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px4-firmware/apps/examples/can/can_main.c

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