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can: add support for FD frames if FD mode is configured

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This enhances can example application with the possibility to send
CAN FD frames if FD mode is configured. Both EDL and BRS flags are
now correctly set with the latter one configurable with application's
arguments. Also data bytes are now correctly switched to DLC.

Signed-off-by: Michal Lenc <michallenc@seznam.cz>
This commit is contained in:
Michal Lenc 2024-08-29 11:03:28 +02:00 committed by Xiang Xiao
parent 93348ca1ca
commit 75d5f63f14
1 changed files with 40 additions and 15 deletions
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55
examples/can/can_main.c
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@ -69,8 +69,12 @@
#endif
#ifdef CONFIG_EXAMPLES_CAN_WRITE
# ifdef CONFIG_CAN_EXTID
# if defined(CONFIG_CAN_EXTID) && defined(CONFIG_CAN_FD)
# define OPT_STR ":n:a:b:ehs"
# elif defined(CONFIG_CAN_EXTID)
# define OPT_STR ":n:a:b:hs"
# elif defined(CONFIG_CAN_FD)
# define OPT_STR ":n:a:b:eh"
# else
# define OPT_STR ":n:a:b:h"
# endif
@ -105,6 +109,9 @@ static void show_usage(FAR const char *progname)
#ifdef CONFIG_EXAMPLES_CAN_WRITE
#ifdef CONFIG_CAN_EXTID
" [-s]"
#endif
#ifdef CONFIG_CAN_FD
" [-e]"
#endif
" [-a <min-id>] [b <max-id>]"
#endif
@ -118,6 +125,10 @@ static void show_usage(FAR const char *progname)
#ifdef CONFIG_EXAMPLES_CAN_WRITE
#ifdef CONFIG_CAN_EXTID
fprintf(stderr, "-s: Use standard IDs. Default: Extended ID\n");
#endif
#ifdef CONFIG_CAN_FD
fprintf(stderr, "-e: Use extended data length without bit rate switch. "
"Default: bit rate switch enabled\n");
#endif
fprintf(stderr, "-a <min-id>: The start message id. Default 1\n");
fprintf(stderr, "-b <max-id>: The start message id. Default %d\n",
@ -139,6 +150,7 @@ int main(int argc, FAR char *argv[])
struct canioc_bittiming_s bt;
#ifdef CONFIG_EXAMPLES_CAN_WRITE
int msgdlc;
struct can_msg_s txmsg =
{
0
@ -149,12 +161,15 @@ int main(int argc, FAR char *argv[])
uint32_t msgid;
#else
uint16_t msgid;
#endif
#ifdef CONFIG_CAN_FD
bool brs = true;
#endif
long minid = 1;
long maxid = MAX_ID;
uint8_t msgdata;
#endif
int msgdlc;
int msgbytes;
int i;
#ifdef CONFIG_EXAMPLES_CAN_READ
@ -188,7 +203,11 @@ int main(int argc, FAR char *argv[])
extended = false;
break;
#endif
#ifdef CONFIG_CAN_FD
case 'e':
brs = false;
break;
#endif
case 'a':
minid = strtol(optarg, NULL, 10);
if (minid < 1 || minid > maxid)
@ -307,9 +326,9 @@ int main(int argc, FAR char *argv[])
*/
#ifdef CONFIG_EXAMPLES_CAN_WRITE
msgdlc = 1;
msgid = minid;
msgdata = 0;
msgbytes = 1;
msgid = minid;
msgdata = 0;
#endif
for (msgno = 0; !nmsgs || msgno < nmsgs; msgno++)
@ -324,6 +343,7 @@ int main(int argc, FAR char *argv[])
/* Construct the next TX message */
msgdlc = can_bytes2dlc(msgbytes);
txmsg.cm_hdr.ch_id = msgid;
txmsg.cm_hdr.ch_rtr = false;
txmsg.cm_hdr.ch_dlc = msgdlc;
@ -332,17 +352,22 @@ int main(int argc, FAR char *argv[])
#endif
#ifdef CONFIG_CAN_EXTID
txmsg.cm_hdr.ch_extid = extended;
#endif
#ifdef CONFIG_CAN_FD
txmsg.cm_hdr.ch_edl = true;
txmsg.cm_hdr.ch_brs = brs;
txmsg.cm_hdr.ch_esi = false;
#endif
txmsg.cm_hdr.ch_unused = 0;
for (i = 0; i < msgdlc; i++)
for (i = 0; i < msgbytes; i++)
{
txmsg.cm_data[i] = msgdata + i;
}
/* Send the TX message */
msgsize = CAN_MSGLEN(msgdlc);
msgsize = CAN_MSGLEN(can_dlc2bytes(msgdlc));
nbytes = write(fd, &txmsg, msgsize);
if (nbytes != msgsize)
{
@ -372,7 +397,7 @@ int main(int argc, FAR char *argv[])
printf(" ID: %4" PRI_CAN_ID " DLC: %u\n",
rxmsg.cm_hdr.ch_id, rxmsg.cm_hdr.ch_dlc);
msgdlc = rxmsg.cm_hdr.ch_dlc;
msgbytes = can_dlc2bytes(rxmsg.cm_hdr.ch_dlc);
#ifdef CONFIG_CAN_ERRORS
/* Check for error reports */
@ -448,10 +473,10 @@ int main(int argc, FAR char *argv[])
goto errout_with_dev;
}
if (memcmp(txmsg.cm_data, rxmsg.cm_data, msgdlc) != 0)
if (memcmp(txmsg.cm_data, rxmsg.cm_data, msgbytes) != 0)
{
printf("ERROR: Data does not match. DLC=%d\n", msgdlc);
for (i = 0; i < msgdlc; i++)
for (i = 0; i < msgbytes; i++)
{
printf(" %d: TX 0x%02x RX 0x%02x\n",
i, txmsg.cm_data[i], rxmsg.cm_data[i]);
@ -469,7 +494,7 @@ int main(int argc, FAR char *argv[])
/* Print the data received */
printf("Data received:\n");
for (i = 0; i < msgdlc; i++)
for (i = 0; i < msgbytes; i++)
{
printf(" %d: 0x%02x\n", i, rxmsg.cm_data[i]);
}
@ -481,16 +506,16 @@ int main(int argc, FAR char *argv[])
/* Set up for the next pass */
msgdata += msgdlc;
msgdata += msgbytes;
if (++msgid > maxid)
{
msgid = minid;
}
if (++msgdlc > CAN_MAXDATALEN)
if (++msgbytes > CAN_MAXDATALEN)
{
msgdlc = 1;
msgbytes = 1;
}
#endif
}