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author | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
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committer | px4dev <px4@purgatory.org> | 2012-08-04 15:12:36 -0700 |
commit | 8a365179eafdf3aea98e60ab9f5882b200d4c759 (patch) | |
tree | 4f38d6d4cd80bd0b6e22e2bb534c3f117ce44e56 /apps/examples/can/can_main.c | |
download | px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.gz px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.tar.bz2 px4-firmware-8a365179eafdf3aea98e60ab9f5882b200d4c759.zip |
Fresh import of the PX4 firmware sources.
Diffstat (limited to 'apps/examples/can/can_main.c')
-rw-r--r-- | apps/examples/can/can_main.c | 309 |
1 files changed, 309 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..0ea729e5e --- /dev/null +++ b/apps/examples/can/can_main.c @@ -0,0 +1,309 @@ +/**************************************************************************** + * 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; +} |