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Add nuttx to the system framework, which is 10.1.0

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TangYiwen123 2021-06-09 14:33:15 +08:00
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235
Ubiquitous/Nuttx/apps/Application.mk Normal file
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############################################################################
# apps/Application.mk
#
# Copyright (C) 2015 Gregory Nutt. All rights reserved.
# Copyright (C) 2015 Omni Hoverboards Inc. All rights reserved.
# Authors: Gregory Nutt <gnutt@nuttx.org>
# Paul Alexander Patience <paul-a.patience@polymtl.ca>
#
# 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.
#
############################################################################
# If this is an executable program (with MAINSRC), we must build it as a
# loadable module for the KERNEL build (always) or if the tristate module
# has the value "m"
ifneq ($(MAINSRC),)
ifeq ($(MODULE),m)
BUILD_MODULE = y
endif
ifeq ($(CONFIG_BUILD_KERNEL),y)
BUILD_MODULE = y
endif
endif
# The GNU make CURDIR will always be a POSIX-like path with forward slashes
# as path segment separators. If we know that this is a native build, then
# we need to fix up the path so the DELIM will match the actual delimiter.
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
CWD = $(strip ${shell echo %CD% | cut -d: -f2})
else
CWD = $(CURDIR)
endif
ifeq ($(CONFIG_CYGWIN_WINTOOL),y)
LDLIBS += "${shell cygpath -w $(BIN)}"
else
LDLIBS += $(BIN)
endif
SUFFIX = $(subst $(DELIM),.,$(CWD))
PROGNAME := $(shell echo $(PROGNAME))
# Object files
RASRCS = $(filter %.s,$(ASRCS))
CASRCS = $(filter %.S,$(ASRCS))
RAOBJS = $(RASRCS:.s=$(SUFFIX)$(OBJEXT))
CAOBJS = $(CASRCS:.S=$(SUFFIX)$(OBJEXT))
COBJS = $(CSRCS:.c=$(SUFFIX)$(OBJEXT))
CXXOBJS = $(CXXSRCS:$(CXXEXT)=$(SUFFIX)$(OBJEXT))
MAINCXXSRCS = $(filter %$(CXXEXT),$(MAINSRC))
MAINCSRCS = $(filter %.c,$(MAINSRC))
MAINCXXOBJ = $(MAINCXXSRCS:$(CXXEXT)=$(SUFFIX)$(OBJEXT))
MAINCOBJ = $(MAINCSRCS:.c=$(SUFFIX)$(OBJEXT))
SRCS = $(ASRCS) $(CSRCS) $(CXXSRCS) $(MAINSRC)
OBJS = $(RAOBJS) $(CAOBJS) $(COBJS) $(CXXOBJS)
ifneq ($(BUILD_MODULE),y)
OBJS += $(MAINCOBJ) $(MAINCXXOBJ)
endif
DEPPATH += --dep-path .
DEPPATH += --obj-path .
DEPPATH += --obj-suffix $(SUFFIX)$(OBJEXT)
VPATH += :.
# Targets follow
all:: $(OBJS)
.PHONY: clean depend distclean
.PRECIOUS: $(BIN)
define ELFASSEMBLE
@echo "AS: $1"
$(Q) $(CC) -c $(AELFFLAGS) $($(strip $1)_AELFFLAGS) $1 -o $2
endef
define ELFCOMPILE
@echo "CC: $1"
$(Q) $(CC) -c $(CELFFLAGS) $($(strip $1)_CELFFLAGS) $1 -o $2
endef
define ELFCOMPILEXX
@echo "CXX: $1"
$(Q) $(CXX) -c $(CXXELFFLAGS) $($(strip $1)_CXXELFFLAGS) $1 -o $2
endef
define ELFLD
@echo "LD: $2"
$(Q) $(LD) $(LDELFFLAGS) $(LDLIBPATH) $(ARCHCRT0OBJ) $1 $(LDLIBS) -o $2
endef
$(RAOBJS): %$(SUFFIX)$(OBJEXT): %.s
$(if $(and $(CONFIG_BUILD_LOADABLE),$(AELFFLAGS)), \
$(call ELFASSEMBLE, $<, $@), $(call ASSEMBLE, $<, $@))
$(CAOBJS): %$(SUFFIX)$(OBJEXT): %.S
$(if $(and $(CONFIG_BUILD_LOADABLE),$(AELFFLAGS)), \
$(call ELFASSEMBLE, $<, $@), $(call ASSEMBLE, $<, $@))
$(COBJS): %$(SUFFIX)$(OBJEXT): %.c
$(if $(and $(CONFIG_BUILD_LOADABLE),$(CELFFLAGS)), \
$(call ELFCOMPILE, $<, $@), $(call COMPILE, $<, $@))
$(CXXOBJS): %$(SUFFIX)$(OBJEXT): %$(CXXEXT)
$(if $(and $(CONFIG_BUILD_LOADABLE),$(CXXELFFLAGS)), \
$(call ELFCOMPILEXX, $<, $@), $(call COMPILEXX, $<, $@))
archive:
ifeq ($(CONFIG_CYGWIN_WINTOOL),y)
$(call ARCHIVE_ADD, "${shell cygpath -w $(BIN)}", $(OBJS))
else
$(call ARCHIVE_ADD, $(BIN), $(OBJS))
endif
ifeq ($(BUILD_MODULE),y)
$(MAINCXXOBJ): %$(SUFFIX)$(OBJEXT): %$(CXXEXT)
$(if $(and $(CONFIG_BUILD_LOADABLE),$(CXXELFFLAGS)), \
$(call ELFCOMPILEXX, $<, $@), $(call COMPILEXX, $<, $@))
$(MAINCOBJ): %$(SUFFIX)$(OBJEXT): %.c
$(if $(and $(CONFIG_BUILD_LOADABLE),$(CELFFLAGS)), \
$(call ELFCOMPILE, $<, $@), $(call COMPILE, $<, $@))
PROGLIST := $(wordlist 1,$(words $(MAINCOBJ) $(MAINCXXOBJ)),$(PROGNAME))
PROGLIST := $(addprefix $(BINDIR)$(DELIM),$(PROGLIST))
PROGOBJ := $(MAINCOBJ) $(MAINCXXOBJ)
$(PROGLIST): $(MAINCOBJ) $(MAINCXXOBJ)
$(Q) mkdir -p $(BINDIR)
ifeq ($(CONFIG_CYGWIN_WINTOOL),y)
$(call ELFLD,$(firstword $(PROGOBJ)),"${shell cygpath -w $(firstword $(PROGLIST))}")
else
$(call ELFLD,$(firstword $(PROGOBJ)),$(firstword $(PROGLIST)))
endif
$(Q) chmod +x $(firstword $(PROGLIST))
ifneq ($(CONFIG_DEBUG_SYMBOLS),y)
$(Q) $(STRIP) $(firstword $(PROGLIST))
endif
$(eval PROGLIST=$(filter-out $(firstword $(PROGLIST)),$(PROGLIST)))
$(eval PROGOBJ=$(filter-out $(firstword $(PROGOBJ)),$(PROGOBJ)))
install:: $(PROGLIST)
else
MAINNAME := $(addsuffix _main,$(PROGNAME))
$(MAINCXXOBJ): %$(SUFFIX)$(OBJEXT): %$(CXXEXT)
$(eval $<_CXXFLAGS += ${shell $(DEFINE) "$(CXX)" main=$(firstword $(MAINNAME))})
$(eval $<_CXXELFFLAGS += ${shell $(DEFINE) "$(CXX)" main=$(firstword $(MAINNAME))})
$(eval MAINNAME=$(filter-out $(firstword $(MAINNAME)),$(MAINNAME)))
$(if $(and $(CONFIG_BUILD_LOADABLE),$(CXXELFFLAGS)), \
$(call ELFCOMPILEXX, $<, $@), $(call COMPILEXX, $<, $@))
$(MAINCOBJ): %$(SUFFIX)$(OBJEXT): %.c
$(eval $<_CFLAGS += ${shell $(DEFINE) "$(CC)" main=$(firstword $(MAINNAME))})
$(eval $<_CELFFLAGS += ${shell $(DEFINE) "$(CC)" main=$(firstword $(MAINNAME))})
$(eval MAINNAME=$(filter-out $(firstword $(MAINNAME)),$(MAINNAME)))
$(if $(and $(CONFIG_BUILD_LOADABLE),$(CELFFLAGS)), \
$(call ELFCOMPILE, $<, $@), $(call COMPILE, $<, $@))
install::
endif # BUILD_MODULE
context::
ifneq ($(PROGNAME),)
REGLIST := $(addprefix $(BUILTIN_REGISTRY)$(DELIM),$(addsuffix .bdat,$(PROGNAME)))
APPLIST := $(PROGNAME)
$(REGLIST): $(DEPCONFIG) Makefile
$(call REGISTER,$(firstword $(APPLIST)),$(firstword $(PRIORITY)),$(firstword $(STACKSIZE)),$(if $(BUILD_MODULE),,$(firstword $(APPLIST))_main))
$(eval APPLIST=$(filter-out $(firstword $(APPLIST)),$(APPLIST)))
$(if $(filter-out $(firstword $(PRIORITY)),$(PRIORITY)),$(eval PRIORITY=$(filter-out $(firstword $(PRIORITY)),$(PRIORITY))))
$(if $(filter-out $(firstword $(STACKSIZE)),$(STACKSIZE)),$(eval STACKSIZE=$(filter-out $(firstword $(STACKSIZE)),$(STACKSIZE))))
register:: $(REGLIST)
else
register::
endif
.depend: Makefile $(wildcard $(foreach SRC, $(SRCS), $(addsuffix /$(SRC), $(subst :, ,$(VPATH))))) $(DEPCONFIG)
ifeq ($(filter %$(CXXEXT),$(SRCS)),)
$(Q) $(MKDEP) $(DEPPATH) "$(CC)" -- $(CFLAGS) -- $(filter-out Makefile,$(filter-out $(DEPCONFIG),$^)) >Make.dep
else
$(Q) $(MKDEP) $(DEPPATH) "$(CXX)" -- $(CXXFLAGS) -- $(filter-out Makefile,$(filter-out $(DEPCONFIG),$^)) >Make.dep
endif
$(Q) touch $@
depend:: .depend
clean::
$(call CLEAN)
distclean:: clean
$(call DELFILE, Make.dep)
$(call DELFILE, .depend)
-include Make.dep

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Apache NuttX is an effort undergoing incubation at The Apache Software Foundation (ASF),
sponsored by the Apache Incubator. Incubation is required of all newly accepted projects
until a further review indicates that the infrastructure, communications, and decision
making process have stabilized in a manner consistent with other successful ASF projects.
While incubation status is not necessarily a reflection of the completeness or stability
of the code, it does indicate that the project has yet to be fully endorsed by the ASF.
Some of the incubating project's releases may not be fully compliant with ASF policy. For
example, releases may have incomplete or un-reviewed licensing conditions. What follows is
a list of known issues the project is currently aware of (note that this list, by definition,
is likely to be incomplete):
* Releases may have incomplete licensing conditions.
* Some ASF files still have BSD headers. Most of the top contributors have signed an ICLA and
we are working on updating the headers and getting approvals from other copyright holders.
If you are planning to incorporate this work into your product/project, please be aware that
you will need to conduct a thorough licensing review to determine the overall implications of
including this work. For the current status of this project through the Apache Incubator
visit: https://incubator.apache.org/projects/nuttx.html

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############################################################################
# apps/Directory.mk
#
# Copyright (C) 2011-2015, 2018 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
# Sub-directories that have been built or configured.
SUBDIRS := $(dir $(wildcard *$(DELIM)Makefile))
CONFIGSUBDIRS := $(filter-out $(dir $(wildcard *$(DELIM)Kconfig)),$(SUBDIRS))
CLEANSUBDIRS += $(dir $(wildcard *$(DELIM).depend))
CLEANSUBDIRS += $(dir $(wildcard *$(DELIM).kconfig))
CLEANSUBDIRS := $(sort $(CLEANSUBDIRS))
all: nothing
.PHONY: nothing clean distclean
$(foreach SDIR, $(CONFIGSUBDIRS), $(eval $(call SDIR_template,$(SDIR),preconfig)))
$(foreach SDIR, $(CLEANSUBDIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
$(foreach SDIR, $(CLEANSUBDIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
nothing:
install:
preconfig: $(foreach SDIR, $(CONFIGSUBDIRS), $(SDIR)_preconfig)
ifneq ($(MENUDESC),)
$(Q) $(MKKCONFIG) -m $(MENUDESC)
$(Q) touch .kconfig
endif
clean: $(foreach SDIR, $(CLEANSUBDIRS), $(SDIR)_clean)
distclean: $(foreach SDIR, $(CLEANSUBDIRS), $(SDIR)_distclean)
ifneq ($(MENUDESC),)
$(call DELFILE, Kconfig)
$(call DELFILE, .kconfig)
endif
-include Make.dep

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------------------------------------------------------------------------------
uIP
===
Some lower-level networking middle-ware components of NuttX
derive from uIP which has a similar BSD style license:
Copyright (c) 2001-2003, Adam Dunkels.
All rights reserved.
FreeModbus
==========
FreeModbus Library: A portable Modbus implementation for Modbus ASCII/RTU.
Copyright (c) 2006 Christian Walter <wolti@sil.at>
All rights reserved.
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. The name of the author may not be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
Mini Basic
==========
The Mini Basic implementation at apps/interpreters derives from version 1.0
by Malcolm McLean, Leeds University, and was released under the Creative
Commons Attibution license. I am not legal expert, but this license
appears to be compatible with the NuttX BSD license see:
https://creativecommons.org/licenses/ . I, however, cannot take
responsibility for any actions that you might take based on my
understanding. Please use your own legal judgement.
THTTPD
======
Derived from the original THTTPD package:
Copyright © 1995,1998,1999,2000,2001 by Jef Poskanzer <jef@mail.acme.com>.
All rights reserved.
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.
THIS SOFTWARE IS PROVIDED BY THE AUTHOR 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 AUTHOR 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.
cJSON
=====
Derives from the cJSON Project which has an MIT license:
Copyright (c) 2009 Dave Gamble
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in
all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
THE SOFTWARE.
apps/netutils/pppd
==================
This implementation of PPPD has a license that is mostly compatible the
NuttX 3-clause BSD license, but includes a fourth clause that required
acknowledgement of Mike Johnson/Mycal Labs if it is built into your
product:
Copyright (C) 2000, Mycal Labs www.mycal.com
Copyright (c) 2003, Mike Johnson, Mycal Labs, www.mycal.net
All rights reserved.
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. All advertising materials mentioning features or use of this software
must display the following acknowledgement:
This product includes software developed by Mike Johnson/Mycal Labs
www.mycal.net.
4. The name of the author may not be used to endorse or promote
products derived from this software without specific prior
written permission.
THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
apps/testing/scanftest/scanftest_main.c
=======================================
Derives from the cc65 Project which has a zlib license:
Copyright (C) 2005-01-26, Greg King (https://github.com/cc65)
Original License:
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from
the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software in
a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not
be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
apps/webserver
==============
This has a license that is mostly compatible the NuttX 3-clause BSD license,
but includes a fourth clause that required acknowledgement of Adam Dunkels
if it is built into your product:
Copyright (c) 2001, Adam Dunkels.
All rights reserved.
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. All advertising materials mentioning features or use of this software
must display the following acknowledgement:
This product includes software developed by Adam Dunkels.
4. The name of the author may not be used to endorse or promote
products derived from this software without specific prior
written permission.
THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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.
apps/examples/lvgldemo
======================
Derives from the lvgl Project which has an MIT license:
Copyright (C) 2019 Gábor Kiss-Vámosi. All rights reserved.
Author: Gábor Kiss-Vámosi <kisvegabor@gmail.com>
Released under the following BSD-compatible MIT license:
Permission is hereby granted, free of charge, to any person
obtaining a copy of this software and associated documentation
files (the “Software”), to deal in the Software without
restriction, including without limitation the rights to use,
copy, modify, merge, publish, distribute, sublicense, and/or
sell copies of the Software, and to permit persons to whom
the Software is furnished to do so, subject to the following
conditions:
The above copyright notice and this permission notice shall be
included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY
KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE
AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
OTHER DEALINGS IN THE SOFTWARE.
canutils/candump
================
Includes five dual licensed third part files from Volkswagon with
licensing as follows (Copyright dates vary from file-to-file):
SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause)
Copyright (c) 2002-2009 Volkswagen Group Electronic Research
All rights reserved.
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 of Volkswagen nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
Alternatively, provided that this notice is retained in full, this
software may be distributed under the terms of the GNU General
Public License ("GPL") version 2, in which case the provisions of the
GPL apply INSTEAD OF those given above.
The provided data structures and external interfaces from this code
are not restricted to be used by modules with a GPL compatible license.
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.
Send feedback to <linux-can@vger.kernel.org>

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############################################################################
# apps/Make.defs
# Common make definitions provided to all applications
#
# Copyright (C) 2011, 2014, 2016, 2018 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
TOPDIR ?= $(APPDIR)/import
include $(TOPDIR)/Make.defs
# The GNU make CURDIR will always be a POSIX-like path with forward slashes
# as path segment separators. This is fine for the above inclusions but
# will cause problems later for the native build. If we know that this is
# a native build, then we need to fix up the APPDIR path for subsequent
# use
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
APPDIR := ${shell echo %CD%}
endif
# Application Directories
# BUILDIRS is the list of top-level directories containing Make.defs files
# CLEANDIRS is the list of all top-level directories containing Makefiles.
# It is used only for cleaning.
BUILDIRS := $(dir $(wildcard $(APPDIR)$(DELIM)*$(DELIM)Make.defs))
BUILDIRS := $(filter-out $(APPDIR)$(DELIM)import$(DELIM),$(BUILDIRS))
CONFIGDIRS := $(filter-out $(APPDIR)$(DELIM)builtin$(DELIM),$(BUILDIRS))
CONFIGDIRS := $(filter-out $(dir $(wildcard $(APPDIR)$(DELIM)*$(DELIM)Kconfig)),$(CONFIGDIRS))
CLEANDIRS := $(dir $(wildcard $(APPDIR)$(DELIM)*$(DELIM)Makefile))
# CONFIGURED_APPS is the application directories that should be built in
# the current configuration.
CONFIGURED_APPS :=
define Add_Application
include $(1)Make.defs
endef
$(foreach BDIR, $(BUILDIRS), $(eval $(call Add_Application,$(BDIR))))
# File extensions
CXXEXT ?= .cxx
# Library path
LIBPATH ?= $(TOPDIR)$(DELIM)staging
# The install path
BINDIR ?= $(APPDIR)$(DELIM)bin
# The final build target
BIN ?= $(APPDIR)$(DELIM)libapps$(LIBEXT)
# Tools
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
MKKCONFIG ?= $(APPDIR)$(DELIM)tools$(DELIM)mkkconfig.bat
else
MKKCONFIG ?= $(APPDIR)$(DELIM)tools$(DELIM)mkkconfig.sh
endif
# Builtin Registration
BUILTIN_REGISTRY = $(APPDIR)$(DELIM)builtin$(DELIM)registry
DEPCONFIG = $(TOPDIR)$(DELIM).config
define REGISTER
$(Q) echo Register: $1
$(Q) echo { \"$1\", $2, $3, $4 }, > "$(BUILTIN_REGISTRY)$(DELIM)$1.bdat"
$(Q) if [ ! -z $4 ]; then \
echo "int $4(int argc, char *argv[]);" > "$(BUILTIN_REGISTRY)$(DELIM)$1.pdat"; \
fi;
$(Q) touch "$(BUILTIN_REGISTRY)$(DELIM).updated"
endef
# Standard include path
CFLAGS += ${shell $(INCDIR) "$(CC)" "$(APPDIR)$(DELIM)include"}
CXXFLAGS += ${shell $(INCDIR) "$(CC)" "$(APPDIR)$(DELIM)include"}
ifeq ($(CONFIG_CYGWIN_WINTOOL),y)
NUTTXLIB ?= "${shell cygpath -w $(TOPDIR)$(DELIM)staging}"
else
NUTTXLIB ?= "$(TOPDIR)$(DELIM)staging"
endif

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############################################################################
# apps/Makefile
#
# Copyright (C) 2011 Uros Platise. All rights reserved.
# Copyright (C) 2011-2014, 2018-2019 Gregory Nutt. All rights reserved.
# Authors: Uros Platise <uros.platise@isotel.eu>
# Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
export APPDIR = $(CURDIR)
include $(APPDIR)/Make.defs
# Symbol table for loadable apps.
SYMTABSRC = symtab_apps.c
SYMTABOBJ = $(SYMTABSRC:.c=$(OBJEXT))
# Build targets
# We first remove libapps.a before letting the other rules add objects to it
# so that we ensure libapps.a does not contain objects from prior build
all:
$(RM) $(BIN)
$(MAKE) $(BIN)
.PHONY: import install dirlinks export .depdirs preconfig depend clean distclean
.PHONY: context clean_context context_all register register_all
.PRECIOUS: $(BIN)
$(foreach SDIR, $(CONFIGURED_APPS), $(eval $(call SDIR_template,$(SDIR),all)))
$(foreach SDIR, $(CONFIGURED_APPS), $(eval $(call SDIR_template,$(SDIR),install)))
$(foreach SDIR, $(CONFIGURED_APPS), $(eval $(call SDIR_template,$(SDIR),context)))
$(foreach SDIR, $(CONFIGURED_APPS), $(eval $(call SDIR_template,$(SDIR),register)))
$(foreach SDIR, $(CONFIGURED_APPS), $(eval $(call SDIR_template,$(SDIR),depend)))
$(foreach SDIR, $(CLEANDIRS), $(eval $(call SDIR_template,$(SDIR),clean)))
$(foreach SDIR, $(CLEANDIRS), $(eval $(call SDIR_template,$(SDIR),distclean)))
$(MKDEP): $(TOPDIR)/tools/mkdeps.c
$(HOSTCC) $(HOSTINCLUDES) $(HOSTCFLAGS) $< -o $@
$(INCDIR): $(TOPDIR)/tools/incdir.c
$(HOSTCC) $(HOSTINCLUDES) $(HOSTCFLAGS) $< -o $@
IMPORT_TOOLS = $(MKDEP) $(INCDIR)
# In the KERNEL build, we must build and install all of the modules. No
# symbol table is needed
ifeq ($(CONFIG_BUILD_KERNEL),y)
install: $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_install)
.import: $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_all)
$(Q) $(MAKE) install
import: $(IMPORT_TOOLS)
$(Q) $(MAKE) context TOPDIR="$(APPDIR)$(DELIM)import"
$(Q) $(MAKE) register TOPDIR="$(APPDIR)$(DELIM)import"
$(Q) $(MAKE) depend TOPDIR="$(APPDIR)$(DELIM)import"
$(Q) $(MAKE) .import TOPDIR="$(APPDIR)$(DELIM)import"
else
# In FLAT and protected modes, the modules have already been created. A
# symbol table is required.
ifeq ($(CONFIG_BUILD_LOADABLE),)
$(BIN): $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_all)
$(Q) for app in ${CONFIGURED_APPS}; do \
$(MAKE) -C "$${app}" archive ; \
done
else
$(SYMTABSRC): $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_all)
$(Q) for app in ${CONFIGURED_APPS}; do \
$(MAKE) -C "$${app}" archive ; \
done
$(Q) $(MAKE) install
$(Q) $(APPDIR)$(DELIM)tools$(DELIM)mksymtab.sh $(BINDIR) >$@.tmp
$(Q) $(call TESTANDREPLACEFILE, $@.tmp, $@)
$(SYMTABOBJ): %$(OBJEXT): %.c
$(call COMPILE, -fno-lto $<, $@)
$(BIN): $(SYMTABOBJ)
ifeq ($(CONFIG_CYGWIN_WINTOOL),y)
$(call ARCHIVE_ADD, "${shell cygpath -w $(BIN)}", $^)
else
$(call ARCHIVE_ADD, $(BIN), $^)
endif
endif # !CONFIG_BUILD_LOADABLE
install: $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_install)
# Link nuttx
HEAD_OBJ += $(wildcard $(APPDIR)$(DELIM)import$(DELIM)startup$(DELIM)*$(OBJEXT))
HEAD_OBJ += $(wildcard $(APPDIR)$(DELIM)builtin$(DELIM)*$(OBJEXT))
.import: $(BIN) install
$(Q) echo "LD: nuttx"
$(Q) $(LD) --entry=__start $(LDFLAGS) $(LDLIBPATH) $(EXTRA_LIBPATHS) \
-L$(APPDIR)$(DELIM)import$(DELIM)scripts -T$(LDNAME) \
-o nuttx$(EXEEXT) $(HEAD_OBJ) $(EXTRA_OBJS) $(LDSTARTGROUP) \
$(BIN) $(LDLIBS) $(EXTRA_LIBS) $(LDENDGROUP)
ifeq ($(CONFIG_INTELHEX_BINARY),y)
$(Q) echo "CP: nuttx.hex"
$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O ihex nuttx$(EXEEXT) nuttx.hex
endif
ifeq ($(CONFIG_RAW_BINARY),y)
$(Q) echo "CP: nuttx.bin"
$(Q) $(OBJCOPY) $(OBJCOPYARGS) -O binary nuttx$(EXEEXT) nuttx.bin
endif
$(call POSTBUILD, $(APPDIR))
import: $(IMPORT_TOOLS)
$(Q) $(MAKE) context TOPDIR="$(APPDIR)$(DELIM)import"
$(Q) $(MAKE) register TOPDIR="$(APPDIR)$(DELIM)import"
$(Q) $(MAKE) depend TOPDIR="$(APPDIR)$(DELIM)import"
$(Q) $(MAKE) .import TOPDIR="$(APPDIR)$(DELIM)import"
endif # CONFIG_BUILD_KERNEL
dirlinks:
$(Q) $(MAKE) -C platform dirlinks
context_all: $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_context)
register_all: $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_register)
context:
$(Q) $(MAKE) context_all
$(Q) $(MAKE) register_all
Kconfig:
$(foreach SDIR, $(CONFIGDIRS), $(call MAKE_template,$(SDIR),preconfig))
$(Q) $(MKKCONFIG)
preconfig: Kconfig
export:
ifneq ($(EXPORTDIR),)
ifneq ($(BUILTIN_REGISTRY),)
$(Q) mkdir -p "${EXPORTDIR}"/registry || exit 1; \
for f in "${BUILTIN_REGISTRY}"/*.bdat "${BUILTIN_REGISTRY}"/*.pdat ; do \
[ -f "$${f}" ] && cp -f "$${f}" "${EXPORTDIR}"/registry ; \
done
endif
endif
.depdirs: $(foreach SDIR, $(CONFIGURED_APPS), $(SDIR)_depend)
.depend: Makefile .depdirs
$(Q) touch $@
depend: .depend
clean_context:
$(Q) $(MAKE) -C platform clean_context
$(Q) $(MAKE) -C builtin clean_context
clean: $(foreach SDIR, $(CLEANDIRS), $(SDIR)_clean)
$(call DELFILE, $(SYMTABSRC))
$(call DELFILE, $(SYMTABOBJ))
$(call DELFILE, $(BIN))
$(call DELFILE, Kconfig)
$(call DELDIR, $(BINDIR))
$(call CLEAN)
distclean: $(foreach SDIR, $(CLEANDIRS), $(SDIR)_distclean)
ifeq ($(CONFIG_WINDOWS_NATIVE),y)
$(Q) ( if exist external ( \
echo ********************************************************" \
echo * The external directory/link must be removed manually *" \
echo ********************************************************" \
)
else
$(Q) ( if [ -e external ]; then \
echo "********************************************************"; \
echo "* The external directory/link must be removed manually *"; \
echo "********************************************************"; \
fi; \
)
endif
$(call DELFILE, .depend)
$(call DELFILE, $(SYMTABSRC))
$(call DELFILE, $(SYMTABOBJ))
$(call DELFILE, $(BIN))
$(call DELFILE, Kconfig)
$(call DELDIR, $(BINDIR))
$(call CLEAN)

5
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Apache NuttX
Copyright 2020 The Apache Software Foundation
This product includes software developed at
The Apache Software Foundation (http://www.apache.org/).

239
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# Application Folder
## Contents
- General
- Directory Location
- Built-In Applications
- NuttShell (NSH) Built-In Commands
- Synchronous Built-In Commands
- Application Configuration File
- Example Built-In Application
- Building NuttX with Board-Specific Pieces Outside the Source Tree
## General
This folder provides various applications found in sub-directories. These
applications are not inherently a part of NuttX but are provided to help you
develop your own applications. The `apps/` directory is a _break away_ part of
the configuration that you may choose to use or not.
## Directory Location
The default application directory used by the NuttX build should be named
`apps/` (or `apps-x.y.z/` where `x.y.z` is the NuttX version number). This
`apps/` directory should appear in the directory tree at the same level as the
NuttX directory. Like:
```
.
|- nuttx
|
`- apps
```
If all of the above conditions are TRUE, then NuttX will be able to find the
application directory. If your application directory has a different name or is
location at a different position, then you will have to inform the NuttX build
system of that location. There are several ways to do that:
1) You can define `CONFIG_APPS_DIR` to be the full path to your application
directory in the NuttX configuration file.
2) You can provide the path to the application directory on the command line
like: `make APPDIR=<path>` or `make CONFIG_APPS_DIR=<path>`
3) When you configure NuttX using `tools/configure.sh`, you can provide that
path to the application directory on the configuration command line like:
`./configure.sh -a <app-dir> <board-name>:<config-name>`
## Built-In Applications
NuttX also supports applications that can be started using a name string. In
this case, application entry points with their requirements are gathered
together in two files:
- `builtin/builtin_proto.h` – Entry points, prototype function
- `builtin/builtin_list.h` – Application specific information and requirements
The build occurs in several phases as different build targets are executed: (1)
context, (2) depend, and (3) default (all). Application information is collected
during the make context build phase.
To execute an application function:
`exec_builtin()` is defined in the `nuttx/include/apps/builtin/builtin.h`.
## NuttShell (NSH) Built-In Commands
One use of builtin applications is to provide a way of invoking your custom
application through the NuttShell (NSH) command line. NSH will support a
seamless method invoking the applications, when the following option is enabled
in the NuttX configuration file:
```conf
CONFIG_NSH_BUILTIN_APPS=y
```
Applications registered in the `apps/builtin/builtin_list.h` file will then be
accessible from the NSH command line. If you type `help` at the NSH prompt, you
will see a list of the registered commands.
## Synchronous Built-In Commands
By default, built-in commands started from the NSH command line will run
asynchronously with NSH. If you want to force NSH to execute commands then wait
for the command to execute, you can enable that feature by adding the following
to the NuttX configuration file:
```conf
CONFIG_SCHED_WAITPID=y
```
The configuration option enables support for the `waitpid()` RTOS interface.
When that interface is enabled, NSH will use it to wait, sleeping until the
built-in command executes to completion.
Of course, even with `CONFIG_SCHED_WAITPID=y` defined, specific commands can
still be forced to run asynchronously by adding the ampersand (`&`) after the
NSH command.
## Application Configuration File
The NuttX configuration uses `kconfig-frontends` tools and the NuttX
configuration file (`.config`) file. For example, the NuttX `.config` may have:
```conf
CONFIG_EXAMPLES_HELLO=y
```
This will select the `apps/examples/hello` in the following way:
- The top-level make will include `examples/Make.defs`
- `examples/Make.defs` will set `CONFIGURED_APPS += $(APPDIR)/examples/hello`
like this:
```makefile
ifneq ($(CONFIG_EXAMPLES_HELLO),)
CONFIGURED_APPS += $(APPDIR)/examples/hello
endif
```
## Example Built-In Application
An example application skeleton can be found under the `examples/hello`
sub-directory. This example shows how a builtin application can be added to the
project. One must:
1. Create sub-directory as: progname
2. In this directory there should be:
- A `Make.defs` file that would be included by the `apps/Makefile`
- A `Kconfig` file that would be used by the configuration tool (see the
file `kconfig-language.txt` in the NuttX tools repository). This `Kconfig`
file should be included by the `apps/Kconfig` file
- A `Makefile`, and
- The application source code.
3. The application source code should provide the entry point:
```c
main()
```
4. Set the requirements in the file: `Makefile`, specially the lines:
```makefile
PROGNAME = progname
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 768
ASRCS = asm source file list as a.asm b.asm ...
CSRCS = C source file list as foo1.c foo2.c ..
```
5. The `Make.defs` file should include a line like:
```makefile
ifneq ($(CONFIG_PROGNAME),)
CONFIGURED_APPS += progname
endif
```
## Building NuttX with Board-Specific Pieces Outside the Source Tree
Q: Has anyone come up with a tidy way to build NuttX with board- specific pieces
outside the source tree?
A: Here are three:
1) There is a make target called `make export`. It will build NuttX, then
bundle all of the header files, libraries, startup objects, and other
build components into a `.zip` file. You can move that `.zip` file into
any build environment you want. You can even build NuttX under a DOS `CMD`
window.
This make target is documented in the top level `nuttx/README.txt`.
2) You can replace the entire `apps/` directory. If there is nothing in the
`apps/` directory that you need, you can define `CONFIG_APPS_DIR` in your
`.config` file so that it points to a different, custom application
directory.
You can copy any pieces that you like from the old apps/directory to your
custom apps directory as necessary.
This is documented in `NuttX/boards/README.txt` and
`nuttx/Documentation/NuttXPortingGuide.html` (Online at
https://bitbucket.org/nuttx/nuttx/src/master/Documentation/NuttXPortingGuide.html#apndxconfigs
under _Build options_). And in the `apps/README.txt` file.
3) If you like the random collection of stuff in the `apps/` directory but
just want to expand the existing components with your own, external
sub-directory then there is an easy way to that too: You just create a
symbolic link in the `apps/` directory that redirects to your application
sub-directory.
In order to be incorporated into the build, the directory that you link
under the `apps/` directory should contain (1) a `Makefile` that supports
the `clean` and `distclean` targets (see other `Makefile`s for examples),
and (2) a tiny `Make.defs` file that simply adds the custom build
directories to the variable `CONFIGURED_APPS` like:
```makefile
CONFIGURED_APPS += my_directory1 my_directory2
```
The `apps/Makefile` will always automatically check for the existence of
subdirectories containing a `Makefile` and a `Make.defs` file. The
`Makefile` will be used only to support cleaning operations. The Make.defs
file provides the set of directories to be built; these directories must
also contain a `Makefile`. That `Makefile` must be able to build the
sources and add the objects to the `apps/libapps.a` archive. (see other
`Makefile`s for examples). It should support the all, install, context,
and depend targets.
`apps/Makefile` does not depend on any hardcoded lists of directories.
Instead, it does a wildcard search to find all appropriate directories.
This means that to install a new application, you simply have to copy the
directory (or link it) into the `apps/` directory. If the new directory
includes a `Makefile` and `Make.defs` file, then it will automatically be
included in the build.
If the directory that you add also includes a `Kconfig` file, then it will
automatically be included in the NuttX configuration system as well.
`apps/Makefile` uses a tool at `apps/tools/mkkconfig.sh` that dynamically
builds the `apps/Kconfig` file at pre-configuration time.
You could, for example, create a script called `install.sh` that installs
a custom application, configuration, and board specific directory:
a) Copy `MyBoard` directory to `boards/MyBoard`.
b) Add a symbolic link to `MyApplication` at `apps/external`.
c) Configure NuttX, usually by:
```bash
tools/configure.sh MyBoard:MyConfiguration
```
Use of the name `apps/external` is suggested because that name is included
in the `.gitignore` file and will save you some nuisance when working with
GIT.

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############################################################################
# apps/builtin/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2012 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
ifeq ($(CONFIG_BUILTIN),y)
CONFIGURED_APPS += $(APPDIR)/builtin
endif

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############################################################################
# apps/builtin/Makefile
#
# Copyright (C) 2011-2012, 2018 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
# Source and object files
CSRCS = builtin_list.c exec_builtin.c
# Registry entry lists
PDATLIST = $(strip $(call RWILDCARD, registry, *.pdat))
BDATLIST = $(strip $(call RWILDCARD, registry, *.bdat))
builtin_list.c: builtin_list.h builtin_proto.h
registry$(DELIM).updated:
$(Q) touch registry$(DELIM).updated
builtin_list.h: registry$(DELIM).updated
ifeq ($(BDATLIST),)
$(call DELFILE, builtin_list.h)
$(Q) touch builtin_list.h
else
$(call CATFILE, builtin_list.h, $(BDATLIST))
endif
builtin_proto.h: registry$(DELIM).updated
ifeq ($(PDATLIST),)
$(call DELFILE, builtin_proto.h)
$(Q) touch builtin_proto.h
else
$(call CATFILE, builtin_proto.h, $(PDATLIST))
endif
depend:: builtin_list.h builtin_proto.h
clean::
$(call DELFILE, builtin_list.h)
$(call DELFILE, builtin_proto.h)
clean_context::
$(call DELFILE, $(PDATLIST))
$(call DELFILE, $(BDATLIST))
distclean:: clean_context clean
$(call DELFILE, registry$(DELIM).updated)
include $(APPDIR)/Application.mk

78
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/****************************************************************************
* apps/builtin/builtin_list.c
*
* Copyright (C) 2011 Uros Platise. All rights reserved.
* Copyright (C) 2011, 2019 Gregory Nutt. All rights reserved.
* Authors: Uros Platise <uros.platise@isotel.eu>
* Gregory Nutt <gnutt@nuttx.org>
*
* 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 <nuttx/lib/builtin.h>
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Public Data
****************************************************************************/
#include "builtin_proto.h"
const struct builtin_s g_builtins[] =
{
# include "builtin_list.h"
{ NULL, 0, 0, 0 }
};
const int g_builtin_count = sizeof(g_builtins) / sizeof(g_builtins[0]);
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/

228
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/****************************************************************************
* apps/builtin/exec_builtin.c
*
* Originally by:
*
* Copyright (C) 2011 Uros Platise. All rights reserved.
* Author: Uros Platise <uros.platise@isotel.eu>
*
* With subsequent updates, modifications, and general maintenance by:
*
* Copyright (C) 2012-2013 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 <spawn.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include "builtin/builtin.h"
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: exec_builtin
*
* Description:
* Executes builtin applications registered during 'make context' time.
* New application is run in a separate task context (and thread).
*
* Input Parameter:
* filename - Name of the linked-in binary to be started.
* argv - Argument list
* redirfile - If output if redirected, this parameter will be non-NULL
* and will provide the full path to the file.
* oflags - If output is redirected, this parameter will provide the
* open flags to use. This will support file replacement
* of appending to an existing file.
*
* Returned Value:
* This is an end-user function, so it follows the normal convention:
* Returns the PID of the exec'ed module. On failure, it.returns
* -1 (ERROR) and sets errno appropriately.
*
****************************************************************************/
int exec_builtin(FAR const char *appname, FAR char * const *argv,
FAR const char *redirfile, int oflags)
{
FAR const struct builtin_s *builtin;
posix_spawnattr_t attr;
posix_spawn_file_actions_t file_actions;
struct sched_param param;
pid_t pid;
int index;
int ret;
/* Verify that an application with this name exists */
index = builtin_isavail(appname);
if (index < 0)
{
ret = ENOENT;
goto errout_with_errno;
}
/* Get information about the builtin */
builtin = builtin_for_index(index);
if (builtin == NULL)
{
ret = ENOENT;
goto errout_with_errno;
}
/* Initialize attributes for task_spawn(). */
ret = posix_spawnattr_init(&attr);
if (ret != 0)
{
goto errout_with_errno;
}
ret = posix_spawn_file_actions_init(&file_actions);
if (ret != 0)
{
goto errout_with_attrs;
}
/* Set the correct task size and priority */
param.sched_priority = builtin->priority;
ret = posix_spawnattr_setschedparam(&attr, &param);
if (ret != 0)
{
goto errout_with_actions;
}
ret = task_spawnattr_setstacksize(&attr, builtin->stacksize);
if (ret != 0)
{
goto errout_with_actions;
}
/* If robin robin scheduling is enabled, then set the scheduling policy
* of the new task to SCHED_RR before it has a chance to run.
*/
#if CONFIG_RR_INTERVAL > 0
ret = posix_spawnattr_setschedpolicy(&attr, SCHED_RR);
if (ret != 0)
{
goto errout_with_actions;
}
ret = posix_spawnattr_setflags(&attr,
POSIX_SPAWN_SETSCHEDPARAM |
POSIX_SPAWN_SETSCHEDULER);
if (ret != 0)
{
goto errout_with_actions;
}
#else
ret = posix_spawnattr_setflags(&attr, POSIX_SPAWN_SETSCHEDPARAM);
if (ret != 0)
{
goto errout_with_actions;
}
#endif
/* Is output being redirected? */
if (redirfile)
{
/* Set up to close open redirfile and set to stdout (1) */
ret = posix_spawn_file_actions_addopen(&file_actions, 1,
redirfile, oflags, 0644);
if (ret != 0)
{
serr("ERROR: posix_spawn_file_actions_addopen failed: %d\n", ret);
goto errout_with_actions;
}
}
#ifdef CONFIG_LIBC_EXECFUNCS
/* Load and execute the application. */
ret = posix_spawn(&pid, builtin->name, &file_actions, &attr,
(argv) ? &argv[1] : (FAR char * const *)NULL, NULL);
if (ret != 0 && builtin->main != NULL)
#endif
{
/* Start the built-in */
ret = task_spawn(&pid, builtin->name, builtin->main, &file_actions,
&attr, (argv) ? &argv[1] : (FAR char * const *)NULL,
(FAR char * const *)NULL);
}
if (ret != 0)
{
serr("ERROR: task_spawn failed: %d\n", ret);
goto errout_with_actions;
}
/* Free attributes and file actions. Ignoring return values in the case
* of an error.
*/
/* Return the task ID of the new task if the task was successfully
* started. Otherwise, ret will be ERROR (and the errno value will
* be set appropriately).
*/
posix_spawn_file_actions_destroy(&file_actions);
posix_spawnattr_destroy(&attr);
return pid;
errout_with_actions:
posix_spawn_file_actions_destroy(&file_actions);
errout_with_attrs:
posix_spawnattr_destroy(&attr);
errout_with_errno:
errno = ret;
return ERROR;
}

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############################################################################
# apps/canutils/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2012, 2015 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
include $(wildcard $(APPDIR)/canutils/*/Make.defs)

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############################################################################
# apps/canutils/Makefile
#
# Copyright (C) 2011-2015 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
MENUDESC = "CAN Utilities"
include $(APPDIR)/Directory.mk

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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_CANDUMP
tristate "SocketCAN candump tool"
default n
depends on NET_CAN
select CANUTILS_LIBCANUTILS
---help---
Enable the SocketCAN candump tool ported from
https://github.com/linux-can/can-utils
if CANUTILS_CANDUMP
endif

24
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############################################################################
# apps/canutils/candump/Make.defs
# Adds selected applications to apps/ build
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
ifneq ($(CONFIG_CANUTILS_CANDUMP),)
CONFIGURED_APPS += $(APPDIR)/canutils/candump
endif

34
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############################################################################
# apps/canutils/candump/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
include $(APPDIR)/Make.defs
# SocketCAN userspace utilities and tools candump tool
# https://github.com/linux-can/can-utils/blob/master/candump.c
PROGNAME = candump
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 3072
MODULE = $(CONFIG_CANUTILS_CANDUMP)
CFLAGS += ${shell $(INCDIR) "$(CC)" $(APPDIR)/canutils/libcanutils}
MAINSRC = candump.c
include $(APPDIR)/Application.mk

810
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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* candump.c
*
* Copyright (c) 2002-2009 Volkswagen Group Electronic Research
* All rights reserved.
*
* 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 of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* 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.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <inttypes.h>
#include <unistd.h>
#include <string.h>
#include <signal.h>
#include <ctype.h>
#include <libgen.h>
#include <time.h>
#include <errno.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <sys/ioctl.h>
#include <sys/uio.h>
#include <net/if.h>
#include <nuttx/can.h>
#include <netpacket/can.h>
#include "terminal.h"
#include "lib.h"
/* for hardware timestamps - since Linux 2.6.30 */
#ifndef SO_TIMESTAMPING
#define SO_TIMESTAMPING 37
#endif
/* from #include <linux/net_tstamp.h> - since Linux 2.6.30 */
#define SOF_TIMESTAMPING_SOFTWARE (1<<4)
#define SOF_TIMESTAMPING_RX_SOFTWARE (1<<3)
#define SOF_TIMESTAMPING_RAW_HARDWARE (1<<6)
#define MAXSOCK 16 /* max. number of CAN interfaces given on the cmdline */
#define MAXIFNAMES 30 /* size of receive name index to omit ioctls */
#define MAXCOL 6 /* number of different colors for colorized output */
#define ANYDEV "any" /* name of interface to receive from any CAN interface */
#define ANL "\r\n" /* newline in ASC mode */
#define SILENT_INI 42 /* detect user setting on commandline */
#define SILENT_OFF 0 /* no silent mode */
#define SILENT_ANI 1 /* silent mode with animation */
#define SILENT_ON 2 /* silent mode (completely silent) */
#define BOLD ATTBOLD
#define RED ATTBOLD FGRED
#define GREEN ATTBOLD FGGREEN
#define YELLOW ATTBOLD FGYELLOW
#define BLUE ATTBOLD FGBLUE
#define MAGENTA ATTBOLD FGMAGENTA
#define CYAN ATTBOLD FGCYAN
const char col_on [MAXCOL][19] = {BLUE, RED, GREEN, BOLD, MAGENTA, CYAN};
const char col_off [] = ATTRESET;
static char *cmdlinename[MAXSOCK];
static __u32 dropcnt[MAXSOCK];
static __u32 last_dropcnt[MAXSOCK];
static char devname[MAXIFNAMES][IFNAMSIZ+1];
static int dindex[MAXIFNAMES];
static int max_devname_len; /* to prevent frazzled device name output */
const int canfd_on = 1;
#define MAXANI 4
const char anichar[MAXANI] = {'|', '/', '-', '\\'};
const char extra_m_info[4][4] = {"- -", "B -", "- E", "B E"};
static volatile int running = 1;
static void print_usage(char *prg)
{
fprintf(stderr, "%s - dump CAN bus traffic.\n", prg);
fprintf(stderr, "\nUsage: %s [options] <CAN interface>+\n", prg);
fprintf(stderr, " (use CTRL-C to terminate %s)\n\n", prg);
fprintf(stderr, "Options:\n");
fprintf(stderr, " -t <type> (timestamp: (a)bsolute/(d)elta/(z)ero/(A)bsolute w date)\n");
fprintf(stderr, " -H (read hardware timestamps instead of system timestamps)\n");
fprintf(stderr, " -c (increment color mode level)\n");
fprintf(stderr, " -i (binary output - may exceed 80 chars/line)\n");
fprintf(stderr, " -a (enable additional ASCII output)\n");
fprintf(stderr, " -S (swap byte order in printed CAN data[] - marked with '%c' )\n", SWAP_DELIMITER);
fprintf(stderr, " -s <level> (silent mode - %d: off (default) %d: animation %d: silent)\n", SILENT_OFF, SILENT_ANI, SILENT_ON);
fprintf(stderr, " -l (log CAN-frames into file. Sets '-s %d' by default)\n", SILENT_ON);
fprintf(stderr, " -L (use log file format on stdout)\n");
fprintf(stderr, " -n <count> (terminate after reception of <count> CAN frames)\n");
fprintf(stderr, " -r <size> (set socket receive buffer to <size>)\n");
fprintf(stderr, " -D (Don't exit if a \"detected\" can device goes down.\n");
fprintf(stderr, " -d (monitor dropped CAN frames)\n");
fprintf(stderr, " -e (dump CAN error frames in human-readable format)\n");
fprintf(stderr, " -x (print extra message infos, rx/tx brs esi)\n");
fprintf(stderr, " -T <msecs> (terminate after <msecs> without any reception)\n");
fprintf(stderr, "\n");
fprintf(stderr, "Up to %d CAN interfaces with optional filter sets can be specified\n", MAXSOCK);
fprintf(stderr, "on the commandline in the form: <ifname>[,filter]*\n");
fprintf(stderr, "\nFilters:\n");
fprintf(stderr, " Comma separated filters can be specified for each given CAN interface:\n");
fprintf(stderr, " <can_id>:<can_mask>\n (matches when <received_can_id> & mask == can_id & mask)\n");
fprintf(stderr, " <can_id>~<can_mask>\n (matches when <received_can_id> & mask != can_id & mask)\n");
fprintf(stderr, " #<error_mask>\n (set error frame filter, see include/linux/can/error.h)\n");
fprintf(stderr, " [j|J]\n (join the given CAN filters - logical AND semantic)\n");
fprintf(stderr, "\nCAN IDs, masks and data content are given and expected in hexadecimal values.\n");
fprintf(stderr, "When the can_id is 8 digits long the CAN_EFF_FLAG is set for 29 bit EFF format.\n");
fprintf(stderr, "Without any given filter all data frames are received ('0:0' default filter).\n");
fprintf(stderr, "\nUse interface name '%s' to receive from all CAN interfaces.\n", ANYDEV);
fprintf(stderr, "\nExamples:\n");
fprintf(stderr, "%s -c -c -ta can0,123:7FF,400:700,#000000FF can2,400~7F0 can3 can8\n\n", prg);
fprintf(stderr, "%s -l any,0~0,#FFFFFFFF\n (log only error frames but no(!) data frames)\n", prg);
fprintf(stderr, "%s -l any,0:0,#FFFFFFFF\n (log error frames and also all data frames)\n", prg);
fprintf(stderr, "%s vcan2,12345678:DFFFFFFF\n (match only for extended CAN ID 12345678)\n", prg);
fprintf(stderr, "%s vcan2,123:7FF\n (matches CAN ID 123 - including EFF and RTR frames)\n", prg);
fprintf(stderr, "%s vcan2,123:C00007FF\n (matches CAN ID 123 - only SFF and non-RTR frames)\n", prg);
fprintf(stderr, "\n");
}
void sigterm(int signo)
{
running = 0;
}
int idx2dindex(int ifidx, int socket) {
int i;
struct ifreq ifr;
for (i=0; i < MAXIFNAMES; i++) {
if (dindex[i] == ifidx)
return i;
}
/* create new interface index cache entry */
/* remove index cache zombies first */
for (i=0; i < MAXIFNAMES; i++) {
if (dindex[i]) {
ifr.ifr_ifindex = dindex[i];
if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
dindex[i] = 0;
}
}
for (i=0; i < MAXIFNAMES; i++)
if (!dindex[i]) /* free entry */
break;
if (i == MAXIFNAMES) {
fprintf(stderr, "Interface index cache only supports %d interfaces.\n",
MAXIFNAMES);
exit(1);
}
dindex[i] = ifidx;
ifr.ifr_ifindex = ifidx;
if (ioctl(socket, SIOCGIFNAME, &ifr) < 0)
perror("SIOCGIFNAME");
if (max_devname_len < (int)strlen(ifr.ifr_name))
max_devname_len = strlen(ifr.ifr_name);
strcpy(devname[i], ifr.ifr_name);
#ifdef DEBUG
printf("new index %d (%s)\n", i, devname[i]);
#endif
return i;
}
int main(int argc, char **argv)
{
fd_set rdfs;
int s[MAXSOCK];
unsigned char timestamp = 0;
unsigned char hwtimestamp = 0;
unsigned char down_causes_exit = 1;
unsigned char dropmonitor = 0;
unsigned char extra_msg_info = 0;
unsigned char silent = SILENT_INI;
unsigned char silentani = 0;
unsigned char color = 0;
unsigned char view = 0;
unsigned char log = 0;
unsigned char logfrmt = 0;
int count = 0;
int rcvbuf_size = 0;
int opt, ret;
int currmax, numfilter;
int join_filter;
char *ptr, *nptr;
struct sockaddr_can addr;
char ctrlmsg[CMSG_SPACE(sizeof(struct timeval) + 3*sizeof(struct timespec) + sizeof(__u32))];
struct iovec iov;
struct msghdr msg;
struct cmsghdr *cmsg;
struct can_filter *rfilter;
can_err_mask_t err_mask;
struct canfd_frame frame;
int nbytes, i, maxdlen;
struct ifreq ifr;
struct timeval tv, last_tv;
struct timeval timeout, timeout_config = { 0, 0 }, *timeout_current = NULL;
FILE *logfile = NULL;
#if 0 /* NuttX doesn't support these signals */
signal(SIGTERM, sigterm);
signal(SIGHUP, sigterm);
#endif
signal(SIGINT, sigterm);
last_tv.tv_sec = 0;
last_tv.tv_usec = 0;
while ((opt = getopt(argc, argv, "t:HciaSs:lDdxLn:r:heT:?")) != -1) {
switch (opt) {
case 't':
timestamp = optarg[0];
if ((timestamp != 'a') && (timestamp != 'A') &&
(timestamp != 'd') && (timestamp != 'z')) {
fprintf(stderr, "%s: unknown timestamp mode '%c' - ignored\n",
basename(argv[0]), optarg[0]);
timestamp = 0;
}
break;
case 'H':
hwtimestamp = 1;
break;
case 'c':
color++;
break;
case 'i':
view |= CANLIB_VIEW_BINARY;
break;
case 'a':
view |= CANLIB_VIEW_ASCII;
break;
case 'S':
view |= CANLIB_VIEW_SWAP;
break;
case 'e':
view |= CANLIB_VIEW_ERROR;
break;
case 's':
silent = atoi(optarg);
if (silent > SILENT_ON) {
print_usage(basename(argv[0]));
exit(1);
}
break;
case 'l':
log = 1;
break;
case 'D':
down_causes_exit = 0;
break;
case 'd':
dropmonitor = 1;
break;
case 'x':
extra_msg_info = 1;
break;
case 'L':
logfrmt = 1;
break;
case 'n':
count = atoi(optarg);
if (count < 1) {
print_usage(basename(argv[0]));
exit(1);
}
break;
case 'r':
rcvbuf_size = atoi(optarg);
if (rcvbuf_size < 1) {
print_usage(basename(argv[0]));
exit(1);
}
break;
case 'T':
errno = 0;
timeout_config.tv_usec = strtol(optarg, NULL, 0);
if (errno != 0) {
print_usage(basename(argv[0]));
exit(1);
}
timeout_config.tv_sec = timeout_config.tv_usec / 1000;
timeout_config.tv_usec = (timeout_config.tv_usec % 1000) * 1000;
timeout_current = &timeout;
break;
default:
print_usage(basename(argv[0]));
exit(1);
break;
}
}
if (optind == argc) {
print_usage(basename(argv[0]));
exit(0);
}
if (logfrmt && view) {
fprintf(stderr, "Log file format selected: Please disable ASCII/BINARY/SWAP options!\n");
exit(0);
}
if (silent == SILENT_INI) {
if (log) {
fprintf(stderr, "Disabled standard output while logging.\n");
silent = SILENT_ON; /* disable output on stdout */
} else
silent = SILENT_OFF; /* default output */
}
currmax = argc - optind; /* find real number of CAN devices */
if (currmax > MAXSOCK) {
fprintf(stderr, "More than %d CAN devices given on commandline!\n", MAXSOCK);
return 1;
}
for (i=0; i < currmax; i++) {
ptr = argv[optind+i];
nptr = strchr(ptr, ',');
#ifdef DEBUG
printf("open %d '%s'.\n", i, ptr);
#endif
s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
if (s[i] < 0) {
perror("socket");
return 1;
}
cmdlinename[i] = ptr; /* save pointer to cmdline name of this socket */
if (nptr)
nbytes = nptr - ptr; /* interface name is up the first ',' */
else
nbytes = strlen(ptr); /* no ',' found => no filter definitions */
if (nbytes >= IFNAMSIZ) {
fprintf(stderr, "name of CAN device '%s' is too long!\n", ptr);
return 1;
}
if (nbytes > max_devname_len)
max_devname_len = nbytes; /* for nice printing */
addr.can_family = AF_CAN;
memset(&ifr.ifr_name, 0, sizeof(ifr.ifr_name));
strncpy(ifr.ifr_name, ptr, nbytes);
#ifdef DEBUG
printf("using interface name '%s'.\n", ifr.ifr_name);
#endif
if (strcmp(ANYDEV, ifr.ifr_name)) {
if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
perror("SIOCGIFINDEX");
exit(1);
}
addr.can_ifindex = ifr.ifr_ifindex;
} else
addr.can_ifindex = 0; /* any can interface */
if (nptr) {
/* found a ',' after the interface name => check for filters */
/* determine number of filters to alloc the filter space */
numfilter = 0;
ptr = nptr;
while (ptr) {
numfilter++;
ptr++; /* hop behind the ',' */
ptr = strchr(ptr, ','); /* exit condition */
}
rfilter = malloc(sizeof(struct can_filter) * numfilter);
if (!rfilter) {
fprintf(stderr, "Failed to create filter space!\n");
return 1;
}
numfilter = 0;
err_mask = 0;
join_filter = 0;
while (nptr) {
ptr = nptr+1; /* hop behind the ',' */
nptr = strchr(ptr, ','); /* update exit condition */
if (sscanf(ptr, "%" SCNx32 ":%" SCNx32,
&rfilter[numfilter].can_id,
&rfilter[numfilter].can_mask) == 2) {
rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
if (*(ptr+8) == ':')
rfilter[numfilter].can_id |= CAN_EFF_FLAG;
numfilter++;
} else if (sscanf(ptr, "%" SCNx32 "~%" SCNx32,
&rfilter[numfilter].can_id,
&rfilter[numfilter].can_mask) == 2) {
rfilter[numfilter].can_id |= CAN_INV_FILTER;
rfilter[numfilter].can_mask &= ~CAN_ERR_FLAG;
if (*(ptr+8) == '~')
rfilter[numfilter].can_id |= CAN_EFF_FLAG;
numfilter++;
} else if (*ptr == 'j' || *ptr == 'J') {
join_filter = 1;
} else if (sscanf(ptr, "#%" SCNx32, &err_mask) != 1) {
fprintf(stderr, "Error in filter option parsing: '%s'\n", ptr);
return 1;
}
}
if (err_mask)
setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_ERR_FILTER,
&err_mask, sizeof(err_mask));
if (join_filter && setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_JOIN_FILTERS,
&join_filter, sizeof(join_filter)) < 0) {
perror("setsockopt CAN_RAW_JOIN_FILTERS not supported by your Linux Kernel");
return 1;
}
if (numfilter)
setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FILTER,
rfilter, numfilter * sizeof(struct can_filter));
free(rfilter);
} /* if (nptr) */
/* try to switch the socket into CAN FD mode */
setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
if (rcvbuf_size) {
int curr_rcvbuf_size;
socklen_t curr_rcvbuf_size_len = sizeof(curr_rcvbuf_size);
/* try SO_RCVBUFFORCE first, if we run with CAP_NET_ADMIN */
if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUFFORCE,
&rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
#ifdef DEBUG
printf("SO_RCVBUFFORCE failed so try SO_RCVBUF ...\n");
#endif
if (setsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
&rcvbuf_size, sizeof(rcvbuf_size)) < 0) {
perror("setsockopt SO_RCVBUF");
return 1;
}
if (getsockopt(s[i], SOL_SOCKET, SO_RCVBUF,
&curr_rcvbuf_size, &curr_rcvbuf_size_len) < 0) {
perror("getsockopt SO_RCVBUF");
return 1;
}
/* Only print a warning the first time we detect the adjustment */
/* n.b.: The wanted size is doubled in Linux in net/sore/sock.c */
if (!i && curr_rcvbuf_size < rcvbuf_size*2)
fprintf(stderr, "The socket receive buffer size was "
"adjusted due to /proc/sys/net/core/rmem_max.\n");
}
}
if (timestamp || log || logfrmt) {
if (hwtimestamp) {
const int timestamping_flags = (SOF_TIMESTAMPING_SOFTWARE | \
SOF_TIMESTAMPING_RX_SOFTWARE | \
SOF_TIMESTAMPING_RAW_HARDWARE);
if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMPING,
&timestamping_flags, sizeof(timestamping_flags)) < 0) {
perror("setsockopt SO_TIMESTAMPING is not supported by your Linux kernel");
return 1;
}
} else {
const int timestamp_on = 1;
if (setsockopt(s[i], SOL_SOCKET, SO_TIMESTAMP,
&timestamp_on, sizeof(timestamp_on)) < 0) {
perror("setsockopt SO_TIMESTAMP");
return 1;
}
}
}
if (dropmonitor) {
const int dropmonitor_on = 1;
if (setsockopt(s[i], SOL_SOCKET, SO_RXQ_OVFL,
&dropmonitor_on, sizeof(dropmonitor_on)) < 0) {
perror("setsockopt SO_RXQ_OVFL not supported by your Linux Kernel");
return 1;
}
}
if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
}
if (log) {
time_t currtime;
struct tm now;
char fname[83]; /* suggested by -Wformat-overflow= */
if (time(&currtime) == (time_t)-1) {
perror("time");
return 1;
}
localtime_r(&currtime, &now);
sprintf(fname, "candump-%04d-%02d-%02d_%02d%02d%02d.log",
now.tm_year + 1900,
now.tm_mon + 1,
now.tm_mday,
now.tm_hour,
now.tm_min,
now.tm_sec);
if (silent != SILENT_ON)
fprintf(stderr, "Warning: Console output active while logging!\n");
fprintf(stderr, "Enabling Logfile '%s'\n", fname);
logfile = fopen(fname, "w");
if (!logfile) {
perror("logfile");
return 1;
}
}
/* these settings are static and can be held out of the hot path */
iov.iov_base = &frame;
msg.msg_name = &addr;
msg.msg_iov = &iov;
msg.msg_iovlen = 1;
msg.msg_control = &ctrlmsg;
while (running) {
FD_ZERO(&rdfs);
for (i=0; i<currmax; i++)
FD_SET(s[i], &rdfs);
if (timeout_current)
*timeout_current = timeout_config;
if ((ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, timeout_current)) <= 0) {
//perror("select");
running = 0;
continue;
}
for (i=0; i<currmax; i++) { /* check all CAN RAW sockets */
if (FD_ISSET(s[i], &rdfs)) {
int idx;
/* these settings may be modified by recvmsg() */
iov.iov_len = sizeof(frame);
msg.msg_namelen = sizeof(addr);
msg.msg_controllen = sizeof(ctrlmsg);
msg.msg_flags = 0;
nbytes = recvmsg(s[i], &msg, 0);
idx = idx2dindex(addr.can_ifindex, s[i]);
if (nbytes < 0) {
if ((errno == ENETDOWN) && !down_causes_exit) {
fprintf(stderr, "%s: interface down\n", devname[idx]);
continue;
}
perror("read");
return 1;
}
if ((size_t)nbytes == CAN_MTU)
maxdlen = CAN_MAX_DLEN;
else if ((size_t)nbytes == CANFD_MTU)
maxdlen = CANFD_MAX_DLEN;
else {
fprintf(stderr, "read: incomplete CAN frame\n");
return 1;
}
if (count && (--count == 0))
running = 0;
for (cmsg = CMSG_FIRSTHDR(&msg);
cmsg && (cmsg->cmsg_level == SOL_SOCKET);
cmsg = CMSG_NXTHDR(&msg,cmsg)) {
if (cmsg->cmsg_type == SO_TIMESTAMP) {
memcpy(&tv, CMSG_DATA(cmsg), sizeof(tv));
} else if (cmsg->cmsg_type == SO_TIMESTAMPING) {
struct timespec *stamp = (struct timespec *)CMSG_DATA(cmsg);
/*
* stamp[0] is the software timestamp
* stamp[1] is deprecated
* stamp[2] is the raw hardware timestamp
* See chapter 2.1.2 Receive timestamps in
* linux/Documentation/networking/timestamping.txt
*/
tv.tv_sec = stamp[2].tv_sec;
tv.tv_usec = stamp[2].tv_nsec/1000;
} else if (cmsg->cmsg_type == SO_RXQ_OVFL)
memcpy(&dropcnt[i], CMSG_DATA(cmsg), sizeof(__u32));
}
/* check for (unlikely) dropped frames on this specific socket */
if (dropcnt[i] != last_dropcnt[i]) {
__u32 frames = dropcnt[i] - last_dropcnt[i];
if (silent != SILENT_ON)
printf("DROPCOUNT: dropped %" PRId32 " CAN frame%s on '%s' socket (total drops %" PRId32 ")\n",
(uint32_t)frames, (frames > 1)?"s":"", devname[idx], (uint32_t)dropcnt[i]);
if (log)
fprintf(logfile, "DROPCOUNT: dropped %" PRId32 " CAN frame%s on '%s' socket (total drops %" PRId32 ")\n",
(uint32_t)frames, (frames > 1)?"s":"", devname[idx], (uint32_t)dropcnt[i]);
last_dropcnt[i] = dropcnt[i];
}
/* once we detected a EFF frame indent SFF frames accordingly */
if (frame.can_id & CAN_EFF_FLAG)
view |= CANLIB_VIEW_INDENT_SFF;
if (log) {
char buf[CL_CFSZ]; /* max length */
/* log CAN frame with absolute timestamp & device */
sprint_canframe(buf, &frame, 0, maxdlen);
fprintf(logfile, "(%010ju.%06ld) %*s %s\n",
(uintmax_t)tv.tv_sec, tv.tv_usec,
max_devname_len, devname[idx], buf);
}
if ((logfrmt) && (silent == SILENT_OFF)){
char buf[CL_CFSZ]; /* max length */
/* print CAN frame in log file style to stdout */
sprint_canframe(buf, &frame, 0, maxdlen);
printf("(%010ju.%06ld) %*s %s\n",
(uintmax_t)tv.tv_sec, tv.tv_usec,
max_devname_len, devname[idx], buf);
goto out_fflush; /* no other output to stdout */
}
if (silent != SILENT_OFF){
if (silent == SILENT_ANI) {
printf("%c\b", anichar[silentani%=MAXANI]);
silentani++;
}
goto out_fflush; /* no other output to stdout */
}
printf(" %s", (color>2)?col_on[idx%MAXCOL]:"");
switch (timestamp) {
case 'a': /* absolute with timestamp */
printf("(%010ju.%06ld) ",
(uintmax_t)tv.tv_sec, tv.tv_usec);
break;
case 'A': /* absolute with date */
{
struct tm tm;
char timestring[25];
tm = *localtime(&tv.tv_sec);
strftime(timestring, 24, "%Y-%m-%d %H:%M:%S", &tm);
printf("(%s.%06ld) ", timestring, tv.tv_usec);
}
break;
case 'd': /* delta */
case 'z': /* starting with zero */
{
struct timeval diff;
if (last_tv.tv_sec == 0) /* first init */
last_tv = tv;
diff.tv_sec = tv.tv_sec - last_tv.tv_sec;
diff.tv_usec = tv.tv_usec - last_tv.tv_usec;
if (diff.tv_usec < 0)
diff.tv_sec--, diff.tv_usec += 1000000;
if (diff.tv_sec < 0)
diff.tv_sec = diff.tv_usec = 0;
printf("(%03ju.%06ld) ",
(uintmax_t)diff.tv_sec, diff.tv_usec);
if (timestamp == 'd')
last_tv = tv; /* update for delta calculation */
}
break;
default: /* no timestamp output */
break;
}
printf(" %s", (color && (color<3))?col_on[idx%MAXCOL]:"");
printf("%*s", max_devname_len, devname[idx]);
if (extra_msg_info) {
if (msg.msg_flags & MSG_DONTROUTE)
printf (" TX %s", extra_m_info[frame.flags & 3]);
else
printf (" RX %s", extra_m_info[frame.flags & 3]);
}
printf("%s ", (color==1)?col_off:"");
fprint_long_canframe(stdout, &frame, NULL, view, maxdlen);
printf("%s", (color>1)?col_off:"");
printf("\n");
}
out_fflush:
fflush(stdout);
}
}
for (i=0; i<currmax; i++)
close(s[i]);
if (log)
fclose(logfile);
return 0;
}

15
Ubiquitous/Nuttx/apps/canutils/canlib/Kconfig Normal file
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@ -0,0 +1,15 @@
#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_CANLIB
bool "CAN utility library"
default n
depends on CAN
---help---
Enable the CAN utility library
if CANUTILS_CANLIB
endif

39
Ubiquitous/Nuttx/apps/canutils/canlib/Make.defs Normal file
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@ -0,0 +1,39 @@
############################################################################
# apps/canutils/canlib/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
# Author: Sebastien Lorquet <sebastien@lorquet.fr>
#
# 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.
#
############################################################################
ifeq ($(CONFIG_CANUTILS_CANLIB),y)
CONFIGURED_APPS += $(APPDIR)/canutils/canlib
endif

44
Ubiquitous/Nuttx/apps/canutils/canlib/Makefile Normal file
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@ -0,0 +1,44 @@
############################################################################
# apps/canutils/canlib/Makefile
#
# Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
# Author: Sebastien Lorquet <sebastien@lorquet.fr>
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
# CAN utility library
CSRCS = canlib_getbaud.c canlib_setbaud.c
CSRCS += canlib_getloopback.c canlib_setloopback.c
CSRCS += canlib_getsilent.c canlib_setsilent.c
include $(APPDIR)/Application.mk

82
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/****************************************************************************
* canutils/canlib/canlib_getbaud.c
*
* Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
* Author: Sebastien Lorquet <sebastien@lorquet.fr>
*
* 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>
/****************************************************************************
* Name: canlib_getbaud
*
* Description:
* Wrapper for CANIOC_GET_BITTIMING
*
* Input Parameter:
* fd - file descriptor of an opened can device
* baud - pointer to a buffer to store the current baud rate
*
* Returned Value:
* Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
*
****************************************************************************/
int canlib_getbaud(int fd, FAR int *bauds)
{
int ret;
struct canioc_bittiming_s timings;
ret = ioctl(fd, CANIOC_GET_BITTIMING, (unsigned long)&timings);
if (ret != OK)
{
canerr("CANIOC_GET_BITTIMING failed, errno=%d\n", errno);
return 0;
}
*bauds = timings.bt_baud;
return ret;
}

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/****************************************************************************
* canutils/canlib/canlib_getloopback.c
*
* Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
* Author: Sebastien Lorquet <sebastien@lorquet.fr>
*
* 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 <stdbool.h>
#include <fcntl.h>
#include <errno.h>
#include <nuttx/can/can.h>
/****************************************************************************
* Name: canlib_getloopback
*
* Description:
* Wrapper for CANIOC_GET_CONNMODES.
*
* Input Parameter:
* fd - file descriptor of an opened can device
* loopback - pointer to a buffer to store the current loopback mode state.
*
* Returned Value:
* Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
*
****************************************************************************/
int canlib_getloopback(int fd, FAR bool *loopback)
{
int ret;
struct canioc_connmodes_s connmodes;
ret = ioctl(fd, CANIOC_GET_CONNMODES, (unsigned long)&connmodes);
if (ret != OK)
{
canerr("CANIOC_GET_CONNMODES failed, errno=%d\n", errno);
return FALSE;
}
*loopback = (bool)connmodes.bm_loopback;
return ret;
}

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/****************************************************************************
* canutils/canlib/canlib_getsilent.c
*
* Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
* Author: Sebastien Lorquet <sebastien@lorquet.fr>
*
* 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 <stdbool.h>
#include <fcntl.h>
#include <errno.h>
#include <nuttx/can/can.h>
/****************************************************************************
* Name: canlib_getsilent
*
* Description:
* Wrapper for CANIOC_GET_CONNMODES.
*
* Input Parameter:
* fd - file descriptor of an opened can device
* loopback - pointer to a buffer to store the current silent mode state.
*
* Returned Value:
* Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
*
****************************************************************************/
int canlib_getsilent(int fd, FAR bool *silent)
{
int ret;
struct canioc_connmodes_s connmodes;
ret = ioctl(fd, CANIOC_GET_CONNMODES, (unsigned long)&connmodes);
if (ret != OK)
{
canerr("CANIOC_GET_CONNMODES failed, errno=%d\n", errno);
return FALSE;
}
*silent = (bool)connmodes.bm_silent;
return ret;
}

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/****************************************************************************
* canutils/canlib/canlib_setbaud.c
*
* Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
* Author: Sebastien Lorquet <sebastien@lorquet.fr>
*
* 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>
/****************************************************************************
* Name: canlib_setbaud
*
* Description:
* Wrapper for CANIOC_SET_BITTIMING
*
* Input Parameter:
* fd - file descriptor of an opened can device
* baud - baud rate to use on the CAN bus
*
* Returned Value:
* Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
*
****************************************************************************/
int canlib_setbaud(int fd, int bauds)
{
int ret;
struct canioc_bittiming_s timings;
ret = ioctl(fd, CANIOC_GET_BITTIMING, (unsigned long)&timings);
if (ret != OK)
{
canerr("CANIOC_GET_BITTIMING failed, errno=%d\n", errno);
return ret;
}
timings.bt_baud = bauds;
ret = ioctl(fd, CANIOC_SET_BITTIMING, (unsigned long)&timings);
if (ret != OK)
{
canerr("CANIOC_SET_BITTIMING failed, errno=%d\n", errno);
}
return ret;
}

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/****************************************************************************
* canutils/canlib/canlib_setloopback.c
*
* Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
* Author: Sebastien Lorquet <sebastien@lorquet.fr>
*
* 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 <stdbool.h>
#include <fcntl.h>
#include <errno.h>
#include <nuttx/can/can.h>
/****************************************************************************
* Name: canlib_setloopback
*
* Description:
* Wrapper for CANIOC_SET_CONNMODES. When loopback mode is enabled, the CAN
* peripheral transmits on the bus, but only receives its own sent messages.
*
* Input Parameter:
* fd - file descriptor of an opened can device
* loopback - whether to use loopback mode.
*
* Returned Value:
* Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
*
****************************************************************************/
int canlib_setloopback(int fd, bool loopback)
{
int ret;
struct canioc_connmodes_s connmodes;
ret = ioctl(fd, CANIOC_GET_CONNMODES, (unsigned long)&connmodes);
if (ret != OK)
{
canerr("CANIOC_GET_CONNMODES failed, errno=%d\n", errno);
return ret;
}
connmodes.bm_loopback = !!loopback;
ret = ioctl(fd, CANIOC_SET_CONNMODES, (unsigned long)&connmodes);
if (ret != OK)
{
canerr("CANIOC_SET_CONNMODES failed, errno=%d\n", errno);
}
return ret;
}

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/****************************************************************************
* canutils/canlib/canlib_setsilent.c
*
* Copyright (C) 2016 Sebastien Lorquet. All rights reserved.
* Author: Sebastien Lorquet <sebastien@lorquet.fr>
*
* 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 <stdbool.h>
#include <fcntl.h>
#include <errno.h>
#include <nuttx/can/can.h>
/****************************************************************************
* Name: canlib_setsilent
*
* Description:
* Wrapper for CANIOC_SET_CONNMODES. When silent mode is enabled, the CAN
* peripheral never transmits on the bus, but receives all bus traffic.
*
* Input Parameter:
* fd - file descriptor of an opened can device
* loopback - whether to use loopback mode.
*
* Returned Value:
* Zero (OK) is returned on success. Otherwise -1 (ERROR)
* is returned with the errno variable set to indicate the
* nature of the error.
*
****************************************************************************/
int canlib_setsilent(int fd, bool silent)
{
int ret;
struct canioc_connmodes_s connmodes;
ret = ioctl(fd, CANIOC_GET_CONNMODES, (unsigned long)&connmodes);
if (ret != OK)
{
canerr("CANIOC_GET_CONNMODES failed, errno=%d\n", errno);
return ret;
}
connmodes.bm_silent = !!silent;
ret = ioctl(fd, CANIOC_SET_CONNMODES, (unsigned long)&connmodes);
if (ret != OK)
{
canerr("CANIOC_SET_CONNMODES failed, errno=%d\n", errno);
}
return ret;
}

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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_CANSEND
tristate "SocketCAN cansend tool"
default n
depends on NET_CAN
select CANUTILS_LIBCANUTILS
---help---
Enable the SocketCAN cansend tool ported from
https://github.com/linux-can/can-utils
if CANUTILS_CANSEND
endif

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############################################################################
# apps/canutils/cansend/Make.defs
# Adds selected applications to apps/ build
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
ifneq ($(CONFIG_CANUTILS_CANSEND),)
CONFIGURED_APPS += $(APPDIR)/canutils/cansend
endif

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############################################################################
# apps/canutils/cansend/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
include $(APPDIR)/Make.defs
# SocketCAN userspace utilities and tools cansend tool
# https://github.com/linux-can/can-utils/blob/master/cansend.c
PROGNAME = cansend
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 2048
MODULE = $(CONFIG_CANUTILS_CANSEND)
CFLAGS += ${shell $(INCDIR) "$(CC)" $(APPDIR)/canutils/libcanutils}
MAINSRC = cansend.c
include $(APPDIR)/Application.mk

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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* cansend.c - send CAN-frames via CAN_RAW sockets
*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* 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 of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* 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.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <net/if.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <nuttx/can.h>
#include <netpacket/can.h>
#include "lib.h"
static void print_usage_send(char *prg)
{
fprintf(stderr, "%s - send CAN-frames via CAN_RAW sockets.\n", prg);
fprintf(stderr, "\nUsage: %s <device> <can_frame>.\n", prg);
fprintf(stderr, "\n<can_frame>:\n");
fprintf(stderr, " <can_id>#{data} for 'classic' CAN 2.0 data frames\n");
fprintf(stderr, " <can_id>#R{len} for 'classic' CAN 2.0 data frames\n");
fprintf(stderr, " <can_id>##<flags>{data} for CAN FD frames\n\n");
fprintf(stderr, "<can_id>:\n"
" 3 (SFF) or 8 (EFF) hex chars\n");
fprintf(stderr, "{data}:\n"
" 0..8 (0..64 CAN FD) ASCII hex-values (optionally separated by '.')\n");
fprintf(stderr, "{len}:\n"
" an optional 0..8 value as RTR frames can contain a valid dlc field\n");
fprintf(stderr, "<flags>:\n"
" a single ASCII Hex value (0 .. F) which defines canfd_frame.flags\n\n");
fprintf(stderr, "Examples:\n");
fprintf(stderr, " 5A1#11.2233.44556677.88 / 123#DEADBEEF / 5AA# / 123##1 / 213##311223344 /\n"
" 1F334455#1122334455667788 / 123#R / 00000123#R3\n\n");
}
int main(int argc, char **argv)
{
int s; /* can raw socket */
int required_mtu;
int mtu;
int enable_canfd = 1;
struct sockaddr_can addr;
struct canfd_frame frame;
struct ifreq ifr;
/* check command line options */
if (argc != 3) {
print_usage_send(argv[0]);
return 1;
}
/* parse CAN frame */
required_mtu = parse_canframe(argv[2], &frame);
if (!required_mtu){
fprintf(stderr, "\nWrong CAN-frame format!\n\n");
print_usage_send(argv[0]);
return 1;
}
/* open socket */
if ((s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0) {
perror("socket");
return 1;
}
strncpy(ifr.ifr_name, argv[1], IFNAMSIZ - 1);
ifr.ifr_name[IFNAMSIZ - 1] = '\0';
ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
if (!ifr.ifr_ifindex) {
perror("if_nametoindex");
return 1;
}
memset(&addr, 0, sizeof(addr));
addr.can_family = AF_CAN;
addr.can_ifindex = ifr.ifr_ifindex;
if (required_mtu > (int)CAN_MTU) {
/* check if the frame fits into the CAN netdevice */
if (ioctl(s, SIOCGIFMTU, &ifr) < 0) {
perror("SIOCGIFMTU");
return 1;
}
mtu = ifr.ifr_mtu;
if (mtu != CANFD_MTU) {
printf("CAN interface is not CAN FD capable - sorry.\n");
return 1;
}
/* interface is ok - try to switch the socket into CAN FD mode */
if (setsockopt(s, SOL_CAN_RAW, CAN_RAW_FD_FRAMES,
&enable_canfd, sizeof(enable_canfd))){
printf("error when enabling CAN FD support\n");
return 1;
}
/* ensure discrete CAN FD length values 0..8, 12, 16, 20, 24, 32, 64 */
frame.len = can_dlc2len(can_len2dlc(frame.len));
}
/* disable default receive filter on this RAW socket */
/* This is obsolete as we do not read from the socket at all, but for */
/* this reason we can remove the receive list in the Kernel to save a */
/* little (really a very little!) CPU usage. */
setsockopt(s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
if (bind(s, (struct sockaddr *)&addr, sizeof(addr)) < 0) {
perror("bind");
return 1;
}
/* send frame */
if (write(s, &frame, required_mtu) != required_mtu) {
perror("write");
return 1;
}
close(s);
return 0;
}

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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_LIBCANARD
bool "libcanard UAVCAN Library"
default n
depends on CAN && CAN_EXTID
---help---
Enable the libcanard UAVCAN library.
if CANUTILS_LIBCANARD
config LIBCANARD_URL
string "libcanard URL"
default "https://github.com/UAVCAN/libcanard/archive"
---help---
libcanard URL.
config LIBCANARD_VERSION
string "libcanard Version"
default "5ad65c6a4efda60cda7a8f0512da0f465822bbb8"
---help---
libcanard version.
endif

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############################################################################
# apps/canutils/libcanard/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2016 Omni Hoverboards Inc. All rights reserved.
# Author: Paul Alexander Patience <paul-a.patience@polymtl.ca>
#
# 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.
#
############################################################################
ifeq ($(CONFIG_CANUTILS_LIBCANARD),y)
CONFIGURED_APPS += $(APPDIR)/canutils/libcanard
endif

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############################################################################
# apps/canutils/libcanard/Makefile
#
# Copyright (C) 2016 Omni Hoverboards Inc. All rights reserved.
# Authors: Paul Alexander Patience <paul-a.patience@polymtl.ca>
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
UNPACK = unzip
PACKEXT = .zip
LIBCANARD_URL = $(patsubst "%",%,$(strip $(CONFIG_LIBCANARD_URL)))
LIBCANARD_VERSION = $(patsubst "%",%,$(strip $(CONFIG_LIBCANARD_VERSION)))
LIBCANARD_UNPACKNAME = libcanard-$(LIBCANARD_VERSION)
LIBCANARD_PACKNAME = $(LIBCANARD_UNPACKNAME)$(PACKEXT)
LIBCANARD_SRCDIR = $(LIBCANARD_UNPACKNAME)
LIBCANARD_DRVDIR = $(LIBCANARD_SRCDIR)$(DELIM)drivers$(DELIM)nuttx
APPS_INCDIR = $(APPDIR)$(DELIM)include$(DELIM)canutils
CFLAGS += -std=c99 -DCANARD_ASSERT=DEBUGASSERT
CFLAGS += ${shell $(INCDIR) "$(CC)" $(APPS_INCDIR)}
CSRCS = $(LIBCANARD_SRCDIR)$(DELIM)canard.c $(LIBCANARD_DRVDIR)$(DELIM)canard_nuttx.c
$(LIBCANARD_PACKNAME):
@echo "Downloading: $@"
$(Q) curl -o $@ -L $(LIBCANARD_URL)$(DELIM)$(LIBCANARD_VERSION)$(PACKEXT)
$(LIBCANARD_UNPACKNAME): $(LIBCANARD_PACKNAME)
@echo "Unpacking: $< -> $@"
$(call DELDIR, $@)
$(Q) $(UNPACK) $<
$(Q) touch $@
$(LIBCANARD_SRCDIR)$(DELIM)canard.h: $(LIBCANARD_UNPACKNAME)
$(LIBCANARD_DRVDIR)$(DELIM)canard_nuttx.h: $(LIBCANARD_UNPACKNAME)
$(APPS_INCDIR)$(DELIM)canard.h: $(LIBCANARD_SRCDIR)$(DELIM)canard.h
$(Q) cp $< $@
$(APPS_INCDIR)$(DELIM)canard_nuttx.h: $(LIBCANARD_DRVDIR)$(DELIM)canard_nuttx.h
$(Q) cp $< $@
context:: $(APPS_INCDIR)$(DELIM)canard.h $(APPS_INCDIR)$(DELIM)canard_nuttx.h
clean::
$(foreach OBJ, $(OBJS), $(call DELFILE, $(OBJ)))
distclean::
$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard.h)
$(call DELFILE, $(APPS_INCDIR)$(DELIM)canard_nuttx.h)
$(call DELDIR, $(LIBCANARD_UNPACKNAME))
$(call DELFILE, $(LIBCANARD_PACKNAME))
include $(APPDIR)/Application.mk

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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_LIBCANUTILS
bool "CAN-utils support library"
default n
depends on NET_CAN
---help---
Enable the CAN-utils support library ported from
https://github.com/linux-can/can-utils
if CANUTILS_LIBCANUTILS
endif

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############################################################################
# apps/canutils/libcanutils/Make.defs
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
ifeq ($(CONFIG_CANUTILS_LIBCANUTILS),y)
CONFIGURED_APPS += $(APPDIR)/canutils/libcanutils
endif

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############################################################################
# apps/canutils/libcanutils/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################/
include $(APPDIR)/Make.defs
# SocketCAN userspace utilities and tools library
# https://github.com/linux-can/can-utils
CSRCS = lib.c
include $(APPDIR)/Application.mk

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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* lib.c - library for command line tools
*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* 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 of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* 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.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#include <stdio.h>
#include <string.h>
#include <stdint.h>
#include <sys/socket.h> /* for sa_family_t */
#include <nuttx/can.h>
#include <nuttx/can/error.h>
#include <netpacket/can.h>
#include "lib.h"
#define CANID_DELIM '#'
#define DATA_SEPERATOR '.'
const char hex_asc_upper[] = "0123456789ABCDEF";
#define hex_asc_upper_lo(x) hex_asc_upper[((x) & 0x0F)]
#define hex_asc_upper_hi(x) hex_asc_upper[((x) & 0xF0) >> 4]
static inline void put_hex_byte(char *buf, __u8 byte)
{
buf[0] = hex_asc_upper_hi(byte);
buf[1] = hex_asc_upper_lo(byte);
}
static inline void _put_id(char *buf, int end_offset, canid_t id)
{
/* build 3 (SFF) or 8 (EFF) digit CAN identifier */
while (end_offset >= 0) {
buf[end_offset--] = hex_asc_upper_lo(id);
id >>= 4;
}
}
#define put_sff_id(buf, id) _put_id(buf, 2, id)
#define put_eff_id(buf, id) _put_id(buf, 7, id)
/* CAN DLC to real data length conversion helpers */
static const unsigned char dlc2len[] = {0, 1, 2, 3, 4, 5, 6, 7,
8, 12, 16, 20, 24, 32, 48, 64};
/* get data length from can_dlc with sanitized can_dlc */
unsigned char can_dlc2len(unsigned char can_dlc)
{
return dlc2len[can_dlc & 0x0F];
}
static const unsigned char len2dlc[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, /* 0 - 8 */
9, 9, 9, 9, /* 9 - 12 */
10, 10, 10, 10, /* 13 - 16 */
11, 11, 11, 11, /* 17 - 20 */
12, 12, 12, 12, /* 21 - 24 */
13, 13, 13, 13, 13, 13, 13, 13, /* 25 - 32 */
14, 14, 14, 14, 14, 14, 14, 14, /* 33 - 40 */
14, 14, 14, 14, 14, 14, 14, 14, /* 41 - 48 */
15, 15, 15, 15, 15, 15, 15, 15, /* 49 - 56 */
15, 15, 15, 15, 15, 15, 15, 15}; /* 57 - 64 */
/* map the sanitized data length to an appropriate data length code */
unsigned char can_len2dlc(unsigned char len)
{
if (len > 64)
return 0xF;
return len2dlc[len];
}
unsigned char asc2nibble(char c) {
if ((c >= '0') && (c <= '9'))
return c - '0';
if ((c >= 'A') && (c <= 'F'))
return c - 'A' + 10;
if ((c >= 'a') && (c <= 'f'))
return c - 'a' + 10;
return 16; /* error */
}
int hexstring2data(char *arg, unsigned char *data, int maxdlen) {
int len = strlen(arg);
int i;
unsigned char tmp;
if (!len || len%2 || len > maxdlen*2)
return 1;
memset(data, 0, maxdlen);
for (i=0; i < len/2; i++) {
tmp = asc2nibble(*(arg+(2*i)));
if (tmp > 0x0F)
return 1;
data[i] = (tmp << 4);
tmp = asc2nibble(*(arg+(2*i)+1));
if (tmp > 0x0F)
return 1;
data[i] |= tmp;
}
return 0;
}
int parse_canframe(char *cs, struct canfd_frame *cf) {
/* documentation see lib.h */
int i, idx, dlen, len;
int maxdlen = CAN_MAX_DLEN;
int ret = CAN_MTU;
unsigned char tmp;
len = strlen(cs);
//printf("'%s' len %d\n", cs, len);
memset(cf, 0, sizeof(*cf)); /* init CAN FD frame, e.g. LEN = 0 */
if (len < 4)
return 0;
if (cs[3] == CANID_DELIM) { /* 3 digits */
idx = 4;
for (i=0; i<3; i++){
if ((tmp = asc2nibble(cs[i])) > 0x0F)
return 0;
cf->can_id |= (tmp << (2-i)*4);
}
} else if (cs[8] == CANID_DELIM) { /* 8 digits */
idx = 9;
for (i=0; i<8; i++){
if ((tmp = asc2nibble(cs[i])) > 0x0F)
return 0;
cf->can_id |= (tmp << (7-i)*4);
}
if (!(cf->can_id & CAN_ERR_FLAG)) /* 8 digits but no errorframe? */
cf->can_id |= CAN_EFF_FLAG; /* then it is an extended frame */
} else
return 0;
if((cs[idx] == 'R') || (cs[idx] == 'r')){ /* RTR frame */
cf->can_id |= CAN_RTR_FLAG;
/* check for optional DLC value for CAN 2.0B frames */
if(cs[++idx] && (tmp = asc2nibble(cs[idx])) <= CAN_MAX_DLC)
cf->len = tmp;
return ret;
}
if (cs[idx] == CANID_DELIM) { /* CAN FD frame escape char '##' */
maxdlen = CANFD_MAX_DLEN;
ret = CANFD_MTU;
/* CAN FD frame <canid>##<flags><data>* */
if ((tmp = asc2nibble(cs[idx+1])) > 0x0F)
return 0;
cf->flags = tmp;
idx += 2;
}
for (i=0, dlen=0; i < maxdlen; i++){
if(cs[idx] == DATA_SEPERATOR) /* skip (optional) separator */
idx++;
if(idx >= len) /* end of string => end of data */
break;
if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
return 0;
cf->data[i] = (tmp << 4);
if ((tmp = asc2nibble(cs[idx++])) > 0x0F)
return 0;
cf->data[i] |= tmp;
dlen++;
}
cf->len = dlen;
return ret;
}
void fprint_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int sep, int maxdlen) {
/* documentation see lib.h */
char buf[CL_CFSZ]; /* max length */
sprint_canframe(buf, cf, sep, maxdlen);
fprintf(stream, "%s", buf);
if (eol)
fprintf(stream, "%s", eol);
}
void sprint_canframe(char *buf , struct canfd_frame *cf, int sep, int maxdlen) {
/* documentation see lib.h */
int i,offset;
int len = (cf->len > maxdlen) ? maxdlen : cf->len;
if (cf->can_id & CAN_ERR_FLAG) {
put_eff_id(buf, cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
buf[8] = '#';
offset = 9;
} else if (cf->can_id & CAN_EFF_FLAG) {
put_eff_id(buf, cf->can_id & CAN_EFF_MASK);
buf[8] = '#';
offset = 9;
} else {
put_sff_id(buf, cf->can_id & CAN_SFF_MASK);
buf[3] = '#';
offset = 4;
}
/* standard CAN frames may have RTR enabled. There are no ERR frames with RTR */
if (maxdlen == CAN_MAX_DLEN && cf->can_id & CAN_RTR_FLAG) {
buf[offset++] = 'R';
/* print a given CAN 2.0B DLC if it's not zero */
if (cf->len && cf->len <= CAN_MAX_DLC)
buf[offset++] = hex_asc_upper_lo(cf->len);
buf[offset] = 0;
return;
}
if (maxdlen == CANFD_MAX_DLEN) {
/* add CAN FD specific escape char and flags */
buf[offset++] = '#';
buf[offset++] = hex_asc_upper_lo(cf->flags);
if (sep && len)
buf[offset++] = '.';
}
for (i = 0; i < len; i++) {
put_hex_byte(buf + offset, cf->data[i]);
offset += 2;
if (sep && (i+1 < len))
buf[offset++] = '.';
}
buf[offset] = 0;
}
void fprint_long_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int view, int maxdlen) {
/* documentation see lib.h */
char buf[CL_LONGCFSZ];
sprint_long_canframe(buf, cf, view, maxdlen);
fprintf(stream, "%s", buf);
if ((view & CANLIB_VIEW_ERROR) && (cf->can_id & CAN_ERR_FLAG)) {
snprintf_can_error_frame(buf, sizeof(buf), cf, "\n\t");
fprintf(stream, "\n\t%s", buf);
}
if (eol)
fprintf(stream, "%s", eol);
}
void sprint_long_canframe(char *buf , struct canfd_frame *cf, int view, int maxdlen) {
/* documentation see lib.h */
int i, j, dlen, offset;
int len = (cf->len > maxdlen)? maxdlen : cf->len;
/* initialize space for CAN-ID and length information */
memset(buf, ' ', 15);
if (cf->can_id & CAN_ERR_FLAG) {
put_eff_id(buf, cf->can_id & (CAN_ERR_MASK|CAN_ERR_FLAG));
offset = 10;
} else if (cf->can_id & CAN_EFF_FLAG) {
put_eff_id(buf, cf->can_id & CAN_EFF_MASK);
offset = 10;
} else {
if (view & CANLIB_VIEW_INDENT_SFF) {
put_sff_id(buf + 5, cf->can_id & CAN_SFF_MASK);
offset = 10;
} else {
put_sff_id(buf, cf->can_id & CAN_SFF_MASK);
offset = 5;
}
}
/* The len value is sanitized by maxdlen (see above) */
if (maxdlen == CAN_MAX_DLEN) {
buf[offset + 1] = '[';
buf[offset + 2] = len + '0';
buf[offset + 3] = ']';
/* standard CAN frames may have RTR enabled */
if (cf->can_id & CAN_RTR_FLAG) {
sprintf(buf+offset+5, " remote request");
return;
}
} else {
buf[offset] = '[';
buf[offset + 1] = (len/10) + '0';
buf[offset + 2] = (len%10) + '0';
buf[offset + 3] = ']';
}
offset += 5;
if (view & CANLIB_VIEW_BINARY) {
dlen = 9; /* _10101010 */
if (view & CANLIB_VIEW_SWAP) {
for (i = len - 1; i >= 0; i--) {
buf[offset++] = (i == len-1)?' ':SWAP_DELIMITER;
for (j = 7; j >= 0; j--)
buf[offset++] = (1<<j & cf->data[i])?'1':'0';
}
} else {
for (i = 0; i < len; i++) {
buf[offset++] = ' ';
for (j = 7; j >= 0; j--)
buf[offset++] = (1<<j & cf->data[i])?'1':'0';
}
}
} else {
dlen = 3; /* _AA */
if (view & CANLIB_VIEW_SWAP) {
for (i = len - 1; i >= 0; i--) {
if (i == len-1)
buf[offset++] = ' ';
else
buf[offset++] = SWAP_DELIMITER;
put_hex_byte(buf + offset, cf->data[i]);
offset += 2;
}
} else {
for (i = 0; i < len; i++) {
buf[offset++] = ' ';
put_hex_byte(buf + offset, cf->data[i]);
offset += 2;
}
}
}
buf[offset] = 0; /* terminate string */
/*
* The ASCII & ERRORFRAME output is put at a fixed len behind the data.
* For now we support ASCII output only for payload length up to 8 bytes.
* Does it make sense to write 64 ASCII byte behind 64 ASCII HEX data on the console?
*/
if (len > CAN_MAX_DLEN)
return;
if (cf->can_id & CAN_ERR_FLAG)
sprintf(buf+offset, "%*s", dlen*(8-len)+13, "ERRORFRAME");
else if (view & CANLIB_VIEW_ASCII) {
j = dlen*(8-len)+4;
if (view & CANLIB_VIEW_SWAP) {
sprintf(buf+offset, "%*s", j, "`");
offset += j;
for (i = len - 1; i >= 0; i--)
if ((cf->data[i] > 0x1F) && (cf->data[i] < 0x7F))
buf[offset++] = cf->data[i];
else
buf[offset++] = '.';
sprintf(buf+offset, "`");
} else {
sprintf(buf+offset, "%*s", j, "'");
offset += j;
for (i = 0; i < len; i++)
if ((cf->data[i] > 0x1F) && (cf->data[i] < 0x7F))
buf[offset++] = cf->data[i];
else
buf[offset++] = '.';
sprintf(buf+offset, "'");
}
}
}
static const char *error_classes[] = {
"tx-timeout",
"lost-arbitration",
"controller-problem",
"protocol-violation",
"transceiver-status",
"no-acknowledgement-on-tx",
"bus-off",
"bus-error",
"restarted-after-bus-off",
};
static const char *controller_problems[] = {
"rx-overflow",
"tx-overflow",
"rx-error-warning",
"tx-error-warning",
"rx-error-passive",
"tx-error-passive",
"back-to-error-active",
};
static const char *protocol_violation_types[] = {
"single-bit-error",
"frame-format-error",
"bit-stuffing-error",
"tx-dominant-bit-error",
"tx-recessive-bit-error",
"bus-overload",
"active-error",
"error-on-tx",
};
static const char *protocol_violation_locations[] = {
"unspecified",
"unspecified",
"id.28-to-id.21",
"start-of-frame",
"bit-srtr",
"bit-ide",
"id.20-to-id.18",
"id.17-to-id.13",
"crc-sequence",
"reserved-bit-0",
"data-field",
"data-length-code",
"bit-rtr",
"reserved-bit-1",
"id.4-to-id.0",
"id.12-to-id.5",
"unspecified",
"active-error-flag",
"intermission",
"tolerate-dominant-bits",
"unspecified",
"unspecified",
"passive-error-flag",
"error-delimiter",
"crc-delimiter",
"acknowledge-slot",
"end-of-frame",
"acknowledge-delimiter",
"overload-flag",
"unspecified",
"unspecified",
"unspecified",
};
#ifndef ARRAY_SIZE
#define ARRAY_SIZE(arr) (sizeof(arr) / sizeof((arr)[0]))
#endif
static int snprintf_error_data(char *buf, size_t len, uint8_t err,
const char **arr, int arr_len)
{
int i, n = 0, count = 0;
if (!err || len <= 0)
return 0;
for (i = 0; i < arr_len; i++) {
if (err & (1 << i)) {
if (count)
n += snprintf(buf + n, len - n, ",");
n += snprintf(buf + n, len - n, "%s", arr[i]);
count++;
}
}
return n;
}
static int snprintf_error_lostarb(char *buf, size_t len, const struct canfd_frame *cf)
{
if (len <= 0)
return 0;
return snprintf(buf, len, "{at bit %d}", cf->data[0]);
}
static int snprintf_error_ctrl(char *buf, size_t len, const struct canfd_frame *cf)
{
int n = 0;
if (len <= 0)
return 0;
n += snprintf(buf + n, len - n, "{");
n += snprintf_error_data(buf + n, len - n, cf->data[1],
controller_problems,
ARRAY_SIZE(controller_problems));
n += snprintf(buf + n, len - n, "}");
return n;
}
static int snprintf_error_prot(char *buf, size_t len, const struct canfd_frame *cf)
{
int n = 0;
if (len <= 0)
return 0;
n += snprintf(buf + n, len - n, "{{");
n += snprintf_error_data(buf + n, len - n, cf->data[2],
protocol_violation_types,
ARRAY_SIZE(protocol_violation_types));
n += snprintf(buf + n, len - n, "}{");
if (cf->data[3] > 0 &&
cf->data[3] < ARRAY_SIZE(protocol_violation_locations))
n += snprintf(buf + n, len - n, "%s",
protocol_violation_locations[cf->data[3]]);
n += snprintf(buf + n, len - n, "}}");
return n;
}
void snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf,
const char* sep)
{
canid_t class, mask;
int i, n = 0, classes = 0;
char *defsep = ",";
if (!(cf->can_id & CAN_ERR_FLAG))
return;
class = cf->can_id & CAN_EFF_MASK;
if (class > (1 << ARRAY_SIZE(error_classes))) {
fprintf(stderr, "Error class %#jx is invalid\n", (uintmax_t)class);
return;
}
if (!sep)
sep = defsep;
for (i = 0; i < (int)ARRAY_SIZE(error_classes); i++) {
mask = 1 << i;
if (class & mask) {
if (classes)
n += snprintf(buf + n, len - n, "%s", sep);
n += snprintf(buf + n, len - n, "%s", error_classes[i]);
if (mask == CAN_ERR_LOSTARB)
n += snprintf_error_lostarb(buf + n, len - n,
cf);
if (mask == CAN_ERR_CRTL)
n += snprintf_error_ctrl(buf + n, len - n, cf);
if (mask == CAN_ERR_PROT)
n += snprintf_error_prot(buf + n, len - n, cf);
classes++;
}
}
if (cf->data[6] || cf->data[7]) {
n += snprintf(buf + n, len - n, "%s", sep);
n += snprintf(buf + n, len - n, "error-counter-tx-rx{{%d}{%d}}",
cf->data[6], cf->data[7]);
}
}

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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* lib.h - library include for command line tools
*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* 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 of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* 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.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#ifndef CAN_UTILS_LIB_H
#define CAN_UTILS_LIB_H
#include <stdio.h>
/* Compatibility for NuttX */
typedef uint8_t __u8;
typedef uint32_t __u32;
/* buffer sizes for CAN frame string representations */
#define CL_ID (sizeof("12345678##1"))
#define CL_DATA sizeof(".AA")
#define CL_BINDATA sizeof(".10101010")
/* CAN FD ASCII hex short representation with DATA_SEPERATORs */
#define CL_CFSZ (2*CL_ID + 64*CL_DATA)
/* CAN FD ASCII hex long representation with binary output */
#define CL_LONGCFSZ (2*CL_ID + sizeof(" [255] ") + (64*CL_BINDATA))
/* CAN DLC to real data length conversion helpers especially for CAN FD */
/* get data length from can_dlc with sanitized can_dlc */
unsigned char can_dlc2len(unsigned char can_dlc);
/* map the sanitized data length to an appropriate data length code */
unsigned char can_len2dlc(unsigned char len);
unsigned char asc2nibble(char c);
/*
* Returns the decimal value of a given ASCII hex character.
*
* While 0..9, a..f, A..F are valid ASCII hex characters.
* On invalid characters the value 16 is returned for error handling.
*/
int hexstring2data(char *arg, unsigned char *data, int maxdlen);
/*
* Converts a given ASCII hex string to a (binary) byte string.
*
* A valid ASCII hex string consists of an even number of up to 16 chars.
* Leading zeros '00' in the ASCII hex string are interpreted.
*
* Examples:
*
* "1234" => data[0] = 0x12, data[1] = 0x34
* "001234" => data[0] = 0x00, data[1] = 0x12, data[2] = 0x34
*
* Return values:
* 0 = success
* 1 = error (in length or the given characters are no ASCII hex characters)
*
* Remark: The not written data[] elements are initialized with zero.
*
*/
int parse_canframe(char *cs, struct canfd_frame *cf);
/*
* Transfers a valid ASCII string describing a CAN frame into struct canfd_frame.
*
* CAN 2.0 frames
* - string layout <can_id>#{R{len}|data}
* - {data} has 0 to 8 hex-values that can (optionally) be separated by '.'
* - {len} can take values from 0 to 8 and can be omitted if zero
* - return value on successful parsing: CAN_MTU
*
* CAN FD frames
* - string layout <can_id>##<flags>{data}
* - <flags> a single ASCII Hex value (0 .. F) which defines canfd_frame.flags
* - {data} has 0 to 64 hex-values that can (optionally) be separated by '.'
* - return value on successful parsing: CANFD_MTU
*
* Return value on detected problems: 0
*
* <can_id> can have 3 (standard frame format) or 8 (extended frame format)
* hexadecimal chars
*
*
* Examples:
*
* 123# -> standard CAN-Id = 0x123, len = 0
* 12345678# -> extended CAN-Id = 0x12345678, len = 0
* 123#R -> standard CAN-Id = 0x123, len = 0, RTR-frame
* 123#R0 -> standard CAN-Id = 0x123, len = 0, RTR-frame
* 123#R7 -> standard CAN-Id = 0x123, len = 7, RTR-frame
* 7A1#r -> standard CAN-Id = 0x7A1, len = 0, RTR-frame
*
* 123#00 -> standard CAN-Id = 0x123, len = 1, data[0] = 0x00
* 123#1122334455667788 -> standard CAN-Id = 0x123, len = 8
* 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, len = 8
* 123#11.2233.44556677.88 -> standard CAN-Id = 0x123, len = 8
* 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set
*
* 123##0112233 -> CAN FD frame standard CAN-Id = 0x123, flags = 0, len = 3
* 123##1112233 -> CAN FD frame, flags = CANFD_BRS, len = 3
* 123##2112233 -> CAN FD frame, flags = CANFD_ESI, len = 3
* 123##3 -> CAN FD frame, flags = (CANFD_ESI | CANFD_BRS), len = 0
* ^^
* CAN FD extension to handle the canfd_frame.flags content
*
* Simple facts on this compact ASCII CAN frame representation:
*
* - 3 digits: standard frame format
* - 8 digits: extendend frame format OR error frame
* - 8 digits with CAN_ERR_FLAG (0x2000000) set: error frame
* - an error frame is never a RTR frame
* - CAN FD frames do not have a RTR bit
*/
void fprint_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int sep, int maxdlen);
void sprint_canframe(char *buf , struct canfd_frame *cf, int sep, int maxdlen);
/*
* Creates a CAN frame hexadecimal output in compact format.
* The CAN data[] is separated by '.' when sep != 0.
*
* The type of the CAN frame (CAN 2.0 / CAN FD) is specified by maxdlen:
* maxdlen = 8 -> CAN2.0 frame
* maxdlen = 64 -> CAN FD frame
*
* 12345678#112233 -> extended CAN-Id = 0x12345678, len = 3, data, sep = 0
* 12345678#R -> extended CAN-Id = 0x12345678, RTR, len = 0
* 12345678#R5 -> extended CAN-Id = 0x12345678, RTR, len = 5
* 123#11.22.33.44.55.66.77.88 -> standard CAN-Id = 0x123, dlc = 8, sep = 1
* 32345678#112233 -> error frame with CAN_ERR_FLAG (0x2000000) set
* 123##0112233 -> CAN FD frame standard CAN-Id = 0x123, flags = 0, len = 3
* 123##2112233 -> CAN FD frame, flags = CANFD_ESI, len = 3
*
* Examples:
*
* fprint_canframe(stdout, &frame, "\n", 0); // with eol to STDOUT
* fprint_canframe(stderr, &frame, NULL, 0); // no eol to STDERR
*
*/
#define CANLIB_VIEW_ASCII 0x1
#define CANLIB_VIEW_BINARY 0x2
#define CANLIB_VIEW_SWAP 0x4
#define CANLIB_VIEW_ERROR 0x8
#define CANLIB_VIEW_INDENT_SFF 0x10
#define SWAP_DELIMITER '`'
void fprint_long_canframe(FILE *stream , struct canfd_frame *cf, char *eol, int view, int maxdlen);
void sprint_long_canframe(char *buf , struct canfd_frame *cf, int view, int maxdlen);
/*
* Creates a CAN frame hexadecimal output in user readable format.
*
* The type of the CAN frame (CAN 2.0 / CAN FD) is specified by maxdlen:
* maxdlen = 8 -> CAN2.0 frame
* maxdlen = 64 -> CAN FD frame
*
* 12345678 [3] 11 22 33 -> extended CAN-Id = 0x12345678, dlc = 3, data
* 12345678 [0] remote request -> extended CAN-Id = 0x12345678, RTR
* 14B0DC51 [8] 4A 94 E8 2A EC 58 55 62 'J..*.XUb' -> (with ASCII output)
* 20001111 [7] C6 23 7B 32 69 98 3C ERRORFRAME -> (CAN_ERR_FLAG set)
* 12345678 [03] 11 22 33 -> CAN FD with extended CAN-Id = 0x12345678, dlc = 3
*
* 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == 0
* 123 [3] 11 22 33 -> CANLIB_VIEW_INDENT_SFF == set
*
* Examples:
*
* // CAN FD frame with eol to STDOUT
* fprint_long_canframe(stdout, &frame, "\n", 0, CANFD_MAX_DLEN);
*
* // CAN 2.0 frame without eol to STDERR
* fprint_long_canframe(stderr, &frame, NULL, 0, CAN_MAX_DLEN);
*
*/
void snprintf_can_error_frame(char *buf, size_t len, const struct canfd_frame *cf,
const char *sep);
/*
* Creates a CAN error frame output in user readable format.
*/
#endif

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/* SPDX-License-Identifier: (GPL-2.0-only OR BSD-3-Clause) */
/*
* Copyright (c) 2002-2007 Volkswagen Group Electronic Research
* All rights reserved.
*
* 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 of Volkswagen nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* Alternatively, provided that this notice is retained in full, this
* software may be distributed under the terms of the GNU General
* Public License ("GPL") version 2, in which case the provisions of the
* GPL apply INSTEAD OF those given above.
*
* The provided data structures and external interfaces from this code
* are not restricted to be used by modules with a GPL compatible license.
*
* 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.
*
* Send feedback to <linux-can@vger.kernel.org>
*
*/
#ifndef TERMINAL_H
#define TERMINAL_H
/* reset to default */
#define ATTRESET "\33[0m"
/* attributes */
#define ATTBOLD "\33[1m"
#define ATTUNDERLINE "\33[4m"
#define ATTBLINK "\33[5m"
#define ATTINVERSE "\33[7m"
#define ATTINVISIBLE "\33[8m"
/* foreground colors */
#define FGBLACK "\33[30m"
#define FGRED "\33[31m"
#define FGGREEN "\33[32m"
#define FGYELLOW "\33[33m"
#define FGBLUE "\33[34m"
#define FGMAGENTA "\33[35m"
#define FGCYAN "\33[36m"
#define FGWHITE "\33[37m"
/* background colors */
#define BGBLACK "\33[40m"
#define BGRED "\33[41m"
#define BGGREEN "\33[42m"
#define BGYELLOW "\33[43m"
#define BGBLUE "\33[44m"
#define BGMAGENTA "\33[45m"
#define BGCYAN "\33[46m"
#define BGWHITE "\33[47m"
/* cursor */
#define CSR_HOME "\33[H"
#define CSR_UP "\33[A"
#define CSR_DOWN "\33[B"
#define CSR_RIGHT "\33[C"
#define CSR_LEFT "\33[D"
#define CSR_HIDE "\33[?25l"
#define CSR_SHOW "\33[?25h"
/* clear screen */
#define CLR_SCREEN "\33[2J"
#endif /* TERMINAL_H */

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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_LIBOBD2
bool "OBD-II Library"
default n
depends on CAN
---help---
Enable the OBD-II Library
if CANUTILS_LIBOBD2
config LIBOBD2_MULTIFRAME
bool "Enable to Multi-Frame support (increases 4KB RAM)"
default n
---help---
Enable the support for multi-frames of the OBD-II protocol.
In the multi-frame mode the ECU can send frame up to 4096 bytes.
endif

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############################################################################
# apps/canutils/libobd2/Make.defs
# Adds selected applications to apps/ build
#
# 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.
#
############################################################################
ifeq ($(CONFIG_CANUTILS_LIBOBD2),y)
CONFIGURED_APPS += $(APPDIR)/canutils/libobd2
endif

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############################################################################
# apps/canutils/libobd2/Makefile
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
# CAN utility library
CSRCS = obd2.c obd_sendrequest.c obd_waitresponse.c obd_decodepid.c
include $(APPDIR)/Application.mk

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/****************************************************************************
* canutils/libobd2/obd2.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_init
*
* Description:
* Initialize the OBD-II with initial baudrate
*
* Returns a obd_dev_s with initial values or NULL if error.
*
****************************************************************************/
struct obd_dev_s *obd_init(char *devfile, int baudate, int mode)
{
struct obd_dev_s *dev;
int ret;
/* Alloc memory for this device */
dev = malloc(sizeof(struct obd_dev_s));
if (!dev)
{
printf("ERROR: Failed to alloc memory for obd_dev!\n");
return NULL;
}
/* Open the CAN device for reading/writing */
dev->can_fd = open(devfile, O_RDWR);
if (dev->can_fd < 0)
{
printf("ERROR: open %s failed: %d\n", devfile, errno);
return NULL;
}
/* Show bit timing information if provided by the driver. Not all CAN
* drivers will support this IOCTL.
*/
ret = ioctl(dev->can_fd, CANIOC_GET_BITTIMING,
(unsigned long)((uintptr_t)&dev->can_bt));
if (ret < 0)
{
printf("Bit timing not available: %d\n", errno);
return NULL;
}
else
{
printf("Bit timing:\n");
printf(" Baud: %lu\n", (unsigned long)dev->can_bt.bt_baud);
printf(" TSEG1: %u\n", dev->can_bt.bt_tseg1);
printf(" TSEG2: %u\n", dev->can_bt.bt_tseg2);
printf(" SJW: %u\n", dev->can_bt.bt_sjw);
}
/* FIXME: Setup the baudrate */
/* Setup the initial mode */
if (mode != CAN_STD && mode != CAN_EXT)
{
printf("ERROR: Invalid mode, it needs to be CAN_STD or CAN_EXT!\n");
return NULL;
}
dev->can_mode = mode;
printf("OBD-II device initialized!\n");
return dev;
}

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/****************************************************************************
* canutils/libobd2/obd_decodepid.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"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define MAXDATA 16
/****************************************************************************
* Private Data
****************************************************************************/
static char g_data[MAXDATA];
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: obd_decode_pid
*
* Description:
* Decode the value returned for a determined PID.
*
* It will return the data decode as text string or NULL if error.
*
****************************************************************************/
FAR char *obd_decode_pid(FAR struct obd_dev_s *dev, uint8_t pid)
{
uint32_t pids;
int rpm;
/* Verify if received data is valid */
if (dev->data[2] != pid)
{
printf("Expecting PID %02x but received %02x!\n", pid, dev->data[2]);
return NULL;
}
switch (dev->data[2])
{
case OBD_PID_SUPPORTED:
pids = (dev->data[3] << 24) | (dev->data[4] << 16) | \
(dev->data[5] << 8) | dev->data[6];
snprintf(g_data, MAXDATA, "%08X", pids);
#ifdef CONFIG_DEBUG_INFO
printf("Supported PIDs: %08X\n");
#endif
break;
case OBD_PID_ENGINE_TEMPERATURE:
snprintf(g_data, MAXDATA, "%d", dev->data[3] - 40);
#ifdef CONFIG_DEBUG_INFO
printf("Engine Temperature = %d\n", dev->data[3] - 40);
#endif
break;
case OBD_PID_RPM:
rpm = ((256 * dev->data[3]) + dev->data[4])/4;
snprintf(g_data, MAXDATA, "%d", rpm);
#ifdef CONFIG_DEBUG_INFO
printf("RPM = %d\n", rpm);
#endif
break;
case OBD_PID_SPEED:
snprintf(g_data, MAXDATA, "%d", dev->data[3]);
#ifdef CONFIG_DEBUG_INFO
printf("SPEED = %d Km/h\n", dev->data[3]);
#endif
break;
case OBD_PID_THROTTLE_POSITION:
snprintf(g_data, MAXDATA, "%d", (100 * dev->data[3])/255);
#ifdef CONFIG_DEBUG_INFO
printf("Throttle position = %d\% \n", (100 * dev->data[3])/255);
#endif
break;
}
return g_data;
}

151
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/****************************************************************************
* 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;
}

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/****************************************************************************
* canutils/libobd2/obd_waitresponse.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 <string.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_wait_response
*
* Description:
* Wait for a message from ECUs with requested PID that was sent using
* obd_send_request().
*
* It will return an error case it doesn't receive the msg after the elapsed
* "timeout" time.
*
****************************************************************************/
int obd_wait_response(FAR struct obd_dev_s *dev, uint8_t opmode, uint8_t pid,
int timeout)
{
int i;
int nbytes;
int msgdlc;
int msgsize;
uint8_t extended;
#ifdef CONFIG_DEBUG_INFO
printf("Waiting Response for pid=%d\n", pid);
#endif
/* Verify what is the current mode */
if (dev->can_mode == CAN_EXT)
{
extended = 1;
}
else
{
extended = 0;
}
for (; ; )
{
/* Read the RX message */
msgsize = sizeof(struct can_msg_s);
nbytes = read(dev->can_fd, &dev->can_rxmsg, msgsize);
if (nbytes < CAN_MSGLEN(0) || nbytes > msgsize)
{
printf("ERROR: read(%ld) returned %ld\n",
(long)msgsize, (long)nbytes);
return -EAGAIN;
}
#ifdef CONFIG_DEBUG_INFO
printf(" ID: %4u DLC: %u\n",
dev->can_rxmsg.cm_hdr.ch_id, dev->can_rxmsg.cm_hdr.ch_dlc);
#endif
msgdlc = dev->can_rxmsg.cm_hdr.ch_dlc;
#ifdef CONFIG_DEBUG_INFO
printf("Data received:\n");
for (i = 0; i < msgdlc; i++)
{
printf(" %d: 0x%02x\n", i, dev->can_rxmsg.cm_data[i]);
}
fflush(stdout);
#endif
/* Check if we received a Response Message */
if ((extended && dev->can_rxmsg.cm_hdr.ch_id == OBD_PID_EXT_RESPONSE) || \
(!extended && dev->can_rxmsg.cm_hdr.ch_id == OBD_PID_STD_RESPONSE))
{
/* Check if the Response if for the PID we are interested! */
if (dev->can_rxmsg.cm_data[1] == (opmode + OBD_RESP_BASE) && \
dev->can_rxmsg.cm_data[2] == pid)
{
/* Save received data (important for multi-frame mode) */
memcpy(dev->data, dev->can_rxmsg.cm_data, msgdlc);
return OK;
}
}
/* Verify if we timed out */
timeout--;
if (timeout < 0)
{
printf("Timeout trying to receive PID %d\n", pid);
return -ETIMEDOUT;
}
/* Wait 10ms */
usleep(10000);
}
/* Never should come here */
return OK;
}

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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config CANUTILS_SLCAN
tristate "SocketCAN slcan tool"
default n
depends on NET_CAN
---help---
Enable the SocketCAN slcan tool
if CANUTILS_SLCAN
config SLCAN_TRACE
bool "Print trace output"
default y
---help---
Debug trace output
endif

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############################################################################
# apps/canutils/slcan/Make.defs
# Adds selected applications to apps/ build
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################
ifneq ($(CONFIG_CANUTILS_SLCAN),)
CONFIGURED_APPS += $(APPDIR)/canutils/slcan
endif

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############################################################################
# apps/canutils/slcan/Makefile
#
# Licensed to the Apache Software Foundation (ASF) under one or more
# contributor license agreements. See the NOTICE file distributed with
# this work for additional information regarding copyright ownership. The
# ASF licenses this file to you under the Apache License, Version 2.0 (the
# "License"); you may not use this file except in compliance with the
# License. You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
# License for the specific language governing permissions and limitations
# under the License.
#
############################################################################
-include $(APPDIR)/Make.defs
# Network packet socket example
PROGNAME = slcan
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = 3048
MODULE = $(CONFIG_CANUTILS_SLCAN)
CSRCS =
MAINSRC = slcan.c
include $(APPDIR)/Application.mk

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/****************************************************************************
* apps/canutils/slcan/slcan.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <stdint.h>
#include <stdio.h>
#include <unistd.h>
#include <nuttx/clock.h>
#include <sched.h>
#include <fcntl.h>
#include <errno.h>
#include <stdlib.h>
#include <nuttx/fs/fs.h>
#include <nuttx/arch.h>
#include <string.h>
#include <time.h>
#include <ctype.h>
#include <net/if.h>
#include <sys/time.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#include <sys/socket.h>
#include <syslog.h>
#include <sys/uio.h>
#include <net/if.h>
#include <termios.h>
#include <nuttx/can.h>
#include <netpacket/can.h>
#include "slcan.h"
/****************************************************************************
* Defines
****************************************************************************/
#define DEFAULT_PRIORITY 100
#define DEFAULT_STACK_SIZE 2048
#ifdef CONFIG_SLCAN_TRACE
# define DEBUG 1
#else
# define DEBUG 0
#endif
#define debug_print(fmt, ...) \
do \
{ \
if (DEBUG) \
syslog(LOG_DEBUG, fmt, ##__VA_ARGS__); \
} \
while (0)
/****************************************************************************
* private data
****************************************************************************/
#ifdef CONFIG_SLCAN_TRACE
static char opening[] = "starting slcan\n";
#else
static char opening[] = "";
#endif
static void ok_return(int fd)
{
write(fd, "\r", 1);
}
static void fail_return(int fd)
{
write(fd, "\a", 1); /* BELL return for error */
}
static int readlinebuffer(int fd, char *buf, int maxlen)
{
size_t n;
int meslen = 0;
int noeol = 1;
uint8_t ch;
while ((meslen < maxlen) && noeol)
{
n = read(fd, &ch, 1);
if (n > 0)
{
/* valid input */
if (ch == '\r')
{
noeol = 0;
*buf = '\0';
}
else
{
*buf++ = ch;
meslen++;
}
}
else
{
return (meslen);
}
}
return (meslen);
}
static int caninit(char *candev, int *s, struct sockaddr_can *addr,
char *ctrlmsg, struct canfd_frame *frame,
struct msghdr *msg, struct iovec *iov)
{
struct ifreq ifr;
debug_print("slcanBus\n");
if ((*s = socket(PF_CAN, SOCK_RAW, CAN_RAW)) < 0)
{
syslog(LOG_ERR, "Error opening CAN socket\n");
return -1;
}
strncpy(ifr.ifr_name, candev, 4);
ifr.ifr_name[4] = '\0';
ifr.ifr_ifindex = if_nametoindex(ifr.ifr_name);
if (!ifr.ifr_ifindex)
{
syslog(LOG_ERR, "error finding index %s\n", candev);
return -1;
}
memset(addr, 0, sizeof(struct sockaddr));
addr->can_family = AF_CAN;
addr->can_ifindex = ifr.ifr_ifindex;
setsockopt(*s, SOL_CAN_RAW, CAN_RAW_FILTER, NULL, 0);
if (bind(*s, (struct sockaddr *)addr, sizeof(struct sockaddr)) < 0)
{
syslog(LOG_ERR, "bind error\n");
return -1;
}
iov->iov_base = frame;
msg->msg_name = addr;
msg->msg_iov = iov;
msg->msg_iovlen = 1;
msg->msg_control = ctrlmsg;
/* CAN interface ready to be used */
debug_print("CAN socket open\n");
return 0;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: slcan_main
****************************************************************************/
int main(int argc, char *argv[])
{
/* UART */
char buf[31];
int mode = 0;
size_t n;
int canspeed = 1000000; /* default to 1MBps */
int fd; /* UART slcan channel */
/* CAN */
int s, nbytes, i, ret, reccount;
struct sockaddr_can addr;
struct canfd_frame frame;
struct msghdr msg;
struct iovec iov;
fd_set rdfs;
char ctrlmsg[CMSG_SPACE(sizeof(struct timeval) +
3 * sizeof(struct timespec) + sizeof(int))];
char sbuf[40], *sbp;
if (argc != 3)
{
fprintf(stderr, "Usage: slcan <can device> <uart device>\n");
fflush(stderr);
return -1;
}
char *chrdev = argv[2];
char *candev = argv[1];
debug_print("Starting slcan on NuttX\n");
fd = open(chrdev, O_RDWR | O_BINARY);
if (fd < 0)
{
syslog(LOG_ERR, "Failed to open serial channel %s\n", chrdev);
return -1;
}
else
{
/* Create CAN socket */
if (caninit(candev, &s, &addr, &ctrlmsg[0], &frame, &msg, &iov) < 0)
{
syslog(LOG_ERR, "Failed to open CAN socket %s\n", candev);
close(fd);
return -1;
}
/* serial interface active */
debug_print("Serial interface open %s\n", chrdev);
write(fd, opening, (sizeof(opening) - 1));
while (mode < 100)
{
/* Setup ooll */
FD_ZERO(&rdfs);
FD_SET(s, &rdfs); /* CAN Socket */
FD_SET(fd, &rdfs); /* UART */
if ((ret = select(s + 1, &rdfs, NULL, NULL, NULL)) <= 0)
{
continue;
}
if (FD_ISSET(s, &rdfs))
{
/* CAN received new message in socketCAN input */
iov.iov_len = sizeof(frame);
msg.msg_namelen = sizeof(addr);
msg.msg_controllen = sizeof(ctrlmsg);
msg.msg_flags = 0;
nbytes = recvmsg(s, &msg, 0);
if (nbytes == CAN_MTU)
{
reccount++;
debug_print("R%d, Id:0x%X\n", reccount, frame.can_id);
if (frame.can_id & CAN_EFF_FLAG)
{
/* 29 bit address */
frame.can_id = frame.can_id & ~CAN_EFF_FLAG;
sprintf(sbuf, "T%08X%d", frame.can_id, frame.len);
sbp = &sbuf[10];
}
else
{
/* 11 bit address */
sprintf(sbuf, "t%03X%d", frame.can_id, frame.len);
sbp = &sbuf[5];
}
for (i = 0; i < frame.len; i++)
{
sprintf(sbp, "%02X", frame.data[i]);
sbp += 2;
}
*sbp++ = '\r';
*sbp = '\0';
write(fd, sbuf, strlen(sbuf));
}
}
if (FD_ISSET(fd, &rdfs))
{
/* UART receive */
n = readlinebuffer(fd, buf, 30);
switch (mode)
{
case 0: /* CAN channel not open */
if (n > 0)
{
if (buf[0] == 'F')
{
/* return clear flags */
write(fd, "F00\r", 4);
}
else if (buf[0] == 'O')
{
/* open CAN interface */
mode = 1;
debug_print("Open interface\n");
ok_return(fd);
}
else if (buf[0] == 'S')
{
/* set CAN interface speed */
switch (buf[1])
{
case '0':
canspeed = 10000;
break;
case '1':
canspeed = 20000;
break;
case '2':
canspeed = 50000;
break;
case '3':
canspeed = 100000;
break;
case '4':
canspeed = 125000;
break;
case '5':
canspeed = 250000;
break;
case '6':
canspeed = 500000;
break;
case '7':
canspeed = 800000;
break;
case '8': /* set speed to 1Mbps */
canspeed = 1000000;
break;
default:
break;
}
struct ifreq ifr;
/* set the device name */
strncpy(ifr.ifr_name, argv[1], IFNAMSIZ - 1);
ifr.ifr_name[IFNAMSIZ - 1] = '\0';
ifr.ifr_ifru.ifru_can_data.arbi_bitrate =
canspeed / 1000; /* Convert bit/s to kbit/s */
ifr.ifr_ifru.ifru_can_data.arbi_samplep = 80;
if (ioctl(s, SIOCSCANBITRATE, &ifr) < 0)
{
syslog(LOG_ERR, "set speed %d failed\n",
canspeed);
fail_return(fd);
}
else
{
debug_print("set speed %d\n", canspeed);
ok_return(fd);
}
}
else
{
/* whatever */
ok_return(fd);
}
}
break;
case 1: /* CAN task running open interface */
if (n > 0)
{
if (buf[0] == 'C')
{
/* close interface */
mode = 0;
debug_print("Close interface\n");
ok_return(fd);
}
else if (buf[0] == 'T')
{
/* Transmit an extended 29 bit CAN frame */
char tbuf[9];
int idval, val;
/* get 29bit CAN ID */
strncpy(tbuf, &buf[1], 8);
tbuf[8] = '\0';
sscanf(tbuf, "%x", &idval);
frame.len = buf[9] - '0'; /* get byte count */
/* get canmessage */
for (i = 0; i < frame.len; i++)
{
tbuf[0] = buf[10 + (2 * i)];
tbuf[1] = buf[11 + (2 * i)];
tbuf[2] = '\0';
sscanf(tbuf, "%x", &val);
frame.data[i] = val & 0xff;
}
debug_print("Transmitt: 0x%X ", idval);
for (i = 0; i < frame.len; i++)
{
debug_print("0x%02X ", frame.data[i]);
}
debug_print("\n");
frame.can_id = idval | CAN_EFF_FLAG; /* 29 bit */
if (write(s, &frame, CAN_MTU) != CAN_MTU)
{
syslog(LOG_ERR, "transmitt error\n");
/* TODO update error flags */
}
ok_return(fd);
}
else if (buf[0] == 't')
{
/* Transmit an 11 bit CAN frame */
char tbuf[9];
int idval, val;
/* get 11bit CAN ID */
strncpy(tbuf, &buf[1], 3);
tbuf[3] = '\0';
sscanf(tbuf, "%x", &idval);
frame.len = buf[4] - '0'; /* get byte count */
/* get canmessage */
for (i = 0; i < frame.len; i++)
{
tbuf[0] = buf[5 + (2 * i)];
tbuf[1] = buf[6 + (2 * i)];
tbuf[2] = '\0';
sscanf(tbuf, "%x", &val);
frame.data[i] = val & 0xff;
}
debug_print("Transmitt: 0x%X ", idval);
for (i = 0; i < frame.len; i++)
{
debug_print("0x%02X ", frame.data[i]);
}
debug_print("\n");
frame.can_id = idval; /* 11 bit address command */
if (write(s, &frame, CAN_MTU) != CAN_MTU)
{
syslog(LOG_ERR, "transmitt error\n");
/* TODO update error flags */
}
ok_return(fd);
}
else
{
/* whatever */
ok_return(fd);
}
}
break;
default: /* should not happen */
mode = 100;
break;
}
}
}
close(fd);
close(s);
}
return 0;
}

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/****************************************************************************
* apps/canutils/slcan/slcan.h
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
#ifndef SLCAN_H
#define SLCAN_H
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* S6 - CAN speed 500 kBit/s
* S8 - CAN speed 1 Mbit/s
* O - open channel
* C - close channel
* C
* S8
* O
* F -> return status flags
*/
#define SLCAN_REC_FIFO_FULL (1 << 0)
#define SLCAN_SND_FIFO_FULL (1 << 1)
#define SLCAN_ERROR_WARN (1 << 2)
#define SLCAN_DATA_OVERRUN (1 << 3)
#define SLCAN_ERROR_PASSIVE (1 << 5)
#define SLCAN_ARBITRATION_LOST (1 << 6)
#define SLCAN_BUS_ERROR (1 << 7)
#endif /* SLCAN_H */

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############################################################################
# apps/examples/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2012, 2015 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
include $(wildcard $(APPDIR)/examples/*/Make.defs)

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############################################################################
# apps/examples/Makefile
#
# Copyright (C) 2011-2015 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
MENUDESC = "Examples"
include $(APPDIR)/Directory.mk

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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_ABNTCODI
tristate "ABNT CODI example"
default n
select INDUSTRY_ABNT_CODI_LIB
---help---
Enable the ABNT CODI test example
if EXAMPLES_ABNTCODI
config EXAMPLES_ABNTCODI_PROGNAME
string "Program name"
default "abntcodi"
---help---
This is the name of the program that will be used when the NSH ELF
program is installed.
config EXAMPLES_ABNTCODI_PRIORITY
int "ABNTCODI task priority"
default 100
config EXAMPLES_ABNTCODI_STACKSIZE
int "ABNTCODI stack size"
default DEFAULT_TASK_STACKSIZE
endif

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############################################################################
# apps/examples/abntcodi/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2019 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
ifneq ($(CONFIG_EXAMPLES_ABNTCODI),)
CONFIGURED_APPS += $(APPDIR)/examples/abntcodi
endif

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############################################################################
# apps/examples/abntcodi/Makefile
#
# Copyright (C) 2019 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
# ABNTCODI built-in application info
PROGNAME = $(CONFIG_EXAMPLES_ABNTCODI_PROGNAME)
PRIORITY = $(CONFIG_EXAMPLES_ABNTCODI_PRIORITY)
STACKSIZE = $(CONFIG_EXAMPLES_ABNTCODI_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_ABNTCODI)
# ABNTCODI Example
MAINSRC = abntcodi_main.c
include $(APPDIR)/Application.mk

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/****************************************************************************
* examples/hello/abntcodi_main.c
*
* Copyright (C) 2019 Gregory Nutt. 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 <stdio.h>
#include <fcntl.h>
#include <syslog.h>
#include <stdlib.h>
#include "industry/abnt_codi.h"
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
void print_abnt_codi(FAR struct abnt_codi_proto_s *proto)
{
printf("Seconds missing to end of the active demand: %d\n",
proto->end_act_dem);
printf("Current Bill Indicator: %d\n", proto->bill_indicator);
printf("Reactive Interval Indicator: %d\n", proto->react_interval);
printf("Capacitive Reactive Pulses are used to calculate consumption: %s\n",
boolstr(proto->react_cap_pulse));
printf("Inductive Reactive Pulses are used to calculate consumption: %s\n",
boolstr(proto->react_ind_pulse));
printf("Segment type: %s\n",
proto->segment_type == SEGMENT_PEEK ? "PEEK" :
proto->segment_type == SEGMENT_OUT_PEEK ? "OUT OF PEEK" :
proto->segment_type == SEGMENT_RESERVED ? "RESERVED" : "UNKNOWN");
printf("Charges type: %s\n",
proto->charge_type == CHARGES_BLUE ? "BLUE" :
proto->charge_type == CHARGES_GREEN ? "GREEN" :
proto->charge_type == CHARGES_IRRIGATORS ? "IRRIGATORS" : "OTHERS");
printf("Number of Active pulses since the beginning of current demand: %d\n",
proto->pulses_act_dem);
printf("Number of Reactive pulses since beginning of current demand: %d\n",
proto->pulses_react_dem);
}
/****************************************************************************
* abntcodi_main
****************************************************************************/
int main(int argc, FAR char *argv[])
{
FAR struct abnt_codi_proto_s *proto;
int fd;
int cnt;
int ret;
uint8_t byte;
uint8_t data[8];
/* Allocate memory to protocol struct */
proto = malloc(sizeof(struct abnt_codi_proto_s));
if (!proto)
{
printf("Failed to allocate memory to abnt_codi_proto_s!\n");
return -ENOMEM;
}
/* Open the serial port used to read ABNT CODI (Baudrate: 110bps) */
fd = open("/dev/ttyS1", O_RDONLY);
if (fd < 0)
{
printf("Unable to open file /dev/ttyS1\n");
return -ENODEV;
}
/* Run forever */
for (; ; )
{
/* Read until we complete a sequence of 8 bytes */
cnt = 0;
do
{
ret = read(fd, &byte, 1);
if (ret != 1)
{
continue;
}
data[cnt++] = byte;
}
while (cnt < 8);
/* Parse the received data */
if (abnt_codi_parse(data, proto))
{
print_abnt_codi(proto);
}
/* Avoid busy wait using 100% CPU cycles */
usleep(5000000);
}
return 0;
}

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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_ADC
tristate "ADC example"
default n
depends on ADC && LIB_BOARDCTL
---help---
Enable the ADC example
if EXAMPLES_ADC
config EXAMPLES_ADC_DEVPATH
string "ADC device path"
default "/dev/adc0"
---help---
The default path to the ADC device. Default: /dev/adc0
config EXAMPLES_ADC_NSAMPLES
int "Number of Sample Groups"
default 0
---help---
This number of samples is collected and the program terminates.
Default: 0 (samples are collected indefinitely).
config EXAMPLES_ADC_GROUPSIZE
int "Number of Samples per Group"
default 4
---help---
The number of samples to read at once. Default: 4
config EXAMPLES_ADC_SWTRIG
bool "Use software trigger"
default n
---help---
Some ADCs may be configured so there is no automatic or periodic
conversion of samples. Rather, the ADC sampling must be trigger by
software via an ioctl command. Select this option only if
applicable for your ADC configuration. In this case, the test will
issue the software trigger ioctl before attempting to read from the
ADC.
endif

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############################################################################
# apps/examples/adc/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2015 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
ifneq ($(CONFIG_EXAMPLES_ADC),)
CONFIGURED_APPS += $(APPDIR)/examples/adc
endif

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############################################################################
# apps/examples/adc/Makefile
#
# Copyright (C) 2011-2012 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
# ADC example
MAINSRC = adc_main.c
# application info
PROGNAME = adc
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = $(CONFIG_DEFAULT_TASK_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_ADC)
include $(APPDIR)/Application.mk

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/****************************************************************************
* examples/examples/adc/adc.h
*
* Copyright (C) 2011 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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.
*
****************************************************************************/
#ifndef __APPS_EXAMPLES_ADC_ADC_H
#define __APPS_EXAMPLES_ADC_ADC_H
/****************************************************************************
* Included Files
****************************************************************************/
#include <nuttx/config.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
/* CONFIG_NSH_BUILTIN_APPS - Build the ADC test as an NSH built-in function.
* Default: Built as a standalone program
* CONFIG_EXAMPLES_ADC_DEVPATH - The default path to the ADC device. Default: /dev/adc0
* CONFIG_EXAMPLES_ADC_NSAMPLES - This number of samples is
* collected and the program terminates. Default: Samples are collected
* indefinitely.
* CONFIG_EXAMPLES_ADC_GROUPSIZE - The number of samples to read at once.
* Default: 4
*/
#ifndef CONFIG_ADC
# error "ADC device support is not enabled (CONFIG_ADC)"
#endif
#ifndef CONFIG_EXAMPLES_ADC_DEVPATH
# define CONFIG_EXAMPLES_ADC_DEVPATH "/dev/adc0"
#endif
#ifndef CONFIG_EXAMPLES_ADC_GROUPSIZE
# define CONFIG_EXAMPLES_ADC_GROUPSIZE 4
#endif
/****************************************************************************
* Public Types
****************************************************************************/
struct adc_state_s
{
bool initialized;
FAR char *devpath;
int count;
};
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Public Function Prototypes
****************************************************************************/
#endif /* __APPS_EXAMPLES_ADC_ADC_H */

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/****************************************************************************
* examples/adc/adc_main.c
*
* Copyright (C) 2011-2012, 2015, 2017 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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/types.h>
#include <sys/ioctl.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <debug.h>
#include <nuttx/analog/adc.h>
#include <nuttx/analog/ioctl.h>
#include "adc.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/****************************************************************************
* Private Types
****************************************************************************/
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
/****************************************************************************
* Private Data
****************************************************************************/
static struct adc_state_s g_adcstate;
/****************************************************************************
* Public Data
****************************************************************************/
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: adc_devpath
****************************************************************************/
static void adc_devpath(FAR struct adc_state_s *adc, FAR const char *devpath)
{
/* Get rid of any old device path */
if (adc->devpath)
{
free(adc->devpath);
}
/* Then set-up the new device path by copying the string */
adc->devpath = strdup(devpath);
}
/****************************************************************************
* Name: adc_help
****************************************************************************/
static void adc_help(FAR struct adc_state_s *adc)
{
printf("Usage: adc [OPTIONS]\n");
printf("\nArguments are \"sticky\". "
"For example, once the ADC device is\n");
printf("specified, that device will be re-used until it is changed.\n");
printf("\n\"sticky\" OPTIONS include:\n");
printf(" [-p devpath] selects the ADC device. "
"Default: %s Current: %s\n",
CONFIG_EXAMPLES_ADC_DEVPATH,
g_adcstate.devpath ? g_adcstate.devpath : "NONE");
printf(" [-n count] selects the samples to collect. "
"Default: 1 Current: %d\n", adc->count);
printf(" [-h] shows this message and exits\n");
}
/****************************************************************************
* Name: arg_string
****************************************************************************/
static int arg_string(FAR char **arg, FAR char **value)
{
FAR char *ptr = *arg;
if (ptr[2] == '\0')
{
*value = arg[1];
return 2;
}
else
{
*value = &ptr[2];
return 1;
}
}
/****************************************************************************
* Name: arg_decimal
****************************************************************************/
static int arg_decimal(FAR char **arg, FAR long *value)
{
FAR char *string;
int ret;
ret = arg_string(arg, &string);
*value = strtol(string, NULL, 10);
return ret;
}
/****************************************************************************
* Name: parse_args
****************************************************************************/
static void parse_args(FAR struct adc_state_s *adc, int argc,
FAR char **argv)
{
FAR char *ptr;
FAR char *str;
long value;
int index;
int nargs;
for (index = 1; index < argc; )
{
ptr = argv[index];
if (ptr[0] != '-')
{
printf("Invalid options format: %s\n", ptr);
exit(0);
}
switch (ptr[1])
{
case 'n':
nargs = arg_decimal(&argv[index], &value);
if (value < 0)
{
printf("Count must be non-negative: %ld\n", value);
exit(1);
}
adc->count = (uint32_t)value;
index += nargs;
break;
case 'p':
nargs = arg_string(&argv[index], &str);
adc_devpath(adc, str);
index += nargs;
break;
case 'h':
adc_help(adc);
exit(0);
default:
printf("Unsupported option: %s\n", ptr);
adc_help(adc);
exit(1);
}
}
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: adc_main
****************************************************************************/
int main(int argc, FAR char *argv[])
{
struct adc_msg_s sample[CONFIG_EXAMPLES_ADC_GROUPSIZE];
size_t readsize;
ssize_t nbytes;
int fd;
int errval = 0;
int ret;
int i;
UNUSED(ret);
/* Check if we have initialized */
if (!g_adcstate.initialized)
{
/* Initialization of the ADC hardware must be performed by
* board-specific logic prior to running this test.
*/
/* Set the default values */
adc_devpath(&g_adcstate, CONFIG_EXAMPLES_ADC_DEVPATH);
g_adcstate.initialized = true;
}
g_adcstate.count = CONFIG_EXAMPLES_ADC_NSAMPLES;
/* Parse the command line */
parse_args(&g_adcstate, argc, argv);
/* If this example is configured as an NX add-on, then limit the number of
* samples that we collect before returning. Otherwise, we never return
*/
printf("adc_main: g_adcstate.count: %d\n", g_adcstate.count);
/* Open the ADC device for reading */
printf("adc_main: Hardware initialized. Opening the ADC device: %s\n",
g_adcstate.devpath);
fd = open(g_adcstate.devpath, O_RDONLY);
if (fd < 0)
{
printf("adc_main: open %s failed: %d\n", g_adcstate.devpath, errno);
errval = 2;
goto errout;
}
/* Now loop the appropriate number of times, displaying the collected
* ADC samples.
*/
for (; ; )
{
/* Flush any output before the loop entered or from the previous pass
* through the loop.
*/
fflush(stdout);
#ifdef CONFIG_EXAMPLES_ADC_SWTRIG
/* Issue the software trigger to start ADC conversion */
ret = ioctl(fd, ANIOC_TRIGGER, 0);
if (ret < 0)
{
int errcode = errno;
printf("adc_main: ANIOC_TRIGGER ioctl failed: %d\n", errcode);
}
#endif
/* Read up to CONFIG_EXAMPLES_ADC_GROUPSIZE samples */
readsize = CONFIG_EXAMPLES_ADC_GROUPSIZE * sizeof(struct adc_msg_s);
nbytes = read(fd, sample, readsize);
/* Handle unexpected return values */
if (nbytes < 0)
{
errval = errno;
if (errval != EINTR)
{
printf("adc_main: read %s failed: %d\n",
g_adcstate.devpath, errval);
errval = 3;
goto errout_with_dev;
}
printf("adc_main: Interrupted read...\n");
}
else if (nbytes == 0)
{
printf("adc_main: No data read, Ignoring\n");
}
/* Print the sample data on successful return */
else
{
int nsamples = nbytes / sizeof(struct adc_msg_s);
if (nsamples * sizeof(struct adc_msg_s) != nbytes)
{
printf("adc_main: read size=%ld is not a multiple of "
"sample size=%d, Ignoring\n",
(long)nbytes, sizeof(struct adc_msg_s));
}
else
{
printf("Sample:\n");
for (i = 0; i < nsamples; i++)
{
printf("%d: channel: %d value: %" PRId32 "\n",
i + 1, sample[i].am_channel, sample[i].am_data);
}
}
}
if (g_adcstate.count && --g_adcstate.count <= 0)
{
break;
}
}
close(fd);
return OK;
/* Error exits */
errout_with_dev:
close(fd);
errout:
printf("Terminating!\n");
fflush(stdout);
return errval;
}

29
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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_ADXL372_TEST
tristate "ADXL372 test program"
default n
---help---
Enable the ADXL372 sensor SPI test program.
if EXAMPLES_ADXL372_TEST
config EXAMPLES_ADXL372_TEST_PROGNAME
string "Program name"
default "adxl372_test"
---help---
This is the name of the program that will be used when the NSH ELF
program is installed.
config EXAMPLES_ADXL372_TEST_PRIORITY
int "adxl372_test task priority"
default 100
config EXAMPLES_ADXL372_TEST_STACKSIZE
int "adxl372_test stack size"
default DEFAULT_TASK_STACKSIZE
endif

39
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############################################################################
# apps/examples/adxl372_test/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2018 RAF Research. All rights reserved.
# Author: Bob Feretich <bob.feretich@rafresearch/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.
#
############################################################################
ifneq ($(CONFIG_EXAMPLES_ADXL372_TEST),)
CONFIGURED_APPS += $(APPDIR)/examples/adxl372_test
endif

47
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############################################################################
# apps/examples/adxl372_test/Makefile
#
# Copyright (C) 2018 RAF Research. All rights reserved.
# Author: Bob Feretich <bob.feretich@rafresearch/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.
#
############################################################################
include $(APPDIR)/Make.defs
PROGNAME = $(CONFIG_EXAMPLES_ADXL372_TEST_PROGNAME)
PRIORITY = $(CONFIG_EXAMPLES_ADXL372_TEST_PRIORITY)
STACKSIZE = $(CONFIG_EXAMPLES_ADXL372_TEST_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_ADXL372_TEST)
# ADXL372 sensor test Example
MAINSRC = adxl372_test_main.c
include $(APPDIR)/Application.mk

560
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/****************************************************************************
* examples/adxl372_test/adxl372_test_main.c
*
* Copyright (C) 2018 RAF Research. All rights reserved.
* Author: Bob Feretich <bob.feretich@rafresearch/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 <stdint.h>
#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <nuttx/fs/fs.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <errno.h>
#include <nuttx/spi/spi.h>
#include <arch/board/board.h>
#include <nuttx/fs/fs.h>
#include <nuttx/sensors/adxl372.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define ARRAYSIZE(x) (sizeof((x)) / sizeof((x)[0]))
#define PASSED 0
#define SUB_PROMPT "stst >"
#define CRED "\x1b[31m"
#define CGREEN "\x1b[32m"
#define CYELLOW "\x1b[33m"
#define CBLUE "\x1b[34m"
#define CMAGENTA "\x1b[35m"
#define CCYAN "\x1b[36m"
#define CRESET "\x1b[0m"
/* Return codes */
#define RC_OPENFAIL (-1)
#define RC_OPENRONLY (-2)
#define RC_SEEKFAIL (-3)
#define RC_READFAIL (-4)
#define RC_IDFAIL (-5)
#define RC_SEEK2FAIL (-6)
#define RC_WRITEFAIL (-7)
#define RC_READ2FAIL (-8)
#define RC_WRMFAIL (-9)
#define RC_SEEK3FAIL (-10)
#define RC_READ3FAIL (-11)
#define RC_INVALPATH (-41)
#define RC_INVALPARM (-42)
/****************************************************************************
* Private types
****************************************************************************/
typedef CODE int (*test_ptr_t)(int, FAR char *);
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: subtest_prompt()
*
* Description:
* 1. Display the prompt.
* 2. Receive a character from the console port.
* 3. Filter the input character. Invalid characters convert to either
* '!' (error) of '*' (invalid character).
* 4. Echo the character.
*
****************************************************************************/
static char subtest_prompt(FAR char *prompt)
{
char c;
printf("%s", prompt);
fflush(stdout);
c = getchar();
if (c < 1)
{
c = '!';
}
else if ((c < 0x20 || c > 0x7e) && c != '\r')
{
c = '*';
}
if (c != '\r')
{
putchar(c);
}
printf("\n");
return c;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* Name: adxl372_test
*
* Description:
* This function is public so that it can be called by board diagnostic
* programs that contain the ADXL372.
*
****************************************************************************/
static int adxl372_test(int is_interactive, FAR char *path)
{
int fd;
int ret;
int errcode;
int i;
char ch1 = 0;
struct XYZ
{
int16_t d[3];
};
unsigned char tstchars[] =
{
0x5e, 0xc5, 0x00
};
char bfr[32] __attribute__((aligned(2))); /* REVISIT: GCC dependent attribute */
FAR struct XYZ *pxyz = (FAR struct XYZ *) bfr;
int rc = PASSED;
int rc_step = PASSED;
printf("\nADXL372 accelerometer diagnostic started...\n");
fd = open (path, O_RDWR);
if (fd < 0 || (errno != EROFS && errno != 0))
{
errcode = errno;
printf(CRED "ERROR: Failed to open %s: %d" CRESET "\n", path, errcode);
return RC_OPENFAIL;
}
else if (errno == EROFS)
{
printf(CRED "ERROR: Accelerometer mounted as Read Only." CRESET "\n",
path, errno);
rc = RC_OPENRONLY;
}
printf("open errno=%d\n", errno);
do
{
/* read id register */
printf("Reading ADXL372 ID_REG...\n");
ret = lseek(fd, ADXL372_DEVID_AD, SEEK_SET);
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d"
CRESET "\n", ADXL372_DEVID_AD, path, errcode);
rc = RC_SEEKFAIL;
goto error_exit;
}
memset(bfr, 0xaa, sizeof(bfr));
ret = read(fd, bfr, 4); /* read the sensor id regs */
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Failed to read sensor ID from %s: %d"
CRESET "\n", path, errcode);
rc = RC_READFAIL;
goto error_exit;
}
if (bfr[0] != ADXL372_DEVID_AD_VALUE &&
bfr[1] != ADXL372_DEVID_MST_VALUE &&
bfr[2] != ADXL372_PARTID_VALUE)
{
printf(CRED "ERROR: Sensor ID is 0x%02X%02X%02X%02X, "
"expected 0x%02X%02X%02Xxx." CRESET "\n",
bfr[0], bfr[1], bfr[2], bfr[3],
ADXL372_DEVID_AD_VALUE, ADXL372_DEVID_MST_VALUE,
ADXL372_PARTID_VALUE);
if (rc == 0)
{
rc = RC_IDFAIL;
}
if (!is_interactive)
{
goto error_exit;
}
}
else
{
printf("Sensor ID 0x%02X%02X%02X%02X is correct!\n",
bfr[0], bfr[1], bfr[2], bfr[3]);
}
if (is_interactive)
{
ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n"
SUB_PROMPT);
}
if (ch1 == 'x')
{
goto quick_exit;
}
}
while (ch1 == 'l');
do
{
/* Write and read a scratch register */
printf("Writing and reading a scratch register...\n");
ret = lseek(fd, ADXL372_SCRATCH, SEEK_SET);
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d"
CRESET "\n", ADXL372_SCRATCH, path, errcode);
rc = RC_SEEK2FAIL;
goto error_exit;
}
rc_step = PASSED;
for (i = 0; i < sizeof(tstchars); i++)
{
memset(bfr, 0xaa, sizeof(bfr));
bfr[0] = (char)tstchars[i];
ret = write(fd, bfr, 1); /* write the scratch register */
if (ret < 0 && rc != RC_OPENRONLY)
{
errcode = errno;
printf(CRED "ERROR: Write operation failed to %s: %d"
CRESET "\n", path, errcode);
rc = RC_WRITEFAIL;
goto error_exit;
}
memset(bfr, 0xaa, sizeof(bfr));
ret = read(fd, bfr, 1); /* read the scratch register */
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Read operation failed from %s: %d"
CRESET "\n", path, errcode);
rc = RC_READ2FAIL;
goto error_exit;
}
if (bfr[0] != (char)tstchars[i])
{
printf(CRED "ERROR: Wrote 0x%02X, read back 0x%02X."
CRESET "\n", tstchars[i], bfr[0]);
rc_step = RC_WRMFAIL;
if (rc == 0)
{
rc = RC_WRMFAIL;
}
if (!is_interactive)
{
goto error_exit;
}
}
}
if (rc_step == PASSED)
{
printf("Read/write test passed!\n");
}
if (is_interactive)
{
ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n"
SUB_PROMPT);
}
if (ch1 == 'x')
{
goto quick_exit;
}
}
while (ch1 == 'l');
do
{
/* Read live data */
printf("Reading Live Data...\n");
ret = lseek(fd, 0, SEEK_END);
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Failed to seek to reg 0x%02X in %s: %d"
CRESET "\n", ADXL372_XDATA_H, path, errcode);
rc = RC_SEEK3FAIL;
goto error_exit;
}
memset(bfr, 0xaa, sizeof(bfr));
ret = read(fd, bfr, 6); /* read live accelerometer data */
if (ret < 0)
{
errcode = errno;
printf(CRED "ERROR: Read operation failed from %s: %d" CRESET "\n",
path, errcode);
rc = RC_READ3FAIL;
goto error_exit;
}
printf("ADXL372 = ( %6d, %6d, %6d))\n",
pxyz->d[0], pxyz->d[1], pxyz->d[2]);
printf("ADXL372 = ( 0x%04X, 0x%04X, 0x%04X)\n",
pxyz->d[0], pxyz->d[1], pxyz->d[2]);
printf("ADXL372 raw = ( 0x%02X%02X, 0x%02X%02X, 0x%02X%02X)\n",
bfr[1], bfr[0], bfr[3], bfr[2], bfr[5], bfr[4]);
if (is_interactive)
{
ch1 = subtest_prompt("Press 'l' to repeat or enter to continue.\n"
SUB_PROMPT);
}
if (ch1 == 'x')
{
goto quick_exit;
}
}
while (ch1 == 'l');
error_exit:
quick_exit:
close(fd);
if (rc == PASSED)
{
printf(CGREEN
"ADXL372 accelerometer diagnostic completed successfully."
CRESET "\n");
}
return rc;
}
/****************************************************************************
* Name: adxl372_test_main
*
* Description:
* This program defaults to testing in interactive mode.
* To run in batch mode use a first parameter of b. E.g. adxl372_test -b
*
****************************************************************************/
int main(int argc, FAR char *argv[])
{
int rc = 0;
int step_rc = 0;
uint8_t ch;
int is_interactive = 1; /* Program defaults to interactive */
int flag_present = 0; /* Default to no flag coded */
uint32_t ui;
struct stat sbuf;
/* The two arrays below must be synchronized */
test_ptr_t test_ptr_array[] = /* Array of test programs */
{
adxl372_test, /* ADXL372 accelerometer tests */
};
FAR char *test_path[ARRAYSIZE(test_ptr_array)];
if (argc < 1 || *argv[1] == 0 || *(argv[1] + 1) == 0)
{
goto print_help;
}
/* We have at least 1 parameter which has at least two characters. */
if (*argv[1] == '-')
{
flag_present = 1;
if (*(argv[1] + 1) == 'b')
{
is_interactive = 0;
}
else if (*(argv[1] + 1) == 'i')
{
is_interactive = 1;
}
else
{
goto print_help;
}
}
if (flag_present && argc < 2)
{
goto print_help;
}
test_path[0] = argv[1 + flag_present];
printf("path=%s\n", test_path[0]);
if (stat(test_path[0], &sbuf))
{
printf(CRED "Error: Accelerometer path not found. Path=%s" CRESET "\n",
test_path[0]);
rc = RC_INVALPATH;
}
if (rc)
{
return rc;
}
if (is_interactive)
{
printf("LSM330 diagnostic started in interactive mode... \n");
ch = 0;
while (ch != 'x')
{
printf("Enter test section...\n");
printf(" 1 = SPI ADXL Tests.\n");
printf(" i = Toggle interactive mode.\n");
printf(" x = Exit. (at anytime).\n");
printf("stst> ");
fflush(stdout);
ch = getchar();
if (ch < 1)
{
ch = '!';
}
else if ((ch < 0x20 || ch > 0x7e) && ch != '\r')
{
ch = '*';
}
if (ch != '\r')
{
putchar(ch);
}
printf("\n");
if (ch == 'x')
{
return 0;
}
ui = ch - 0x31; /* make index zero origin */
if (ch == 'i')
{
if (is_interactive == 0)
{
is_interactive = 1;
printf("Set to interactive mode.\n");
}
else
{
is_interactive = 0;
printf("Set to batch mode.\n");
}
}
else if (ui >= ARRAYSIZE(test_ptr_array))
{
printf("Huh?\n");
}
else
{
if (test_ptr_array[ui] == 0)
{
printf ("Test not supported yet.\n");
}
else
{
test_ptr_array[ui](is_interactive, test_path[ui]);
}
}
}
}
else /* not interactive mode */
{
printf("ADXL372 sensor diagnostic started in batch mode...\n");
for (ui = 0; ui < ARRAYSIZE(test_ptr_array); ui++)
{
step_rc = 0;
if (test_ptr_array[ui] != 0)
{
/* call the next test routine */
step_rc = test_ptr_array[ui](is_interactive, test_path[ui]);
}
if (step_rc != 0 && rc == 0)
{
rc = step_rc;
}
sleep(1);
}
}
printf("ADXL372 sensor diagnostic completed.\n");
return rc;
print_help:
printf("Usage...\n");
printf("adxl372_test [-b | -i] <dev_path>\n");
printf(" -b = batch mode execution\n");
printf(" -i = interactive mode execution (default)\n");
printf(" <dev_path> = Device path for the ADXL372 accelerometer\n");
printf(" Example:\n");
printf(" adxl372_test -b /dev/adxl372_0\n");
return RC_INVALPARM;
}

23
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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_AJOYSTICK
tristate "Analog joystick example"
default n
depends on INPUT_AJOYSTICK
---help---
Enable the analog joystick example
if EXAMPLES_AJOYSTICK
config EXAMPLES_AJOYSTICK_DEVNAME
string "Joystick device name"
default "/dev/ajoy0"
config EXAMPLES_AJOYSTICK_SIGNO
int "Joystick signal"
default 13
endif

39
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############################################################################
# apps/examples/ajoystick/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2015 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
ifneq ($(CONFIG_EXAMPLES_AJOYSTICK),)
CONFIGURED_APPS += $(APPDIR)/examples/ajoystick
endif

49
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############################################################################
# apps/examples/ajoystick/Makefile
#
# Copyright (C) 2014 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
# Hello, World! Example
MAINSRC = ajoy_main.c
# Buttons built-in application info
PROGNAME = ajoy
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = $(CONFIG_DEFAULT_TASK_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_AJOYSTICK)
include $(APPDIR)/Application.mk

458
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/****************************************************************************
* examplex/ajoystick/ajoy_main.c
*
* Copyright (C) 2014-2015 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 <fixedmath.h>
#include <debug.h>
#include <nuttx/input/ajoystick.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Configuration ************************************************************/
#ifndef CONFIG_AJOYSTICK
# error "CONFIG_AJOYSTICK is not defined in the configuration"
#endif
#ifndef CONFIG_EXAMPLES_AJOYSTICK_DEVNAME
# define CONFIG_EXAMPLES_AJOYSTICK_DEVNAME "/dev/ajoy0"
#endif
#ifndef CONFIG_EXAMPLES_AJOYSTICK_SIGNO
# define CONFIG_EXAMPLES_AJOYSTICK_SIGNO 13
#endif
#define FULL_RANGE 16
/* Helpers ******************************************************************/
#ifndef MIN
# define MIN(a,b) (a < b ? a : b)
#endif
#ifndef MAX
# define MAX(a,b) (a > b ? a : b)
#endif
/****************************************************************************
* Private Function Prototypes
****************************************************************************/
static void show_buttons(ajoy_buttonset_t oldset, ajoy_buttonset_t newset);
static void show_joystick(FAR const struct ajoy_sample_s *sample);
static int ajoy_wait(int fd, FAR const struct timespec *timeout);
static int ajoy_read(int fd, FAR struct ajoy_sample_s *sample);
static int ajoy_calibrate(int fd);
/****************************************************************************
* Private Data
****************************************************************************/
/* The set of supported joystick buttons */
static ajoy_buttonset_t g_ajoysupported;
/* Last sampled button set */
static ajoy_buttonset_t g_ajoylast;
/* Calibration data */
static bool g_calibrated;
static bool g_lispositive;
static bool g_fispositive;
static int16_t g_xcenter;
static int16_t g_ycenter;
static b16_t g_xlslope;
static b16_t g_xrslope;
static b16_t g_yfslope;
static b16_t g_ybslope;
/* Joystick button names */
static const char *g_ajoynames[AJOY_NBUTTONS] =
{
"SELECT", "FIRE", "JUMP", "BUTTON 4",
"BUTTON 5", "BUTTON 6", "BUTTON 7", "BUTTON 8",
};
/****************************************************************************
* Private Functions
****************************************************************************/
static void show_buttons(ajoy_buttonset_t oldset, ajoy_buttonset_t newset)
{
ajoy_buttonset_t chgset = oldset ^ newset;
int i;
if (chgset != 0)
{
/* Show each button state change */
for (i = 0; i <= AJOY_NBUTTONS; i++)
{
ajoy_buttonset_t mask = (1 << i);
if ((chgset & mask) != 0)
{
FAR const char *state;
/* Get the button state */
if ((newset & mask) != 0)
{
state = "selected";
}
else
{
state = "released";
}
printf(" %-6s: %s\n", g_ajoynames[i], state);
}
}
}
}
/****************************************************************************
* Private Functions
****************************************************************************/
static void show_joystick(FAR const struct ajoy_sample_s *sample)
{
printf(" RAW: X=%d Y=%d\n", sample->as_x, sample->as_y);
if (g_calibrated)
{
int tmp;
int x;
int y;
tmp = sample->as_x - g_xcenter;
if ((g_lispositive && tmp >= 0) ||
(!g_lispositive && tmp < 0))
{
x = tmp * g_xlslope;
}
else
{
x = tmp * g_xrslope;
}
tmp = sample->as_y - g_ycenter;
if ((g_fispositive && tmp >= 0) ||
(!g_fispositive && tmp < 0))
{
y = tmp * g_yfslope;
}
else
{
y = tmp * g_ybslope;
}
printf(" Calibrated: X=%d Y=%d\n", x, y);
}
}
static int ajoy_wait(int fd, FAR const struct timespec *timeout)
{
sigset_t set;
struct siginfo value;
ajoy_buttonset_t newset;
int ret;
/* Wait for a signal */
sigemptyset(&set);
sigaddset(&set, CONFIG_EXAMPLES_AJOYSTICK_SIGNO);
ret = sigtimedwait(&set, &value, timeout);
if (ret < 0)
{
int errcode = errno;
if (!timeout || errcode != EAGAIN)
{
fprintf(stderr, "ERROR: sigtimedwait() failed: %d\n", errcode);
return -errcode;
}
/* Timeout is not an error */
printf("Timeout!\n");
return OK;
}
/* Show the set of joystick buttons accompanying the signal */
printf("Signalled button set\n");
newset = (ajoy_buttonset_t)value.si_value.sival_int;
show_buttons(g_ajoylast, newset);
g_ajoylast = newset;
return OK;
}
static int ajoy_read(int fd, FAR struct ajoy_sample_s *sample)
{
ssize_t nread;
/* Read the joystack sample */
nread = read(fd, sample, sizeof(struct ajoy_sample_s));
if (nread < 0)
{
int errcode = errno;
fprintf(stderr, "ERROR: read() failed: %d\n", errcode);
return -errcode;
}
else if (nread != sizeof(struct ajoy_sample_s))
{
fprintf(stderr, "ERROR: read() unexpected size: %ld vs %d\n",
(long)nread, sizeof(struct ajoy_sample_s));
return -EIO;
}
/* Show the joystick position and set buttons accompanying the signal */
/* Show the set of joystick buttons that we just read */
printf("Read position and button set\n");
show_joystick(sample);
show_buttons(g_ajoylast, sample->as_buttons);
g_ajoylast = sample->as_buttons;
return OK;
}
static int ajoy_waitread(int fd, FAR const struct timespec *timeout,
FAR struct ajoy_sample_s *sample)
{
int ret;
/* Wait for a signal */
ret = ajoy_wait(fd, timeout);
if (ret < 0)
{
fprintf(stderr, "ERROR: ajoy_wait() failed: %d\n", ret);
return ret;
}
/* Read the joystick sample */
ret = ajoy_read(fd, sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: ajoy_read() failed: %d\n", ret);
return ret;
}
return OK;
}
static b16_t ajoy_slope(int16_t value, int32_t full_range)
{
return itob16(full_range) / (int32_t)value;
}
static int ajoy_calibrate(int fd)
{
struct ajoy_sample_s sample;
int ret;
printf("Calibrating the joystick...\n");
/* Get the center position */
printf("Center the joystick and press any button\n");
ret = ajoy_waitread(fd, NULL, &sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
return ret;
}
g_xcenter = sample.as_x;
g_ycenter = sample.as_y;
/* Get the left/right calibration data */
printf("Move the joystick to the far RIGHT and press any button\n");
ret = ajoy_waitread(fd, NULL, &sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
return ret;
}
g_lispositive = (sample.as_x > g_xcenter);
g_xlslope = ajoy_slope(sample.as_x - g_xcenter, FULL_RANGE);
printf("Move the joystick to the far LEFT and press any button\n");
ret = ajoy_waitread(fd, NULL, &sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
return ret;
}
g_xrslope = ajoy_slope(sample.as_x - g_xcenter, -FULL_RANGE);
/* Get the forward/backward calibration data */
printf("Move the joystick to the far FORWARD and press any button\n");
ret = ajoy_waitread(fd, NULL, &sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
return ret;
}
g_fispositive = (sample.as_y > g_ycenter);
g_yfslope = ajoy_slope(sample.as_y - g_ycenter, FULL_RANGE);
printf("Move the joystick to the far BACKWARD and press any button\n");
ret = ajoy_waitread(fd, NULL, &sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
return ret;
}
g_ybslope = ajoy_slope(sample.as_y - g_ycenter, -FULL_RANGE);
printf("Calibrated:\n");
g_calibrated = true;
printf(" X: center=%d, R-slope=%08lx L-slope=%08lx\n",
g_xcenter, g_xrslope, g_xlslope);
printf(" Y: center=%d, F-slope=%08lx B-slope=%08lx\n",
g_ycenter, g_yfslope, g_ybslope);
return OK;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* ajoy_main
****************************************************************************/
int main(int argc, char *argv[])
{
struct timespec timeout;
struct ajoy_notify_s notify;
int fd;
int tmp;
int ret;
int errcode = EXIT_FAILURE;
/* Reset some globals that might been been left in a bad state */
g_ajoylast = 0;
/* Open the ajoystick device */
fd = open(CONFIG_EXAMPLES_AJOYSTICK_DEVNAME, O_RDONLY);
if (fd < 0)
{
fprintf(stderr, "ERROR: Failed to open %s: %d\n",
CONFIG_EXAMPLES_AJOYSTICK_DEVNAME, errno);
return EXIT_FAILURE;
}
/* Get the set of supported buttons */
ret = ioctl(fd, AJOYIOC_SUPPORTED, (unsigned long)((uintptr_t)&tmp));
if (ret < 0)
{
fprintf(stderr, "ERROR: ioctl(AJOYIOC_SUPPORTED) failed: %d\n", errno);
goto errout_with_fd;
}
g_ajoysupported = (ajoy_buttonset_t)tmp;
printf("Supported joystick buttons:\n");
show_buttons(0, g_ajoysupported);
/* Register to receive a signal on any change in the joystick buttons. */
notify.an_press = g_ajoysupported;
notify.an_release = g_ajoysupported;
notify.an_event.sigev_notify = SIGEV_SIGNAL;
notify.an_event.sigev_signo = CONFIG_EXAMPLES_AJOYSTICK_SIGNO;
ret = ioctl(fd, AJOYIOC_REGISTER, (unsigned long)((uintptr_t)&notify));
if (ret < 0)
{
fprintf(stderr, "ERROR: ioctl(AJOYIOC_REGISTER) failed: %d\n", errno);
goto errout_with_fd;
}
/* Calibrate the joystick */
ajoy_calibrate(fd);
/* Then loop, receiving signals indicating joystick events. */
timeout.tv_sec = 0;
timeout.tv_nsec = 600*1000*1000;
for (;;)
{
struct ajoy_sample_s sample;
/* Wait for a signal and read the sample */
ret = ajoy_waitread(fd, &timeout, &sample);
if (ret < 0)
{
fprintf(stderr, "ERROR: ajoy_waitread() failed: %d\n", errno);
goto errout_with_fd;
}
}
errcode = EXIT_SUCCESS;
errout_with_fd:
close(fd);
return errcode;
}

38
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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_ALARM
tristate "RTC alarm driver example"
default n
depends on RTC_DRIVER && RTC_ALARM
---help---
Enable the RTC driver alarm test
if EXAMPLES_ALARM
config EXAMPLES_ALARM_PROGNAME
string "Program name"
default "alarm"
---help---
This is the name of the program that will be used when the NSH ELF
program is installed.
config EXAMPLES_ALARM_PRIORITY
int "Alarm task priority"
default 100
config EXAMPLES_ALARM_STACKSIZE
int "Alarm stack size"
default DEFAULT_TASK_STACKSIZE
config EXAMPLES_ALARM_DEVPATH
string "RTC device path"
default "/dev/rtc0"
config EXAMPLES_ALARM_SIGNO
int "Alarm signal"
default 1
endif # EXAMPLES_ALARM

39
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############################################################################
# apps/examples/alarm/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2016 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
ifneq ($(CONFIG_EXAMPLES_ALARM),)
CONFIGURED_APPS += $(APPDIR)/examples/alarm
endif

49
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############################################################################
# apps/examples/alarm/Makefile
#
# Copyright (C) 2016 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
# RTC driver alarm test built-in application info
PROGNAME = $(CONFIG_EXAMPLES_ALARM_PROGNAME)
PRIORITY = $(CONFIG_EXAMPLES_ALARM_PRIORITY)
STACKSIZE = $(CONFIG_EXAMPLES_ALARM_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_ALARM)
# RTC driver alarm test
MAINSRC = alarm_main.c
include $(APPDIR)/Application.mk

421
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/****************************************************************************
* examples/alarm/alarm_main.c
*
* Copyright (C) 2016 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 <stdbool.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <fcntl.h>
#include <sched.h>
#include <errno.h>
#include <nuttx/timers/rtc.h>
/****************************************************************************
* Private Data
****************************************************************************/
static bool g_alarm_daemon_started;
static pid_t g_alarm_daemon_pid;
static bool g_alarm_received[CONFIG_RTC_NALARMS];
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: alarm_handler
****************************************************************************/
static void alarm_handler(int signo, FAR siginfo_t *info, FAR void *ucontext)
{
int almndx = info->si_value.sival_int;
if (almndx >= 0 && almndx < CONFIG_RTC_NALARMS)
{
g_alarm_received[almndx] = true;
}
}
/****************************************************************************
* Name: alarm_daemon
****************************************************************************/
static int alarm_daemon(int argc, FAR char *argv[])
{
struct sigaction act;
sigset_t set;
int ret;
int i;
/* Indicate that we are running */
g_alarm_daemon_started = true;
printf("alarm_daemon: Running\n");
/* Make sure that the alarm signal is unmasked */
sigemptyset(&set);
sigaddset(&set, CONFIG_EXAMPLES_ALARM_SIGNO);
ret = sigprocmask(SIG_UNBLOCK, &set, NULL);
if (ret != OK)
{
int errcode = errno;
fprintf(stderr, "ERROR: sigprocmask failed: %d\n",
errcode);
goto errout;
}
/* Register alarm signal handler */
act.sa_sigaction = alarm_handler;
act.sa_flags = SA_SIGINFO;
sigfillset(&act.sa_mask);
sigdelset(&act.sa_mask, CONFIG_EXAMPLES_ALARM_SIGNO);
ret = sigaction(CONFIG_EXAMPLES_ALARM_SIGNO, &act, NULL);
if (ret < 0)
{
int errcode = errno;
fprintf(stderr, "ERROR: sigaction failed: %d\n",
errcode);
goto errout;
}
/* Now loop forever, waiting for alarm signals */
for (; ; )
{
/* Check if any alarms fired.
*
* NOTE that there are race conditions here... if we missing an alarm,
* we will just report it a half second late.
*/
for (i = 0; i < CONFIG_RTC_NALARMS; i++)
{
if (g_alarm_received[i])
{
printf("alarm_demon: alarm %d received\n", i) ;
g_alarm_received[i] = false;
}
}
/* Now wait a little while and poll again. If a signal is received
* this should cause us to awken earlier.
*/
usleep(500*1000L);
}
errout:
g_alarm_daemon_started = false;
printf("alarm_daemon: Terminating\n");
return EXIT_FAILURE;
}
/****************************************************************************
* Name: start_daemon
****************************************************************************/
static int start_daemon(void)
{
if (!g_alarm_daemon_started)
{
g_alarm_daemon_pid =
task_create("alarm_daemon", CONFIG_EXAMPLES_ALARM_PRIORITY,
CONFIG_EXAMPLES_ALARM_STACKSIZE, alarm_daemon,
NULL);
if (g_alarm_daemon_pid < 0)
{
int errcode = errno;
fprintf(stderr, "ERROR: Failed to start alarm_daemon: %d\n",
errcode);
return -errcode;
}
printf("alarm_daemon started\n");
usleep(500*1000L);
}
return OK;
}
/****************************************************************************
* Name: show_usage
****************************************************************************/
static void show_usage(FAR const char *progname)
{
fprintf(stderr, "USAGE:\n");
fprintf(stderr, "\t%s [-a <alarmid>] [-cr] [<seconds>]\n", progname);
fprintf(stderr, "Where:\n");
fprintf(stderr, "\t-a <alarmid>\n");
fprintf(stderr, "\t\t<alarmid> selects the alarm: 0..%d (default: 0)\n",
CONFIG_RTC_NALARMS - 1);
fprintf(stderr, "\t-c\tCancel previously set alarm\n");
fprintf(stderr, "\t-r\tRead previously set alarm\n");
fprintf(stderr, "\t<seconds>\n");
fprintf(stderr, "\t\tThe number of seconds until the alarm expires.\n");
fprintf(stderr, "\t\t(only if no -c or -r option given.)\n");
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* alarm_main
****************************************************************************/
int main(int argc, FAR char *argv[])
{
unsigned long seconds = 0;
bool badarg = false;
bool readmode = false;
bool cancelmode = false;
bool setmode;
int opt;
int alarmid = 0;
int fd;
int ret;
/* Make sure that the alarm daemon is running */
ret = start_daemon();
if (ret < 0)
{
return EXIT_FAILURE;
}
/* Parse commandline parameters. NOTE: getopt() is not thread safe nor re-entrant.
* To keep its state proper for the next usage, it is necessary to parse to
* the end of the line even if an error occurs. If an error occurs, this
* logic just sets 'badarg' and continues.
*/
while ((opt = getopt(argc, argv, ":a:cr")) != ERROR)
{
switch (opt)
{
case 'a': /* -a: Select alarm id */
alarmid = strtol(optarg, NULL, 0);
if (alarmid < 0 || alarmid >= CONFIG_RTC_NALARMS)
{
badarg = true;
}
break;
case 'c':
cancelmode = true;
break;
case 'r':
readmode = true;
break;
default:
fprintf(stderr, "<unknown parameter '-%c'>\n\n", opt);
/* fall through */
case '?':
case ':':
badarg = true;
}
}
/* Both -r and -c can be given at the same time, setting is exclusive. */
setmode = !readmode && !cancelmode;
if (setmode)
{
if (optind >= argc)
{
badarg = true;
}
}
else if (optind < argc)
{
badarg = true;
}
if (badarg)
{
show_usage(argv[0]);
return EXIT_FAILURE;
}
if (setmode)
{
/* Get the number of seconds until the alarm expiration */
seconds = strtoul(argv[optind], NULL, 10);
if (seconds < 1)
{
fprintf(stderr, "ERROR: Invalid number of seconds: %lu\n", seconds);
show_usage(argv[0]);
return EXIT_FAILURE;
}
}
/* Open the RTC driver */
printf("Opening %s\n", CONFIG_EXAMPLES_ALARM_DEVPATH);
fd = open(CONFIG_EXAMPLES_ALARM_DEVPATH, O_WRONLY);
if (fd < 0)
{
int errcode = errno;
fprintf(stderr, "ERROR: Failed to open %s: %d\n",
CONFIG_EXAMPLES_ALARM_DEVPATH, errcode);
return EXIT_FAILURE;
}
if (readmode)
{
struct rtc_rdalarm_s rd = { 0 };
long timeleft;
time_t now;
rd.id = alarmid;
time(&now);
ret = ioctl(fd, RTC_RD_ALARM, (unsigned long)((uintptr_t)&rd));
if (ret < 0)
{
int errcode = errno;
fprintf(stderr, "ERROR: RTC_RD_ALARM ioctl failed: %d\n",
errcode);
close(fd);
return EXIT_FAILURE;
}
/* Some of the NuttX RTC implementations do not support alarms
* longer than one month. There RTC_RD_ALARM can return partial
* calendar values without month and year fields.
* TODO: fix this in lower layers?
*/
if (rd.time.tm_year > 0)
{
/* Normal sane case, assuming we did not actually request an
* alarm expiring in year 1900.
*/
timeleft = mktime((struct tm *)&rd.time) - now;
}
else
{
struct tm now_tm;
/* Periodic extend "partial" alarms by "unfolding" months,
* until we get alarm that is in future. Note that mktime()
* normalizes fields that are out of their valid values,
* so we don't have to handle carry to tm_year by ourselves.
*/
gmtime_r(&now, &now_tm);
rd.time.tm_mon = now_tm.tm_mon;
rd.time.tm_year = now_tm.tm_year;
do {
timeleft = mktime((struct tm *)&rd.time) - now;
if (timeleft < 0)
{
rd.time.tm_mon++;
}
} while (timeleft < 0);
}
printf("Alarm %d is %s with %ld seconds to expiration\n", alarmid,
rd.active ? "active" : "inactive", timeleft);
}
if (cancelmode)
{
ret = ioctl(fd, RTC_CANCEL_ALARM, (unsigned long)alarmid);
if (ret < 0)
{
int errcode = errno;
fprintf(stderr, "ERROR: RTC_CANCEL_ALARM ioctl failed: %d\n",
errcode);
close(fd);
return EXIT_FAILURE;
}
printf("Alarm %d has been canceled\n", alarmid);
}
if (setmode)
{
struct rtc_setrelative_s setrel;
/* Set the alarm */
setrel.id = alarmid;
setrel.pid = g_alarm_daemon_pid;
setrel.reltime = (time_t)seconds;
setrel.event.sigev_notify = SIGEV_SIGNAL;
setrel.event.sigev_signo = CONFIG_EXAMPLES_ALARM_SIGNO;
setrel.event.sigev_value.sival_int = alarmid;
ret = ioctl(fd, RTC_SET_RELATIVE, (unsigned long)((uintptr_t)&setrel));
if (ret < 0)
{
int errcode = errno;
fprintf(stderr, "ERROR: RTC_SET_RELATIVE ioctl failed: %d\n",
errcode);
close(fd);
return EXIT_FAILURE;
}
printf("Alarm %d set in %lu seconds\n", alarmid, seconds);
}
close(fd);
return EXIT_SUCCESS;
}

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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_APA102
tristate "APA102 LED Strip example"
default n
---help---
Enable the APA102 example
if EXAMPLES_APA102
config EXAMPLES_APA102_PROGNAME
string "Program name"
default "apa102"
---help---
This is the name of the program that will be used when the NSH ELF
program is installed.
endif

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############################################################################
# apps/examples/apa102/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2015 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
ifneq ($(CONFIG_EXAMPLES_APA102),)
CONFIGURED_APPS += $(APPDIR)/examples/apa102
endif

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############################################################################
# apps/examples/apa102/Makefile
#
# Copyright (C) 2017 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
# APA102 built-in application info
PROGNAME = $(CONFIG_EXAMPLES_APA102_PROGNAME)
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = $(CONFIG_DEFAULT_TASK_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_APA102)
# APA102 Test
MAINSRC = apa102_main.c
include $(APPDIR)/Application.mk

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/****************************************************************************
* examples/apa102/apa102_main.c
*
* Copyright (C) 2017 Gregory Nutt. All rights reserved.
* Copyright (c) 2015-2017 Pololu Corporation.
* 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 <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <errno.h>
#include <stdio.h>
#include <nuttx/leds/apa102.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#define CONFIG_EXAMPLES_APA102_DEVNAME "/dev/leddrv0"
/****************************************************************************
* Private Data
****************************************************************************/
#define NUM_LEDS 30
#define US_DELAY 1000
struct apa102_ledstrip_s ledstrip[NUM_LEDS];
/****************************************************************************
* Private Functions
****************************************************************************/
/****************************************************************************
* Name: hsvtorgb
*
* Description:
* Converts a color from HSV to RGB.
*
* Note: This function is based on Pololu example:
* https://github.com/pololu/apa102-arduino/blob/master/examples/Rainbow/Rainbow.ino
*
* Input Parameters:
* h is hue, as a number between 0 and 360.
* s is the saturation, as a number between 0 and 255.
* v is the value, as a number between 0 and 255.
*
****************************************************************************/
static struct apa102_ledstrip_s hsvtorgb(uint16_t h, uint8_t s, uint8_t v)
{
struct apa102_ledstrip_s led;
uint8_t f = (h % 60) * 255 / 60;
uint8_t p = (255 - s) * (uint16_t)v / 255;
uint8_t q = (255 - f * (uint16_t)s / 255) * (uint16_t)v / 255;
uint8_t t = (255 - (255 - f) * (uint16_t)s / 255) * (uint16_t)v / 255;
uint8_t r = 0;
uint8_t g = 0;
uint8_t b = 0;
switch((h / 60) % 6)
{
case 0:
r = v;
g = t;
b = p;
break;
case 1:
r = q;
g = v;
b = p;
break;
case 2:
r = p;
g = v;
b = t;
break;
case 3:
r = p;
g = q;
b = v;
break;
case 4:
r = t;
g = p;
b = v;
break;
case 5:
r = v;
g = p;
b = q;
break;
}
led.red = r;
led.green = g;
led.blue = b;
led.bright = 0;
return led;
}
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* apa102_main
****************************************************************************/
int main(int argc, FAR char *argv[])
{
int fd;
int ret;
int led;
int miles = 10000;
fd = open(CONFIG_EXAMPLES_APA102_DEVNAME, O_RDWR);
if (fd < 0)
{
fprintf(stderr, "ERROR: Failed to open %s: %d\n",
CONFIG_EXAMPLES_APA102_DEVNAME, errno);
return -1;
}
for (; ; )
{
/* Fill the LED Strip */
for (led = 0; led < NUM_LEDS; led++)
{
uint8_t p = miles - led * 8;
ledstrip[led] = hsvtorgb((uint32_t)p * 359 / 256, 255, 255);
}
/* Write the new colors in all the LEDs */
ret = write(fd, ledstrip, 4 * NUM_LEDS);
if (ret < 0)
{
_err("ERROR: write LED Strip failed: %d\n", errno);
}
usleep(US_DELAY);
miles += (US_DELAY / 1000);
}
close(fd);
return 0;
}

36
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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_APDS9960
tristate "APDS-9960 Test Application"
default n
depends on SENSORS_APDS9960
---help---
Enable the APDS-9960 test application.
if EXAMPLES_APDS9960
config EXAMPLES_APDS9960_PROGNAME
string "APDS-9960 Test Program name"
default "apds9960"
---help---
This is the name of the program that will be used when the NSH ELF
program is installed.
config EXAMPLES_APDS9960_DEVNAME
string "APDS-9960 device file name"
default "/dev/gest0"
---help---
This is the name of device file name created by APDS9960 driver.
config EXAMPLES_APDS9960_PRIORITY
int "APDS-9960 Test task priority"
default 100
config EXAMPLES_APDS9960_STACKSIZE
int "APDS-9960 Test stack size"
default DEFAULT_TASK_STACKSIZE
endif

39
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############################################################################
# apps/examples/apds9960/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2017 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
ifneq ($(CONFIG_EXAMPLES_APDS9960),)
CONFIGURED_APPS += $(APPDIR)/examples/apds9960
endif

49
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############################################################################
# apps/examples/apds9960/Makefile
#
# Copyright (C) 2017 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
# Hello, World! built-in application info
PROGNAME = $(CONFIG_EXAMPLES_APDS9960_PROGNAME)
PRIORITY = $(CONFIG_EXAMPLES_APDS9960_PRIORITY)
STACKSIZE = $(CONFIG_EXAMPLES_APDS9960_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_APDS9960)
# Hello, World! Example
MAINSRC = apds9960_main.c
include $(APPDIR)/Application.mk

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/****************************************************************************
* examples/apds9960/apds9960_main.c
*
* Copyright (C) 2017 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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 <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <fcntl.h>
#include <nuttx/sensors/apds9960.h>
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
#ifndef CONFIG_EXAMPLES_APDS9960_DEVNAME
# define CONFIG_EXAMPLES_APDS9960_DEVNAME "/dev/gest0"
#endif
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* apds9960_main
****************************************************************************/
int main(int argc, FAR char *argv[])
{
int fd;
int nbytes;
char gest;
fd = open(CONFIG_EXAMPLES_APDS9960_DEVNAME, O_RDONLY|O_NONBLOCK);
if (fd < 0)
{
int errcode = errno;
printf("ERROR: Failed to open %s: %d\n",
CONFIG_EXAMPLES_APDS9960_DEVNAME, errcode);
goto errout;
}
while (1)
{
nbytes = read(fd, (void *)&gest, sizeof(gest));
if (nbytes == 1)
{
switch (gest)
{
case DIR_LEFT:
printf("LEFT\n");
break;
case DIR_RIGHT:
printf("RIGHT\n");
break;
case DIR_UP:
printf("UP\n");
break;
case DIR_DOWN:
printf("DOWN\n");
break;
}
}
fflush(stdout);
/* Wait 10ms */
usleep(10000);
}
return 0;
errout:
return EXIT_FAILURE;
}

26
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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_AUDIO_SOUND
bool "Audio tone generator example (RTTL player)"
default n
---help---
Enable the audio RTTL player example
if EXAMPLES_AUDIO_SOUND
config EXAMPLES_AUDIO_SOUND_PROGNAME
string "Program name"
default "audio_rttl"
config EXAMPLES_AUDIO_SOUND_PRIORITY
int "Audio sound task priority"
default 150
config EXAMPLES_AUDIO_SOUND_STACKSIZE
int "Audio sound stack size"
default DEFAULT_TASK_STACKSIZE
endif

38
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############################################################################
# audio_player/Make.defs
#
# Copyright 2018 Sony Semiconductor Solutions Corporation
#
# 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 of Sony Semiconductor Solutions Corporation 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.
#
############################################################################
ifeq ($(CONFIG_EXAMPLES_AUDIO_SOUND),y)
CONFIGURED_APPS += examples/audio_rttl
endif

58
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############################################################################
# audio_beep/Makefile
#
# Copyright 2018 Sony Semiconductor Solutions Corporation
#
# 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 of Sony Semiconductor Solutions Corporation 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.
#
############################################################################
include $(APPDIR)/Make.defs
-include $(SDKDIR)/Make.defs
# Audio application info
PROGNAME = $(CONFIG_EXAMPLES_AUDIO_SOUND_PROGNAME)
PRIORITY = $(CONFIG_EXAMPLES_AUDIO_SOUND_PRIORITY)
STACKSIZE = $(CONFIG_EXAMPLES_AUDIO_SOUND_STACKSIZE)
# Audio Example
MAINSRC = audio_rttl.cxx
# Audio Example paths
AUDIODIR = $(SDKDIR)$(DELIM)modules$(DELIM)audio
# Audio Example flags
CXXFLAGS += ${shell $(INCDIR) "$(CC)" "$(AUDIODIR)"}
CXXFLAGS += -D_POSIX
include $(APPDIR)/Application.mk

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/****************************************************************************
* audio_rttl/audio_rttl.cxx
*
* Copyright 2019 Sony Semiconductor Solutions Corporation
*
* 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 of Sony Semiconductor Solutions Corporation 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 <stdio.h>
#include <math.h>
#include <string.h>
#include <arch/board/board.h>
#include <arch/chip/audio.h>
#include "audio_rttl.h"
/****************************************************************************
* Private Types
****************************************************************************/
/* Note - note freq on octave 1 */
#define C 16.35
#define CD 17.32
#define D 18.35
#define DE 19.45
#define E 20.60
#define F 21.83
#define FG 23.12
#define G 24.50
#define A 27.50
#define AB 29.14
#define B 30.84
/* Octave - base freq multiplier for the base freq */
#define OCT2 4
#define OCT3 8
#define OCT4 16
#define OCT5 32
#define OCT6 64
#define OCT7 128
#define OCT8 256
/****************************************************************************
* Public Functions
****************************************************************************/
extern "C" int main(int argc, FAR char *argv[])
{
int freq;
float base_freq;
char temp_note;
int octave;
int duration;
int note_duration;
int base_duration;
int bpm;
int cnt;
/* Set I/O parameters for power on. */
if (!board_audio_power_control(true))
{
printf("Error: board_audio_power_control() failure.\n");
return 1;
}
printf("Start Audio RTTL player\n");
bpm = 0;
octave = 0;
base_duration = 0;
note_duration = 0;
while (*g_song != ':')
{
g_song++;
}
g_song++;
if (*g_song == 'd')
{
g_song = g_song + 2;
base_duration = *g_song - '0';
g_song++;
if ((*g_song >= '0') && (*g_song <= '9'))
{
base_duration = (base_duration * 10) + (*g_song - '0');
g_song++;
}
g_song++;
}
if (*g_song == 'o')
{
g_song = g_song + 2;
octave = *g_song - '0';
g_song = g_song + 2;
}
if (octave == 2)
{
octave = OCT2;
}
else if (octave == 3)
{
octave = OCT3;
}
else if (octave == 4)
{
octave = OCT4;
}
else if (octave == 5)
{
octave = OCT5;
}
else if (octave == 6)
{
octave = OCT6;
}
else if (octave == 7)
{
octave = OCT7;
}
else if (octave == 8)
{
octave = OCT8;
}
if (*g_song == 'b')
{
g_song = g_song + 2;
bpm = 0;
for (cnt = 1; cnt <= 3; cnt++)
{
if (*g_song != ':')
{
bpm = bpm * 10 + (*g_song - '0');
g_song++;
}
}
g_song++;
}
do
{
if ((*g_song >= '0') && (*g_song <= '9'))
{
note_duration = *g_song - '0';
g_song++;
}
if ((*g_song >= '0') && (*g_song <= '9'))
{
note_duration = (note_duration * 10) + (*g_song - '0');
g_song++;
}
if (note_duration > 0)
{
duration = ((60 * 1000L / bpm) * 4) / note_duration;
}
else
{
duration = ((60 * 1000L / bpm) * 4) / base_duration;
}
base_freq = 0;
temp_note = ' ';
switch (*g_song)
{
case 'c':
{
temp_note = 'c';
base_freq = C;
break;
}
case 'd':
{
temp_note = 'd';
base_freq = D;
break;
}
case 'e':
{
temp_note = 'e';
base_freq = E;
break;
}
case 'f':
{
temp_note = 'f';
base_freq = F;
break;
}
case 'g':
{
temp_note = 'g';
base_freq = G;
break;
}
case 'a':
{
temp_note = 'a';
base_freq = A;
break;
}
case 'b':
{
temp_note = 'b';
base_freq = B;
break;
}
case 'p':
{
temp_note = 'p';
break;
}
default:
break;
}
g_song++;
if (*g_song == '.')
{
duration += duration / 2;
g_song++;
}
if (*g_song == '#')
{
if (temp_note == 'c')
{
base_freq = CD;
}
if (temp_note == 'd')
{
base_freq = DE;
}
if (temp_note == 'f')
{
base_freq = FG;
}
if (temp_note == 'a')
{
base_freq = AB;
}
g_song++;
}
if ((*g_song - '0') == '2')
{
octave = OCT2;
}
if ((*g_song - '0') == '3')
{
octave = OCT3;
}
if ((*g_song - '0') == '4')
{
octave = OCT4;
}
if ((*g_song - '0') == '5')
{
octave = OCT5;
}
if ((*g_song - '0') == '6')
{
octave = OCT6;
}
if ((*g_song - '0') == '7')
{
octave = OCT7;
}
if ((*g_song - '0') == '8')
{
octave = OCT8;
}
g_song++;
if (*g_song == ',')
{
g_song++;
}
/* play the sound */
freq = ceil(base_freq * octave);
if (!board_audio_tone_generator(1, -40, freq))
{
break;
}
usleep(duration * 1000L);
}
while (*g_song);
/* Sound off. */
if (!board_audio_tone_generator(0, 0, 0))
{
printf("Error: board_audio_tone_generator() failure.\n");
return 1;
}
/* Set I/O parameters for power off. */
if (!board_audio_power_control(false))
{
printf("Error: board_audio_power_control() failure.\n");
return 1;
}
printf("Done.\n");
return 0;
}

37
Ubiquitous/Nuttx/apps/examples/audio_rttl/audio_rttl.h Normal file
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/****************************************************************************
* audio_sound/audio_sound.h
*
* Copyright 2019 Sony Semiconductor Solutions Corporation
*
* 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 of Sony Semiconductor Solutions Corporation 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.
*
****************************************************************************/
FAR char *g_song = (FAR char *)
"Test:d=4,o=6,b=90:c,c#,d,d#,e,f,f#,g,a,a#,b,p,b,a#,a,g,f#,f,e,d#,d,c#,c";

39
Ubiquitous/Nuttx/apps/examples/bastest/Kconfig Normal file
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#
# For a description of the syntax of this configuration file,
# see the file kconfig-language.txt in the NuttX tools repository.
#
config EXAMPLES_BASTEST
tristate "Setup Test Files for BAS"
default n
depends on FS_ROMFS && INTERPRETERS_BAS
---help---
Mount the ROMFS file system containing the BAS test files at
/mnt/romfs. This selection depends both on INTERPRETER_BAS to provide
the BASIC interpreter and and upon FS_ROMFS to provide support for the
ROMFS file system.
The logic in certain tests (test33.bas and test36.bas will also fail
if there is no writable file system mount at /tmp.
if EXAMPLES_BASTEST
config EXAMPLES_BASTEST_DEVMINOR
int "ROMFS Minor Device Number"
default 0
---help---
The minor device number of the ROMFS block. For example, the N in
/dev/ramN. Used for registering the RAM block driver that will hold
the ROMFS file system containing the BASIC files to be tested.
Default: 0
config EXAMPLES_BASTEST_DEVPATH
string "ROMFS Device Path"
default "/dev/ram0"
---help---
The path to the ROMFS block driver device. This must match
EXAMPLES_BASTEST_DEVMINOR. Used for registering the RAM block driver
that will hold the ROMFS file system containing the BASIC files to
be tested. Default: "/dev/ram0"
endif

39
Ubiquitous/Nuttx/apps/examples/bastest/Make.defs Normal file
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############################################################################
# apps/examples/bastest/Make.defs
# Adds selected applications to apps/ build
#
# Copyright (C) 2015 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
ifneq ($(CONFIG_EXAMPLES_BASTEST),)
CONFIGURED_APPS += $(APPDIR)/examples/bastest
endif

72
Ubiquitous/Nuttx/apps/examples/bastest/Makefile Normal file
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############################################################################
# apps/examples/bastest/Makefile
#
# Copyright (C) 2014 Gregory Nutt. All rights reserved.
# Author: Gregory Nutt <gnutt@nuttx.org>
#
# 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.
#
############################################################################
include $(APPDIR)/Make.defs
# BAS test volume mounter
PROGNAME = bastest
PRIORITY = SCHED_PRIORITY_DEFAULT
STACKSIZE = $(CONFIG_DEFAULT_TASK_STACKSIZE)
MODULE = $(CONFIG_EXAMPLES_BASTEST)
# Hello, World! Example
MAINSRC = bastest_main.c
BASTEST_DIR = $(APPDIR)$(DELIM)examples$(DELIM)bastest
TESTS_DIR = $(BASTEST_DIR)$(DELIM)tests
ROMFS_IMG = romfs.img
ROMFS_HDR = romfs.h
# Common build
# Create the romfs.h header file from the tests/ directory
$(ROMFS_IMG) :
$(Q) genromfs -f $@ -d $(TESTS_DIR) -V "BASTEST"
$(ROMFS_HDR) : $(ROMFS_IMG)
$(Q) (xxd -i $(ROMFS_IMG) | sed -e "s/^unsigned/static const unsigned/g" >$@)
# Add the BASTEST object to the archive
context:: $(ROMFS_HDR)
distclean::
$(call DELFILE, $(ROMFS_HDR))
$(call DELFILE, $(ROMFS_IMG))
include $(APPDIR)/Application.mk

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121
Ubiquitous/Nuttx/apps/examples/bastest/bastest_main.c Normal file
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/****************************************************************************
* examples/bastest/bastest_main.c
*
* Copyright (C) 2014 Gregory Nutt. All rights reserved.
* Author: Gregory Nutt <gnutt@nuttx.org>
*
* 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/mount.h>
#include <stdio.h>
#include <errno.h>
#include <nuttx/drivers/ramdisk.h>
#include "romfs.h"
/****************************************************************************
* Pre-processor Definitions
****************************************************************************/
/* Check configuration. This is not all of the configuration settings that
* are required -- only the more obvious.
*/
#ifndef CONFIG_FS_ROMFS
# error "You must select CONFIG_FS_ROMFS in your configuration file"
#endif
#ifdef CONFIG_DISABLE_MOUNTPOINT
# error "You must not disable mountpoints via CONFIG_DISABLE_MOUNTPOINT in your configuration file"
#endif
/* Describe the ROMFS file system */
#define SECTORSIZE 512
#define NSECTORS(b) (((b)+SECTORSIZE-1)/SECTORSIZE)
#define MOUNTPT "/mnt/romfs"
#ifndef CONFIG_EXAMPLES_BASTEST_DEVMINOR
# define CONFIG_EXAMPLES_BASTEST_DEVMINOR 0
#endif
#ifndef CONFIG_EXAMPLES_BASTEST_DEVPATH
# define CONFIG_EXAMPLES_BASTEST_DEVPATH "/dev/ram0"
#endif
/****************************************************************************
* Private Data
****************************************************************************/
/****************************************************************************
* Public Functions
****************************************************************************/
/****************************************************************************
* bastest_main
****************************************************************************/
int main(int argc, FAR char *argv[])
{
int ret;
/* Create a ROM disk for the ROMFS filesystem */
printf("Registering romdisk at /dev/ram%d\n", CONFIG_EXAMPLES_BASTEST_DEVMINOR);
ret = romdisk_register(CONFIG_EXAMPLES_BASTEST_DEVMINOR, (FAR uint8_t *)romfs_img,
NSECTORS(romfs_img_len), SECTORSIZE);
if (ret < 0)
{
fprintf(stderr, "ERROR: romdisk_register failed: %d\n", ret);
return 1;
}
/* Mount the file system */
printf("Mounting ROMFS filesystem at target=%s with source=%s\n",
MOUNTPT, CONFIG_EXAMPLES_BASTEST_DEVPATH);
ret = mount(CONFIG_EXAMPLES_BASTEST_DEVPATH, MOUNTPT, "romfs", MS_RDONLY, NULL);
if (ret < 0)
{
fprintf(stderr, "ERROR: mount(%s,%s,romfs) failed: %s\n",
CONFIG_EXAMPLES_BASTEST_DEVPATH, MOUNTPT, errno);
return 1;
}
return 0;
}

10
Ubiquitous/Nuttx/apps/examples/bastest/tests/test01.bas Normal file
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10 a=1
20 print a
30 a$="hello"
40 print a$
50 a=0.0002
60 print a
70 a=2.e-6
80 print a
90 a=.2e-6
100 print a

7
Ubiquitous/Nuttx/apps/examples/bastest/tests/test02.bas Normal file
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@ -0,0 +1,7 @@
10 dim a(1)
20 a(0)=10
30 a(1)=11
40 a=12
50 print a(0)
60 print a(1)
70 print a

16
Ubiquitous/Nuttx/apps/examples/bastest/tests/test03.bas Normal file
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@ -0,0 +1,16 @@
10 for i=0 to 10
20 print i
30 if i=5 then exit for
40 next
50 for i=0 to 0
60 print i
70 next I
80 for i=1 to 0 step -1
90 print i
100 next
110 for i=1 to 0
120 print i
130 next
140 for i$="" to "aaaaaaaaaa" step "a"
150 print i$
160 next

5
Ubiquitous/Nuttx/apps/examples/bastest/tests/test04.bas Normal file
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@ -0,0 +1,5 @@
10 a=1
20 repeat
30 print a
40 a=a+1
50 until a=10

7
Ubiquitous/Nuttx/apps/examples/bastest/tests/test05.bas Normal file
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@ -0,0 +1,7 @@
10 gosub 100
20 gosub 100
30 end
100 gosub 200
110 gosub 200
120 return
200 print "hello, world":return

11
Ubiquitous/Nuttx/apps/examples/bastest/tests/test06.bas Normal file
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@ -0,0 +1,11 @@
10 def fnloop
20 if n=0.0 then
30 r=0.0
40 else
50 print n
60 n=n-1.0
70 r=fnloop()
80 end if
90 =r
100 n=10
110 print fnloop

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