can: add two examples for the can interface
Added two examples about how to configure and set a CAN interface to establish a communication receiving and sending frames. Signed-off-by: fgilmar <francisco.gilmartinez@digi.com>
This commit is contained in:
fgilmar
parent
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#
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# Copyright 2017, Digi International Inc.
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#
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# Permission to use, copy, modify, and/or distribute this software for any
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# purpose with or without fee is hereby granted, provided that the above
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# copyright notice and this permission notice appear in all copies.
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#
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# THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
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# REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY
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# AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
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# INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
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# LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
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# OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
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# PERFORMANCE OF THIS SOFTWARE.
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#
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all: BINARYTX BINARYRX
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BINARYTX := apix-can-send-example
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BINARYRX := apix-can-recv-example
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BINARIES := $(BINARYTX) $(BINARYRX)
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CFLAGS += -Wall -O0
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CFLAGS += $(shell pkg-config --cflags libdigiapix)
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LDLIBS += $(shell pkg-config --libs libdigiapix)
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BINARYTX: can-send-example.o
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$(CC) $(LDFLAGS) $^ $(LDLIBS) -o $(BINARYTX)
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BINARYRX: can-recv-example.o
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$(CC) $(LDFLAGS) $^ $(LDLIBS) -o $(BINARYRX)
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.PHONY: install
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install: $(BINARIES)
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install -d $(DESTDIR)/usr/bin
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install -m 0755 $^ $(DESTDIR)/usr/bin/
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.PHONY: all
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all: $(BINARYTX) $(BINARYRX)
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.PHONY: clean
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clean:
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-rm -f *.o $(BINARYTX) $(BINARYRX)
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@ -0,0 +1,134 @@
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Digi APIX CAN Example Applications
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===================================
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Example applications to access and manage CAN interface using the Digi APIX library.
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These applications enable one CAN interface of the board and start a tranmission or
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reception using the selected baudrate.
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In the reception example the application will wait for frames and print them in the
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console. You can configure filters to listen to some kind of frames only.
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In the transmission example the application will generate and send frames configure the DLC,
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the ID and print in the console.
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The CAN interface for this example depends on the running platform:
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ConnectCore 6 SBC: CAN connector of the board (J27).
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CAN1_L: Pin 1
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CAN1_H: Pin 2
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GND: Pin 3
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CAN2_L: Pin 4 *
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CAN2_H: Pin 5 *
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GND: Pin 6
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ConnectCore 6 Plus SBC: CAN connector of the board (J27).
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CAN1_L: Pin 1
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CAN1_H: Pin 2
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GND: Pin 3
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CAN2_L: Pin 4 *
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CAN2_H: Pin 5 *
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GND: Pin 6
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ConnectCore 6UL SBC Express: Raspberry PI connector (J8).
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(An external CAN transceiver is needed).
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RX: Pin 26
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TX: Pin 22
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ConnectCore 6UL SBC Pro: CAN connector of the board (J27).
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CAN1_L: Pin 1
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CAN1_H: Pin 2
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GND: Pin 3
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CAN2_L: Pin 4 *
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CAN2_H: Pin 5 *
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GND: Pin 6
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ConnectCore CC8X SBC Pro: Expansion connector (J27).
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CAN1_L: D 5
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CAN1_H: D 6
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GND: Pin 3
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CAN2_L: C 5
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CAN2_H: C 6
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*Note: These pins are not enabled by default, you need to create a custom device tree
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Running the apix-can-recv-example application
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-----------------------
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Once the binary is in the target, launch the application:
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```
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# ./apix-can-recv-example
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Example application using libdigiapix CAN support"
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Usage: %s -i <can-iface> -b <bitrate> [options]"
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-i <can-iface> Name of the CAN interface"
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-b <bitrate> Bitrate to use (Hz)"
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-f <filters> Comma-separated filter list in the format"
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id:mask (id and mask values in hex)"
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-p Print message info"
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-c Print message counter"
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-h Help"
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Examples:\n"
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%s -i can0 -b 500000 -f 023:fff,006:00f
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%s -i can1 -b 100000
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```
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If no arguments are provided, the example will use the default values:
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- Specific application default values are defined in the main file.
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The application will wait for frames. If you provide some filters it will only
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wait for the chosen ones.
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Running the apix-can-send-example application
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-----------------------
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Once the binary is in the target, launch the application:
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```
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# ./apix-can-send-example
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Example application using libdigiapix CAN support"
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"Usage: %s -i <can-iface> -b <bitrate> [options]"
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"-i <can-iface> Name of the CAN interface"
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"-b <bitrate> Bitrate to use (Hz)"
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"-n <num_msgs> Number of messages to send (default 1)"
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"-t <delay> Inter frame delay in ms (default 100)"
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"-I <msg_id> Message id in hex (default 123)"
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"-l <data_length> Payload length (default 8)"
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"-r Generate a random ID (will ignore the -I parameter)"
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"-p Generate a random payload (will ignore the -l parameter)"
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"-e Use extended id"
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"-R Set RTR"
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```
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You need to provide at least the can-iface and the bitrate.
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For the other values if arguments are not provided, the example will use the default values:
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- Specific application default values are defined in the main file.
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The application will send frames periodically with the selected time rate.
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Compiling the application
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-------------------------
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These demos can be compiled using a Digi Embedded Yocto based toolchain. Make
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sure to source the corresponding toolchain of the platform you are using, e.g:
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```
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$> . <DEY-toolchain-path>/environment-setup-cortexa7hf-vfp-neon-dey-linux-gnueabi
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$> make
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```
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More information about [Digi Embedded Yocto](https://github.com/digi-embedded/meta-digi).
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License
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-------
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Copyright 2018, Digi International Inc.
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Permission to use, copy, modify, and/or distribute this software for any purpose
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with or without fee is hereby granted, provided that the above copyright notice
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and this permission notice appear in all copies.
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THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
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REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND
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FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
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INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS
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OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER
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TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF
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THIS SOFTWARE.
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@ -0,0 +1,300 @@
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/*
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* Copyright 2018, Digi International Inc.
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*
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* Permission to use, copy, modify, and/or distribute this software for any
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* purpose with or without fee is hereby granted, provided that the above
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* copyright notice and this permission notice appear in all copies.
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*
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* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
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* REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY
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* AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
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* INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
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* LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
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* OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
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* PERFORMANCE OF THIS SOFTWARE.
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*/
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#include <errno.h>
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#include <libgen.h>
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#include <limits.h>
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#include <signal.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <libdigiapix/can.h>
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#define MAX_RECEPTION_BUFFER 512*1024
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static can_if_t *can_if;
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static struct can_filter *cfilter;
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static struct can_filter *canfilter;
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static bool running = true;
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static bool prn_msg_info = false;
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static bool prn_msg_count = false;
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/*
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* usage_and_exit() - Show usage information and exit with 'exitval' return
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* value
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*
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* @name: Application name.
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* @exitval: The exit code.
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*/
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static void usage_and_exit(char *name, int exitval)
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{
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printf(
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"Example application using libdigiapix CAN support\n"
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"\n"
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"Usage: %s -i <can-iface> -b <bitrate> [options]\n\n"
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"-i <can-iface> Name of the CAN interface\n"
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"-b <bitrate> Bitrate to use (Hz)\n"
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"-f <filters> Comma-separated filter list in the format\n"
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" id:mask (id and mask values in hex)\n"
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"-p Print message info\n"
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"-c Print message counter\n"
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"-h Help\n"
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"\n"
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"Examples:\n"
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"%s -i can0 -b 500000 -f 023:fff,006:00f\n"
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"%s -i can1 -b 100000\n"
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"\n", name, name, name);
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exit(exitval);
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}
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/*
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* cleanup() - Frees all the allocated memory before exiting
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*/
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static void cleanup(void)
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{
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if (canfilter)
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free(canfilter);
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if (can_if) {
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ldx_can_stop(can_if);
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ldx_can_free(can_if);
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running = false;
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}
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}
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/*
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* sigaction_handler() - Handler to execute after receiving a signal
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*
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* @signum: Received signal.
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*/
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static void sigaction_handler(int signum)
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{
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/* 'atexit' executes the cleanup function */
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exit(EXIT_FAILURE);
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}
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/*
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* register_signals() - Registers program signals
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*/
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static void register_signals(void)
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{
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struct sigaction action;
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action.sa_handler = sigaction_handler;
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action.sa_flags = 0;
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sigemptyset(&action.sa_mask);
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sigaction(SIGHUP, &action, NULL);
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sigaction(SIGINT, &action, NULL);
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sigaction(SIGTERM, &action, NULL);
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}
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static void can_rx_callback(struct canfd_frame *frame, struct timeval *tv)
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{
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static uint32_t nframe = 1;
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if (prn_msg_count) {
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printf("CAN frame %u\n", nframe);
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} else {
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printf("CAN frame\n");
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}
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if (prn_msg_info) {
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printf(
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" - Time: %ld.%06ld\n"
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" - Type: %s\n"
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" - ID: %x\n"
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" - Data length: %u\n"
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" - Data: %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x\n"
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"\n",
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tv->tv_sec, tv->tv_usec, ldx_can_is_extid_frame(frame) ?
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"Extended ID" : "Standard ID", ldx_can_get_id(frame), frame->len,
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frame->data[0], frame->data[1], frame->data[2], frame->data[3],
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frame->data[4], frame->data[5], frame->data[6], frame->data[7]);
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}
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nframe++;
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}
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static int strchartimes(const char *str, int c)
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{
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int count = 0;
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char *character;
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for (character = (char *)str;
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character && *character != '\0';
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character++) {
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if (*character == c)
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count++;
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}
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return count;
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}
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/*
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* parse_filters() -
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*
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* @str: String that contains all the filters
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* @cfilter: Struct that contains the filters
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* @nfilters: Number of valid filters found on str.
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*
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* Return: 0 on success, error code otherwise.
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*/
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static int parse_filters(char *str, struct can_filter **cfilter, int *nfilters)
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{
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int ret;
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int posible_filters;
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int good_filters = 0;
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char *p = str;
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/* First compute the number of filters */
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posible_filters = strchartimes(str, ',');
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posible_filters++;
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/* Allocate the memory for all the possible filters */
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canfilter = malloc(sizeof(struct can_filter) * posible_filters);
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if (!canfilter) {
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printf("Unable to allocate memory for filters\n");
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return -ENOMEM;
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}
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/* Parse the information for each filter */
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while (posible_filters-- && p) {
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ret = sscanf(p, "%x:%x",
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&canfilter[good_filters].can_id,
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&canfilter[good_filters].can_mask);
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if (ret == 2)
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good_filters++;
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p = strchr(p, ',');
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if (p)
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p++;
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}
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*nfilters = good_filters;
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*cfilter = canfilter;
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return EXIT_SUCCESS;
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}
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int main(int argc, char **argv)
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{
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char *name = basename(argv[0]);
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char *iface;
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can_if_cfg_t ifcfg;
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int nfilters = 0;
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int opt;
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int ret;
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struct can_filter deffilter;
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deffilter.can_id = 0;
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deffilter.can_mask = 0;
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if (argc <= 3) {
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usage_and_exit(name, EXIT_FAILURE);
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}
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ldx_can_set_defconfig(&ifcfg);
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while ((opt = getopt(argc, argv, "i:b:f:pc")) > 0) {
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switch (opt) {
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case 'i':
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iface = optarg;
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break;
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case 'b':
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ifcfg.bitrate = strtoul(optarg, NULL, 10);
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break;
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case 'f':
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ret = parse_filters(optarg, &cfilter, &nfilters);
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if (ret) {
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printf("Unable to parse filter information\n\n");
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usage_and_exit(name, EXIT_FAILURE);
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}
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break;
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case 'p':
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prn_msg_info = true;
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break;
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case 'c':
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prn_msg_count = true;
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break;
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case 'h':
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usage_and_exit(name, EXIT_SUCCESS);
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break;
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default:
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usage_and_exit(name, EXIT_FAILURE);
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}
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}
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printf("Requesting CAN interface %s... ", iface);
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can_if = ldx_can_request_by_name(iface);
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if (!can_if) {
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printf("ERROR\n");
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return EXIT_FAILURE;
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}
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printf("OK\n");
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/* Register signals and exit cleanup function */
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atexit(cleanup);
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register_signals();
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/* Increase the buffer reception size */
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ifcfg.rx_buf_len = MAX_RECEPTION_BUFFER;
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printf("Initializing CAN interface... ");
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ret = ldx_can_init(can_if, &ifcfg);
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if (ret) {
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printf("ERROR\n");
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goto error;
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}
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printf("OK\n");
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/*
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* Configure a callback to process the defined filters, otherwise,
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* use the default filter.
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*/
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if (nfilters == 0) {
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nfilters = 1;
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cfilter = &deffilter;
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}
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ret = ldx_can_register_rx_handler(can_if, can_rx_callback,
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cfilter, nfilters);
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if (ret < 0) {
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printf("Failed to register rx msg handler\n");
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goto error;
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}
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while (running) {
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sleep(5);
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printf("Waiting for CAN frames...\n");
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}
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error:
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printf("\n\nCan receive frame application has finished\n");
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return ret;
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}
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@ -0,0 +1,299 @@
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/*
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* Copyright 2018, Digi International Inc.
|
||||
*
|
||||
* Permission to use, copy, modify, and/or distribute this software for any
|
||||
* purpose with or without fee is hereby granted, provided that the above
|
||||
* copyright notice and this permission notice appear in all copies.
|
||||
*
|
||||
* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH
|
||||
* REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY
|
||||
* AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR ANY SPECIAL, DIRECT,
|
||||
* INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM
|
||||
* LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE
|
||||
* OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR
|
||||
* PERFORMANCE OF THIS SOFTWARE.
|
||||
*/
|
||||
|
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#include <errno.h>
|
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#include <libgen.h>
|
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#include <limits.h>
|
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#include <signal.h>
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#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <time.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <libdigiapix/can.h>
|
||||
|
||||
#define TX_RETRIES 10
|
||||
|
||||
#define RANDOM_ID_BIT 0
|
||||
#define EXT_ID_BIT 1
|
||||
#define RTR_BIT 2
|
||||
#define RANDOM_DLC_BIT 3
|
||||
|
||||
#define RANDOM_ID_MASK 0x01
|
||||
#define EXT_ID_MASK 0x02
|
||||
#define RTR_BIT_MASK 0x04
|
||||
#define RANDOM_DLC_MASK 0x08
|
||||
|
||||
#define RANDOM_ID(random_id) (random_id << RANDOM_ID_BIT)
|
||||
#define EXT_ID(extended_id) (extended_id << EXT_ID_BIT)
|
||||
#define RTR(rtr) (rtr << RTR_BIT)
|
||||
#define RANDOM_DLC(dlc) (dlc << RANDOM_DLC_BIT)
|
||||
|
||||
static can_if_t *can_if;
|
||||
static bool running = true;
|
||||
|
||||
/*
|
||||
* usage_and_exit() - Show usage information and exit with 'exitval' return
|
||||
* value
|
||||
*
|
||||
* @name: Application name.
|
||||
* @exitval: The exit code.
|
||||
*/
|
||||
static void usage_and_exit(char *name, int exitval)
|
||||
{
|
||||
printf(
|
||||
"Example application using libdigiapix CAN support\n"
|
||||
"\n"
|
||||
"Usage: %s -i <can-iface> -b <bitrate> [options]\n\n"
|
||||
"-i <can-iface> Name of the CAN interface\n"
|
||||
"-b <bitrate> Bitrate to use (Hz)\n"
|
||||
"-n <num_msgs> Number of messages to send (default 1)\n"
|
||||
"-t <delay> Inter frame delay in ms (default 100)\n"
|
||||
"-I <msg_id> Message id in hex (default 123)\n"
|
||||
"-l <data_length> Payload length (default 8)\n"
|
||||
"-r Generate a random ID (will ignore the -I parameter)\n"
|
||||
"-p Generate a random payload (will ignore the -l parameter)\n"
|
||||
"-e Use extended id\n"
|
||||
"-R Set RTR\n"
|
||||
"\n"
|
||||
"Examples:\n"
|
||||
"%s -i can0 -b 500000 -n 100 -R\n"
|
||||
"%s -i can1 -b 100000\n"
|
||||
"\n", name, name, name);
|
||||
|
||||
exit(exitval);
|
||||
}
|
||||
|
||||
/*
|
||||
* ms_sleep() - Wait ms miliseconds
|
||||
*
|
||||
* ms: Number of ms to wait.
|
||||
*/
|
||||
void ms_sleep(uint32_t ms)
|
||||
{
|
||||
struct timespec ts;
|
||||
|
||||
if (ms < 1000) {
|
||||
ts.tv_sec = 0;
|
||||
ts.tv_nsec = ms * 1000000;
|
||||
} else {
|
||||
ts.tv_sec = ms / 1000;
|
||||
ts.tv_nsec = (ms % 1000) * 1000000;
|
||||
}
|
||||
|
||||
nanosleep(&ts, NULL);
|
||||
}
|
||||
|
||||
/*
|
||||
* cleanup() - Frees all the allocated memory before exiting
|
||||
*/
|
||||
static void cleanup(void)
|
||||
{
|
||||
if (can_if) {
|
||||
ldx_can_stop(can_if);
|
||||
ldx_can_free(can_if);
|
||||
running = false;
|
||||
}
|
||||
}
|
||||
|
||||
/*
|
||||
* sigaction_handler() - Handler to execute after receiving a signal
|
||||
*
|
||||
* @signum: Received signal.
|
||||
*/
|
||||
static void sigaction_handler(int signum)
|
||||
{
|
||||
/* 'atexit' executes the cleanup function */
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
/*
|
||||
* register_signals() - Registers program signals
|
||||
*/
|
||||
static void register_signals(void)
|
||||
{
|
||||
struct sigaction action;
|
||||
|
||||
action.sa_handler = sigaction_handler;
|
||||
action.sa_flags = 0;
|
||||
sigemptyset(&action.sa_mask);
|
||||
|
||||
sigaction(SIGHUP, &action, NULL);
|
||||
sigaction(SIGINT, &action, NULL);
|
||||
sigaction(SIGTERM, &action, NULL);
|
||||
}
|
||||
|
||||
void update_msg(struct canfd_frame *frame, uint32_t id, uint8_t dlc, uint8_t flags)
|
||||
{
|
||||
uint8_t index;
|
||||
|
||||
if (flags & RANDOM_ID_MASK)
|
||||
id = rand() % 2047 + 1;
|
||||
|
||||
if (flags & EXT_ID_MASK) {
|
||||
frame->can_id = id & CAN_EFF_MASK;
|
||||
frame->can_id |= CAN_EFF_FLAG;
|
||||
} else {
|
||||
frame->can_id = id & CAN_SFF_MASK;
|
||||
}
|
||||
|
||||
if (flags & RTR_BIT_MASK)
|
||||
frame->can_id |= CAN_RTR_FLAG;
|
||||
|
||||
if (flags & RANDOM_DLC_MASK)
|
||||
dlc = rand() % 8 + 1;
|
||||
|
||||
frame->len = dlc;
|
||||
|
||||
/* Currently we just do incremental updates on the payload */
|
||||
for (index = 0; index < dlc; index++) {
|
||||
frame->data[index] = frame->data[index] + 1;
|
||||
if (frame->data[index])
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
char *name = basename(argv[0]);
|
||||
char *iface;
|
||||
can_if_cfg_t ifcfg;
|
||||
int opt;
|
||||
int ret;
|
||||
uint32_t ms_delay = 1;
|
||||
uint32_t num_msgs = 1;
|
||||
uint32_t msg_id = 0x123;
|
||||
uint8_t msg_len = 8;
|
||||
uint8_t flags = 0;
|
||||
struct canfd_frame frame;
|
||||
|
||||
srand (time(NULL));
|
||||
|
||||
if (argc <= 3) {
|
||||
usage_and_exit(name, EXIT_FAILURE);
|
||||
}
|
||||
|
||||
ldx_can_set_defconfig(&ifcfg);
|
||||
|
||||
while ((opt = getopt(argc, argv, "i:b:n:t:I:l:erRp")) > 0) {
|
||||
switch (opt) {
|
||||
case 'i':
|
||||
iface = optarg;
|
||||
break;
|
||||
|
||||
case 'b':
|
||||
ifcfg.bitrate = strtoul(optarg, NULL, 10);
|
||||
break;
|
||||
|
||||
case 'n':
|
||||
num_msgs = strtoul(optarg, NULL, 10);
|
||||
break;
|
||||
|
||||
case 't':
|
||||
ms_delay = strtoul(optarg, NULL, 10);
|
||||
break;
|
||||
|
||||
case 'I':
|
||||
msg_id = strtoul(optarg, NULL, 16);
|
||||
break;
|
||||
|
||||
case 'l':
|
||||
msg_len = strtoul(optarg, NULL, 10);
|
||||
break;
|
||||
|
||||
case 'e':
|
||||
flags |= EXT_ID_MASK;
|
||||
break;
|
||||
|
||||
case 'r':
|
||||
flags |= RANDOM_ID_MASK;
|
||||
break;
|
||||
|
||||
case 'R':
|
||||
flags |= RTR_BIT_MASK;
|
||||
break;
|
||||
|
||||
case 'p':
|
||||
flags |= RANDOM_DLC_MASK;
|
||||
break;
|
||||
|
||||
default:
|
||||
usage_and_exit(name, EXIT_FAILURE);
|
||||
}
|
||||
}
|
||||
|
||||
printf("Requesting CAN interface %s... ", iface);
|
||||
|
||||
can_if = ldx_can_request_by_name(iface);
|
||||
|
||||
if (!can_if) {
|
||||
printf("ERROR\n");
|
||||
return EXIT_FAILURE;
|
||||
}
|
||||
printf("OK\n");
|
||||
|
||||
/* Register signals and exit cleanup function */
|
||||
atexit(cleanup);
|
||||
register_signals();
|
||||
|
||||
printf("Initializing CAN interface... ");
|
||||
ret = ldx_can_init(can_if, &ifcfg);
|
||||
if (ret) {
|
||||
printf("ERROR\n");
|
||||
goto error;
|
||||
}
|
||||
printf("OK\n");
|
||||
|
||||
memset(&frame, 0, sizeof(frame));
|
||||
|
||||
while (running && num_msgs) {
|
||||
int retries = TX_RETRIES;
|
||||
/* If we need to create more configuration bits, we have this variable flags*/
|
||||
update_msg(&frame, msg_id, msg_len, flags);
|
||||
|
||||
while (retries--) {
|
||||
ret = ldx_can_tx_frame(can_if, &frame);
|
||||
if (!ret) {
|
||||
break;
|
||||
} else if (ret == -CAN_ERROR_TX_RETRY_LATER) {
|
||||
ms_sleep(1);
|
||||
} else {
|
||||
printf("Failed to send CAN frame (%d)\n", ret);
|
||||
goto error;
|
||||
}
|
||||
}
|
||||
|
||||
if (!retries) {
|
||||
printf("Failed to send CAN frame after %d tries\n", ret);
|
||||
goto error;
|
||||
}
|
||||
|
||||
num_msgs--;
|
||||
|
||||
if (ms_delay)
|
||||
ms_sleep(ms_delay);
|
||||
}
|
||||
|
||||
ms_sleep(1000);
|
||||
|
||||
error:
|
||||
|
||||
printf("\n\nCan send frame application has finished\n");
|
||||
|
||||
return ret;
|
||||
}
|
||||
Loading…
Reference in New Issue