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tests/candev: add mcp2515 support
This commit is contained in:
Wouter Symons
parent
757f810118
commit
680476c6a0
@ -4,14 +4,16 @@ USEMODULE += shell
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USEMODULE += can
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USEMODULE += isrpipe
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FEATURES_OPTIONAL += periph_can
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# define the CAN driver you want to use here
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CAN_DRIVER ?= CAN_EXT
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ifeq ($(CAN_DRIVER), CAN_EXT)
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# external CAN driver modules/variables go here
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CAN_DRIVER ?= MCP2515
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ifeq ($(CAN_DRIVER), PERIPH_CAN)
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FEATURES_REQUIRED += periph_can
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else ifeq ($(CAN_DRIVER), MCP2515)
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USEMODULE += mcp2515
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else ifeq ($(CAN_DRIVER), CAN_ALT)
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# other can modules can be defined here
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endif
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include $(RIOTBASE)/Makefile.include
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@ -1 +1,8 @@
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FEATURES_BLACKLIST += arch_msp430
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BOARD_INSUFFICIENT_MEMORY := \
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arduino-duemilanove \
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arduino-nano \
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arduino-uno \
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atmega328p \
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stm32f030f4-demo \
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#
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@ -5,6 +5,11 @@
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This application is a test for using the candev abstraction directly.
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Use this if you want to use a single CAN driver and thus don't need the CAN-DLL layer.
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You can select the driver you want to use by redefining the CAN_DRIVER variable in the Makefile. Alternatively you can pass it to the make command.
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The application will automatically adapt its initialization procedure to the selected driver.
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By default the mcp2515 driver is used.
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NOTE: When building for native, use PERIPH_CAN.
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Native prerequisites
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============
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For using the can stack on top of socketCAN, available for linux, you need:
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@ -13,8 +13,8 @@
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* @file
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* @brief Test application for the candev abstraction
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*
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* @author Wouter Symons <wosym@airsantelmo.com>
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* @author Toon Stegen <tstegen@nalys-group.com>
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* @author Wouter Symons <wsymons@nalys-group.com>
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*
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* @}
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*/
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@ -23,10 +23,10 @@
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#include <debug.h>
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#include <errno.h>
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#include <isrpipe.h>
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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 <isrpipe.h>
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#include "shell.h"
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#include "can/device.h"
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@ -37,8 +37,14 @@
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static can_t periph_dev;
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#elif defined(MODULE_MCP2515)
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#include "candev_mcp2515.h"
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#include "mcp2515_params.h"
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static candev_mcp2515_t mcp2515_dev;
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#else
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/* add other candev drivers here */
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/* add includes for other candev drivers here */
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#endif
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#define RX_RINGBUFFER_SIZE 128 /* Needs to be a power of 2! */
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@ -101,12 +107,11 @@ static int _receive(int argc, char **argv)
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puts("Reading from Rxbuf...");
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isrpipe_read(&rxbuf, buf, 4); /* can-id */
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can_id = ((uint32_t)buf[0] << 24) |
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((uint32_t)buf[1] << 16) |
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((uint32_t)buf[2] << 8) |
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((uint32_t)buf[3]);
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((uint32_t)buf[1] << 16) |
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((uint32_t)buf[2] << 8) |
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((uint32_t)buf[3]);
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isrpipe_read(&rxbuf, buf, 1); /* can-dlc */
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can_dlc = buf[0];
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isrpipe_read(&rxbuf, buf, can_dlc); /* data */
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printf("id: %" PRIx32 " dlc: %" PRIx8 " Data: \n", can_id, can_dlc);
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for (int i = 0; i < can_dlc; i++) {
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@ -130,60 +135,60 @@ static void _can_event_callback(candev_t *dev, candev_event_t event, void *arg)
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struct can_frame *frame;
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switch (event) {
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case CANDEV_EVENT_ISR:
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DEBUG("_can_event: CANDEV_EVENT_ISR\n");
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dev->driver->isr(candev);
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break;
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case CANDEV_EVENT_WAKE_UP:
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DEBUG("_can_event: CANDEV_EVENT_WAKE_UP\n");
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break;
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case CANDEV_EVENT_TX_CONFIRMATION:
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DEBUG("_can_event: CANDEV_EVENT_TX_CONFIRMATION\n");
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break;
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case CANDEV_EVENT_TX_ERROR:
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DEBUG("_can_event: CANDEV_EVENT_TX_ERROR\n");
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break;
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case CANDEV_EVENT_RX_INDICATION:
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DEBUG("_can_event: CANDEV_EVENT_RX_INDICATION\n");
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case CANDEV_EVENT_ISR:
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DEBUG("_can_event: CANDEV_EVENT_ISR\n");
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dev->driver->isr(candev);
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break;
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case CANDEV_EVENT_WAKE_UP:
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DEBUG("_can_event: CANDEV_EVENT_WAKE_UP\n");
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break;
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case CANDEV_EVENT_TX_CONFIRMATION:
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DEBUG("_can_event: CANDEV_EVENT_TX_CONFIRMATION\n");
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break;
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case CANDEV_EVENT_TX_ERROR:
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DEBUG("_can_event: CANDEV_EVENT_TX_ERROR\n");
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break;
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case CANDEV_EVENT_RX_INDICATION:
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DEBUG("_can_event: CANDEV_EVENT_RX_INDICATION\n");
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frame = (struct can_frame *)arg;
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frame = (struct can_frame *)arg;
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DEBUG("\tid: %" PRIx32 " dlc: %" PRIx8 " Data: \n\t", frame->can_id,
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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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}
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DEBUG(" ");
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DEBUG("\tid: %" PRIx32 " dlc: %" PRIx8 " Data: \n\t", frame->can_id,
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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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}
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DEBUG(" ");
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/* Store in buffer until user requests the data */
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isrpipe_write_one(&rxbuf,
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(uint8_t)((frame->can_id & 0x1FFFFFFF) >> 24));
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isrpipe_write_one(&rxbuf,
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(uint8_t)((frame->can_id & 0xFF0000) >> 16));
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isrpipe_write_one(&rxbuf, (uint8_t)((frame->can_id & 0xFF00) >> 8));
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isrpipe_write_one(&rxbuf, (uint8_t)((frame->can_id & 0xFF)));
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/* Store in buffer until user requests the data */
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isrpipe_write_one(&rxbuf,
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(uint8_t)((frame->can_id & 0x1FFFFFFF) >> 24));
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isrpipe_write_one(&rxbuf,
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(uint8_t)((frame->can_id & 0xFF0000) >> 16));
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isrpipe_write_one(&rxbuf, (uint8_t)((frame->can_id & 0xFF00) >> 8));
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isrpipe_write_one(&rxbuf, (uint8_t)((frame->can_id & 0xFF)));
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isrpipe_write_one(&rxbuf, frame->can_dlc);
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for (uint8_t i = 0; i < frame->can_dlc; i++) {
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isrpipe_write_one(&rxbuf, frame->data[i]);
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}
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isrpipe_write_one(&rxbuf, frame->can_dlc);
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for (uint8_t i = 0; i < frame->can_dlc; i++) {
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isrpipe_write_one(&rxbuf, frame->data[i]);
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}
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break;
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case CANDEV_EVENT_RX_ERROR:
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DEBUG("_can_event: CANDEV_EVENT_RX_ERROR\n");
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break;
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case CANDEV_EVENT_BUS_OFF:
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dev->state = CAN_STATE_BUS_OFF;
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break;
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case CANDEV_EVENT_ERROR_PASSIVE:
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dev->state = CAN_STATE_ERROR_PASSIVE;
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break;
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case CANDEV_EVENT_ERROR_WARNING:
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dev->state = CAN_STATE_ERROR_WARNING;
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break;
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default:
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DEBUG("_can_event: unknown event\n");
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break;
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break;
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case CANDEV_EVENT_RX_ERROR:
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DEBUG("_can_event: CANDEV_EVENT_RX_ERROR\n");
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break;
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case CANDEV_EVENT_BUS_OFF:
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dev->state = CAN_STATE_BUS_OFF;
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break;
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case CANDEV_EVENT_ERROR_PASSIVE:
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dev->state = CAN_STATE_ERROR_PASSIVE;
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break;
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case CANDEV_EVENT_ERROR_WARNING:
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dev->state = CAN_STATE_ERROR_WARNING;
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break;
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default:
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DEBUG("_can_event: unknown event\n");
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break;
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}
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}
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@ -197,6 +202,11 @@ int main(void)
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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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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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#else
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/* add initialization for other candev drivers here */
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#endif
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