8ea16655a6
error: Path relative to repository other than nuttx must begin with the root directory Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>
112 lines
3.2 KiB
C
112 lines
3.2 KiB
C
/****************************************************************************
|
|
* apps/canutils/libobd2/obd2.c
|
|
*
|
|
* Licensed to the Apache Software Foundation (ASF) under one or more
|
|
* contributor license agreements. See the NOTICE file distributed with
|
|
* this work for additional information regarding copyright ownership. The
|
|
* ASF licenses this file to you under the Apache License, Version 2.0 (the
|
|
* "License"); you may not use this file except in compliance with the
|
|
* License. You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
|
|
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
|
|
* License for the specific language governing permissions and limitations
|
|
* under the License.
|
|
*
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Included Files
|
|
****************************************************************************/
|
|
|
|
#include <nuttx/config.h>
|
|
|
|
#include <sys/ioctl.h>
|
|
|
|
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <fcntl.h>
|
|
#include <errno.h>
|
|
#include <nuttx/can/can.h>
|
|
|
|
#include "canutils/obd.h"
|
|
#include "canutils/obd_pid.h"
|
|
#include "canutils/obd_frame.h"
|
|
|
|
/****************************************************************************
|
|
* Public Functions
|
|
****************************************************************************/
|
|
|
|
/****************************************************************************
|
|
* Name: obd_init
|
|
*
|
|
* Description:
|
|
* Initialize the OBD-II with initial baudrate
|
|
*
|
|
* Returns a obd_dev_s with initial values or NULL if error.
|
|
*
|
|
****************************************************************************/
|
|
|
|
struct obd_dev_s *obd_init(char *devfile, int baudate, int mode)
|
|
{
|
|
struct obd_dev_s *dev;
|
|
int ret;
|
|
|
|
/* Alloc memory for this device */
|
|
|
|
dev = malloc(sizeof(struct obd_dev_s));
|
|
if (!dev)
|
|
{
|
|
printf("ERROR: Failed to alloc memory for obd_dev!\n");
|
|
return NULL;
|
|
}
|
|
|
|
/* Open the CAN device for reading/writing */
|
|
|
|
dev->can_fd = open(devfile, O_RDWR);
|
|
if (dev->can_fd < 0)
|
|
{
|
|
printf("ERROR: open %s failed: %d\n", devfile, errno);
|
|
return NULL;
|
|
}
|
|
|
|
/* Show bit timing information if provided by the driver. Not all CAN
|
|
* drivers will support this IOCTL.
|
|
*/
|
|
|
|
ret = ioctl(dev->can_fd, CANIOC_GET_BITTIMING,
|
|
(unsigned long)((uintptr_t)&dev->can_bt));
|
|
if (ret < 0)
|
|
{
|
|
printf("Bit timing not available: %d\n", errno);
|
|
return NULL;
|
|
}
|
|
else
|
|
{
|
|
printf("Bit timing:\n");
|
|
printf(" Baud: %lu\n", (unsigned long)dev->can_bt.bt_baud);
|
|
printf(" TSEG1: %u\n", dev->can_bt.bt_tseg1);
|
|
printf(" TSEG2: %u\n", dev->can_bt.bt_tseg2);
|
|
printf(" SJW: %u\n", dev->can_bt.bt_sjw);
|
|
}
|
|
|
|
/* FIXME: Setup the baudrate */
|
|
|
|
/* Setup the initial mode */
|
|
|
|
if (mode != CAN_STD && mode != CAN_EXT)
|
|
{
|
|
printf("ERROR: Invalid mode, it needs to be CAN_STD or CAN_EXT!\n");
|
|
return NULL;
|
|
}
|
|
|
|
dev->can_mode = mode;
|
|
|
|
printf("OBD-II device initialized!\n");
|
|
|
|
return dev;
|
|
}
|