97 lines
3.5 KiB
C
97 lines
3.5 KiB
C
/****************************************************************************
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* apps/canutils/canlib/canlib_setloopback.c
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*
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* Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
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* Author: Sebastien Lorquet <sebastien@lorquet.fr>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <sys/ioctl.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdbool.h>
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#include <fcntl.h>
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#include <debug.h>
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#include <errno.h>
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#include <nuttx/can/can.h>
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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/****************************************************************************
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* Name: canlib_setloopback
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*
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* Description:
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* Wrapper for CANIOC_SET_CONNMODES. When loopback mode is enabled, the
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* CAN peripheral transmits on the bus, but only receives its own sent
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* messages.
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*
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* Input Parameter:
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* fd - file descriptor of an opened can device
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* loopback - whether to use loopback mode.
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*
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* Returned Value:
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* Zero (OK) is returned on success. Otherwise -1 (ERROR)
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* is returned with the errno variable set to indicate the
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* nature of the error.
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*
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****************************************************************************/
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int canlib_setloopback(int fd, bool loopback)
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{
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int ret;
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struct canioc_connmodes_s connmodes;
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ret = ioctl(fd, CANIOC_GET_CONNMODES, (unsigned long)&connmodes);
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if (ret != OK)
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{
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canerr("CANIOC_GET_CONNMODES failed, errno=%d\n", errno);
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return ret;
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}
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connmodes.bm_loopback = !!loopback;
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ret = ioctl(fd, CANIOC_SET_CONNMODES, (unsigned long)&connmodes);
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if (ret != OK)
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{
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canerr("CANIOC_SET_CONNMODES failed, errno=%d\n", errno);
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}
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return ret;
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}
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