fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-18 23:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Extend examples/can so that it can be used in other contexts

Browse Source 
git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4489 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
patacongo
2012-03-14 01:19:27 +00:00
parent c184b7a4de
commit 16f7ec20bd
5 changed files with 59 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
apps/examples/can/can.h
+2
View File
@@ -65,6 +65,8 @@
* collected and the program terminates. Default: If built as an NSH
* built-in, the default is 32. Otherwise messages are sent and received
* indefinitely.
* CONFIG_EXAMPLES_CAN_READONLY - Only receive messages
* CONFIG_EXAMPLES_CAN_WRITEONLY - Only send messages
*/
#ifndef CONFIG_CAN
apps/examples/can/can_main.c
+43 -5
View File
@@ -57,6 +57,19 @@
* 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
#ifdef CONFIG_CAN_EXTID
# define MAX_ID (1 << 29)
#else
@@ -101,20 +114,27 @@
int MAIN_NAME(int argc, char *argv[])
{
#ifndef CONFIG_EXAMPLES_CAN_READONLY
struct can_msg_s txmsg;
struct can_msg_s rxmsg;
size_t msgsize;
ssize_t nbytes;
#ifdef CONFIG_CAN_EXTID
uint32_t msgid;
#else
uint16_t msgid;
#endif
int msgdlc;
uint8_t msgdata;
#endif
#ifndef CONFIG_EXAMPLES_CAN_WRITEONLY
struct can_msg_s rxmsg;
#endif
size_t msgsize;
ssize_t nbytes;
#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_CAN_NMSGS)
long nmsgs;
#endif
int msgdlc;
int fd;
int errval = 0;
int ret;
@@ -151,7 +171,7 @@ int MAIN_NAME(int argc, char *argv[])
/* Open the CAN device for reading */
message(MAIN_STRING "Hardware initialized. Opening the CAN device\n");
fd = open(CONFIG_EXAMPLES_CAN_DEVPATH, O_RDWR);
fd = open(CONFIG_EXAMPLES_CAN_DEVPATH, CAN_OFLAGS);
if (fd < 0)
{
message(MAIN_STRING "open %s failed: %d\n",
@@ -164,9 +184,11 @@ int MAIN_NAME(int argc, char *argv[])
* on each pass.
*/
#ifndef CONFIG_EXAMPLES_CAN_READONLY
msgdlc = 1;
msgid = 1;
msgdata = 0;
#endif
#if defined(CONFIG_NSH_BUILTIN_APPS)
for (; nmsgs > 0; nmsgs--)
@@ -184,6 +206,7 @@ int MAIN_NAME(int argc, char *argv[])
/* 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;
@@ -207,8 +230,14 @@ int MAIN_NAME(int argc, char *argv[])
goto errout_with_dev;
}
#ifndef CONFIG_EXAMPLES_CAN_READWRITE
message(" ID: %4d DLC: %d\n", msgid, msgdlc);
#endif
#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)
@@ -218,8 +247,14 @@ int MAIN_NAME(int argc, char *argv[])
goto errout_with_dev;
}
#ifndef CONFIG_EXAMPLES_CAN_READWRITE
message(" ID: %4d DLC: %d\n", rxmsg.cm_hdr.id, rxmsg.cm_hdr.dlc);
#endif
#endif
/* 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)
{
message("ERROR: Sent header does not match received header:\n");
@@ -245,9 +280,11 @@ int MAIN_NAME(int argc, char *argv[])
/* Report success */
message(" ID: %4d DLC: %d -- OK\n", msgid, msgdlc);
#endif
/* Set up for the next pass */
#ifndef CONFIG_EXAMPLES_CAN_READONLY
msgdata += msgdlc;
if (++msgid >= MAX_ID)
@@ -259,6 +296,7 @@ int MAIN_NAME(int argc, char *argv[])
{
msgdlc = 1;
}
#endif
}
errout_with_dev: