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

ChangeLog.txt

@@ -148,3 +148,5 @@
 	  driver.
 	* apps/examples/pwm:  Add an NSH PWM command to drive and test a PWM
 	  driver.
+	* apps/examples/can:  Add an NSH CAN command to drive and test a CAN
+	  driver in loopback mode.

examples/Makefile

@@ -42,25 +42,28 @@ SUBDIRS = adc buttons dhcpd ftpc hello helloxx hidkbd igmp lcdrw mm mount \
 	nxtext ostest pashello pipe poll pwm rgmp romfs sendmail serloop \
 	thttpd tiff touchscreen udp uip usbserial usbstorage usbterm wget wlan
 
-# Sub-directories that might need context setup
+# Sub-directories that might need context setup.  Directories may need
+# context setup for a variety of reasons, but the most common is because
+# the example may be built as an NSH built-in function.
+#
+# Directories that may be built as NSH built-in functions may have their
+# own configuration setting (like CONFIG_EXAMPLES_HELLOXX_BUILTIN), but
+# many only depend on the generic CONFIG_NSH_BUILTIN_APPS setting.  And
+# there a few which an ONLY be built as NSH built-in applications; these
+# are included in the list unconditionally.
 
 CNTXTDIRS = pwm
 
 ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CNTXTDIRS +=  adc
-endif
-ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CNTXTDIRS +=  dhcpd
+CNTXTDIRS +=  adc can dhcpd nettest
 endif
+
 ifeq ($(CONFIG_EXAMPLES_HELLOXX_BUILTIN),y)
 CNTXTDIRS +=  helloxx
 endif
 ifeq ($(CONFIG_EXAMPLES_LCDRW_BUILTIN),y)
 CNTXTDIRS +=  lcdrw
 endif
-ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
-CNTXTDIRS +=  nettest
-endif
 ifeq ($(CONFIG_EXAMPLES_NX_BUILTIN),y)
 CNTXTDIRS +=  nx
 endif

examples/README.txt

@@ -76,6 +76,34 @@ examples/buttons
   user-space program.  As a result, this example cannot be used if a
   NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
 
+examples/can
+^^^^^^^^^^^^
+
+  If the CAN device is configured in loopback mode, then this example can
+  be used to test the CAN device in loop back mode.  It simple sinces a
+  sequence of CAN messages and verifies that those messages are returned
+  exactly as sent.
+
+  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.
+
 examples/dhcpd
 ^^^^^^^^^^^^^^
 

examples/can/Makefile

@@ -0,0 +1,105 @@
+############################################################################
+# apps/examples/can/Makefile
+#
+#   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+#   Author: Gregory Nutt <gnutt@nuttx.org>
+#
+# 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

examples/can/can.h

@@ -0,0 +1,129 @@
+/****************************************************************************
+ * examples/examples/can/can.h
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * 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 <nuttx/config.h>
+
+/****************************************************************************
+ * 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 */

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 <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;
+}