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101 lines
3.1 KiB
C++
101 lines
3.1 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2014 PX4 Development Team. All rights reserved.
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* Author: Pavel Kirienko <pavel.kirienko@gmail.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <cstdlib>
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#include <cstring>
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#include <systemlib/err.h>
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#include <systemlib/systemlib.h>
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#include <arch/board/board.h>
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#include "uavcan_main.hpp"
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extern "C" __EXPORT int uavcan_main(int argc, char *argv[]);
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namespace
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{
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uavcan_stm32::CanInitHelper<> can_driver;
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void print_usage()
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{
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warnx("usage: uavcan start [can_bitrate]");
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}
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int test_thread(int argc, char *argv[])
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{
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stm32_configgpio(GPIO_CAN1_RX);
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stm32_configgpio(GPIO_CAN1_TX);
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stm32_configgpio(GPIO_CAN2_RX);
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stm32_configgpio(GPIO_CAN2_TX);
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int res = can_driver.init(1000000);
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if (res < 0)
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{
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errx(res, "CAN driver init failed");
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}
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while (true)
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{
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::sleep(1);
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auto iface = static_cast<uavcan::ICanIface*>(can_driver.driver.getIface(0));
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res = iface->send(uavcan::CanFrame(), uavcan_stm32::clock::getMonotonic(), 0);
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warnx("published %i, pending %u", res, can_driver.driver.getIface(0)->getRxQueueLength());
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}
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return 0;
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}
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}
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int uavcan_main(int argc, char *argv[])
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{
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if (argc < 2) {
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print_usage();
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::exit(1);
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}
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if (!std::strcmp(argv[1], "start")) {
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static bool started = false;
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if (started)
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{
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warnx("already started");
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::exit(1);
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}
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started = true;
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(void)task_spawn_cmd("uavcan", SCHED_DEFAULT, SCHED_PRIORITY_DEFAULT, 3000,
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static_cast<main_t>(&test_thread), const_cast<const char**>(argv));
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return 0;
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} else {
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print_usage();
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::exit(1);
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}
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return 0;
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}
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