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nuttx-apps/examples/can/can_main.c
Alin Jerpelea 6bc7a448de examples: author: Gregory Nutt: update licenses to Apache 
Gregory Nutt is has submitted the SGA

as a result we can migrate the licenses to Apache.

Signed-off-by: Alin Jerpelea <alin.jerpelea@sony.com>
2021-06-15 05:16:58 -05:00

496 lines
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/****************************************************************************
* examples/can/can_main.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/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
****************************************************************************/
#ifdef CONFIG_CAN_EXTID
#define PRI_CAN_ID PRIu32
#else
#define PRI_CAN_ID PRIu16
#endif
#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_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
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
static void show_usage(FAR const char *progname)
{
fprintf(stderr, "USAGE: %s"
" [-n <nmsgs]"
#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");
fprintf(stderr,
"-n <nmsgs>: The number of messages to send. Default: 32\n");
#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
****************************************************************************/
int main(int argc, FAR char *argv[])
{
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;
long nmsgs = CONFIG_EXAMPLES_CAN_NMSGS;
long msgno;
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;
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;
}
#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;
}
printf("nmsgs: %ld\n", nmsgs);
#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
for (msgno = 0; !nmsgs || msgno < nmsgs; msgno++)
{
/* 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: %4" PRI_CAN_ID " 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: %4" PRI_CAN_ID " 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%04" PRI_CAN_ID "]\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: %4" PRI_CAN_ID " 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;
}
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