Feat: 完善can驱动测试demo

app_public/fuxi_public/fuxi_bsp/source/flexcan.c

@@ -11,11 +11,18 @@
 /*------------------------------- 头文件 --------------------------------------
 */
 #include "bspconfig.h"
+#include "rt_printf.h"
 #include "ustimer.h"
 #include "rt.h"
 #include "flexcan.h"
 #include <string.h>
 #include <sys/mman.h>
+#include <sys/socket.h>
+#include <sys/ioctl.h>
+#include <linux/can.h>
+#include <linux/can/raw.h>
+#include <sys/prctl.h>
+#include <unistd.h>
 
 #ifdef BSP_CAN_ENABLE
 
@@ -93,6 +100,13 @@
 
 /*------------------------------ 类型结构 -------------------------------------
 */
+typedef enum
+{
+	CAN_1,
+	CAN_2,
+	CAN_RES
+}can_type;
+
 //CANFD 基地址
 static unsigned int g_rt_canfd_baseaddr[RT_CAN_NUM][RT_CAN_DEV_TYPE]=
 {
@@ -164,6 +178,7 @@ struct can_timestamp
 //flexcan 设备数据结构
 struct can_dev
 {	
+	int can_sock;
 	uint32_t no;
 	uint32_t base_addr;
 	
@@ -229,6 +244,10 @@ struct can_platform_data
 */
 //flexcan设备
 int g_can_fd = -1;
+static int bexit = 0;
+static u8 g_can_tx_call[CAN_BUS_NUM] = {0};
+pthread_t can_tid[CAN_BUS_NUM];
+pthread_t can_tid_s[CAN_BUS_NUM];
 unsigned g_can_mapped_size;
 void *g_can_map_base[CAN_BUS_NUM], *g_can_virt_addr[CAN_BUS_NUM]; 
 
@@ -243,6 +262,7 @@ extern int g_print_can_monitor;
 
 /*------------------------------ 函数声明 -------------------------------------
 */
+static void can_soft_recv_data(int sock);
 static int _can_set_reset_mode(struct can_dev *dev);
 static int _can_set_normal_mode(struct can_dev *dev);
 static int _can_set_bittiming(struct can_dev *dev);
@@ -256,6 +276,244 @@ int  _can_irq_force(int no);
 int _can_irq_clear(int no);
 int _can_irq_is_force(int no);
 
+/*------------------------------ 内部函数 -------------------------------------
+*/
+static int can_soft_send(int sock, struct can_frame frame)
+{
+	int nbytes;
+	int wlen = sizeof(struct can_frame);
+	int times = 2;
+
+	while(times --) 
+	{
+	    nbytes = write(sock, &frame, wlen);
+	    if (nbytes != wlen)
+	    {
+	    	rt_printf("Send Error frame(nbytes:%d, wlen:%d)\n", nbytes, wlen);
+			usleep(200);
+	        continue;
+	    }
+	    else
+	    {
+	    	//printf("Send frame(nbytes:%d, wlen:%d)\n", nbytes, wlen);
+	        return (0);
+	    }
+	}
+
+	return -1;
+}
+
+static int can_send_data(can_type type, unsigned char *buf, int len)
+{
+    int i, j;
+    int cnt;
+    int sock;
+    int ret = 0;
+    struct can_frame frame;
+
+    if(type == CAN_1)
+    {
+		// DEMO
+        sock = g_can_dev[0].can_sock;
+        frame.can_id = 0x100;
+    }
+    else {
+		// DEMO
+        sock = g_can_dev[1].can_sock;
+        frame.can_id = 0x101;
+    }
+
+    for(i = 0; i < len; i += 8)
+    {
+        cnt = len - i;
+
+        if(cnt > 8)
+            frame.can_dlc =  8;
+        else
+            frame.can_dlc = cnt;
+
+        for(j=0; j<frame.can_dlc; j++)
+        {
+            frame.data[j] = buf[i+j];
+        }
+
+        if(can_soft_send(sock, frame) < 0)
+        {
+            ret = -1;
+            break;
+        }
+    }
+
+    return ret;
+}
+
+static void *can_proc_send(void *arg)
+{
+	int sock = *(int *)arg;
+
+	int index = g_can_dev[0].can_sock == sock ? 0 : 1;
+	if (index == 0) {
+		prctl(PR_SET_NAME, "can_send_func0");
+	} else {
+		prctl(PR_SET_NAME, "can_send_func1");
+	}
+
+	while(!bexit)
+    {
+		static int cycle = 0;
+		if(main_mod_is_exit())
+		{
+			break;
+		}
+
+		cycle ++;
+		if (cycle >= 5000) {
+			cycle = 0;
+			switch (index) {
+			case 0:
+			can_send_data(CAN_1, (unsigned char *)"hello stm32", strlen("hello stm32") - 1);
+			break;
+
+			case 1:
+			can_send_data(CAN_2, (unsigned char *)"hello stm32", strlen("hello stm32") - 1);
+			break;
+
+			default:
+			break;
+			}
+		}
+
+		usleep(1000);
+	}
+
+}
+
+static void *can_proc_recv(void *arg)
+{
+    int nready;
+    int maxfd;
+    fd_set readfds;
+    int sock = *(int *)arg;
+
+    FD_ZERO(&readfds);
+    FD_SET(sock, &readfds);
+    maxfd = sock;
+
+	int index = g_can_dev[0].can_sock == sock ? 0 : 1;
+	if (index == 0) {
+		prctl(PR_SET_NAME, "can_rev_func0");
+	} else {
+		prctl(PR_SET_NAME, "can_rev_func1");
+	}
+	
+    while(!bexit)
+    {
+		if(main_mod_is_exit())
+		{
+			break;
+		}
+
+        nready = select(maxfd+1, &readfds, NULL, NULL, NULL);
+        if(nready < 0)
+        {
+            perror("can select");
+            break;
+        }
+        else if(nready == 0)
+        {
+            continue;
+        }
+
+        /* data is ready */
+        if(FD_ISSET(sock, &readfds))
+        {
+            can_soft_recv_data(sock);
+        }
+        else { ; }
+    }
+}
+
+static int can_open(char *can_name)
+{
+	struct ifreq ifr;
+    struct sockaddr_can addr;
+	int sock;
+	int ret = -1;
+	int loopback = 0;
+//	struct can_filter rfilter[1];
+	
+    /* open socket */
+    sock = socket(PF_CAN, SOCK_RAW, CAN_RAW);
+    if(sock < 0)
+    {
+        return ret;
+    }
+	
+    strcpy(ifr.ifr_name, can_name);
+    if (ioctl(sock, SIOCGIFINDEX, &ifr) < 0)
+    {
+        goto err_can_open;
+    }
+	addr.can_family = AF_CAN;
+    addr.can_ifindex = ifr.ifr_ifindex;
+  //  fcntl(sock, F_SETFL, O_NONBLOCK);
+    if (bind(sock, (struct sockaddr *)&addr, sizeof(addr)) < 0)
+    {
+        goto err_can_open;
+    }
+
+	//close loopback
+	setsockopt(sock, SOL_CAN_RAW, CAN_RAW_LOOPBACK, &loopback, sizeof(loopback));
+/*
+	rfilter[0].can_id = 0x12;
+	rfilter[0].can_mask = CAN_SFF_MASK;
+	setsockopt(sock, SOL_CAN_RAW, CAN_RAW_FILTER, &rfilter, sizeof(rfilter));
+*/
+	return sock;
+
+err_can_open:
+	close(sock);	
+    return ret;
+}
+
+static int can_soft_recv(int sock, struct can_frame *frame)
+{
+	int nbytes;
+
+	nbytes = read(sock, frame, sizeof(struct can_frame));
+	if(nbytes)
+	{
+		;//printf("[can_recv]dlc = %d, nbytes = %d\n", frame->can_dlc, nbytes);
+	}
+
+	return nbytes;
+}
+
+static void can_soft_recv_data(int sock)
+{
+    static unsigned char tail = 0;
+    int i;
+    int can_id;
+    unsigned char can_dlc;
+    unsigned char *data;
+    struct can_frame frame;
+    int index = g_can_dev[0].can_sock == sock ? 0 : 1;
+
+    if(can_soft_recv(sock, &frame) < 0)
+        return ;
+
+
+    can_id = frame.can_id;
+    can_dlc = frame.can_dlc;
+    data = frame.data;
+
+    printf("CAN%d dlc = %d, can_id = %x\ndata:", index,frame.can_dlc, frame.can_id);
+    for(i=0; i<frame.can_dlc; i++)
+        printf("0x%02x ", frame.data[i]);
+    printf("\n");
+
+
+}
 
 /*------------------------------ 外部函数 -------------------------------------
 外部函数供其它实体文件引用，必须仔细检查传入参数的合法性.
@@ -346,6 +604,25 @@ int can_init(void)
 			rt_request_irq(CFG_CAN_VECTOR_BEGIN + 7,CFG_INT_LEVEL_CAN,_can_isr_err_1,"can_isr_err_11");
 		}
 
+		// 获取CAN设备句柄
+		if (i == 0) {
+			g_can_dev[i].can_sock = can_open("can0");
+		} else {
+			g_can_dev[i].can_sock = can_open("can1");
+		}
+
+		// 创建CAN设备接收线程
+		if (0 != pthread_create(&can_tid[i], NULL, can_proc_recv, (void *)&g_can_dev[i].can_sock))
+		{
+			return -2;
+		}
+
+		// 创建CAN设备发送线程
+		if (0 != pthread_create(&can_tid_s[i], NULL, can_proc_send, (void *)&g_can_dev[i].can_sock))
+		{
+			return -3;
+		}
+
 		/* init and start flexcan */
 		_can_chipset_init(dev, 0);
 		_can_set_normal_mode(dev);		
@@ -358,20 +635,30 @@ int can_init(void)
 int can_exit(void)
 {
 	int i = 0;
-	if (g_can_fd >= 0)
-    {
-        close(g_can_fd);
-        g_can_fd = -1;
-    }
+	// exit can recv thread
+	bexit = 1;
 	for (i = 0; i < CAN_BUS_NUM; i++) {
+		pthread_join(can_tid[i], NULL);
+		pthread_join(can_tid_s[i], NULL);
+
 		if (g_can_map_base[i]) {
 			if (munmap(g_can_map_base, g_can_mapped_size) == -1) {
 				printf("can[%d] dev munmap failed!", i);
 				return -1;
 			}
 		}
+
+		if (g_can_dev[i].can_sock >= 0) {
+			close(g_can_dev[i].can_sock);
+		}
 	}
 
+	if (g_can_fd >= 0)
+    {
+        close(g_can_fd);
+        g_can_fd = -1;
+    }
+	
 	rt_free_irq(CFG_CAN_VECTOR_BEGIN + 0);
 	rt_free_irq(CFG_CAN_VECTOR_BEGIN + 1);
 	rt_free_irq(CFG_CAN_VECTOR_BEGIN + 3);
@@ -629,10 +916,9 @@ int can_stat_reset(void)
 */
 static int _can_set_reset_mode(struct can_dev *dev)
 {
-	
+	// TODO: ocean
 
 	return 1;
-
 }
 
 /******************************************************************************
@@ -649,10 +935,9 @@ static int _can_set_reset_mode(struct can_dev *dev)
 */
 static int _can_set_normal_mode(struct can_dev *dev)
 {
-	
+	// TODO: ocean
 	
 	return 1;
-
 }
 
 
@@ -1137,13 +1422,16 @@ _can_isr_err(1);
 
 int  _can_irq_force(int no)
 {
+#ifdef __KERNEL__
 	uint32_t flags;
 
 	no *= 4;
 	rt_irq_save(flags);
 	REG_MCF_INTFRCL1 |= 1 << no;
 	rt_irq_restore(flags);	
-
+#else
+	g_can_tx_call[no] = 1;
+#endif
 	return 0;
 }
 

app_public/fuxi_public/rt_lite/source/rt_socket.c

@@ -192,7 +192,9 @@ int set_net_param_fun(char* NetNum,char* para,char* cmd)
 
 	sprintf(argv, "ifconfig %s %s %d.%d.%d.%d", NetNum,para,cmd[0],cmd[1],cmd[2],cmd[3]);
 
+#ifdef RT_SOCKET_DEBUG
 	rt_printf("sh cmd=%s\r\n",argv);
+#endif
 
 	ret = system(argv);
 
@@ -209,8 +211,9 @@ int set_gw_param_fun(char* ip,char* gw)
 
 	sprintf(argv, "route add %s gw %s",ip,gw);
 
+#ifdef RT_SOCKET_DEBUG
 	rt_printf("sh cmd=%s\r\n",argv);
-	
+#endif
 	ret = system(argv);
 
 	return ret;
@@ -535,7 +538,9 @@ int rt_if_mac_set(int index, unsigned char *mac)
 	sprintf(NetNum,"eth%d", index);
 	sprintf(argv, "ifconfig %s hw ether %02X:%02X:%02X:%02X:%02X:%02X", NetNum,mac[0],mac[1],mac[2],mac[3],mac[4],mac[5]);
 
+#ifdef RT_SOCKET_DEBUG
 	rt_printf("sh cmd=%s\r\n",argv);
+#endif
 
 	ret = system(argv);
 

dtu/dtu_main_t536/compile_commands.json

@@ -130,12 +130,12 @@
       "dummyinc",
       "-mcpu=cortex-a55",
       "-o",
-      "tmp/rt_lite/source/rt_console.o",
-      "tmp/rt_lite/source/rt_console.c"
+      "tmp/rt_lite/source/rt_clib_snprintf.o",
+      "tmp/rt_lite/source/rt_clib_snprintf.c"
     ],
     "directory": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536",
-    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/rt_lite/source/rt_console.c",
-    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/rt_lite/source/rt_console.o"
+    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/rt_lite/source/rt_clib_snprintf.c",
+    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/rt_lite/source/rt_clib_snprintf.o"
   },
   {
     "arguments": [
@@ -176,12 +176,12 @@
       "dummyinc",
       "-mcpu=cortex-a55",
       "-o",
-      "tmp/rt_lite/source/rt_clib_snprintf.o",
-      "tmp/rt_lite/source/rt_clib_snprintf.c"
+      "tmp/rt_lite/source/rt_env.o",
+      "tmp/rt_lite/source/rt_env.c"
     ],
     "directory": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536",
-    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/rt_lite/source/rt_clib_snprintf.c",
-    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/rt_lite/source/rt_clib_snprintf.o"
+    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/rt_lite/source/rt_env.c",
+    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/rt_lite/source/rt_env.o"
   },
   {
     "arguments": [
@@ -222,12 +222,12 @@
       "dummyinc",
       "-mcpu=cortex-a55",
       "-o",
-      "tmp/rt_lite/source/rt_env.o",
-      "tmp/rt_lite/source/rt_env.c"
+      "tmp/rt_lite/source/rt_console.o",
+      "tmp/rt_lite/source/rt_console.c"
     ],
     "directory": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536",
-    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/rt_lite/source/rt_env.c",
-    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/rt_lite/source/rt_env.o"
+    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/rt_lite/source/rt_console.c",
+    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/rt_lite/source/rt_console.o"
   },
   {
     "arguments": [
@@ -1740,12 +1740,12 @@
       "dummyinc",
       "-mcpu=cortex-a55",
       "-o",
-      "tmp/fuxi_bsp/source/can_app.o",
-      "tmp/fuxi_bsp/source/can_app.c"
+      "tmp/fuxi_bsp/source/flexcan.o",
+      "tmp/fuxi_bsp/source/flexcan.c"
     ],
     "directory": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536",
-    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/fuxi_bsp/source/can_app.c",
-    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/fuxi_bsp/source/can_app.o"
+    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/fuxi_bsp/source/flexcan.c",
+    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/fuxi_bsp/source/flexcan.o"
   },
   {
     "arguments": [
@@ -1786,12 +1786,12 @@
       "dummyinc",
       "-mcpu=cortex-a55",
       "-o",
-      "tmp/fuxi_bsp/source/flexcan.o",
-      "tmp/fuxi_bsp/source/flexcan.c"
+      "tmp/fuxi_bsp/source/can_app.o",
+      "tmp/fuxi_bsp/source/can_app.c"
     ],
     "directory": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536",
-    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/fuxi_bsp/source/flexcan.c",
-    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/fuxi_bsp/source/flexcan.o"
+    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/fuxi_bsp/source/can_app.c",
+    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/fuxi_bsp/source/can_app.o"
   },
   {
     "arguments": [
@@ -3902,12 +3902,12 @@
       "dummyinc",
       "-mcpu=cortex-a55",
       "-o",
-      "tmp/app/net_104.o",
-      "tmp/app/net_104.c"
+      "tmp/app/net_debug.o",
+      "tmp/app/net_debug.c"
     ],
     "directory": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536",
-    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/net_104.c",
-    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/net_104.o"
+    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/net_debug.c",
+    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/net_debug.o"
   },
   {
     "arguments": [
@@ -3948,12 +3948,12 @@
       "dummyinc",
       "-mcpu=cortex-a55",
       "-o",
-      "tmp/app/net_debug.o",
-      "tmp/app/net_debug.c"
+      "tmp/app/net_104.o",
+      "tmp/app/net_104.c"
     ],
     "directory": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536",
-    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/net_debug.c",
-    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/net_debug.o"
+    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/net_104.c",
+    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/net_104.o"
   },
   {
     "arguments": [
@@ -5236,12 +5236,12 @@
       "dummyinc",
       "-mcpu=cortex-a55",
       "-o",
-      "tmp/app/uart_comm.o",
-      "tmp/app/uart_comm.c"
+      "tmp/app/UnitsLib.o",
+      "tmp/app/UnitsLib.c"
     ],
     "directory": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536",
-    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/uart_comm.c",
-    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/uart_comm.o"
+    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/UnitsLib.c",
+    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/UnitsLib.o"
   },
   {
     "arguments": [
@@ -5282,12 +5282,12 @@
       "dummyinc",
       "-mcpu=cortex-a55",
       "-o",
-      "tmp/app/UnitsLib.o",
-      "tmp/app/UnitsLib.c"
+      "tmp/app/uart_comm.o",
+      "tmp/app/uart_comm.c"
     ],
     "directory": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536",
-    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/UnitsLib.c",
-    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/UnitsLib.o"
+    "file": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/uart_comm.c",
+    "output": "/home/juni/workspace/T536/T536_DTU/dtu/dtu_main_t536/tmp/app/uart_comm.o"
   },
   {
     "arguments": [