5d5249d85b
Unify spelling of CAN Flexible Data-rate abbreviation to "CAN FD" instead of "CAN-FD". The former aligns with the CAN in Automation (CiA) recommendation. Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
140 lines
3.6 KiB
C
140 lines
3.6 KiB
C
/*
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* Copyright (c) 2021-2022 Henrik Brix Andersen <henrik@brixandersen.dk>
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/device.h>
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#include <zephyr/devicetree.h>
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#include <zephyr/drivers/can.h>
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#include <zephyr/drivers/gpio.h>
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#include <zephyr/kernel.h>
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/* Devicetree */
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#define CANBUS_NODE DT_CHOSEN(zephyr_canbus)
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#define BUTTON_NODE DT_ALIAS(sw0)
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#define BUTTON_NAME DT_PROP_OR(BUTTON_NODE, label, "sw0")
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#if DT_NODE_EXISTS(BUTTON_NODE)
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struct button_callback_context {
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struct gpio_callback callback;
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struct k_sem sem;
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};
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static void button_callback(const struct device *port, struct gpio_callback *cb,
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gpio_port_pins_t pins)
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{
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struct button_callback_context *ctx =
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CONTAINER_OF(cb, struct button_callback_context, callback);
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k_sem_give(&ctx->sem);
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}
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#endif /* DT_NODE_EXISTS(BUTTON_NODE) */
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static void can_tx_callback(const struct device *dev, int error, void *user_data)
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{
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struct k_sem *tx_queue_sem = user_data;
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k_sem_give(tx_queue_sem);
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}
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int main(void)
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{
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#if DT_NODE_EXISTS(BUTTON_NODE)
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const struct gpio_dt_spec btn = GPIO_DT_SPEC_GET(BUTTON_NODE, gpios);
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struct button_callback_context btn_cb_ctx;
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#endif /* DT_NODE_EXISTS(BUTTON_NODE) */
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const struct device *dev = DEVICE_DT_GET(CANBUS_NODE);
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struct k_sem tx_queue_sem;
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struct can_frame frame = {0};
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int err;
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k_sem_init(&tx_queue_sem, CONFIG_SAMPLE_CAN_BABBLING_TX_QUEUE_SIZE,
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CONFIG_SAMPLE_CAN_BABBLING_TX_QUEUE_SIZE);
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if (!device_is_ready(dev)) {
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printk("CAN device not ready");
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return 0;
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}
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if (IS_ENABLED(CONFIG_SAMPLE_CAN_BABBLING_FD_MODE)) {
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err = can_set_mode(dev, CAN_MODE_FD);
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if (err != 0) {
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printk("Error setting CAN FD mode (err %d)", err);
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return 0;
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}
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}
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err = can_start(dev);
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if (err != 0) {
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printk("Error starting CAN controller (err %d)", err);
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return 0;
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}
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#if DT_NODE_EXISTS(BUTTON_NODE)
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k_sem_init(&btn_cb_ctx.sem, 0, 1);
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if (!gpio_is_ready_dt(&btn)) {
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printk("button device not ready\n");
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return 0;
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}
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err = gpio_pin_configure_dt(&btn, GPIO_INPUT);
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if (err != 0) {
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printk("failed to configure button GPIO (err %d)\n", err);
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return 0;
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}
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err = gpio_pin_interrupt_configure_dt(&btn, GPIO_INT_EDGE_TO_ACTIVE);
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if (err != 0) {
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printk("failed to configure button interrupt (err %d)\n", err);
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return 0;
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}
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gpio_init_callback(&btn_cb_ctx.callback, button_callback, BIT(btn.pin));
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gpio_add_callback(btn.port, &btn_cb_ctx.callback);
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#endif /* DT_NODE_EXISTS(BUTTON_NODE) */
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if (IS_ENABLED(CONFIG_SAMPLE_CAN_BABBLING_EXT_ID)) {
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frame.flags |= CAN_FRAME_IDE;
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}
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if (IS_ENABLED(CONFIG_SAMPLE_CAN_BABBLING_RTR)) {
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frame.flags |= CAN_FRAME_RTR;
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}
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if (IS_ENABLED(CONFIG_SAMPLE_CAN_BABBLING_FD_MODE)) {
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frame.flags |= CAN_FRAME_FDF;
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}
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frame.id = CONFIG_SAMPLE_CAN_BABBLING_CAN_ID;
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printk("babbling on %s with %s (%d-bit) CAN ID 0x%0*x, RTR %d, CAN FD %d\n",
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dev->name,
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(frame.flags & CAN_FRAME_IDE) != 0 ? "extended" : "standard",
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(frame.flags & CAN_FRAME_IDE) != 0 ? 29 : 11,
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(frame.flags & CAN_FRAME_IDE) != 0 ? 8 : 3, frame.id,
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(frame.flags & CAN_FRAME_RTR) != 0 ? 1 : 0,
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(frame.flags & CAN_FRAME_FDF) != 0 ? 1 : 0);
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#if DT_NODE_EXISTS(BUTTON_NODE)
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printk("abort by pressing %s button\n", BUTTON_NAME);
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#endif /* DT_NODE_EXISTS(BUTTON_NODE) */
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while (true) {
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if (k_sem_take(&tx_queue_sem, K_MSEC(100)) == 0) {
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err = can_send(dev, &frame, K_NO_WAIT, can_tx_callback, &tx_queue_sem);
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if (err != 0) {
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printk("failed to enqueue CAN frame (err %d)\n", err);
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}
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}
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#if DT_NODE_EXISTS(BUTTON_NODE)
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if (k_sem_take(&btn_cb_ctx.sem, K_NO_WAIT) == 0) {
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printk("button press detected, babbling stopped\n");
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return 0;
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}
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#endif /* DT_NODE_EXISTS(BUTTON_NODE) */
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}
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}
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