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sys/include/can: Add loopback operation mode

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tests/candev: Add loopback mode for testing purpose
This commit is contained in:
madokapeng 2021-03-05 23:28:21 -05:00
parent a38cd1477e
commit 905723be59
3 changed files with 24 additions and 1 deletions
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6
cpu/stm32/periph/can.c
View File

@ -805,6 +805,12 @@ static int _set(candev_t *candev, canopt_t opt, void *value, size_t value_len)
can->BTR |= CAN_BTR_SILM;
res += set_mode(can, mode);
break;
case CANOPT_STATE_LOOPBACK:
DEBUG("candev_stm32 %p: Loopback\n", (void *)dev);
res = set_mode(can, MODE_INIT);
can->BTR |= CAN_BTR_LBKM;
res += set_mode(can, MODE_NORMAL);
break;
}
}
break;

2
sys/include/can/common.h
View File

@ -63,9 +63,9 @@ typedef enum {
CANOPT_STATE_SLEEP, /**< sleep mode */
CANOPT_STATE_LISTEN_ONLY, /**< listen only mode */
CANOPT_STATE_ON, /**< power on, rx / tx mode */
CANOPT_STATE_LOOPBACK, /**< loopback mode */
} canopt_state_t;
/**
* @brief Structure to pass a CAN option
*/

17
tests/candev/main.c
View File

@ -48,6 +48,11 @@ static candev_mcp2515_t mcp2515_dev;
/* add includes for other candev drivers here */
#endif
/* Default is not using loopback test mode */
#ifndef CONFIG_USE_LOOPBACK_MODE
#define CONFIG_USE_LOOPBACK_MODE 0
#endif
#define RX_RINGBUFFER_SIZE 128 /* Needs to be a power of 2! */
static isrpipe_t rxbuf;
static uint8_t rx_ringbuf[RX_RINGBUFFER_SIZE];
@ -222,6 +227,18 @@ int main(void)
candev->driver->init(candev);
if (IS_ACTIVE(CONFIG_USE_LOOPBACK_MODE)) {
puts("Switching to loopback mode");
/* set to loopback test mode */
canopt_state_t mode = CANOPT_STATE_LOOPBACK;
candev->driver->set(candev, CANOPT_STATE, &mode, sizeof(mode));
/* do not care, receive all message id */
struct can_filter filter;
filter.can_mask = 0;
candev->driver->set_filter(candev, &filter);
}
char line_buf[SHELL_DEFAULT_BUFSIZE];
shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);