mirror of
https://github.com/RIOT-OS/RIOT.git
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tests/conn_can: Add can tranceiver
- Add tja1042 pin configuration to tests/can_trx - Add ncv7356 pin configuration to tests/can_trx - Add can transceivers to tests/conn_can - Add tja1042 pin configuration to tests/conn_can - Add ncv7356 pin configuration to tests/conn_can - rename print functions - Add to CFLAGS
This commit is contained in:
Jannes
parent
63a4d126e4
commit
f0e994532a
@ -7,14 +7,25 @@ USEMODULE += ps
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USEMODULE += can_trx
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TRX_TO_BUILD ?= tja1042 ncv7356
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TRX_TO_BUILD ?= tja1042
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ifneq (,$(filter tja1042,$(TRX_TO_BUILD)))
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USEMODULE += tja1042
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TJA1042_STB_PIN ?= GPIO_PIN\(0,0\)
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CFLAGS += -DTJA1042_STB_PIN=$(TJA1042_STB_PIN)
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endif
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ifneq (,$(filter ncv7356,$(TRX_TO_BUILD)))
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USEMODULE += ncv7356
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NCV7356_MODE0_PIN ?= GPIO_PIN\(0,0\)
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NCV7356_MODE1_PIN ?= GPIO_PIN\(0,1\)
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CFLAGS += -DNCV7356_MODE0_PIN=$(NCV7356_MODE0_PIN)
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CFLAGS += -DNCV7356_MODE1_PIN=$(NCV7356_MODE1_PIN)
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endif
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# Some boards throw a missing-field-initializers error
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CFLAGS += -Wno-missing-field-initializers
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include $(RIOTBASE)/Makefile.include
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@ -27,102 +27,83 @@
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#ifdef MODULE_TJA1042
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#include "tja1042.h"
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static can_trx_t tja1042 = {
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.driver = &tja1042_driver,
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tja1042_trx_t tja1042 = { .trx.driver = &tja1042_driver,
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.stb_pin = TJA1042_STB_PIN
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};
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#endif
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#ifdef MODULE_NCV7356
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#include "ncv7356.h"
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static can_trx_t ncv7356 = {
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.driver = &ncv7356_driver,
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ncv7356_trx_t ncv7356 ={ .trx.driver = &ncv7356_driver,
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.mode0_pin = NCV7356_MODE0_PIN,
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.mode1_pin = NCV7356_MODE1_PIN
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};
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#endif
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static can_trx_t *devs[] = {
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#ifdef MODULE_TJA1042
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&tja1042,
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(can_trx_t *)&tja1042,
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#endif
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#ifdef MODULE_NCV7356
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&ncv7356,
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(can_trx_t *)&ncv7356,
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#endif
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NULL,
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};
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static int help(int argc, char **argv)
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{
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(void)argc;
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(void)argv;
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puts("Help:");
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puts("\tinit [trx_id] - initialize a trx");
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puts("\tset_mode [trx_id] [mode] - set a mode on the trx");
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printf("trx_id: 0..%u\n", (unsigned)ARRAY_SIZE(devs));
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puts("modes:");
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puts("\t0: normal mode");
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puts("\t1: silent mode");
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puts("\t2: standby mode");
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puts("\t3: high-speed mode (SW CAN only)");
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puts("\t4: high-voltage wakeup mode (SW CAN only)");
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return 0;
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}
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static int init(int argc, char **argv) {
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if (argc < 2) {
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puts("trx_id needed");
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help(0, NULL);
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puts("usage: init [trx_id]");
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return 1;
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}
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unsigned trx = atoi(argv[1]);
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if (trx < ARRAY_SIZE(devs)) {
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int res = can_trx_init(devs[trx]);
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if (res >= 0) {
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puts("Trx successfully initialized");
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return 0;
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}
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else {
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printf("Error when initializing trx: %d\n", res);
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}
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}
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else {
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if (trx >= ARRAY_SIZE(devs)) {
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puts("Invalid trx_id");
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return 1;
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}
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return 1;
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int res = can_trx_init(devs[trx]);
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if (res < 0) {
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printf("Error when initializing trx: %d\n", res);
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return 1;
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}
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puts("Trx successfully initialized");
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return 0;
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}
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static int set_mode(int argc, char **argv) {
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if (argc < 3) {
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puts("trx_id and mode needed");
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help(0, NULL);
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puts("usage: set_mode [trx_id] [mode]");
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puts("modes:");
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puts("\t0: normal mode");
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puts("\t1: silent mode");
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puts("\t2: standby mode");
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puts("\t3: high-speed mode (SW CAN only)");
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puts("\t4: high-voltage wakeup mode (SW CAN only)");
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return 1;
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}
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unsigned trx = atoi(argv[1]);
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unsigned mode = atoi(argv[2]);
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if ((trx < ARRAY_SIZE(devs)) &&
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(mode <= TRX_HIGH_VOLTAGE_WAKE_UP_MODE)) {
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int res = can_trx_set_mode(devs[trx], mode);
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if (res >= 0) {
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puts("Mode successfully set");
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return 0;
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}
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else {
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printf("Error when setting mode: %d\n", res);
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}
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}
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else {
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if ((trx >= ARRAY_SIZE(devs)) ||
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(mode > TRX_HIGH_VOLTAGE_WAKE_UP_MODE)) {
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puts("Invalid trx_id or mode");
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return 1;
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}
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return 1;
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int res = can_trx_set_mode(devs[trx], mode);
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if (res < 0) {
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printf("Error when setting mode: %d\n", res);
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return 1;
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}
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puts("Mode successfully set");
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return 0;
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}
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static const shell_command_t cmds[] = {
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{ "help", "help", help },
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{ "init", "initialize a can trx", init },
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{ "set_mode", "set a can trx mode", set_mode },
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{ NULL, NULL, NULL },
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@ -13,8 +13,32 @@ USEMODULE += can_pm
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USEMODULE += can_trx
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USEMODULE += auto_init_can
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FEATURES_REQUIRED += periph_can
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FEATURES_REQUIRED += periph_gpio_irq
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TRX_TO_BUILD ?= tja1042
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ifneq (,$(filter tja1042,$(TRX_TO_BUILD)))
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USEMODULE += tja1042
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TJA1042_STB_PIN ?= GPIO_PIN\(0,0\)
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CFLAGS += -DTJA1042_STB_PIN=$(TJA1042_STB_PIN)
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endif
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ifneq (,$(filter ncv7356,$(TRX_TO_BUILD)))
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USEMODULE += ncv7356
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NCV7356_MODE0_PIN ?= GPIO_PIN\(0,0\)
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NCV7356_MODE1_PIN ?= GPIO_PIN\(0,1\)
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CFLAGS += -DNCV7356_MODE0_PIN=$(NCV7356_MODE0_PIN)
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CFLAGS += -DNCV7356_MODE1_PIN=$(NCV7356_MODE1_PIN)
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endif
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CFLAGS += -DGNRC_PKTBUF_SIZE=4096
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CFLAGS += -DCAN_PKT_BUF_SIZE=64
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CFLAGS += -DCAN_ROUTER_MAX_FILTER=32
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# Some boards throw a missing-field-initializers error
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CFLAGS += -Wno-missing-field-initializers
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include $(RIOTBASE)/Makefile.include
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@ -3,62 +3,11 @@ tests/conn_can
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Demo application for the CAN stack with conn_can interface.
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Native prerequisites
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============
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For using the can stack on top of socketCAN, available for linux, you need:
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- socketCAN (part of kernel starting from 2.6.25)
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- install the 32bit version of libsocketcan:
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if you're on a 64bit system:
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```
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sudo dpkg --add-architecture i386
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sudo apt-get update
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sudo apt-get install libsocketcan-dev:i386
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```
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On 32 bit you can just do the following:
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```
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sudo apt-get install libsocketcan-dev
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```
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Alternatively, you can compile from source:
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```
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wget http://www.pengutronix.de/software/libsocketcan/download/libsocketcan-0.0.10.tar.bz2
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$ sudo tar xvjf libsocketcan-0.0.10.tar.bz2
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$ sudo rm -rf libsocketcan-0.0.10.tar.bz2
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$ sudo cd libsocketcan-0.0.10
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$ sudo ./configure
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compile in 32bits
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./configure --build=i686-pc-linux-gnu "CFLAGS=-m32" "CXXFLAG
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$ sudo make
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$ sudo make install
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sudo ldconfig
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/usr/local/lib
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```
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The default native configuration defines two virtual can ifaces to be used.
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Before running this test on native, you should create those:
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```
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sudo modprobe vcan
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sudo ip link add dev vcan0 type vcan
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sudo ip link add dev vcan1 type vcan
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sudo ip link set vcan0 up
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sudo ip link set vcan1 up
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```
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Usage
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=====
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Adapt pin configuration in Makefile to match the used CAN transceiver (e.g. TJA1042_STB_PIN)
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Build, flash and start the application:
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```
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export BOARD=your_board
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@ -67,6 +16,16 @@ make flash
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make term
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```
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To initialize a CAN transceiver device (trx_id = 0)
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```
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init 0
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```
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To set a CAN transceiver device's (trx_id = 0) mode to TRX_NORMAL_MODE
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```
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set_mode 0 0
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```
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The CAN interfaces are registered at startup to the dll. The list of registered
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interfaces and their RIOT names can be retrieved with:
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```
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@ -125,36 +84,3 @@ sampling point 87.5%:
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```
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test_can set_bitrate 250000 875
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```
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Linux CAN basic commands
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========================
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Once the interfaces are set up, can-utils commands provide a way to send and receive
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raw CAN frames and ISO-TP datagrams.
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For ISO-TP, an experimental module for linux can be found [here](https://github.com/hartkopp/can-isotp).
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It needs to be loaded before trying to use ISO-TP protocol.
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Here are some basics examples.
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Send a raw CAN frame, id 0x100, data 00 11 22:
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```
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cansend vcan0 100#001122
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```
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Dump the traffic on a CAN interface:
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```
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candump vcan0
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```
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Send an ISO-TP datagram, source id 700, dest id 708, data 00 11 22 33 aa bb cc dd:
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```
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echo 00 11 22 33 aa bb cc dd | isotpsend -s 700 -d 708 vcan0
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```
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Receive ISO-TP datagram:
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```
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isotprecv -s 708 -d 700 vcan0
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```
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Please read commands help for more details on usage.
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@ -32,6 +32,33 @@
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#include "can/conn/isotp.h"
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#include "can/device.h"
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#include "can/can_trx.h"
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#ifdef MODULE_TJA1042
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#include "tja1042.h"
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tja1042_trx_t tja1042 = { .trx.driver = &tja1042_driver,
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.stb_pin = TJA1042_STB_PIN
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};
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#endif
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#ifdef MODULE_NCV7356
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#include "ncv7356.h"
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ncv7356_trx_t ncv7356 = { .trx.driver = &ncv7356_driver,
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.mode0_pin = NCV7356_MODE0_PIN,
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.mode1_pin = NCV7356_MODE1_PIN
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};
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#endif
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static can_trx_t *devs[] = {
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#ifdef MODULE_TJA1042
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(can_trx_t *)&tja1042,
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#endif
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#ifdef MODULE_NCV7356
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(can_trx_t *)&ncv7356,
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#endif
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NULL,
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};
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#define THREAD_STACKSIZE (THREAD_STACKSIZE_MAIN)
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#define RECEIVE_THREAD_MSG_QUEUE_SIZE (8)
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@ -67,8 +94,9 @@ static void print_usage(void)
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{
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puts("test_can list");
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puts("test_can send ifnum can_id [B1 [B2 [B3 [B4 [B5 [B6 [B7 [B8]]]]]]]]");
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puts("test_can sendrtr ifnum can_id lenght(0..8)");
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printf("test_can recv ifnum user_id timeout can_id1 [can_id2..can_id%d]\n", MAX_FILTER);
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puts("test_can sendrtr ifnum can_id length(0..8)");
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printf("test_can recv ifnum user_id timeout can_id1 [can_id2..can_id%d]\n",
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MAX_FILTER);
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puts("test_can close user_id");
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#ifdef MODULE_CAN_ISOTP
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puts("test_can bind_isotp ifnum user_id source_id dest_id");
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@ -237,7 +265,8 @@ static int _bind_isotp(int argc, char **argv)
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isotp_opt.rx_id = strtoul(argv[5], NULL, 16);
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#ifdef MODULE_CONN_CAN_ISOTP_MULTI
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conn_can_isotp_init_slave(&conn_isotp[thread_nb], (conn_can_isotp_slave_t *)&conn_isotp[thread_nb]);
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conn_can_isotp_init_slave(&conn_isotp[thread_nb], (conn_can_isotp_slave_t *)
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&conn_isotp[thread_nb]);
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#endif
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ret = conn_can_isotp_create(&conn_isotp[thread_nb], &isotp_opt, ifnum);
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if (ret == 0) {
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@ -578,11 +607,14 @@ static void *_receive_thread(void *args)
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case CAN_MSG_RECV:
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{
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int ret;
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while ((ret = conn_can_raw_recv(&conn[thread_nb], &frame, msg.content.value))
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while ((ret = conn_can_raw_recv(&conn[thread_nb], &frame,
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msg.content.value))
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== sizeof(struct can_frame)) {
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printf("%d: %-8s %" PRIx32 " [%x] ",
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thread_nb, raw_can_get_name_by_ifnum(conn[thread_nb].ifnum),
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frame.can_id, frame.can_dlc);
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thread_nb,
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raw_can_get_name_by_ifnum(conn[thread_nb].ifnum),
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frame.can_id,
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frame.can_dlc);
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for (int i = 0; i < frame.can_dlc; i++) {
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printf(" %02X", frame.data[i]);
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}
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@ -597,11 +629,14 @@ static void *_receive_thread(void *args)
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case CAN_MSG_RECV_ISOTP:
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{
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int ret;
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while ((ret = conn_can_isotp_recv(&conn_isotp[thread_nb], isotp_buf[thread_nb],
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ISOTP_BUF_SIZE, msg.content.value))
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while ((ret = conn_can_isotp_recv(&conn_isotp[thread_nb],
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isotp_buf[thread_nb],
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ISOTP_BUF_SIZE, msg.content.value))
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<= ISOTP_BUF_SIZE && ret >= 0) {
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printf("%d: %-8s ISOTP [%d] ",
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thread_nb, raw_can_get_name_by_ifnum(conn_isotp[thread_nb].ifnum), ret);
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thread_nb,
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raw_can_get_name_by_ifnum(conn_isotp[thread_nb].ifnum),
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ret);
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for (int i = 0; i < ret; i++) {
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printf(" %02X", isotp_buf[thread_nb][i]);
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}
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@ -614,7 +649,8 @@ static void *_receive_thread(void *args)
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{
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msg_t reply;
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can_opt_t *opt = msg.content.ptr;
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int ret = conn_can_isotp_send(&conn_isotp[thread_nb], opt->data, opt->data_len, 0);
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int ret = conn_can_isotp_send(&conn_isotp[thread_nb], opt->data,
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opt->data_len, 0);
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reply.type = msg.type;
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reply.content.value = ret;
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msg_reply(&msg, &reply);
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@ -622,7 +658,8 @@ static void *_receive_thread(void *args)
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}
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#endif /* MODULE_CAN_ISOTP */
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default:
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printf("%d: _receive_thread: received unknown message\n", thread_nb);
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printf("%d: _receive_thread: received unknown message\n",
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thread_nb);
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break;
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}
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}
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@ -630,8 +667,63 @@ static void *_receive_thread(void *args)
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return NULL;
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}
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static int init(int argc, char **argv) {
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if (argc < 2) {
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puts("usage: init [trx_id]");
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return 1;
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}
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unsigned trx = atoi(argv[1]);
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if (trx >= ARRAY_SIZE(devs)) {
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puts("Invalid trx_id");
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return 1;
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}
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int res = can_trx_init(devs[trx]);
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if (res < 0) {
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printf("Error when initializing trx: %d\n", res);
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return 1;
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}
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puts("Trx successfully initialized");
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return 0;
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}
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static int set_mode(int argc, char **argv) {
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if (argc < 3) {
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puts("usage: set_mode [trx_id] [mode]");
|
||||
puts("modes:");
|
||||
puts("\t0: normal mode");
|
||||
puts("\t1: silent mode");
|
||||
puts("\t2: standby mode");
|
||||
puts("\t3: high-speed mode (SW CAN only)");
|
||||
puts("\t4: high-voltage wakeup mode (SW CAN only)");
|
||||
return 1;
|
||||
}
|
||||
unsigned trx = atoi(argv[1]);
|
||||
unsigned mode = atoi(argv[2]);
|
||||
if ((trx >= ARRAY_SIZE(devs)) ||
|
||||
(mode > TRX_HIGH_VOLTAGE_WAKE_UP_MODE)) {
|
||||
puts("Invalid trx_id or mode");
|
||||
return 1;
|
||||
}
|
||||
|
||||
int res = can_trx_set_mode(devs[trx], mode);
|
||||
if (res < 0) {
|
||||
printf("Error when setting mode: %d\n", res);
|
||||
return 1;
|
||||
}
|
||||
|
||||
puts("Mode successfully set");
|
||||
return 0;
|
||||
}
|
||||
|
||||
static const shell_command_t _commands[] = {
|
||||
{"test_can", "Test CAN functions", _can_handler},
|
||||
{ "init", "initialize a can trx", init },
|
||||
{ "set_mode", "set a can trx mode", set_mode },
|
||||
{ NULL, NULL, NULL},
|
||||
};
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user