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V1.0.5
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刘可亮
265
bsp/examples/test-can/test_can_loopback.c
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265
bsp/examples/test-can/test_can_loopback.c
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/*
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* Copyright (c) 2022, Artinchip Technology Co., Ltd
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <rtthread.h>
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#include "rtdevice.h"
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#include <aic_core.h>
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#include "aic_hal_can.h"
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/*
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* This program is used to test the sending and receiving of CAN.
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* You must ensure that there are one CAN modules on the demo board.
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* CAN* sends data and CAN* receives data.
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* can_rx needs to be executed before can_tx.
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*/
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#define CAN_DEV_NAME "can1"
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#define CAN_RX_FILTER_ENABLE 0
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static struct rt_semaphore g_rx_sem;
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static rt_device_t g_can_tx_dev;
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static rt_device_t g_can_rx_dev;
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static char *g_can_dev_name = CAN_DEV_NAME;
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static uint8_t g_can_rx_thread_inted = 0;
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static rt_err_t can_self_rx_call(rt_device_t dev, rt_size_t size)
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{
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rt_sem_release(&g_rx_sem);
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return RT_EOK;
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}
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static void can_self_rx_thread(void *parameter)
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{
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int i;
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rt_size_t size;
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struct rt_can_msg rxmsg = {0};
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while (1)
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{
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rt_sem_take(&g_rx_sem, RT_WAITING_FOREVER);
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rxmsg.hdr = -1;
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size = rt_device_read(g_can_rx_dev, 0, &rxmsg, sizeof(rxmsg));
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if (!size)
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{
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rt_kprintf("CAN read error\n");
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break;
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}
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rt_kprintf("%s received msg:\nID: 0x%x ", g_can_dev_name, rxmsg.id);
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if (rxmsg.len)
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rt_kprintf("DATA: ");
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for (i = 0; i < rxmsg.len; i++)
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{
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rt_kprintf("%02x ", rxmsg.data[i]);
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}
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rt_kprintf("\n");
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}
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rt_device_close(g_can_rx_dev);
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}
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int test_can_self_rx(void)
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{
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rt_err_t ret = 0;
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rt_thread_t thread;
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if (!g_can_rx_thread_inted)
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{
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/* can rx configuration */
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g_can_rx_dev = rt_device_find(g_can_dev_name);
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if (!g_can_rx_dev)
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{
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rt_kprintf("find %s failed!\n", g_can_dev_name);
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return -RT_ERROR;
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}
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ret = rt_device_open(g_can_rx_dev,
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RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
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if (ret)
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{
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rt_kprintf("%s open failed!\n", g_can_dev_name);
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return -RT_ERROR;
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}
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ret = rt_device_control(g_can_rx_dev, RT_CAN_CMD_SET_BAUD,
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(void *)CAN1MBaud);
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if (ret)
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{
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rt_kprintf("%s set baudrate failed!\n", g_can_dev_name);
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ret = -RT_ERROR;
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goto __exit;
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}
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//enable CAN RX interrupt
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rt_device_control(g_can_rx_dev, RT_DEVICE_CTRL_SET_INT, NULL);
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#if CAN_RX_FILTER_ENABLE
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/* config can rx filter */
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struct rt_can_filter_item items[1] =
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{
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//Only receive standard data frame with ID 0x100~0x1FF
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RT_CAN_FILTER_ITEM_INIT(0x100, 0, 0, 0, 0x700, RT_NULL, RT_NULL),
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};
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struct rt_can_filter_config cfg = {1, 1, items};
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ret = rt_device_control(g_can_rx_dev, RT_CAN_CMD_SET_FILTER, &cfg);
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#endif
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rt_device_set_rx_indicate(g_can_rx_dev, can_self_rx_call);
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rt_sem_init(&g_rx_sem, "can_rx_sem", 0, RT_IPC_FLAG_PRIO);
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thread = rt_thread_create("can_rx", can_self_rx_thread, RT_NULL,
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2048, 25, 10);
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if (thread != RT_NULL)
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{
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rt_thread_startup(thread);
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}
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else
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{
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rt_kprintf("create can_rx thread failed!\n");
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ret = -RT_ERROR;
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}
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g_can_rx_thread_inted = 1;
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rt_kprintf("The %s received thread is ready...\n", g_can_dev_name);
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}
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else
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{
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rt_kprintf("The %s received thread is running...\n", g_can_dev_name);
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}
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rt_device_control(g_can_rx_dev, RT_CAN_CMD_SET_MODE,
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(void *)CAN_SELFTEST_MODE);
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return RT_EOK;
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__exit:
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rt_device_close(g_can_rx_dev);
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return ret;
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}
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void test_can_self_parse_msg_data(rt_can_msg_t msg, char * optarg)
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{
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char *token;
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uint8_t i = 0, id_received = 0;
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token = strtok(optarg, "#.");
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while (token)
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{
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if (!id_received)
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{
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msg->id = strtoul(token, NULL, 16);
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if (msg->id > 0x7FF)
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msg->ide = 1;
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else
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msg->ide = 0;
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id_received = 1;
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}
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else
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{
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/* frame data */
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msg->rtr = CAN_FRAME_TYPE_DATA;
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msg->data[i++] = strtoul(token, NULL, 16);
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if (i >= 8)
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break;
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}
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token = strtok(NULL, "#.");
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}
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msg->len = i;
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}
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int test_can_self_tx(char *argv[])
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{
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rt_err_t ret = 0;
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rt_size_t size;
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struct rt_can_msg msg = {0};
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if (!g_can_rx_thread_inted)
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{
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rt_kprintf("Please execute can_rx at first!\n");
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return -RT_EINVAL;
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}
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test_can_self_parse_msg_data(&msg, argv[0]);
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/* can tx configuration */
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g_can_tx_dev = rt_device_find(g_can_dev_name);
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if (!g_can_tx_dev)
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{
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rt_kprintf("find %s failed!\n", g_can_dev_name);
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return -RT_EINVAL;
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}
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ret = rt_device_open(g_can_tx_dev,
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RT_DEVICE_FLAG_INT_TX | RT_DEVICE_FLAG_INT_RX);
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if (ret)
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{
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rt_kprintf("%s open failed!\n", g_can_dev_name);
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return -RT_ERROR;
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}
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ret = rt_device_control(g_can_tx_dev, RT_CAN_CMD_SET_BAUD, (void *)CAN1MBaud);
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if (ret)
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{
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rt_kprintf("%s set baudrate failed!\n", g_can_dev_name);
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ret = -RT_ERROR;
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goto __exit;
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}
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//enable CAN TX interrupt
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rt_device_control(g_can_tx_dev, RT_DEVICE_CTRL_SET_INT, NULL);
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size = rt_device_write(g_can_tx_dev, 0, &msg, sizeof(msg));
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if (size != sizeof(msg))
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{
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rt_kprintf("can dev write data failed!\n");
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ret = -RT_EIO;
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}
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__exit:
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rt_device_close(g_can_tx_dev);
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return ret;
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}
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static void usage_test_can(char * program)
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{
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printf("\n");
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printf("%s - test CAN send frame to itself (loopback mode)\n", program);
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printf("Usage: \n");
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printf("\t%s <can_name> frame_id#frame_data\n", program);
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printf("For example:\n");
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printf("\t%s can1 1a3#11.22.9a.88.ef.00\n", program);
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printf("\n");
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}
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static int cmd_test_can_loopback(int argc, char *argv[])
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{
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if (argc < 2) {
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usage_test_can(argv[0]);
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return -RT_EINVAL;
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}
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g_can_dev_name = argv[1];
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test_can_self_rx();
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test_can_self_tx(&argv[2]);
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return 0;
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}
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MSH_CMD_EXPORT_ALIAS(cmd_test_can_loopback, test_can,
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can device loopback sample);
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