mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-07 17:28:58 +08:00
Add loopback support to STM32 CAN driver; Add apps/examples/can loopback test
git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4213 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
patacongo
@@ -0,0 +1,105 @@
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############################################################################
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# apps/examples/can/Makefile
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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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-include $(TOPDIR)/.config
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-include $(TOPDIR)/Make.defs
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include $(APPDIR)/Make.defs
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# NuttX NX Graphics Example.
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ASRCS =
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CSRCS = can_main.c
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AOBJS = $(ASRCS:.S=$(OBJEXT))
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COBJS = $(CSRCS:.c=$(OBJEXT))
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SRCS = $(ASRCS) $(CSRCS)
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OBJS = $(AOBJS) $(COBJS)
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ifeq ($(WINTOOL),y)
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BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
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else
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BIN = "$(APPDIR)/libapps$(LIBEXT)"
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endif
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ROOTDEPPATH = --dep-path .
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# Touchscreen built-in application info
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APPNAME = can
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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# Common build
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VPATH =
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all: .built
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.PHONY: context clean depend distclean
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$(AOBJS): %$(OBJEXT): %.S
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$(call ASSEMBLE, $<, $@)
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$(COBJS): %$(OBJEXT): %.c
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$(call COMPILE, $<, $@)
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.built: $(OBJS)
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@( for obj in $(OBJS) ; do \
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$(call ARCHIVE, $(BIN), $${obj}); \
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done ; )
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@touch .built
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.context:
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ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
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$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
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@touch $@
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endif
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context: .context
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.depend: Makefile $(SRCS)
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@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
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@touch $@
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depend: .depend
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clean:
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@rm -f *.o *~ .*.swp .built
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$(call CLEAN)
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distclean: clean
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@rm -f Make.dep .depend
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-include Make.dep
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@@ -0,0 +1,129 @@
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/****************************************************************************
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* examples/examples/can/can.h
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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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#ifndef __APPS_EXAMPLES_CAN_CAN_H
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#define __APPS_EXAMPLES_CAN_CAN_H
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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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/****************************************************************************
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* Definitions
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****************************************************************************/
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/* Configuration ************************************************************/
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/* This test depends on these specific CAN configurations settings (your
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* specific CAN settings might require additional settings).
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*
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* CONFIG_CAN - Enables CAN support.
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* CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
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* mode for testing. The STM32 CAN driver does support loopback mode.
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*
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* Specific configuration options for this example include:
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*
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* CONFIG_NSH_BUILTIN_APPS - Build the CAN test as an NSH built-in function.
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* Default: Built as a standalone problem
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* CONFIG_CAN_LOOPBACK
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* CONFIG_EXAMPLES_CAN_DEVPATH - The path to the CAN device. Default: /dev/can0
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* CONFIG_EXAMPLES_CAN_NMSGS - If CONFIG_NSH_BUILTIN_APPS
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* is defined, then the number of loops is provided on the command line
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* and this value is ignored. Otherwise, this number of CAN message is
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* collected and the program terminates. Default: If built as an NSH
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* built-in, the default is 32. Otherwise messages are sent and received
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* indefinitely.
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*/
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#ifndef CONFIG_CAN
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# error "CAN device support is not enabled (CONFIG_CAN)"
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#endif
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#ifndef CONFIG_CAN_LOOPBACK
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# warning "CAN loopback is not enabled (CONFIG_CAN_LOOPBACK)"
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#endif
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#ifndef CONFIG_EXAMPLES_CAN_DEVPATH
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# define CONFIG_EXAMPLES_CAN_DEVPATH "/dev/can0"
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#endif
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#if defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_EXAMPLES_CAN_NMSGS)
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# define CONFIG_EXAMPLES_CAN_NMSGS 32
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#endif
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/* Debug ********************************************************************/
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#ifdef CONFIG_CPP_HAVE_VARARGS
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# ifdef CONFIG_DEBUG
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# define message(...) lib_rawprintf(__VA_ARGS__)
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# define msgflush()
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# else
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# define message(...) printf(__VA_ARGS__)
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# define msgflush() fflush(stdout)
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# endif
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#else
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# ifdef CONFIG_DEBUG
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# define message lib_rawprintf
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# define msgflush()
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# else
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# define message printf
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# define msgflush() fflush(stdout)
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# endif
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#endif
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/****************************************************************************
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* Public Variables
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****************************************************************************/
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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/****************************************************************************
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* Name: can_devinit()
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*
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* Description:
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* Perform architecuture-specific initialization of the CAN hardware. This
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* interface must be provided by all configurations using apps/examples/can
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*
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****************************************************************************/
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int can_devinit(void);
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#endif /* __APPS_EXAMPLES_CAN_CAN_H */
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@@ -0,0 +1,247 @@
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/****************************************************************************
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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 <spudmonkey@racsa.co.cr>
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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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#ifdef CONFIG_NSH_BUILTIN_APPS
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# define MAIN_NAME can_main
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# define MAIN_STRING "can_main: "
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#else
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# define MAIN_NAME user_start
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# define MAIN_STRING "user_start: "
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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: user_start/can_main
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****************************************************************************/
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int MAIN_NAME(int argc, char *argv[])
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{
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struct can_msg_s txmsg;
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struct can_msg_s rxmsg;
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size_t msgsize;
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ssize_t nbytes;
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uint8_t msgdata;
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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 msgdlc;
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int msgid;
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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(MAIN_STRING "nmsgs: %d\n", nmsgs);
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#elif defined(CONFIG_EXAMPLES_CAN_NMSGS)
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message(MAIN_STRING "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(MAIN_STRING "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(MAIN_STRING "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(MAIN_STRING "Hardware initialized. Opening the CAN device\n");
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fd = open(CONFIG_EXAMPLES_CAN_DEVPATH, O_RDWR);
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if (fd < 0)
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{
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message(MAIN_STRING "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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msgdlc = 1;
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msgid = 1;
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msgdata = 0;
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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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txmsg.cm_hdr = CAN_HDR(msgid, 0, msgdlc);
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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(txmsg.cm_hdr);
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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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/* Read the RX message */
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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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/* Verify that the received messages are the same */
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if (txmsg.cm_hdr != rxmsg.cm_hdr)
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{
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message("ERROR: Sent header %04x; received header %04x\n", txmsg.cm_hdr, rxmsg.cm_hdr);
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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", 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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/* Set up for the next pass */
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msgdata += msgdlc;
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if (++msgid >= 2048)
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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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}
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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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