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LPC11C24 temporary test app

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This commit is contained in:
Pavel Kirienko
2015-10-12 23:07:17 +03:00
parent 8a88ea35cc
commit 367389f728
1 changed files with 33 additions and 1 deletions
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libuavcan_drivers/lpc11c24/test_olimex_lpc_p11c24/src/main.cpp
+33 -1
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@@ -159,14 +159,46 @@ int main()
while (true)
{
const int res = getNode().spin(uavcan::MonotonicDuration::fromMSec(25));
//const int res = getNode().spin(uavcan::MonotonicDuration::fromMSec(25));
const int res = getNode().spinOnce();
board::setErrorLed(res < 0);
board::setStatusLed(uavcan_lpc11c24::CanDriver::instance().hadActivity());
if (uavcan_lpc11c24::CanDriver::instance().hasEmptyTx())
{
// Abort test
static unsigned value = 0;
const std::uint8_t payload[] = {
0,
0,
0,
0,
std::uint8_t(value >> 24),
std::uint8_t(value >> 16),
std::uint8_t(value >> 8),
std::uint8_t(value >> 0),
};
value++;
(void)uavcan_lpc11c24::CanDriver::instance().send(uavcan::CanFrame(123U | uavcan::CanFrame::FlagEFF,
payload, sizeof(payload)),
uavcan::MonotonicTime::getMax(),
uavcan::CanIOFlagAbortOnError);
}
const auto ts = uavcan_lpc11c24::clock::getMonotonic();
if ((ts - prev_log_at).toMSec() >= 1000)
{
prev_log_at = ts;
// CAN bus off state monitoring
board::syslog("CAN bus off: ");
board::syslog(intToString(int(uavcan_lpc11c24::CanDriver::instance().isInBusOffState())).c_str());
board::syslog("\r\n");
// CAN error counter, for debugging purposes
board::syslog("CAN errors: ");
board::syslog(intToString(static_cast<long long>(uavcan_lpc11c24::CanDriver::instance().getErrorCount())).c_str());
board::syslog(" ");
board::syslog(intToString(uavcan_lpc11c24::CanDriver::instance().getRxQueueOverflowCount()).c_str());
board::syslog("\r\n");
// We don't want to use formatting functions provided by libuavcan because they rely on std::snprintf()
// hence we need to construct the message manually:
uavcan::protocol::debug::LogMessage logmsg;