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90 lines
2.2 KiB
C
90 lines
2.2 KiB
C
#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <string.h>
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#include <console.h>
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#include <aic_common.h>
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#include <aic_errno.h>
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#include <aic_hal_can.h>
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uint8_t rx_done = 0;
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#define CAN_HELP \
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"test_can <CAN BUS ID>:\n" \
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"This program is used to test self-test mode of CAN\n" \
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"You should connect TX and RX\n" \
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"Example:\n" \
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"test_can 0 test CAN0 self-test mode\n" \
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"test_can 1 test CAN1 self-test mode\n"
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void can_usage(void)
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{
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puts(CAN_HELP);
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}
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void can_rx_callback(can_handle * phandle, void *arg)
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{
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if ((u32)arg == CAN_EVENT_RX_IND)
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rx_done = 1;
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}
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static int test_can_example(int argc, char *argv[])
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{
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int idx;
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can_handle can;
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can_msg_t msg, rx_msg;
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if (argc != 2)
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{
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can_usage();
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return 0;
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}
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idx = atoi(argv[1]);
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/* Initialize CAN */
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hal_can_init(&can, idx);
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/* Set can baudrate */
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hal_can_ioctl(&can, CAN_IOCTL_SET_BAUDRATE, (void *)1000000UL);
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/* Set can mode */
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hal_can_ioctl(&can, CAN_IOCTL_SET_MODE, (void *)CAN_SELFTEST_MODE);
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/* Configure interrupt routine */
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aicos_request_irq(CAN0_IRQn + idx, hal_can_isr_handler,
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0, NULL, (void *)&can);
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hal_can_enable_interrupt(&can);
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/* Set can callback */
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hal_can_attach_callback(&can, can_rx_callback, NULL);
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/* Send CAN frame */
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msg.id = 0x1FF;
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msg.ide = 0;
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msg.rtr = 0;
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msg.dlc = 8;
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msg.data[0] = 0x00;
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msg.data[1] = 0x11;
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msg.data[2] = 0x22;
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msg.data[3] = 0x33;
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msg.data[4] = 0x44;
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msg.data[5] = 0x55;
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msg.data[6] = 0x66;
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msg.data[7] = 0x77;
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hal_can_send_frame(&can, &msg, SELF_REQ);
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/* Receive CAN frame*/
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while (!rx_done);
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rx_done = 0;
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hal_can_receive_frame(&can, &rx_msg);
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printf("self-test received msg:\n\t");
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for (int i =0; i < rx_msg.dlc; i++)
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{
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printf("%02x ", rx_msg.data[i]);
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}
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printf("\n");
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hal_can_detach_callback(&can);
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hal_can_uninit(&can);
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return 0;
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}
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CONSOLE_CMD(test_can, test_can_example, "CAN self-test example");
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