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tests/drivers/candev: add test commands
This commit is contained in:
Firas Hamdi
parent
74bf01baa8
commit
491a1cdf2b
@ -5,8 +5,16 @@ endif
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# define the CAN driver you want to use here
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CAN_DRIVER ?= MCP2515
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# define the CPU family used
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CPU_USED ?= SAME54
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ifeq ($(CAN_DRIVER), PERIPH_CAN)
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FEATURES_REQUIRED += periph_can
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ifeq (SAME54, $(CPU_USED))
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# You can increase the number of provided filters using this block. Default number : 3
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# CFLAGS += "-DCANDEV_SAMD5X_DEFAULT_STD_FILTER_NUM=5"
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# CFLAGS += "-DCANDEV_SAMD5X_DEFAULT_EXT_FILTER_NUM=5"
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endif
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else ifeq ($(CAN_DRIVER), MCP2515)
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USEMODULE += mcp2515
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# Uncomment to enable MCP2515 reception filtering
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@ -33,6 +33,9 @@
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#include "periph/can.h"
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#include "can_params.h"
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#include "board.h"
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#include "periph_conf.h"
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#include "periph/gpio.h"
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static can_t periph_dev;
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@ -127,7 +130,86 @@ static int _receive(int argc, char **argv)
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return 0;
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}
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static int _set_bit_rate(int argc, char **argv)
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{
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uint32_t bitrate = 250000;
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uint32_t sample_point = 875;
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int res = 0;
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if (argc == 2) {
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bitrate = atoi(argv[1]);
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if (!bitrate) {
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puts("Usage error: Invalid bitrate");
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return -1;
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}
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}
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if (argc == 3) {
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bitrate = atoi(argv[1]);
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sample_point = atoi(argv[2]);
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if (!bitrate || !sample_point) {
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puts("Usage error: Invalid bitrate or sample point");
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return -2;
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}
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}
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struct can_bittiming bit_timing = {
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.bitrate = bitrate,
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.sample_point = sample_point,
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};
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res = candev->driver->set(candev, CANOPT_BITTIMING, &bit_timing, sizeof(bit_timing));
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return res;
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}
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static int _set_can_filter(int argc, char **argv)
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{
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(void)argc;
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(void)argv;
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int res = 0;
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struct can_filter filter = {
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.can_mask = 0x7FF,
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.can_id = 0x1aa,
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#if (MODULE_CAN_RX_MAILBOX)
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.target_mailbox = 1,
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#endif
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};
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res = candev->driver->set(candev, CANOPT_RX_FILTERS, &filter, sizeof(struct can_filter));
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return res;
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}
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static int _power_off(int argc, char **argv)
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{
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(void)argc;
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(void)argv;
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int res = 0;
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canopt_state_t state = CANOPT_STATE_OFF;
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res = candev->driver->set(candev, CANOPT_STATE, &state, sizeof(canopt_state_t));
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return res;
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}
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static int _power_on(int argc, char **argv)
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{
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(void)argc;
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(void)argv;
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int res = 0;
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canopt_state_t state = CANOPT_STATE_ON;
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res = candev->driver->set(candev, CANOPT_STATE, &state, sizeof(canopt_state_t));
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return res;
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}
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static const shell_command_t shell_commands[] = {
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{ "on", "Turn on the CAN controller", _power_on},
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{ "off", "Turn off the CAN controller", _power_off},
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{ "set_filter", "set CAN filters", _set_can_filter},
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{ "set_bit_rate", "set CAN bit rate", _set_bit_rate},
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{ "send", "send some data", _send },
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{ "receive", "receive some data", _receive },
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{ NULL, NULL, NULL }
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@ -157,7 +239,7 @@ static void _can_event_callback(candev_t *dev, candev_event_t event, void *arg)
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frame = (struct can_frame *)arg;
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DEBUG(" id: %" PRIx32 " dlc: %" PRIx8 " data: ", frame->can_id & 0x1FFFFFFF,
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DEBUG(" id: %" PRIx32 " dlc: %u data: ", frame->can_id & 0x1FFFFFFF,
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frame->can_dlc);
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for (uint8_t i = 0; i < frame->can_dlc; i++) {
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DEBUG("0x%X ", frame->data[i]);
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@ -196,9 +278,13 @@ int main(void)
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isrpipe_init(&rxbuf, (uint8_t *)rx_ringbuf, sizeof(rx_ringbuf));
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#if IS_USED(MODULE_PERIPH_CAN)
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puts("Initializing CAN periph device");
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can_init(&periph_dev, &(candev_conf[0])); /* vcan0 on native */
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candev = (candev_t *)&periph_dev;
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#elif defined(MODULE_MCP2515)
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can_init(&periph_dev, &(candev_conf[0]));
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candev = &(periph_dev.candev);
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#if defined(BOARD_SAME54_XPRO)
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gpio_init(AT6561_STBY_PIN, GPIO_OUT);
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gpio_clear(AT6561_STBY_PIN);
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#endif
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#elif defined(MODULE_MCP2515)
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puts("Initializing MCP2515");
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candev_mcp2515_init(&mcp2515_dev, &candev_mcp2515_conf[0]);
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candev = (candev_t *)&mcp2515_dev;
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@ -221,34 +307,45 @@ if (IS_ACTIVE(CONFIG_USE_LOOPBACK_MODE)) {
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candev->driver->set(candev, CANOPT_STATE, &mode, sizeof(mode));
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}
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/* Depending from the CAN controller used, this test example will provide different results.
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- For MCP2515 standalone CAN controller, the last filter won't be applied
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as the first reception mailbox supports up to two filters
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- For SAMD5x/E5x CAN controller, and with keeping the default parameters in candev_samd5x.h,
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the last filter won't be applied as the CAN controller supports up to 3 standard filters
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- For SAMD5x/E5x CAN controller, if you increase the maximum capacity of the standard
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filters (check Makefile.board.dep), the last filter can be applied correctly. */
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#if defined(MODULE_MCP2515)
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if (IS_ACTIVE(MCP2515_RECV_FILTER_EN)) {
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#endif
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/* CAN filters examples */
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struct can_filter filter[4];
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filter[0].can_mask = 0x7FF;
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filter[0].can_id = 0x001;
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#if defined(MODULE_MCP2515)
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filter[0].target_mailbox = 0; /* messages with CAN ID 0x001 will be received in mailbox 0 */
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#if (MODULE_CAN_RX_MAILBOX)
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filter[0].target_mailbox = 0;
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#endif
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filter[1].can_mask = 0x7FF;
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filter[1].can_id = 0x002;
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#if defined(MODULE_MCP2515)
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filter[1].target_mailbox = 1; /* messages with CAN ID 0x002 will be received in mailbox 1 */
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#if (MODULE_CAN_RX_MAILBOX)
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filter[1].target_mailbox = 1;
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#endif
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filter[2].can_mask = 0x7FF;
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filter[2].can_id = 0x003;
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#if defined(MODULE_MCP2515)
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filter[2].target_mailbox = 0; /* messages with CAN ID 0x003 will be received in mailbox 0 */
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#if (MODULE_CAN_RX_MAILBOX)
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filter[2].target_mailbox = 0;
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#endif
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filter[3].can_mask = 0x7FF;
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filter[3].can_id = 0x004;
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#if defined(MODULE_MCP2515)
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filter[3].target_mailbox = 0; /* this filter won't be applied. Reason is no space found in the first mailbox as it supports only two filters */
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#if (MODULE_CAN_RX_MAILBOX)
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filter[3].target_mailbox = 1;
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#endif
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for (uint8_t i = 0; i < 4; i++) {
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candev->driver->set_filter(candev, &filter[i]);
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}
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/* All other messages won't be received */
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#if defined(MODULE_MCP2515)
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}
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#endif
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char line_buf[SHELL_DEFAULT_BUFSIZE];
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shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
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