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Extend examples/can so that it can be used in other contexts

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git-svn-id: svn://svn.code.sf.net/p/nuttx/code/trunk@4489 42af7a65-404d-4744-a932-0658087f49c3
This commit is contained in:
patacongo 2012-03-14 01:19:27 +00:00
parent 6b6b12b09a
commit 29e228f370
4 changed files with 56 additions and 5 deletions
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4
ChangeLog.txt
View File

@ -204,3 +204,7 @@
allows NSH to be used on boards that have USB but no serial connectors.
6.17 2012-xx-xx Gregory Nutt <gnutt@nuttx.org>
* apps/examples/can: Add conditional compilation so that the test can be
configured to only send messages or to only receive messages. This will
let the test work in other modes than simple loopback testing.

7
examples/README.txt
View File

@ -110,6 +110,13 @@ examples/can
built-in, the default is 32. Otherwise messages are sent and received
indefinitely.
The default behavior assumes loopback mode. Messages are sent, then read
and verified. The behavior can be altered for other kinds of testing where
the test only sends or received (but does not verify) can messages.
CONFIG_EXAMPLES_CAN_READONLY - Only receive messages
CONFIG_EXAMPLES_CAN_WRITEONLY - Only send messages
examples/cdcacm
^^^^^^^^^^^^^^^

2
examples/can/can.h
View File

@ -65,6 +65,8 @@
* collected and the program terminates. Default: If built as an NSH
* built-in, the default is 32. Otherwise messages are sent and received
* indefinitely.
* CONFIG_EXAMPLES_CAN_READONLY - Only receive messages
* CONFIG_EXAMPLES_CAN_WRITEONLY - Only send messages
*/
#ifndef CONFIG_CAN

48
examples/can/can_main.c
View File

@ -57,6 +57,19 @@
* 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
@ -101,20 +114,27 @@
int MAIN_NAME(int argc, char *argv[])
{
#ifndef CONFIG_EXAMPLES_CAN_READONLY
struct can_msg_s txmsg;
struct can_msg_s rxmsg;
size_t msgsize;
ssize_t nbytes;
#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 msgdlc;
int fd;
int errval = 0;
int ret;
@ -151,7 +171,7 @@ int MAIN_NAME(int argc, char *argv[])
/* Open the CAN device for reading */
message(MAIN_STRING "Hardware initialized. Opening the CAN device\n");
fd = open(CONFIG_EXAMPLES_CAN_DEVPATH, O_RDWR);
fd = open(CONFIG_EXAMPLES_CAN_DEVPATH, CAN_OFLAGS);
if (fd < 0)
{
message(MAIN_STRING "open %s failed: %d\n",
@ -164,9 +184,11 @@ int MAIN_NAME(int argc, char *argv[])
* 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--)
@ -184,6 +206,7 @@ int MAIN_NAME(int argc, char *argv[])
/* 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;
@ -207,8 +230,14 @@ int MAIN_NAME(int argc, char *argv[])
goto errout_with_dev;
}
#ifndef CONFIG_EXAMPLES_CAN_READWRITE
message(" ID: %4d DLC: %d\n", msgid, msgdlc);
#endif
#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)
@ -218,8 +247,14 @@ int MAIN_NAME(int argc, char *argv[])
goto errout_with_dev;
}
#ifndef CONFIG_EXAMPLES_CAN_READWRITE
message(" ID: %4d DLC: %d\n", rxmsg.cm_hdr.id, rxmsg.cm_hdr.dlc);
#endif
#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");
@ -245,9 +280,11 @@ int MAIN_NAME(int argc, char *argv[])
/* 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)
@ -259,6 +296,7 @@ int MAIN_NAME(int argc, char *argv[])
{
msgdlc = 1;
}
#endif
}
errout_with_dev: