num_tx;
uint32_t failed_tx;
uint32_t num_rx;
uint32_t num_flushed_rx;
uint32_t bad_rx_data;
uint32_t bad_rx_seq;
uint16_t tx_seq;
uint16_t next_valid_seq;
} _loopback_stats[HAL_NUM_CAN_IFACES];
void main_thread();
bool test_loopback(uint32_t loop_rate);
void create_loopback_frame(loopback_stats_s &stats, AP_HAL::CANFrame& frame);
void check_loopback_frame(loopback_stats_s &stats, AP_HAL::CANFrame& frame);
bool test_busoff_recovery();
bool test_uavcan_dna();
bool test_toshiba_can();
bool send_toshiba_can_reply(uint32_t cmd);
bool test_kdecan();
bool test_uavcan_esc(bool enable_canfd);
// write frame on CAN bus, returns true on success
bool write_frame(uint8_t iface, AP_HAL::CANFrame &out_frame, uint64_t timeout);
// read frame on CAN bus, returns true on success
bool read_frame(uint8_t iface, AP_HAL::CANFrame &recv_frame, uint64_t timeout, AP_HAL::CANIface::CanIOFlags &flags);
void reset_frame(AP_HAL::CANFrame& frame);
bool _initialized;
uint8_t _driver_index;
AP_HAL::CANIface* _can_ifaces[HAL_NUM_CAN_IFACES];
// Classes required for UAVCAN Test
class RaiiSynchronizer {};
uavcan::PoolAllocator<UAVCAN_NODE_POOL_SIZE, UAVCAN_NODE_POOL_BLOCK_SIZE, CANTester::RaiiSynchronizer> _node_allocator;
HAL_EventHandle _event_handle;
AP_Int8 _test_driver_index;
AP_Int8 _test_port;
AP_Int32 _test_id;
AP_Int32 _loop_rate;
uint8_t _num_ifaces;
bool _kdecan_enumeration;
};
#endif //#if HAL_MAX_CAN_PROTOCOL_DRIVERS > 1 && !HAL_MINIMIZE_FEATURES && HAL_MAX_CAN_PROTOCOL_DRIVERS