chksja.c

测试EPP_CAN板的Linux操作系统驱动的小程序,

/* chksja.c
 *
 *	a tool for SJA1000 checking.
 *			written by : Chen Zhenyong
 *				[e-mail]
 *				2004/2/12
 */
#include <stdio.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include "../driver/cangate.h"
#include "colors.h"
#include "chksja.h"

/*
 * SJA1000寄存器访问
 */
int write_sja(int fd,unsigned char addr, unsigned char value)
{
	int ret;
	struct sja_op sja_op_data;
	
	if(fd < 0) return -1;
	
	sja_op_data.sja_reg_addr = addr;
	sja_op_data.sja_reg_value = value;
	
	ret = ioctl(fd,QSPIIOCS_WRITESJA,&sja_op_data);
	
	return ret;
}

unsigned char read_sja(int fd,unsigned char addr)
{
	int ret;
	struct sja_op sja_op_data;
	
	if(fd < 0) return -1;
	
	sja_op_data.sja_reg_addr = addr;
	
	ret = ioctl(fd,QSPIIOCS_READSJA,&sja_op_data);
	
	return sja_op_data.sja_reg_value;
}


/*
 * 初始化及反初始化SJA1000
 */
#define MAXWAIT 2000
int InitializeSJA(int fd)
{
	int i;
	unsigned char v;

   	//wait until the RR bit is set to '1'
	for(i=0;i<MAXWAIT;i++){
		write_sja(fd,MODE_REG,0x01);
		if(read_sja(fd,MODE_REG)&0x01)
			break;
	}
	if(i==MAXWAIT){
		return -1;
 	}

	write_sja(fd,BUSTIME0_REG,EPPmode.bustime0);   //bustime0，缺省为0xa3
	write_sja(fd,BUSTIME1_REG,EPPmode.bustime1);   //bustime1，缺省为0xc3
	write_sja(fd,OUTCTL_REG,EPPmode.outpctr);   //output control
	write_sja(fd,CLKDIV_REG,EPPmode.clkdiv);   //PeliCAN mode,bypass the input comparator
	
	write_sja(fd,ACCCODE0_REG,EPPmode.acptcode0); //设置接受地址判断，缺省为ffffffff
	write_sja(fd,ACCCODE1_REG,EPPmode.acptcode1);
	write_sja(fd,ACCCODE2_REG,EPPmode.acptcode2);
	write_sja(fd,ACCCODE3_REG,EPPmode.acptcode3);

	write_sja(fd,ACCMASK0_REG,EPPmode.acptmask0);//设置接受时不考虑的地址位，缺省为ffffffff
	write_sja(fd,ACCMASK1_REG,EPPmode.acptmask1);
	write_sja(fd,ACCMASK2_REG,EPPmode.acptmask2);
	write_sja(fd,ACCMASK3_REG,EPPmode.acptmask3);

	write_sja(fd,INTR_EN_REG,EPPmode.intrenreg);	//disable interrupt
	read_sja(fd,INTR_REG);       			//clear the interrupt register(except receive interrupt bit)
	write_sja(fd,CMD_REG,0x04);			//clear receive buffer. if no other message then clear receive interrupt bit

	for(i=0;i<MAXWAIT;i++){
		write_sja(fd,MODE_REG,0x00);
		if( ! (read_sja(fd,MODE_REG)&0x01) )
			break;
	}
	if(i==MAXWAIT) return -1;
	
	return 0;
}

//you cannot init SJA when interrupt is not cleared.
//DeInitializeSJA is for this use.
//so if you want re-init SJA, must call DeInitializeSJA first.
void DeInitializeSJA(int fd)
{
	write_sja(fd,CMD_REG,0x02);	//cancel transmit task	
	write_sja(fd,INTR_EN_REG,0x00);	//diable all interrupts
}


/*
 * 读写SJA1000中的数据帧
 */
void read_frames(int fd)
{
	unsigned char buf[11 * 20];
	
	do{
		int i,k=0;
		int count;
		count = read(fd,buf,11*20);
		if(count == 0){
			break;
		}
		printf(FRCOLOR("read in %d frames.",YELLOW)"\n",count/11);
		while(count>0){
			for(i=0;i<11;i++,count--,k++){
				printf("%2x ",buf[k]);
			}
			printf("\n");
		}
	}while(1);
}
void send_frame(int fd)
{
	unsigned char buf[11];
	printf("please input command. format is:\n8 addr 0 ch cmd d0 d1 d2 d3 d4 d5\n");
	scanf("%2x %2x %2x %2x %2x %2x %2x %2x %2x %2x %2x",buf+0,buf+1,buf+2,buf+3,buf+4,buf+5,buf+6,buf+7,buf+8,buf+9,buf+10);
	
	write(fd, buf, 11);
}

void error(char* str)
{
	printf(FRCOLOR("error: %s",RED)"\n",str);
}

void myshell(int fd)
{
	char ibuf[256];
	char *p;
	char *sep = " ,\t\n";
	
	printf("\n"COLORB("myshell running...""\n""you can type \"help\" to find which commands you can use.",GREEN,WHITE) "\n");

	while(1){
		printf(COLOR("myshell>",GREEN,YELLOW));
		fflush(stdout);	
		
		//get a line
		fgets(ibuf,256,stdin);
		if(ibuf[0] == '\n'){
			continue;
		}

		//get command
		p = strtok(ibuf,sep);
		if(p == NULL){
			continue;
		}
		//pase command
		if(strcmp(p,"init") == 0){
			if(InitializeSJA(fd) == -1){
				error("init sja failure.");
			}
			else{
				printf(FRCOLOR("init sja succeeded.",GREEN)"\n");
			}
		}
		else if(strcmp(p,"deinit") == 0){
			DeInitializeSJA(fd);
		}
		else if(strcmp(p,"read") == 0){
			unsigned char addr,val;
			p = strtok(NULL,sep);
			if( p == NULL){
				error("which register?");
				continue;
			}
			//now, address stored in p
			addr = (unsigned char) strtol(p,NULL,10);

			//now, execute
			val = read_sja(fd,addr);
			printf(FRCOLORB("%2x,%2x",PINK)"\n",addr,val);
		}
		else if(strcmp(p,"write") == 0){
			unsigned char addr,val;
			p = strtok(NULL,sep);
			if( p == NULL ){
				error("which register?");
				continue;
			}
			addr = (unsigned char) strtol(p,NULL,10);
			p = strtok(NULL,sep);
			if( p == NULL){
				error("what's the value?");
				continue;
			}
			val = (unsigned char) strtol(p,NULL,10);
			write_sja(fd,addr,val);
		}
		else if(strcmp(p,"getfrm") == 0){
			read_frames(fd);
		}
		else if(strcmp(p,"sendfrm") == 0){
			send_frame(fd);
		}
		else if(strcmp(p,"exit") == 0){
			break;
		}
		else if(strcmp(p,"quit") == 0){
			break;
		}
		else if(strcmp(p,"help") == 0){
			printf(COLOR("\ninit\tdeinit\tread\twrite\ngetfrm\tsendfrm\tserial\thelp\nexit\tquit",BLUE,WHITE)"\n");
		}
		else if(strcmp(p,"serial") == 0){
			int kkk;
			for(kkk=0;kkk<1000000;kkk++)
				read_sja(fd,0x55);
		}
		else{
			error("opperation not support!");
		}
	}
}
int main(int argc, char **argv)
{
	int fd;

	fd = open("/dev/canport",O_RDWR);
	if(fd < 0){
		error("cannot open /dev/canport!");
		exit(-1);
	}

	myshell(fd);

	//for safety, call DeInitializeSJA
	DeInitializeSJA(fd);

	close(fd);
	return 0;	
}