Ayopierre/grlib can

_targets/Makefile.riscv64-gr765

@@ -6,4 +6,4 @@
 # Copyright 2025 Phoenix Systems
 #
 
-DEFAULT_COMPONENTS := grlib-uart
+DEFAULT_COMPONENTS := grlib-uart grlib-can-core grlib-can-driver can-sender-stress can-receiver-stress can-test-app

can/grlib-can/Makefile

@@ -0,0 +1,43 @@
+#
+# Makefile for Phoenix-RTOS grlib-can
+#
+# Copyright 2023 Phoenix Systems
+#
+# %LICENSE%
+#
+NAME := grlib-can-core
+LOCAL_SRCS := grlib-can-core.c
+LOCAL_HEADERS := grlib-can-core.h grlib-can-shared.h
+
+include $(static-lib.mk)
+
+
+NAME := grlib-can-driver
+LOCAL_SRCS := grlib-can-driver.c
+DEP_LIBS := grlib-can-core
+
+include $(binary.mk)
+
+NAME := grlib-can-if
+LOCAL_SRCS := grlib-can-if.c
+LOCAL_HEADERS := grlib-can-if.h
+
+include $(static-lib.mk)
+
+NAME := can-test-app
+LOCAL_SRCS := can-test-app.c
+DEP_LIBS := grlib-can-if
+
+include $(binary.mk)
+
+NAME := can-sender-stress
+LOCAL_SRCS := grlib-can-sender-stress-test.c
+DEP_LIBS := grlib-can-core
+
+include $(binary.mk)
+
+NAME := can-receiver-stress
+LOCAL_SRCS := grlib-can-receiver-stress-test.c
+DEP_LIBS := grlib-can-core
+
+include $(binary.mk)

can/grlib-can/can-test-app.c

@@ -0,0 +1,102 @@
+#include <errno.h>
+#include <paths.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <sys/debug.h>
+#include <sys/file.h>
+#include <sys/msg.h>
+#include <sys/interrupt.h>
+#include <sys/stat.h>
+#include <sys/types.h>
+#include <sys/threads.h>
+#include <sys/time.h>
+#include <sys/mman.h>
+#include <posix/utils.h>
+
+#include "grlib-can-if.h"
+
+int main(int argc, char **argv)
+{
+	char *canDevice = "/dev/can0";
+	oid_t canDev;
+
+	if (lookup(canDevice, NULL, &canDev) < 0) {
+		printf("Device does not exist\n");
+		return EXIT_FAILURE;
+	}
+
+	printf("Successfully checked CAN device oid\n");
+
+	printf("Can device open: %d\n", grlibCan_open(canDev));
+
+	uint32_t status;
+	grlibCan_getStatus(canDev, &status);
+	printf("Can device status: %x\n", status);
+
+	grlibCan_config_t config;
+
+	grlibCan_getConfig(canDev, &config);
+	printf("Can device baud rate - nom: %d, data: %d\n", config.nomBdRate, config.dataBdRate);
+
+	grlibCan_msg_t frames[10];
+
+	frames->frame.head = (1 << 18);
+	frames->frame.stat = 0x10u << 24;
+	frames->frame.payload[0] = 0x0F;
+
+	for (int i = 1; i < 10; i++) {
+		memcpy((void *)&frames[i], (void *)frames, sizeof(grlibCan_msg_t));
+		frames[i].frame.payload[0] = 0x0F + i;
+	}
+
+	int ret = grlibCan_Send(canDev, frames, 10, true);
+	printf("Can device managed to send %d frames : block\n", ret);
+
+	grlibCan_msg_t buf[10];
+
+	ret = grlibCan_Recv(canDev, buf, 10, true);
+	printf("Can device managed to receive %d frames : block\n", ret);
+
+	ret = grlibCan_Send(canDev, frames, 10, false);
+	printf("Can device managed to send %d frames : non-block\n", ret);
+
+	ret = grlibCan_Recv(canDev, buf, 10, false);
+	printf("Can device managed to receive %d frames : non-block\n", ret);
+
+	printf("Sending frame of extended length\n");
+	frames->frame.stat = 0xF0 << 24 | (1 << 2);
+	ret = grlibCan_Send(canDev, (void *)frames, 5, true);
+	printf("Ret: %d\n", ret);
+
+	printf("Trying to read in SYNC mode to buffer which is to small\n");
+	ret = grlibCan_Recv(canDev, buf, 1, true);
+	printf("Ret: %d\n", ret);
+
+	printf("Trying to read in SYNC mode to buffer of appropriate size\n");
+	ret = grlibCan_Recv(canDev, buf, 5, true);
+	printf("Ret: %d\n", ret);
+
+	printf("Sending frame of extended length\n");
+	frames->frame.stat = 0xF0 << 24 | (1 << 2);
+	ret = grlibCan_Send(canDev, (void *)frames, 5, true);
+	printf("Ret: %d\n", ret);
+
+	printf("Trying to read in ASYNC mode to buffer which is to small\n");
+	ret = grlibCan_Recv(canDev, buf, 1, false);
+	printf("Ret: %d\n", ret);
+
+	printf("Trying to read in ASYNC mode to buffer of appropriate size\n");
+	ret = grlibCan_Recv(canDev, buf, 5, false);
+	printf("Ret: %d\n", ret);
+
+	printf("Closing device\n");
+	grlibCan_close(canDev);
+
+	ret = grlibCan_Send(canDev, frames, 10, true);
+	printf("Trying to send with device closed: %d\n", ret);
+
+	return EXIT_SUCCESS;
+}