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Merged in paulpatience/nuttx-apps/can (pull request #21)

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examples/can: Add missing configuration options
This commit is contained in:
Gregory Nutt 2015-11-10 16:29:44 -06:00
commit a0dc67095f
3 changed files with 158 additions and 103 deletions
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33
examples/can/Kconfig
View File

@ -6,18 +6,47 @@
config EXAMPLES_CAN config EXAMPLES_CAN
bool "CAN example" bool "CAN example"
default n default n
depends on CAN && LIB_BOARDCTL depends on CAN && BOARDCTL_CANINIT
select BOARDCTL_CANINIT
---help--- ---help---
Enable the CAN example Enable the CAN example
if EXAMPLES_CAN if EXAMPLES_CAN
config EXAMPLES_CAN_DEVPATH
string "Device Path"
default "/dev/can0"
---help---
The device path
config EXAMPLES_CAN_NMSGS config EXAMPLES_CAN_NMSGS
int "Number of Messages" int "Number of Messages"
default 32 default 32
depends on NSH_BUILTIN_APPS
---help--- ---help---
The number of CAN messages to send before returning The number of CAN messages to send before returning
choice
prompt "Read-only, write-only or read-write"
default EXAMPLES_CAN_READWRITE
---help---
Choose to only read, only write, or read and write CAN messages
config EXAMPLES_CAN_READ
bool "Read-only"
---help---
Only read CAN messages
config EXAMPLES_CAN_WRITE
bool "Write-only"
---help---
Only write CAN messages
config EXAMPLES_CAN_READWRITE
bool "Read-write"
---help---
Read and write CAN messages
endchoice
endif endif

17
examples/can/can.h
View File

@ -65,26 +65,15 @@
* collected and the program terminates. Default: If built as an NSH * collected and the program terminates. Default: If built as an NSH
* built-in, the default is 32. Otherwise messages are sent and received * built-in, the default is 32. Otherwise messages are sent and received
* indefinitely. * indefinitely.
* CONFIG_EXAMPLES_CAN_READONLY - Only receive messages * CONFIG_EXAMPLES_CAN_READ - Only receive messages
* CONFIG_EXAMPLES_CAN_WRITEONLY - Only send messages * CONFIG_EXAMPLES_CAN_WRITE - Only send messages
* CONFIG_EXAMPLES_CAN_READWRITE - Receive and send messages
*/ */
#ifndef CONFIG_CAN #ifndef CONFIG_CAN
# error "CAN device support is not enabled (CONFIG_CAN)" # error "CAN device support is not enabled (CONFIG_CAN)"
#endif #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
/**************************************************************************** /****************************************************************************
* Public Types * Public Types
****************************************************************************/ ****************************************************************************/

211
examples/can/can_main.c
View File

@ -59,30 +59,44 @@
* Pre-processor Definitions * Pre-processor Definitions
****************************************************************************/ ****************************************************************************/
#if defined(CONFIG_EXAMPLES_CAN_READONLY) #if defined(CONFIG_EXAMPLES_CAN_READ)
# undef CONFIG_EXAMPLES_CAN_WRITEONLY
# undef CONFIG_EXAMPLES_CAN_READWRITE
# define CAN_OFLAGS O_RDONLY # define CAN_OFLAGS O_RDONLY
#elif defined(CONFIG_EXAMPLES_CAN_WRITEONLY) #elif defined(CONFIG_EXAMPLES_CAN_WRITE)
# undef CONFIG_EXAMPLES_CAN_READWRITE
# define CAN_OFLAGS O_WRONLY # define CAN_OFLAGS O_WRONLY
#else #elif defined(CONFIG_EXAMPLES_CAN_READWRITE)
# undef CONFIG_EXAMPLES_CAN_READWRITE
# define CONFIG_EXAMPLES_CAN_READWRITE 1
# define CAN_OFLAGS O_RDWR # define CAN_OFLAGS O_RDWR
# define CONFIG_EXAMPLES_CAN_READ 1
# define CONFIG_EXAMPLES_CAN_WRITE 1
#endif #endif
#ifndef CONFIG_EXAMPLES_CAN_NMSGS #ifdef CONFIG_EXAMPLES_CAN_WRITE
# define CONFIG_EXAMPLES_CAN_NMSGS 32 # ifdef CONFIG_CAN_EXTID
# define MAX_ID CAN_MAX_EXTMSGID
# else
# define MAX_ID CAN_MAX_STDMSGID
# endif
#endif #endif
#define MAX_EXTID (1 << 29) #ifdef CONFIG_NSH_BUILTIN_APPS
#define MAX_STDID (1 << 11) # ifdef CONFIG_EXAMPLES_CAN_WRITE
# ifdef CONFIG_CAN_EXTID
#ifdef CONFIG_CAN_EXTID # define OPT_STR ":n:a:b:hs"
# define MAX_ID MAX_EXTID # else
# define OPT_STR ":n:a:b:h"
# endif
# else
# define OPT_STR ":n:h"
# endif
#else #else
# define MAX_ID MAX_STDID # ifdef CONFIG_EXAMPLES_CAN_WRITE
# ifdef CONFIG_CAN_EXTID
# define OPT_STR ":a:b:hs"
# else
# define OPT_STR ":a:b:h"
# endif
# else
# define OPT_STR ":h"
# endif
#endif #endif
/**************************************************************************** /****************************************************************************
@ -107,22 +121,31 @@
static void show_usage(FAR const char *progname) static void show_usage(FAR const char *progname)
{ {
#ifdef CONFIG_CAN_EXTID fprintf(stderr, "USAGE: %s"
fprintf(stderr, "USAGE: %s [-s] [-n <nmsgs] [-a <min-id>] [b <max-id>]\n", #ifdef CONFIG_NSH_BUILTIN_APPS
progname); " [-n <nmsgs]"
#else
fprintf(stderr, "USAGE: %s [-n <nmsgs] [-a <min-id>] [b <max-id>]\n",
progname);
#endif #endif
#ifdef CONFIG_EXAMPLES_CAN_WRITE
#ifdef CONFIG_CAN_EXTID
" [-s]"
#endif
" [-a <min-id>] [b <max-id>]"
#endif
"\n",
progname);
fprintf(stderr, "USAGE: %s -h\n", fprintf(stderr, "USAGE: %s -h\n",
progname); progname);
fprintf(stderr, "\nWhere:\n"); fprintf(stderr, "\nWhere:\n");
#ifdef CONFIG_NSH_BUILTIN_APPS
fprintf(stderr, "-n <nmsgs>: The number of messages to send. Default: 32\n");
#endif
#ifdef CONFIG_EXAMPLES_CAN_WRITE
#ifdef CONFIG_CAN_EXTID #ifdef CONFIG_CAN_EXTID
fprintf(stderr, "-s: Use standard IDs. Default: Extended ID\n"); fprintf(stderr, "-s: Use standard IDs. Default: Extended ID\n");
#endif #endif
fprintf(stderr, "-n <nmsgs>: The number of messages to send. Default: 32\n");
fprintf(stderr, "-a <min-id>: The start message id. Default 1\n"); fprintf(stderr, "-a <min-id>: The start message id. Default 1\n");
fprintf(stderr, "-b <max-id>: The start message id. Default %d\n", MAX_ID - 1); fprintf(stderr, "-b <max-id>: The start message id. Default %d\n", MAX_ID);
#endif
fprintf(stderr, "-h: Show this message and exit\n"); fprintf(stderr, "-h: Show this message and exit\n");
} }
@ -137,59 +160,56 @@ static void show_usage(FAR const char *progname)
#ifdef CONFIG_BUILD_KERNEL #ifdef CONFIG_BUILD_KERNEL
int main(int argc, FAR char *argv[]) int main(int argc, FAR char *argv[])
#else #else
int can_main(int argc, char *argv[]) int can_main(int argc, FAR char *argv[])
#endif #endif
{ {
struct canioc_bittiming_s bt; struct canioc_bittiming_s bt;
#ifndef CONFIG_EXAMPLES_CAN_READONLY
#ifdef CONFIG_EXAMPLES_CAN_WRITE
struct can_msg_s txmsg; struct can_msg_s txmsg;
#ifdef CONFIG_CAN_EXTID #ifdef CONFIG_CAN_EXTID
bool extended; bool extended = true;
uint32_t msgid; uint32_t msgid;
#else #else
uint16_t msgid; uint16_t msgid;
#endif #endif
long minid; long minid = 1;
long maxid; long maxid = MAX_ID;
int msgdlc; int msgdlc;
uint8_t msgdata; uint8_t msgdata;
int i;
#endif #endif
#ifndef CONFIG_EXAMPLES_CAN_WRITEONLY #ifdef CONFIG_EXAMPLES_CAN_READ
struct can_msg_s rxmsg; struct can_msg_s rxmsg;
#endif #endif
size_t msgsize; size_t msgsize;
ssize_t nbytes; ssize_t nbytes;
bool badarg; bool badarg = false;
bool help; bool help = false;
long nmsgs; #ifdef CONFIG_NSH_BUILTIN_APPS
long nmsgs = CONFIG_EXAMPLES_CAN_NMSGS;
long msgno;
#endif
int option; int option;
int fd; int fd;
int errval = 0; int errval = 0;
int msgno;
int ret; int ret;
int i;
/* Parse command line parameters */ /* Parse command line parameters */
nmsgs = CONFIG_EXAMPLES_CAN_NMSGS; while ((option = getopt(argc, argv, OPT_STR)) != ERROR)
minid = 1;
maxid = MAX_ID - 1;
#ifdef CONFIG_CAN_EXTID
extended = true;
#endif
badarg = false;
help = false;
#ifdef CONFIG_CAN_EXTID
while ((option = getopt(argc, argv, ":n:a:b:hs")) != ERROR)
#else
while ((option = getopt(argc, argv, ":n:a:b:h")) != ERROR)
#endif
{ {
switch (option) switch (option)
{ {
#ifdef CONFIG_EXAMPLES_CAN_WRITE
#ifdef CONFIG_CAN_EXTID
case 's':
extended = false;
break;
#endif
case 'a': case 'a':
minid = strtol(optarg, NULL, 10); minid = strtol(optarg, NULL, 10);
if (minid < 1 || minid > maxid) if (minid < 1 || minid > maxid)
@ -201,23 +221,19 @@ int can_main(int argc, char *argv[])
case 'b': case 'b':
maxid = strtol(optarg, NULL, 10); maxid = strtol(optarg, NULL, 10);
if (maxid < minid || maxid >= MAX_ID) if (maxid < minid || maxid > MAX_ID)
{ {
fprintf(stderr, "ERROR: <max-id> out of range\n"); fprintf(stderr, "ERROR: <max-id> out of range\n");
badarg = true; badarg = true;
} }
break; break;
#endif
case 'h': case 'h':
help = true; help = true;
break; break;
#ifdef CONFIG_CAN_EXTID #ifdef CONFIG_NSH_BUILTIN_APPS
case 's':
extended = false;
break;
#endif
case 'n': case 'n':
nmsgs = strtol(optarg, NULL, 10); nmsgs = strtol(optarg, NULL, 10);
if (nmsgs < 1) if (nmsgs < 1)
@ -226,6 +242,7 @@ int can_main(int argc, char *argv[])
badarg = true; badarg = true;
} }
break; break;
#endif
case ':': case ':':
fprintf(stderr, "ERROR: Bad option argument\n"); fprintf(stderr, "ERROR: Bad option argument\n");
@ -252,10 +269,10 @@ int can_main(int argc, char *argv[])
return EXIT_SUCCESS; return EXIT_SUCCESS;
} }
#ifdef CONFIG_CAN_EXTID #if defined(CONFIG_EXAMPLES_CAN_WRITE) && defined(CONFIG_CAN_EXTID)
if (!extended && maxid >= MAX_STDID) if (!extended && maxid > CAN_MAX_STDMSGID)
{ {
maxid = MAX_STDID - 1; maxid = CAN_MAX_STDMSGID;
if (minid > maxid) if (minid > maxid)
{ {
minid = maxid; minid = maxid;
@ -270,14 +287,19 @@ int can_main(int argc, char *argv[])
return EXIT_FAILURE; return EXIT_FAILURE;
} }
printf("nmsgs: %d min ID: %d max ID: %d\n", nmsgs, minid, maxid); #ifdef CONFIG_NSH_BUILTIN_APPS
printf("nmsgs: %d\n", nmsgs);
#endif
#ifdef CONFIG_EXAMPLES_CAN_WRITE
printf("min ID: %ld max ID: %ld\n", minid, maxid);
#endif
/* Initialization of the CAN hardware is performed by logic external to /* Initialization of the CAN hardware is performed by logic external to
* this test. * this test.
*/ */
ret = boardctl(BOARDIOC_CAN_INITIALIZE, 0); ret = boardctl(BOARDIOC_CAN_INITIALIZE, 0);
if (ret != OK) if (ret < 0)
{ {
printf("ERROR: BOARDIOC_CAN_INITIALIZE failed: %d\n", ret); printf("ERROR: BOARDIOC_CAN_INITIALIZE failed: %d\n", ret);
errval = 1; errval = 1;
@ -290,12 +312,12 @@ int can_main(int argc, char *argv[])
if (fd < 0) if (fd < 0)
{ {
printf("ERROR: open %s failed: %d\n", printf("ERROR: open %s failed: %d\n",
CONFIG_EXAMPLES_CAN_DEVPATH, errno); CONFIG_EXAMPLES_CAN_DEVPATH, errno);
errval = 2; errval = 2;
goto errout_with_dev; goto errout_with_dev;
} }
/* Show bit timing information .. if provided by the driver. Not all CAN /* Show bit timing information if provided by the driver. Not all CAN
* drivers will support this IOCTL. * drivers will support this IOCTL.
*/ */
@ -305,25 +327,29 @@ int can_main(int argc, char *argv[])
printf("Bit timing not available: %d\n", errno); printf("Bit timing not available: %d\n", errno);
} }
else else
{ {
printf("Bit timing:\n"); printf("Bit timing:\n");
printf(" Baud: %lu\n", (unsigned long)bt.bt_baud); printf(" Baud: %lu\n", (unsigned long)bt.bt_baud);
printf(" TSEG1: %u\n", bt.bt_tseg1); printf(" TSEG1: %u\n", bt.bt_tseg1);
printf(" TSEG2: %u\n", bt.bt_tseg2); printf(" TSEG2: %u\n", bt.bt_tseg2);
printf(" SJW: %u\n", bt.bt_sjw); printf(" SJW: %u\n", bt.bt_sjw);
} }
/* Now loop the appropriate number of times, performing one loopback test /* Now loop the appropriate number of times, performing one loopback test
* on each pass. * on each pass.
*/ */
#ifndef CONFIG_EXAMPLES_CAN_READONLY #ifdef CONFIG_EXAMPLES_CAN_WRITE
msgdlc = 1; msgdlc = 1;
msgid = minid; msgid = minid;
msgdata = 0; msgdata = 0;
#endif #endif
#ifdef CONFIG_NSH_BUILTIN_APPS
for (msgno = 0; msgno < nmsgs; msgno++) for (msgno = 0; msgno < nmsgs; msgno++)
#else
for (; ; )
#endif
{ {
/* Flush any output before the loop entered or from the previous pass /* Flush any output before the loop entered or from the previous pass
* through the loop. * through the loop.
@ -331,9 +357,10 @@ int can_main(int argc, char *argv[])
fflush(stdout); fflush(stdout);
#ifdef CONFIG_EXAMPLES_CAN_WRITE
/* Construct the next TX message */ /* Construct the next TX message */
#ifndef CONFIG_EXAMPLES_CAN_READONLY
txmsg.cm_hdr.ch_id = msgid; txmsg.cm_hdr.ch_id = msgid;
txmsg.cm_hdr.ch_rtr = false; txmsg.cm_hdr.ch_rtr = false;
txmsg.cm_hdr.ch_dlc = msgdlc; txmsg.cm_hdr.ch_dlc = msgdlc;
@ -359,15 +386,15 @@ int can_main(int argc, char *argv[])
errval = 3; errval = 3;
goto errout_with_dev; goto errout_with_dev;
} }
printf(" ID: %4u DLC: %d\n", msgid, msgdlc);
#endif #endif
#ifdef CONFIG_EXAMPLES_CAN_WRITEONLY #ifdef CONFIG_EXAMPLES_CAN_READ
printf(" ID: %4u DLC: %d\n", msgid, msgdlc);
#endif
/* Read the RX message */ /* Read the RX message */
#ifndef CONFIG_EXAMPLES_CAN_WRITEONLY
msgsize = sizeof(struct can_msg_s); msgsize = sizeof(struct can_msg_s);
nbytes = read(fd, &rxmsg, msgsize); nbytes = read(fd, &rxmsg, msgsize);
if (nbytes < CAN_MSGLEN(0) || nbytes > msgsize) if (nbytes < CAN_MSGLEN(0) || nbytes > msgsize)
@ -377,19 +404,15 @@ int can_main(int argc, char *argv[])
errval = 4; errval = 4;
goto errout_with_dev; goto errout_with_dev;
} }
#endif
#ifndef CONFIG_EXAMPLES_CAN_READONLY
printf(" ID: %4u DLC: %u\n", printf(" ID: %4u DLC: %u\n",
rxmsg.cm_hdr.ch_id, rxmsg.cm_hdr.ch_dlc); rxmsg.cm_hdr.ch_id, rxmsg.cm_hdr.ch_dlc);
#endif
/* Check for error reports */ /* Check for error reports */
#ifndef CONFIG_EXAMPLES_CAN_WRITEONLY
if (rxmsg.cm_hdr.ch_error != 0) if (rxmsg.cm_hdr.ch_error != 0)
{ {
printf("ERROR: CAN error report: [%04x]\n", rxmsg.cm_hdr.ch_id); printf("ERROR: CAN error report: [0x%04x]\n", rxmsg.cm_hdr.ch_id);
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_SYSTEM) != 0) if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_SYSTEM) != 0)
{ {
printf(" Driver internal error\n"); printf(" Driver internal error\n");
@ -446,16 +469,19 @@ int can_main(int argc, char *argv[])
} }
} }
else else
{ {
#if defined(CONFIG_EXAMPLES_CAN_WRITE) && defined(CONFIG_CAN_LOOPBACK)
/* Verify that the received messages are the same */ /* 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) if (memcmp(&txmsg.cm_hdr, &rxmsg.cm_hdr, sizeof(struct can_hdr_s)) != 0)
{ {
printf("ERROR: Sent header does not match received header:\n"); printf("ERROR: Sent header does not match received header:\n");
lib_dumpbuffer("Sent header", (FAR const uint8_t*)&txmsg.cm_hdr, lib_dumpbuffer("Sent header",
(FAR const uint8_t *)&txmsg.cm_hdr,
sizeof(struct can_hdr_s)); sizeof(struct can_hdr_s));
lib_dumpbuffer("Received header", (FAR const uint8_t*)&rxmsg.cm_hdr, lib_dumpbuffer("Received header",
(FAR const uint8_t *)&rxmsg.cm_hdr,
sizeof(struct can_hdr_s)); sizeof(struct can_hdr_s));
errval = 4; errval = 4;
goto errout_with_dev; goto errout_with_dev;
@ -466,23 +492,34 @@ int can_main(int argc, char *argv[])
printf("ERROR: Data does not match. DLC=%d\n", msgdlc); printf("ERROR: Data does not match. DLC=%d\n", msgdlc);
for (i = 0; i < msgdlc; i++) for (i = 0; i < msgdlc; i++)
{ {
printf(" %d: TX %02x RX %02x\n", printf(" %d: TX 0x%02x RX 0x%02x\n",
i, txmsg.cm_data[i], rxmsg.cm_data[i]); i, txmsg.cm_data[i], rxmsg.cm_data[i]);
errval = 5; errval = 5;
goto errout_with_dev; goto errout_with_dev;
} }
} }
/* Report success */
printf(" ID: %4u DLC: %d -- OK\n", msgid, msgdlc);
#else
/* Print the data received */
printf("Data received:\n");
for (i = 0; i < msgdlc; i++)
{
printf(" %d: 0x%02x\n", i, rxmsg.cm_data[i]);
}
#endif
} }
#endif #endif
/* Report success */ #ifdef CONFIG_EXAMPLES_CAN_WRITE
printf(" ID: %4u DLC: %d -- OK\n", msgid, msgdlc);
#endif
/* Set up for the next pass */ /* Set up for the next pass */
#ifndef CONFIG_EXAMPLES_CAN_READONLY
msgdata += msgdlc; msgdata += msgdlc;
if (++msgid > maxid) if (++msgid > maxid)