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nuttx-apps/examples/can/can_main.c

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/****************************************************************************
* 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 <sys/boardctl.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
****************************************************************************/
#if defined(CONFIG_EXAMPLES_CAN_READONLY)
# undef CONFIG_EXAMPLES_CAN_WRITEONLY
# undef CONFIG_EXAMPLES_CAN_READWRITE
# define CAN_OFLAGS O_RDONLY
#elif defined(CONFIG_EXAMPLES_CAN_WRITEONLY)
# undef CONFIG_EXAMPLES_CAN_READWRITE
# define CAN_OFLAGS O_WRONLY
#else
# undef CONFIG_EXAMPLES_CAN_READWRITE
# define CONFIG_EXAMPLES_CAN_READWRITE 1
# define CAN_OFLAGS O_RDWR
#endif
#ifndef CONFIG_EXAMPLES_CAN_NMSGS
# define CONFIG_EXAMPLES_CAN_NMSGS 32
#endif
#define MAX_EXTID (1 << 29)
#define MAX_STDID (1 << 11)
#ifdef CONFIG_CAN_EXTID
# define MAX_ID MAX_EXTID
#else
# define MAX_ID MAX_STDID
#endif
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
static void show_usage(FAR const char *progname)
{
#ifdef CONFIG_CAN_EXTID
fprintf(stderr, "USAGE: %s [-s] [-n <nmsgs] [-a <min-id>] [b <max-id>]\n",
progname);
#else
fprintf(stderr, "USAGE: %s [-n <nmsgs] [-a <min-id>] [b <max-id>]\n",
progname);
#endif
fprintf(stderr, "USAGE: %s -h\n",
progname);
fprintf(stderr, "\nWhere:\n");
#ifdef CONFIG_CAN_EXTID
fprintf(stderr, "-s: Use standard IDs. Default: Extended ID\n");
#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, "-b <max-id>: The start message id. Default %d\n", MAX_ID - 1);
fprintf(stderr, "-h: Show this message and exit\n");
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: can_main
****************************************************************************/
#ifdef CONFIG_BUILD_KERNEL
int main(int argc, FAR char *argv[])
#else
int can_main(int argc, char *argv[])
#endif
{
struct canioc_bittiming_s bt;
#ifndef CONFIG_EXAMPLES_CAN_READONLY
struct can_msg_s txmsg;
#ifdef CONFIG_CAN_EXTID
bool extended;
uint32_t msgid;
#else
uint16_t msgid;
#endif
long minid;
long maxid;
int msgdlc;
uint8_t msgdata;
#endif
#ifndef CONFIG_EXAMPLES_CAN_WRITEONLY
struct can_msg_s rxmsg;
#endif
size_t msgsize;
ssize_t nbytes;
bool badarg;
bool help;
long nmsgs;
int option;
int fd;
int errval = 0;
int msgno;
int ret;
int i;
/* Parse command line parameters */
nmsgs = CONFIG_EXAMPLES_CAN_NMSGS;
minid = 1;
maxid = MAX_ID - 1;
badarg = false;
#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)
{
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;
case 'h':
help = true;
break;
#ifdef CONFIG_CAN_EXTID
case 's':
extended = false;
break;
#endif
case 'n':
nmsgs = strtol(optarg, NULL, 10);
if (nmsgs < 1)
{
fprintf(stderr, "ERROR: <nmsgs> out of range\n");
badarg = true;
}
break;
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;
}
#ifdef CONFIG_CAN_EXTID
if (!extended && maxid >= MAX_STDID)
{
maxid = MAX_STDID - 1;
if (minid > maxid)
{
minid = maxid;
}
}
#endif
if (optind != argc)
{
fprintf(stderr, "ERROR: Garbage on command line\n");
show_usage(argv[0]);
return EXIT_FAILURE;
}
printf("nmsgs: %d min ID: %d max ID: %d\n", nmsgs, minid, maxid);
/* Initialization of the CAN hardware is performed by logic external to
* this test.
*/
ret = boardctl(BOARDIOC_CAN_INITIALIZE, 0);
if (ret != OK)
{
printf("ERROR: BOARDIOC_CAN_INITIALIZE failed: %d\n", ret);
errval = 1;
goto errout;
}
/* 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.
*/
#ifndef CONFIG_EXAMPLES_CAN_READONLY
msgdlc = 1;
msgid = minid;
msgdata = 0;
#endif
for (msgno = 0; msgno < nmsgs; msgno++)
{
/* Flush any output before the loop entered or from the previous pass
* through the loop.
*/
fflush(stdout);
/* Construct the next TX message */
#ifndef CONFIG_EXAMPLES_CAN_READONLY
txmsg.cm_hdr.ch_id = msgid;
txmsg.cm_hdr.ch_rtr = false;
txmsg.cm_hdr.ch_dlc = msgdlc;
txmsg.cm_hdr.ch_error = 0;
#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;
}
#endif
#ifdef CONFIG_EXAMPLES_CAN_WRITEONLY
printf(" ID: %4u DLC: %d\n", msgid, msgdlc);
#endif
/* Read the RX message */
#ifndef CONFIG_EXAMPLES_CAN_WRITEONLY
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;
}
#endif
#ifndef CONFIG_EXAMPLES_CAN_READONLY
printf(" ID: %4u DLC: %u\n",
rxmsg.cm_hdr.ch_id, rxmsg.cm_hdr.ch_dlc);
#endif
/* 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
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 %02x RX %02x\n",
i, txmsg.cm_data[i], rxmsg.cm_data[i]);
errval = 5;
goto errout_with_dev;
}
}
}
#endif
/* Report success */
printf(" ID: %4u DLC: %d -- OK\n", msgid, msgdlc);
#endif
/* Set up for the next pass */
#ifndef CONFIG_EXAMPLES_CAN_READONLY
msgdata += msgdlc;
if (++msgid > maxid)
{
msgid = minid;
}
if (++msgdlc > CAN_MAXDATALEN)
{
msgdlc = 1;
}
#endif
}
errout_with_dev:
close(fd);
errout:
printf("Terminating!\n");
fflush(stdout);
return errval;
}
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