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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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