sergiotarxz/nuttx-apps
sergiotarxz/nuttx-apps
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

apps/examples/can: Extend test to report an errors reported by the CAN driver

Browse Source
This commit is contained in:
Gregory Nutt 2015-08-18 08:50:14 -06:00
parent 546450cc92
commit cb25507a06
1 changed files with 141 additions and 71 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

212
examples/can/can_main.c
View File

@ -307,108 +307,178 @@ int can_main(int argc, char *argv[])
#endif #endif
for (msgno = 0; msgno < nmsgs; msgno++) for (msgno = 0; msgno < nmsgs; msgno++)
{ {
/* 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.
*/ */
fflush(stdout); fflush(stdout);
/* Construct the next TX message */ /* Construct the next TX message */
#ifndef CONFIG_EXAMPLES_CAN_READONLY #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;
txmsg.cm_hdr.ch_error = 0;
#ifdef CONFIG_CAN_EXTID #ifdef CONFIG_CAN_EXTID
txmsg.cm_hdr.ch_extid = extended; txmsg.cm_hdr.ch_extid = extended;
txmsg.cm_hdr.ch_unused = 0;
#endif #endif
txmsg.cm_hdr.ch_unused = 0;
for (i = 0; i < msgdlc; i++) for (i = 0; i < msgdlc; i++)
{ {
txmsg.cm_data[i] = msgdata + i; txmsg.cm_data[i] = msgdata + i;
} }
/* Send the TX message */ /* Send the TX message */
msgsize = CAN_MSGLEN(msgdlc); msgsize = CAN_MSGLEN(msgdlc);
nbytes = write(fd, &txmsg, msgsize); nbytes = write(fd, &txmsg, msgsize);
if (nbytes != msgsize) if (nbytes != msgsize)
{ {
printf("ERROR: write(%ld) returned %ld\n", (long)msgsize, (long)nbytes); printf("ERROR: write(%ld) returned %ld\n",
errval = 3; (long)msgsize, (long)nbytes);
goto errout_with_dev; errval = 3;
} goto errout_with_dev;
}
#endif #endif
#ifdef CONFIG_EXAMPLES_CAN_WRITEONLY #ifdef CONFIG_EXAMPLES_CAN_WRITEONLY
printf(" ID: %4u DLC: %d\n", msgid, msgdlc); printf(" ID: %4u DLC: %d\n", msgid, msgdlc);
#endif #endif
/* Read the RX message */ /* Read the RX message */
#ifndef CONFIG_EXAMPLES_CAN_WRITEONLY #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)
{ {
printf("ERROR: read(%ld) returned %ld\n", (long)msgsize, (long)nbytes); printf("ERROR: read(%ld) returned %ld\n",
errval = 4; (long)msgsize, (long)nbytes);
goto errout_with_dev; errval = 4;
} goto errout_with_dev;
}
#endif #endif
#ifndef CONFIG_EXAMPLES_CAN_READONLY #ifndef CONFIG_EXAMPLES_CAN_READONLY
printf(" ID: %4u DLC: %u\n", rxmsg.cm_hdr.ch_id, rxmsg.cm_hdr.ch_dlc); printf(" ID: %4u DLC: %u\n",
rxmsg.cm_hdr.ch_id, rxmsg.cm_hdr.ch_dlc);
#endif #endif
/* Verify that the received messages are the same */ /* Check for error reports */
#ifndef CONFIG_EXAMPLES_CAN_WRITEONLY
if (rxmsg.cm_hdr.ch_error != 0)
{
printf("ERROR: CAN error report: [%04x]\n", rxmsg.cm_hdr.ch_id);
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_SYSTEM) != 0)
{
printf(" Driver internal error\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_RXLOST) != 0)
{
printf(" RX Message Lost\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_TXLOST) != 0)
{
printf(" TX Message Lost\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_ACCESS) != 0)
{
printf(" RAM Access Failure\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_TIMEOUT) != 0)
{
printf(" Timeout Occurred\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_PASSIVE) != 0)
{
printf(" Error Passive\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_CRC) != 0)
{
printf(" RX CRC Error\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_BIT) != 0)
{
printf(" Bit Error\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_ACK) != 0)
{
printf(" Acknowledge Error\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_FORMAT) != 0)
{
printf(" Format Error\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_STUFF) != 0)
{
printf(" Stuff Error\n");
}
}
else
{
/* Verify that the received messages are the same */
#ifdef CONFIG_EXAMPLES_CAN_READWRITE #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;
} }
if (memcmp(txmsg.cm_data, rxmsg.cm_data, msgdlc) != 0) if (memcmp(txmsg.cm_data, rxmsg.cm_data, msgdlc) != 0)
{ {
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", i, txmsg.cm_data[i], rxmsg.cm_data[i]); printf(" %d: TX %02x RX %02x\n",
errval = 5; i, txmsg.cm_data[i], rxmsg.cm_data[i]);
goto errout_with_dev; errval = 5;
} goto errout_with_dev;
} }
}
/* Report success */ }
printf(" ID: %4u DLC: %d -- OK\n", msgid, msgdlc);
#endif #endif
/* Set up for the next pass */ /* Report success */
printf(" ID: %4u DLC: %d -- OK\n", msgid, msgdlc);
#endif
/* Set up for the next pass */
#ifndef CONFIG_EXAMPLES_CAN_READONLY #ifndef CONFIG_EXAMPLES_CAN_READONLY
msgdata += msgdlc; msgdata += msgdlc;
if (++msgid > maxid) if (++msgid > maxid)
{ {
msgid = minid; msgid = minid;
} }
if (++msgdlc > CAN_MAXDATALEN) if (++msgdlc > CAN_MAXDATALEN)
{ {
msgdlc = 1; msgdlc = 1;
} }
#endif #endif
} }
errout_with_dev: errout_with_dev:
close(fd); close(fd);