STM32 driver test app

libuavcan_drivers/stm32/test_stm32f107/Makefile

@@ -8,7 +8,10 @@ PROJECT = uavcan_test_stm32f107
 # Test application
 #
 
-CPPSRC = src/main.cpp src/dummy.cpp
+MAIN ?= main.cpp
+
+CPPSRC = src/$(MAIN) \
+         src/dummy.cpp
 
 #
 # UAVCAN library

libuavcan_drivers/stm32/test_stm32f107/src/main_driver_test.cpp

@@ -0,0 +1,141 @@
+/*
+ * Copyright (C) 2014 Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#include <unistd.h>
+#include <zubax_chibios/sys/sys.h>
+#include <uavcan_stm32/uavcan_stm32.hpp>
+
+namespace app
+{
+namespace
+{
+
+uavcan_stm32::CanInitHelper<128> can;
+
+void ledSet(bool state)
+{
+    palWritePad(GPIO_PORT_LED, GPIO_PIN_LED, state);
+}
+
+int init()
+{
+    halInit();
+    chibios_rt::System::init();
+    sdStart(&STDOUT_SD, NULL);
+
+    return can.init(1000000);
+}
+
+#if __GNUC__
+__attribute__((noreturn))
+#endif
+void die(int status)
+{
+    lowsyslog("Now I am dead x_x %i\n", status);
+    while (1)
+    {
+        ledSet(false);
+        sleep(1);
+        ledSet(true);
+        sleep(1);
+    }
+}
+
+}
+}
+
+int main()
+{
+    const int init_res = app::init();
+    if (init_res != 0)
+    {
+        app::die(init_res);
+    }
+
+    lowsyslog("Bootup\n");
+
+    struct IfaceStatus
+    {
+        unsigned peak_mbx_used = 0;
+        unsigned tx_aborts = 0;
+        unsigned errors = 0;
+        unsigned lec = 0;
+
+        IfaceStatus() { }
+
+        IfaceStatus(uavcan_stm32::CanIface& iface) :
+            peak_mbx_used(iface.getPeakNumTxMailboxesUsed()),
+            tx_aborts(iface.getVoluntaryTxAbortCount()),
+            errors(iface.getErrorCount()),
+            lec(iface.yieldLastHardwareErrorCode())
+        { }
+
+        uavcan::MakeString<80>::Type toString() const
+        {
+            uavcan::MakeString<80>::Type s;
+            s.appendFormatted("pmbx %u  ", peak_mbx_used);
+            s.appendFormatted("txabrt %u  ", tx_aborts);
+            s.appendFormatted("err %u  ", errors);
+            s.appendFormatted("lec %u  ", lec);
+            return s;
+        }
+
+        bool operator!=(const IfaceStatus& rhs) const { return !operator==(rhs); }
+        bool operator==(const IfaceStatus& rhs) const
+        {
+            return std::memcmp(this, &rhs, sizeof(IfaceStatus)) == 0;
+        }
+    };
+
+    unsigned msg_cnt = 0;
+
+    while (true)
+    {
+        for (int i = 0; i < 100; i++)
+        {
+            ::usleep(1000);
+            for (int i = 0; i < 128; i++)
+            {
+                uavcan::CanFrame frame;
+                uavcan::MonotonicTime ts_mono;
+                uavcan::UtcTime ts_utc;
+                uavcan::CanIOFlags flags = 0;
+                static_cast<uavcan::ICanIface*>(app::can.driver.getIface(0))->receive(frame, ts_mono, ts_utc, flags);
+                static_cast<uavcan::ICanIface*>(app::can.driver.getIface(1))->receive(frame, ts_mono, ts_utc, flags);
+            }
+        }
+
+        app::ledSet(app::can.driver.hadActivity());
+
+        uint8_t data[8] = {};
+
+        uavcan::CanFrame frame(0 | uavcan::CanFrame::FlagEFF, data, 0);
+
+        const auto tx_deadline = uavcan_stm32::clock::getMonotonic() + uavcan::MonotonicDuration::fromMSec(10);
+
+        static_cast<uavcan::ICanIface*>(app::can.driver.getIface(0))->send(frame, tx_deadline,
+                                                                           uavcan::CanIOFlagAbortOnError);
+
+        frame.id += 1;
+        static_cast<uavcan::ICanIface*>(app::can.driver.getIface(0))->send(frame, tx_deadline,
+                                                                           uavcan::CanIOFlagAbortOnError);
+
+        const IfaceStatus if0(*app::can.driver.getIface(0));
+        const IfaceStatus if1(*app::can.driver.getIface(1));
+
+        static IfaceStatus old_if0;
+        static IfaceStatus old_if1;
+
+        if (old_if0 != if0 ||
+            old_if1 != if1)
+        {
+            lowsyslog("report #%u\n", msg_cnt);
+            lowsyslog("if0: %s\n", if0.toString().c_str());
+            lowsyslog("if1: %s\n", if1.toString().c_str());
+        }
+
+        old_if0 = if0;
+        old_if1 = if1;
+    }
+}