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Add loopback support to STM32 CAN driver; Add apps/examples/can loopback test

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git-svn-id: https://nuttx.svn.sourceforge.net/svnroot/nuttx/trunk@4213 7fd9a85b-ad96-42d3-883c-3090e2eb8679
This commit is contained in:
patacongo
2011-12-22 15:59:50 +00:00
parent 907471d5dc
commit bfc578860c
41 changed files with 865 additions and 68 deletions
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apps/examples/Makefile
+11 -8
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@@ -42,25 +42,28 @@ SUBDIRS = adc buttons dhcpd ftpc hello helloxx hidkbd igmp lcdrw mm mount \
nxtext ostest pashello pipe poll pwm rgmp romfs sendmail serloop \
thttpd tiff touchscreen udp uip usbserial usbstorage usbterm wget wlan
# Sub-directories that might need context setup
# Sub-directories that might need context setup. Directories may need
# context setup for a variety of reasons, but the most common is because
# the example may be built as an NSH built-in function.
#
# Directories that may be built as NSH built-in functions may have their
# own configuration setting (like CONFIG_EXAMPLES_HELLOXX_BUILTIN), but
# many only depend on the generic CONFIG_NSH_BUILTIN_APPS setting. And
# there a few which an ONLY be built as NSH built-in applications; these
# are included in the list unconditionally.
CNTXTDIRS = pwm
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
CNTXTDIRS += adc
endif
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
CNTXTDIRS += dhcpd
CNTXTDIRS += adc can dhcpd nettest
endif
ifeq ($(CONFIG_EXAMPLES_HELLOXX_BUILTIN),y)
CNTXTDIRS += helloxx
endif
ifeq ($(CONFIG_EXAMPLES_LCDRW_BUILTIN),y)
CNTXTDIRS += lcdrw
endif
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
CNTXTDIRS += nettest
endif
ifeq ($(CONFIG_EXAMPLES_NX_BUILTIN),y)
CNTXTDIRS += nx
endif
apps/examples/README.txt
+28
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@@ -76,6 +76,34 @@ examples/buttons
user-space program. As a result, this example cannot be used if a
NuttX is built as a protected, supervisor kernel (CONFIG_NUTTX_KERNEL).
examples/can
^^^^^^^^^^^^
If the CAN device is configured in loopback mode, then this example can
be used to test the CAN device in loop back mode. It simple sinces a
sequence of CAN messages and verifies that those messages are returned
exactly as sent.
This test depends on these specific CAN configurations settings (your
specific CAN settings might require additional settings).
CONFIG_CAN - Enables CAN support.
CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
mode for testing. The STM32 CAN driver does support loopback mode.
Specific configuration options for this example include:
CONFIG_NSH_BUILTIN_APPS - Build the CAN test as an NSH built-in function.
Default: Built as a standalone problem
CONFIG_CAN_LOOPBACK
CONFIG_EXAMPLES_CAN_DEVPATH - The path to the CAN device. Default: /dev/can0
CONFIG_EXAMPLES_CAN_NMSGS - If CONFIG_NSH_BUILTIN_APPS
is defined, then the number of loops is provided on the command line
and this value is ignored. Otherwise, this number of CAN message is
collected and the program terminates. Default: If built as an NSH
built-in, the default is 32. Otherwise messages are sent and received
indefinitely.
examples/dhcpd
^^^^^^^^^^^^^^
apps/examples/adc/adc.h
Executable → Regular
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apps/examples/can/Makefile
+105
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@@ -0,0 +1,105 @@
############################################################################
# apps/examples/can/Makefile
#
# Copyright (C) 2011 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name NuttX nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
-include $(TOPDIR)/.config
-include $(TOPDIR)/Make.defs
include $(APPDIR)/Make.defs
# NuttX NX Graphics Example.
ASRCS =
CSRCS = can_main.c
AOBJS = $(ASRCS:.S=$(OBJEXT))
COBJS = $(CSRCS:.c=$(OBJEXT))
SRCS = $(ASRCS) $(CSRCS)
OBJS = $(AOBJS) $(COBJS)
ifeq ($(WINTOOL),y)
BIN = "${shell cygpath -w $(APPDIR)/libapps$(LIBEXT)}"
else
BIN = "$(APPDIR)/libapps$(LIBEXT)"
endif
ROOTDEPPATH = --dep-path .
# Touchscreen built-in application info
APPNAME = can
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
# Common build
VPATH =
all: .built
.PHONY: context clean depend distclean
$(AOBJS): %$(OBJEXT): %.S
$(call ASSEMBLE, $<, $@)
$(COBJS): %$(OBJEXT): %.c
$(call COMPILE, $<, $@)
.built: $(OBJS)
@( for obj in $(OBJS) ; do \
$(call ARCHIVE, $(BIN), $${obj}); \
done ; )
@touch .built
.context:
ifeq ($(CONFIG_NSH_BUILTIN_APPS),y)
$(call REGISTER,$(APPNAME),$(PRIORITY),$(STACKSIZE),$(APPNAME)_main)
@touch $@
endif
context: .context
.depend: Makefile $(SRCS)
@$(MKDEP) $(ROOTDEPPATH) $(CC) -- $(CFLAGS) -- $(SRCS) >Make.dep
@touch $@
depend: .depend
clean:
@rm -f *.o *~ .*.swp .built
$(call CLEAN)
distclean: clean
@rm -f Make.dep .depend
-include Make.dep
apps/examples/can/can.h
+129
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@@ -0,0 +1,129 @@
/****************************************************************************
* examples/examples/can/can.h
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#ifndef __APPS_EXAMPLES_CAN_CAN_H
#define __APPS_EXAMPLES_CAN_CAN_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* This test depends on these specific CAN configurations settings (your
* specific CAN settings might require additional settings).
*
* CONFIG_CAN - Enables CAN support.
* CONFIG_CAN_LOOPBACK - A CAN driver may or may not support a loopback
* mode for testing. The STM32 CAN driver does support loopback mode.
*
* Specific configuration options for this example include:
*
* CONFIG_NSH_BUILTIN_APPS - Build the CAN test as an NSH built-in function.
* Default: Built as a standalone problem
* CONFIG_CAN_LOOPBACK
* CONFIG_EXAMPLES_CAN_DEVPATH - The path to the CAN device. Default: /dev/can0
* CONFIG_EXAMPLES_CAN_NMSGS - If CONFIG_NSH_BUILTIN_APPS
* is defined, then the number of loops is provided on the command line
* and this value is ignored. Otherwise, this number of CAN message is
* collected and the program terminates. Default: If built as an NSH
* built-in, the default is 32. Otherwise messages are sent and received
* indefinitely.
*/
#ifndef CONFIG_CAN
# error "CAN device support is not enabled (CONFIG_CAN)"
#endif
#ifndef CONFIG_CAN_LOOPBACK
# warning "CAN loopback is not enabled (CONFIG_CAN_LOOPBACK)"
#endif
#ifndef CONFIG_EXAMPLES_CAN_DEVPATH
# define CONFIG_EXAMPLES_CAN_DEVPATH "/dev/can0"
#endif
#if defined(CONFIG_NSH_BUILTIN_APPS) && !defined(CONFIG_EXAMPLES_CAN_NMSGS)
# define CONFIG_EXAMPLES_CAN_NMSGS 32
#endif
/* Debug ********************************************************************/
#ifdef CONFIG_CPP_HAVE_VARARGS
# ifdef CONFIG_DEBUG
# define message(...) lib_rawprintf(__VA_ARGS__)
# define msgflush()
# else
# define message(...) printf(__VA_ARGS__)
# define msgflush() fflush(stdout)
# endif
#else
# ifdef CONFIG_DEBUG
# define message lib_rawprintf
# define msgflush()
# else
# define message printf
# define msgflush() fflush(stdout)
# endif
#endif
/****************************************************************************
* Public Types
****************************************************************************/
/****************************************************************************
* Public Variables
****************************************************************************/
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
/****************************************************************************
* Name: can_devinit()
*
* Description:
* Perform architecuture-specific initialization of the CAN hardware. This
* interface must be provided by all configurations using apps/examples/can
*
****************************************************************************/
int can_devinit(void);
#endif /* __APPS_EXAMPLES_CAN_CAN_H */
apps/examples/can/can_main.c
+247
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@@ -0,0 +1,247 @@
/****************************************************************************
* examples/can/can_main.c
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <spudmonkey@racsa.co.cr>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name NuttX nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <sys/types.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.h>
#include "can.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifdef CONFIG_NSH_BUILTIN_APPS
# define MAIN_NAME can_main
# define MAIN_STRING "can_main: "
#else
# define MAIN_NAME user_start
# define MAIN_STRING "user_start: "
#endif
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: user_start/can_main
****************************************************************************/
int MAIN_NAME(int argc, char *argv[])
{
struct can_msg_s txmsg;
struct can_msg_s rxmsg;
size_t msgsize;
ssize_t nbytes;
uint8_t msgdata;
#if defined(CONFIG_NSH_BUILTIN_APPS) || defined(CONFIG_EXAMPLES_CAN_NMSGS)
long nmsgs;
#endif
int msgdlc;
int msgid;
int fd;
int errval = 0;
int ret;
int i;
/* If this example is configured as an NX add-on, then limit the number of
* samples that we collect before returning. Otherwise, we never return
*/
#if defined(CONFIG_NSH_BUILTIN_APPS)
nmsgs = CONFIG_EXAMPLES_CAN_NMSGS;
if (argc > 1)
{
nmsgs = strtol(argv[1], NULL, 10);
}
message(MAIN_STRING "nmsgs: %d\n", nmsgs);
#elif defined(CONFIG_EXAMPLES_CAN_NMSGS)
message(MAIN_STRING "nmsgs: %d\n", CONFIG_EXAMPLES_CAN_NMSGS);
#endif
/* Initialization of the CAN hardware is performed by logic external to
* this test.
*/
message(MAIN_STRING "Initializing external CAN device\n");
ret = can_devinit();
if (ret != OK)
{
message(MAIN_STRING "can_devinit failed: %d\n", ret);
errval = 1;
goto errout;
}
/* Open the CAN device for reading */
message(MAIN_STRING "Hardware initialized. Opening the CAN device\n");
fd = open(CONFIG_EXAMPLES_CAN_DEVPATH, O_RDWR);
if (fd < 0)
{
message(MAIN_STRING "open %s failed: %d\n",
CONFIG_EXAMPLES_CAN_DEVPATH, errno);
errval = 2;
goto errout_with_dev;
}
/* Now loop the appropriate number of times, performing one loopback test
* on each pass.
*/
msgdlc = 1;
msgid = 1;
msgdata = 0;
#if defined(CONFIG_NSH_BUILTIN_APPS)
for (; nmsgs > 0; nmsgs--)
#elif defined(CONFIG_EXAMPLES_CAN_NMSGS)
for (nmsgs = 0; nmsgs < CONFIG_EXAMPLES_CAN_NMSGS; nmsgs++)
#else
for (;;)
#endif
{
/* Flush any output before the loop entered or from the previous pass
* through the loop.
*/
msgflush();
/* Construct the next TX message */
txmsg.cm_hdr = CAN_HDR(msgid, 0, msgdlc);
for (i = 0; i < msgdlc; i++)
{
txmsg.cm_data[i] = msgdata + i;
}
/* Send the TX message */
msgsize = CAN_MSGLEN(txmsg.cm_hdr);
nbytes = write(fd, &txmsg, msgsize);
if (nbytes != msgsize)
{
message("ERROR: write(%d) returned %d\n", msgsize, nbytes);
errval = 3;
goto errout_with_dev;
}
/* Read the RX message */
msgsize = sizeof(struct can_msg_s);
nbytes = read(fd, &rxmsg, msgsize);
if (nbytes < CAN_MSGLEN(0) || nbytes >= msgsize)
{
message("ERROR: read(%d) returned %d\n", msgsize, nbytes);
errval = 4;
goto errout_with_dev;
}
/* Verify that the received messages are the same */
if (txmsg.cm_hdr != rxmsg.cm_hdr)
{
message("ERROR: Sent header %04x; received header %04x\n", txmsg.cm_hdr, rxmsg.cm_hdr);
errval = 4;
goto errout_with_dev;
}
if (memcmp(txmsg.cm_data, rxmsg.cm_data, msgdlc) != 0)
{
message("ERROR: Data does not match. DLC=%d\n", msgdlc);
for (i = 0; i < msgdlc; i++)
{
message(" %d: TX %02x RX %02x\n", txmsg.cm_data[i], rxmsg.cm_data[i]);
errval = 5;
goto errout_with_dev;
}
}
/* Set up for the next pass */
msgdata += msgdlc;
if (++msgid >= 2048)
{
msgid = 1;
}
if (++msgdlc > CAN_MAXDATALEN)
{
msgdlc = 1;
}
}
errout_with_dev:
close(fd);
errout:
message("Terminating!\n");
msgflush();
return errval;
}
apps/examples/ftpc/ftpc_cmds.c
Executable → Regular
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apps/examples/ftpc/ftpc_main.c
Executable → Regular
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apps/examples/igmp/igmp.c
Executable → Regular
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apps/examples/igmp/igmp.h
Executable → Regular
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apps/examples/nximage/nximage.h
Executable → Regular
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apps/examples/nximage/nximage_bkgd.c
Executable → Regular
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apps/examples/nximage/nximage_main.c
Executable → Regular
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apps/examples/pwm/pwm.h
Executable → Regular
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apps/examples/sendmail/hostdefs.h
Executable → Regular
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apps/examples/wget/hostdefs.h
Executable → Regular
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apps/examples/wlan/wlan_main.c
Executable → Regular
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