1 files changed, 247 insertions, 0 deletions
diff --git a/apps/examples/can/can_main.c b/apps/examples/can/can_main.c
new file mode 100644
index 000000000..d63eca549
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+++ b/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
+ ****************************************************************************/
+
+#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[])
+{
+  struct can_msg_s txmsg;
+  struct can_msg_s rxmsg;
+  size_t msgsize;
+  ssize_t nbytes;
+  uint8_t msgdata;
+#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_CAN_NMSGS)
+  long nmsgs;
+#endif
+  int msgdlc;
+  int msgid;
+  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, O_RDWR);
+  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.
+   */
+
+  msgdlc  = 1;
+  msgid   = 1;
+  msgdata = 0;
+
+#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 */
+
+    txmsg.cm_hdr = CAN_HDR(msgid, 0, msgdlc);
+    for (i = 0; i < msgdlc; i++)
+      {
+        txmsg.cm_data[i] = msgdata + i;
+      }
+
+    /* Send the TX message */
+
+    msgsize = CAN_MSGLEN(txmsg.cm_hdr);
+    nbytes = write(fd, &txmsg, msgsize);
+    if (nbytes != msgsize)
+      {
+        message("ERROR: write(%d) returned %d\n", msgsize, nbytes);
+        errval = 3;
+        goto errout_with_dev;
+      }
+
+    /* Read the RX message */
+
+    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;
+      }
+
+    /* Verify that the received messages are the same */
+
+    if (txmsg.cm_hdr != rxmsg.cm_hdr)
+      {
+        message("ERROR: Sent header %04x; received header %04x\n", txmsg.cm_hdr, rxmsg.cm_hdr);
+        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", txmsg.cm_data[i], rxmsg.cm_data[i]);
+            errval = 5;
+            goto errout_with_dev;
+          }
+      }
+
+    /* Set up for the next pass */
+
+    msgdata += msgdlc;
+ 
+    if (++msgid >= 2048)
+      {
+        msgid = 1;
+      }
+
+    if (++msgdlc > CAN_MAXDATALEN)
+      {
+        msgdlc = 1;
+      }
+  }
+
+errout_with_dev:
+  close(fd);
+
+errout:
+  message("Terminating!\n");
+  msgflush();
+  return errval;
+}