From 5b038d28629472894c07f4efc604c992c9d8264d Mon Sep 17 00:00:00 2001 From: patacongo Date: Thu, 22 Dec 2011 15:59:50 +0000 Subject: Add loopback support to STM32 CAN driver; Add apps/examples/can loopback test git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4213 42af7a65-404d-4744-a932-0658087f49c3 --- apps/examples/can/Makefile | 105 ++++++++++++++++++ apps/examples/can/can.h | 129 ++++++++++++++++++++++ apps/examples/can/can_main.c | 247 +++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 481 insertions(+) create mode 100644 apps/examples/can/Makefile create mode 100644 apps/examples/can/can.h create mode 100644 apps/examples/can/can_main.c (limited to 'apps/examples/can') diff --git a/apps/examples/can/Makefile b/apps/examples/can/Makefile new file mode 100644 index 000000000..c6dc5af84 --- /dev/null +++ b/apps/examples/can/Makefile @@ -0,0 +1,105 @@ +############################################################################ +# apps/examples/can/Makefile +# +# Copyright (C) 2011 Gregory Nutt. All rights reserved. +# Author: Gregory Nutt +# +# 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. +# +############################################################################ + +-include $(TOPDIR)/.config +-include $(TOPDIR)/Make.defs +include $(APPDIR)/Make.defs + +# NuttX NX Graphics Example. + +ASRCS = +CSRCS = can_main.c + +AOBJS = $(ASRCS:.S=$(OBJEXT)) +COBJS = $(CSRCS:.c=$(OBJEXT)) + +SRCS = $(ASRCS) $(CSRCS) +OBJS = $(AOBJS) $(COBJS) + +ifeq ($(WINTOOL),y) + BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}" +else + BIN = "$(APPDIR)/libapps$(LIBEXT)" +endif + +ROOTDEPPATH = --dep-path . + +# Touchscreen built-in application info + +APPNAME = can +PRIORITY = SCHED_PRIORITY_DEFAULT +STACKSIZE = 2048 + +# Common build + +VPATH = + +all: .built +.PHONY: context clean depend distclean + +$(AOBJS): %$(OBJEXT): %.S + $(call ASSEMBLE, $<, $@) + +$(COBJS): %$(OBJEXT): %.c + $(call COMPILE, $<, $@) + +.built: $(OBJS) + @( for obj in $(OBJS) ; do \ + $(call ARCHIVE, $(BIN), $${obj}); \ + done ; ) + @touch .built + +.context: +ifeq ($(CONFIG_NSH_BUILTIN_APPS),y) + $(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main) + @touch $@ +endif + +context: .context + +.depend: Makefile $(SRCS) + @$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep + @touch $@ + +depend: .depend + +clean: + @rm -f *.o *~ .*.swp .built + $(call CLEAN) + +distclean: clean + @rm -f Make.dep .depend + +-include Make.dep diff --git a/apps/examples/can/can.h b/apps/examples/can/can.h new file mode 100644 index 000000000..0b781c669 --- /dev/null +++ b/apps/examples/can/can.h @@ -0,0 +1,129 @@ +/**************************************************************************** + * examples/examples/can/can.h + * + * Copyright (C) 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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. + * + ****************************************************************************/ + +#ifndef __APPS_EXAMPLES_CAN_CAN_H +#define __APPS_EXAMPLES_CAN_CAN_H + +/**************************************************************************** + * Included Files + ****************************************************************************/ + +#include + +/**************************************************************************** + * Definitions + ****************************************************************************/ +/* Configuration ************************************************************/ +/* This test depends on these specific CAN configurations settings (your + * specific CAN settings might require additional settings). + * + * CONFIG_CAN - Enables CAN support. + * CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback + * mode for testing. The STM32 CAN driver does support loopback mode. + * + * Specific configuration options for this example include: + * + * CONFIG_NSH_BUILTIN_APPS - Build the CAN test as an NSH built-in function. + * Default: Built as a standalone problem + * CONFIG_CAN_LOOPBACK + * CONFIG_EXAMPLES_CAN_DEVPATH - The path to the CAN device. Default: /dev/can0 + * CONFIG_EXAMPLES_CAN_NMSGS - If CONFIG_NSH_BUILTIN_APPS + * is defined, then the number of loops is provided on the command line + * and this value is ignored. Otherwise, this number of CAN message is + * collected and the program terminates. Default: If built as an NSH + * built-in, the default is 32. Otherwise messages are sent and received + * indefinitely. + */ + +#ifndef CONFIG_CAN +# error "CAN device support is not enabled (CONFIG_CAN)" +#endif + +#ifndef CONFIG_CAN_LOOPBACK +# warning "CAN loopback is not enabled (CONFIG_CAN_LOOPBACK)" +#endif + +#ifndef CONFIG_EXAMPLES_CAN_DEVPATH +# define CONFIG_EXAMPLES_CAN_DEVPATH "/dev/can0" +#endif + +#if defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_EXAMPLES_CAN_NMSGS) +# define CONFIG_EXAMPLES_CAN_NMSGS 32 +#endif + +/* Debug ********************************************************************/ + +#ifdef CONFIG_CPP_HAVE_VARARGS +# ifdef CONFIG_DEBUG +# define message(...) lib_rawprintf(__VA_ARGS__) +# define msgflush() +# else +# define message(...) printf(__VA_ARGS__) +# define msgflush() fflush(stdout) +# endif +#else +# ifdef CONFIG_DEBUG +# define message lib_rawprintf +# define msgflush() +# else +# define message printf +# define msgflush() fflush(stdout) +# endif +#endif + +/**************************************************************************** + * Public Types + ****************************************************************************/ + +/**************************************************************************** + * Public Variables + ****************************************************************************/ + +/**************************************************************************** + * Public Function Prototypes + ****************************************************************************/ + +/**************************************************************************** + * Name: can_devinit() + * + * Description: + * Perform architecuture-specific initialization of the CAN hardware. This + * interface must be provided by all configurations using apps/examples/can + * + ****************************************************************************/ + +int can_devinit(void); + +#endif /* __APPS_EXAMPLES_CAN_CAN_H */ diff --git a/apps/examples/can/can_main.c b/apps/examples/can/can_main.c new file mode 100644 index 000000000..d63eca549 --- /dev/null +++ b/apps/examples/can/can_main.c @@ -0,0 +1,247 @@ +/**************************************************************************** + * examples/can/can_main.c + * + * Copyright (C) 2011 Gregory Nutt. All rights reserved. + * Author: Gregory Nutt + * + * 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 + +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#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; +} -- cgit v1.2.3