/****************************************************************************
* examples/can/can_main.c
*
* 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.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.h>
#include <sys/ioctl.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/can.h>
#include "can.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#if defined(CONFIG_EXAMPLES_CAN_READ)
# define CAN_OFLAGS O_RDONLY
#elif defined(CONFIG_EXAMPLES_CAN_WRITE)
# define CAN_OFLAGS O_WRONLY
#elif defined(CONFIG_EXAMPLES_CAN_READWRITE)
# define CAN_OFLAGS O_RDWR
# define CONFIG_EXAMPLES_CAN_READ 1
# define CONFIG_EXAMPLES_CAN_WRITE 1
#endif
#ifdef CONFIG_EXAMPLES_CAN_WRITE
# ifdef CONFIG_CAN_EXTID
# define MAX_ID CAN_MAX_EXTMSGID
# else
# define MAX_ID CAN_MAX_STDMSGID
# endif
#endif
#ifdef CONFIG_NSH_BUILTIN_APPS
# ifdef CONFIG_EXAMPLES_CAN_WRITE
# ifdef CONFIG_CAN_EXTID
# define OPT_STR ":n:a:b:hs"
# else
# define OPT_STR ":n:a:b:h"
# endif
# else
# define OPT_STR ":n:h"
# endif
#else
# 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
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
static void show_usage(FAR const char *progname)
{
fprintf(stderr, "USAGE: %s"
#ifdef CONFIG_NSH_BUILTIN_APPS
" [-n <nmsgs]"
#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",
progname);
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
fprintf(stderr, "-s: Use standard IDs. Default: Extended ID\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", MAX_ID);
#endif
fprintf(stderr, "-h: Show this message and exit\n");
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: can_main
****************************************************************************/
#ifdef BUILD_MODULE
int main(int argc, FAR char *argv[])
#else
int can_main(int argc, FAR char *argv[])
#endif
{
struct canioc_bittiming_s bt;
#ifdef CONFIG_EXAMPLES_CAN_WRITE
struct can_msg_s txmsg;
#ifdef CONFIG_CAN_EXTID
bool extended = true;
uint32_t msgid;
#else
uint16_t msgid;
#endif
long minid = 1;
long maxid = MAX_ID;
uint8_t msgdata;
#endif
int msgdlc;
int i;
#ifdef CONFIG_EXAMPLES_CAN_READ
struct can_msg_s rxmsg;
#endif
size_t msgsize;
ssize_t nbytes;
bool badarg = false;
bool help = false;
#ifdef CONFIG_NSH_BUILTIN_APPS
long nmsgs = CONFIG_EXAMPLES_CAN_NMSGS;
long msgno;
#endif
int option;
int fd;
int errval = 0;
int ret;
/* Parse command line parameters */
while ((option = getopt(argc, argv, OPT_STR)) != ERROR)
{
switch (option)
{
#ifdef CONFIG_EXAMPLES_CAN_WRITE
#ifdef CONFIG_CAN_EXTID
case 's':
extended = false;
break;
#endif
case 'a':
minid = strtol(optarg, NULL, 10);
if (minid < 1 || minid > maxid)
{
fprintf(stderr, "<min-id> out of range\n");
badarg = true;
}
break;
case 'b':
maxid = strtol(optarg, NULL, 10);
if (maxid < minid || maxid > MAX_ID)
{
fprintf(stderr, "ERROR: <max-id> out of range\n");
badarg = true;
}
break;
#endif
case 'h':
help = true;
break;
#ifdef CONFIG_NSH_BUILTIN_APPS
case 'n':
nmsgs = strtol(optarg, NULL, 10);
if (nmsgs < 1)
{
fprintf(stderr, "ERROR: <nmsgs> out of range\n");
badarg = true;
}
break;
#endif
case ':':
fprintf(stderr, "ERROR: Bad option argument\n");
badarg = true;
break;
case '?':
default:
fprintf(stderr, "ERROR: Unrecognized option\n");
badarg = true;
break;
}
}
if (badarg)
{
show_usage(argv[0]);
return EXIT_FAILURE;
}
if (help)
{
show_usage(argv[0]);
return EXIT_SUCCESS;
}
#if defined(CONFIG_EXAMPLES_CAN_WRITE) && defined(CONFIG_CAN_EXTID)
if (!extended && maxid > CAN_MAX_STDMSGID)
{
maxid = CAN_MAX_STDMSGID;
if (minid > maxid)
{
minid = maxid;
}
}
#endif
if (optind != argc)
{
fprintf(stderr, "ERROR: Garbage on command line\n");
show_usage(argv[0]);
return EXIT_FAILURE;
}
#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 board-specific,
* logic external prior to running this test.
*/
/* Open the CAN device for reading */
fd = open(CONFIG_EXAMPLES_CAN_DEVPATH, CAN_OFLAGS);
if (fd < 0)
{
printf("ERROR: open %s failed: %d\n",
CONFIG_EXAMPLES_CAN_DEVPATH, errno);
errval = 2;
goto errout_with_dev;
}
/* Show bit timing information if provided by the driver. Not all CAN
* drivers will support this IOCTL.
*/
ret = ioctl(fd, CANIOC_GET_BITTIMING, (unsigned long)((uintptr_t)&bt));
if (ret < 0)
{
printf("Bit timing not available: %d\n", errno);
}
else
{
printf("Bit timing:\n");
printf(" Baud: %lu\n", (unsigned long)bt.bt_baud);
printf(" TSEG1: %u\n", bt.bt_tseg1);
printf(" TSEG2: %u\n", bt.bt_tseg2);
printf(" SJW: %u\n", bt.bt_sjw);
}
/* Now loop the appropriate number of times, performing one loopback test
* on each pass.
*/
#ifdef CONFIG_EXAMPLES_CAN_WRITE
msgdlc = 1;
msgid = minid;
msgdata = 0;
#endif
#ifdef CONFIG_NSH_BUILTIN_APPS
for (msgno = 0; msgno < nmsgs; msgno++)
#else
for (; ; )
#endif
{
/* Flush any output before the loop entered or from the previous pass
* through the loop.
*/
fflush(stdout);
#ifdef CONFIG_EXAMPLES_CAN_WRITE
/* Construct the next TX message */
txmsg.cm_hdr.ch_id = msgid;
txmsg.cm_hdr.ch_rtr = false;
txmsg.cm_hdr.ch_dlc = msgdlc;
#ifdef CONFIG_CAN_ERRORS
txmsg.cm_hdr.ch_error = 0;
#endif
#ifdef CONFIG_CAN_EXTID
txmsg.cm_hdr.ch_extid = extended;
#endif
txmsg.cm_hdr.ch_unused = 0;
for (i = 0; i < msgdlc; i++)
{
txmsg.cm_data[i] = msgdata + i;
}
/* Send the TX message */
msgsize = CAN_MSGLEN(msgdlc);
nbytes = write(fd, &txmsg, msgsize);
if (nbytes != msgsize)
{
printf("ERROR: write(%ld) returned %ld\n",
(long)msgsize, (long)nbytes);
errval = 3;
goto errout_with_dev;
}
printf(" ID: %4u DLC: %d\n", msgid, msgdlc);
#endif
#ifdef CONFIG_EXAMPLES_CAN_READ
/* Read the RX message */
msgsize = sizeof(struct can_msg_s);
nbytes = read(fd, &rxmsg, msgsize);
if (nbytes < CAN_MSGLEN(0) || nbytes > msgsize)
{
printf("ERROR: read(%ld) returned %ld\n",
(long)msgsize, (long)nbytes);
errval = 4;
goto errout_with_dev;
}
printf(" ID: %4u DLC: %u\n",
rxmsg.cm_hdr.ch_id, rxmsg.cm_hdr.ch_dlc);
msgdlc = rxmsg.cm_hdr.ch_dlc;
#ifdef CONFIG_CAN_ERRORS
/* Check for error reports */
if (rxmsg.cm_hdr.ch_error != 0)
{
printf("ERROR: CAN error report: [0x%04x]\n", rxmsg.cm_hdr.ch_id);
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_TXTIMEOUT) != 0)
{
printf(" TX timeout\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_LOSTARB) != 0)
{
printf(" Lost arbitration: %02x\n", rxmsg.cm_data[0]);
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_CONTROLLER) != 0)
{
printf(" Controller error: %02x\n", rxmsg.cm_data[1]);
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_PROTOCOL) != 0)
{
printf(" Protocol error: %02x %02x\n", rxmsg.cm_data[2], rxmsg.cm_data[3]);
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_TRANSCEIVER) != 0)
{
printf(" Transceiver error: %02x\n", rxmsg.cm_data[4]);
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_NOACK) != 0)
{
printf(" No ACK received on transmission\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_BUSOFF) != 0)
{
printf(" Bus off\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_BUSERROR) != 0)
{
printf(" Bus error\n");
}
if ((rxmsg.cm_hdr.ch_id & CAN_ERROR_RESTARTED) != 0)
{
printf(" Controller restarted\n");
}
}
else
#endif
{
#if defined(CONFIG_EXAMPLES_CAN_WRITE) && defined(CONFIG_CAN_LOOPBACK)
/* Verify that the received messages are the same */
if (memcmp(&txmsg.cm_hdr, &rxmsg.cm_hdr, sizeof(struct can_hdr_s)) != 0)
{
printf("ERROR: Sent header does not match received header:\n");
lib_dumpbuffer("Sent header",
(FAR const uint8_t *)&txmsg.cm_hdr,
sizeof(struct can_hdr_s));
lib_dumpbuffer("Received header",
(FAR const uint8_t *)&rxmsg.cm_hdr,
sizeof(struct can_hdr_s));
errval = 4;
goto errout_with_dev;
}
if (memcmp(txmsg.cm_data, rxmsg.cm_data, msgdlc) != 0)
{
printf("ERROR: Data does not match. DLC=%d\n", msgdlc);
for (i = 0; i < msgdlc; i++)
{
printf(" %d: TX 0x%02x RX 0x%02x\n",
i, txmsg.cm_data[i], rxmsg.cm_data[i]);
errval = 5;
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
#ifdef CONFIG_EXAMPLES_CAN_WRITE
/* Set up for the next pass */
msgdata += msgdlc;
if (++msgid > maxid)
{
msgid = minid;
}
if (++msgdlc > CAN_MAXDATALEN)
{
msgdlc = 1;
}
#endif
}
errout_with_dev:
close(fd);
printf("Terminating!\n");
fflush(stdout);
return errval;
}