forked from xuos/xiuos
87 lines
2.3 KiB
C
87 lines
2.3 KiB
C
/*
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* Copyright (c) 2020 AIIT XUOS Lab
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* XiUOS is licensed under Mulan PSL v2.
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* You can use this software according to the terms and conditions of the Mulan PSL v2.
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* You may obtain a copy of Mulan PSL v2 at:
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* http://license.coscl.org.cn/MulanPSL2
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* THIS SOFTWARE IS PROVIDED ON AN "AS IS" BASIS, WITHOUT WARRANTIES OF ANY KIND,
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* EITHER EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO NON-INFRINGEMENT,
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* MERCHANTABILITY OR FIT FOR A PARTICULAR PURPOSE.
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* See the Mulan PSL v2 for more details.
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*/
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/**
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* @file: test_can.c
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* @brief: a application of can function
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* @version: 1.1
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* @author: AIIT XUOS Lab
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* @date: 2023/2/17
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*/
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#include <stdio.h>
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#include <string.h>
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#include <transform.h>
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#ifdef ADD_XIZI_FEATURES
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void TestCAN(void)
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{
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// config CAN pin(SCL:34.SDA:35) in menuconfig
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int can_fd = PrivOpen(CAN_DEV_DRIVER, O_RDWR);
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if (can_fd < 0)
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{
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printf("open can_fd fd error:%d\n", can_fd);
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return;
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}
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printf("CAN open successful!\n");
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struct PrivIoctlCfg ioctl_cfg;
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ioctl_cfg.ioctl_driver_type = CAN_TYPE;
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struct CanDriverConfigure can_config;
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can_config.brp = 8U;
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can_config.tbs1 = 1U + 8U;
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can_config.tbs2 = 4U;
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can_config.tsjw = 4U;
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can_config.mode = 0U;
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ioctl_cfg.args = (void *)&can_config;
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if (0 != PrivIoctl(can_fd, OPE_INT, &ioctl_cfg))
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{
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printf("init can fd error %d\n", can_fd);
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PrivClose(can_fd);
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return;
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}
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printf("CAN configure successful!\n");
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uint8_t data_buff[64u] = {1,2,3,4,4,3,2,1};
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struct CanSendConfigure frame_send;
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frame_send.ide=0;
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frame_send.stdid = 0x55;
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frame_send.rtr=0;
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frame_send.data_lenth=8;
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frame_send.data = data_buff;
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struct CanSendConfigure frame_recv;
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uint8_t recv_buff[65U] = {0};
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frame_recv.data = recv_buff;
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// CAN write
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while (1)
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{
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PrivTaskDelay(500);
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PrivWrite(can_fd, &frame_send, NONE);
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PrivTaskDelay(500);
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PrivRead(can_fd, &frame_recv, NONE);
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// if any data has received,Then printf message
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if(frame_recv.data_lenth > 0){
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printf("ID %08x:%s\n",frame_recv.exdid,frame_recv.data);
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}
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}
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PrivClose(can_fd);
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return;
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}
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PRIV_SHELL_CMD_FUNCTION(TestCAN, a can test sample, PRIV_SHELL_CMD_MAIN_ATTR);
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#endif |