Add nuttx to the system framework, which is 10.1.0

2021-06-09 14:33:15 +08:00
parent 06c351e27c
commit 804bd57aa0
5000 changed files with 1488544 additions and 0 deletions
@@ -0,0 +1,151 @@
+/****************************************************************************
+ * canutils/libobd2/obd_sendrequest.c
+ *
+ *   Copyright (C) 2017 Alan Carvalho de Assis. All rights reserved.
+ *   Author: Alan Carvalho de Assis <acassis@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/ioctl.h>
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <nuttx/can/can.h>
+
+#include "canutils/obd.h"
+#include "canutils/obd_pid.h"
+#include "canutils/obd_frame.h"
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: obd_sent_request
+ *
+ * Description:
+ *   Send a "Request Message" to ECUs with requested PID.
+ *
+ *   It will return an error case the message fails to be sent.
+ *
+ ****************************************************************************/
+
+int obd_send_request(FAR struct obd_dev_s *dev, uint8_t opmode, uint8_t pid)
+{
+  int nbytes;
+  int msgdlc;
+  int msgsize;
+  uint8_t extended;
+
+#ifdef CONFIG_DEBUG_INFO
+  printf("Going SendRequest opmode=%d pid=%d\n", opmode, pid);
+#endif
+
+  /* Verify what is the current mode */
+
+  if (dev->can_mode == CAN_EXT)
+    {
+      extended = 1;
+    }
+  else
+    {
+      extended = 0;
+    }
+
+  /* Define the CAN Data Length */
+
+  msgdlc = 8;
+
+  /* Construct the TX message header */
+
+  if (extended)
+    {
+      dev->can_txmsg.cm_hdr.ch_id     = OBD_PID_STD_REQUEST; /* MSG ID for PID Request */
+    }
+  else
+    {
+#ifdef CONFIG_CAN_EXTID
+      dev->can_txmsg.cm_hdr.ch_id     = OBD_PID_EXT_REQUEST; /* MSG ID for PID Request */
+#endif
+    }
+
+  dev->can_txmsg.cm_hdr.ch_rtr    = false;               /* Not a Remote Frame     */
+  dev->can_txmsg.cm_hdr.ch_dlc    = msgdlc;              /* Data length is 8 bytes */
+#ifdef CONFIG_CAN_EXTID
+  dev->can_txmsg.cm_hdr.ch_extid  = extended;            /* Standard/Extend mode   */
+#endif
+  dev->can_txmsg.cm_hdr.ch_unused = 0;                   /* Unused                 */
+
+  /* Single Frame with two bytes data */
+
+  dev->can_txmsg.cm_data[0] = OBD_SINGLE_FRAME | OBD_SF_DATA_LEN(2);
+
+  /* Setup the Operation Mode */
+
+  dev->can_txmsg.cm_data[1] = opmode;
+
+  /* Setup the PID we are requesting */
+
+  dev->can_txmsg.cm_data[2] = pid;
+
+  /* Padding */
+
+  dev->can_txmsg.cm_data[3] = 0;
+  dev->can_txmsg.cm_data[4] = 0;
+  dev->can_txmsg.cm_data[5] = 0;
+  dev->can_txmsg.cm_data[6] = 0;
+  dev->can_txmsg.cm_data[7] = 0;
+
+  /* Send the TX message */
+
+  msgsize = CAN_MSGLEN(msgdlc);
+  nbytes = write(dev->can_fd, &dev->can_txmsg, msgsize);
+  if (nbytes != msgsize)
+    {
+      printf("ERROR: write(%ld) returned %ld\n",
+             (long)msgsize, (long)nbytes);
+      return -EAGAIN;
+    }
+
+#ifdef CONFIG_DEBUG_INFO
+  printf("PID Request sent correctly!\n");
+  fflush(stdout);
+#endif
+
+  return OK;
+}