%assign _DONE_COMMON_BLOCK_TYPE_SETUP_ = 1
%if !SLibCodeGenForSim()
- %<LibAddToCommonIncludes("<rpp/rpp.h>")>
- %<LibAddToCommonIncludes("can_message.h")>
+ %% %<LibAddToCommonIncludes("<rpp/rpp.h>")>
%endif
%endif
%foreach i = 3 %% We have 3 CAN controllers
%addtorecord Rpp.Can Ctrl {}
%endforeach
+
+ %<LibAddToCommonIncludes("<stdio.h>")>
+ %<LibAddToCommonIncludes("<sys/socket.h>")>
+ %<LibAddToCommonIncludes("<net/if.h>")>
+ %<LibAddToCommonIncludes("<sys/ioctl.h>")>
+ %<LibAddToCommonIncludes("<linux/can.h>")>
+ %<LibAddToCommonIncludes("<linux/can/raw.h>")>
+ %<LibAddToCommonIncludes("<fcntl.h>")>
+ %<LibAddToCommonIncludes("<errno.h>")>
%endif
%endfunction
%assign message = LibBlockOutputSignal(1, "", "", 1)
{
- struct rpp_can_pdu pdu;
+ struct can_frame sc_frame;
int ret;
+ int dlc;
- ret = rpp_can_read(%<RppRxInfo.HwObj>, &pdu);
- switch (ret) {
- case -RPP_EINVAL:
- rpp_sci_printf("Receiving CAN message failed (%s).\n", "%<RppRxInfo.Name>");
- break;
- case -RPP_ENODATA:
- break;
- case SUCCESS: {
- %if %<data_type_par>==4
- // CAN_MESSAGE
- %<message>.Length = pdu.dlc;
- %<message>.ID = pdu.id;
- int i;
- for (i = 0; i < pdu.dlc; i++ ) {
- %<message>.Data[i] = pdu.data[i];
- %%rpp_sci_printf("%X ", pdu.data[i]);
- }
- %elseif %<data_type_par>==3
- // uint32
- int msg = (pdu.data[0]) |
- (pdu.data[1]<<8) |
- (pdu.data[2]<<16) |
- (pdu.data[3]<<24);
- %<message> = msg;
- %%rpp_sci_printf("32b: %X ", msg);
- %elseif %<data_type_par>==2
- // uint16
- int msg = (pdu.data[0]) |
- (pdu.data[1]<<8);
- %<message> = msg;
- %%rpp_sci_printf("16b: %X ", msg);
- %else
- // uint8
- int msg = pdu.data[0];
- %<message> = msg;
- %%rpp_sci_printf("8b: %X ", msg);
- %endif
- %%rpp_sci_printf("\n");
-
- %% Call a function to process the received message via function-call subsystem
- %foreach callIdx = NumSFcnSysOutputCalls
- %if LibIsEqual(SFcnSystemOutputCall[callIdx].BlockToCall,"unconnected")
- %continue
- %endif
- %% call the downstream system
- %<LibBlockExecuteFcnCall(block, callIdx)>\
- %endforeach
- break;
+ ret = recv(%<RppRxInfo.HwObj>, &sc_frame, sizeof(sc_frame), 0);
+ if (ret == -1) {
+ if (errno!=EAGAIN) {
+ printf("Receiving CAN message failed (%s).\n", "%<RppRxInfo.Name>");
}
+ } else if (ret < sizeof(sc_frame)) {
+ printf("Receiving CAN message (%s) returns truncated length %d.\n", "%<RppRxInfo.Name>", ret);
+ } else {
+ dlc = sc_frame.can_dlc;
+ if (dlc > 8)
+ dlc = 8;
+ %if %<data_type_par>==4
+ // CAN_MESSAGE
+ %<message>.Length = dlc;
+ %<message>.ID = sc_frame.can_id & CAN_EFF_MASK;
+ int i;
+ for (i = 0; i < dlc; i++ ) {
+ %<message>.Data[i] = sc_frame.data[i];
+ printf("%X ", sc_frame.data[i]);
+ }
+ %elseif %<data_type_par>==3
+ // uint32
+ unsigned int msg = (sc_frame.data[0]) |
+ (sc_frame.data[1]<<8) |
+ (sc_frame.data[2]<<16) |
+ (sc_frame.data[3]<<24);
+ if (dlc < 4)
+ msg &= 0xffffffff << (8 * dlc);
+ %<message> = msg;
+ printf("32b: %X ", msg);
+ %elseif %<data_type_par>==2
+ // uint16
+ unsigned int msg = (sc_frame.data[0]) |
+ (sc_frame.data[1]<<8);
+ if (dlc < 2)
+ msg &= 0xffffffff << (8 * dlc);
+ %<message> = msg;
+ printf("16b: %X ", msg);
+ %else
+ // uint8
+ unsigned int msg = sc_frame.data[0];
+ %<message> = msg;
+ printf("8b: %X ", msg);
+ %endif
+ printf("\n");
+
+ %% Call a function to process the received message via function-call subsystem
+ %foreach callIdx = NumSFcnSysOutputCalls
+ %if LibIsEqual(SFcnSystemOutputCall[callIdx].BlockToCall,"unconnected")
+ %continue
+ %endif
+ %% call the downstream system
+ %<LibBlockExecuteFcnCall(block, callIdx)>\
+ %endforeach
}
}
%endif
%% Ensure required header files are included
%<RppCommonBlockTypeSetup(block, system)>
- %<LibAddToCommonIncludes("<sys/ti_drv_dmm.h>")>
+ %% %<LibAddToCommonIncludes("<sys/ti_drv_dmm.h>")>
%assign ::rpp_can_config_present = 1
%function Start(block, system) Output
%openfile buffer
+ enum ert_can_msg_types {
+ ERT_CAN_STANDARD,
+ ERT_CAN_EXTENDED,
+ ERT_CAN_MIXED,
+ };
+
+ struct ert_can_channel_config {
+ unsigned int baudrate;
+ const char *net_dev_name;
+ };
+
+ struct ert_can_tx_config {
+ int channel;
+ int id_type;
+ canid_t id;
+ int msg_obj;
+ };
+
+ struct ert_can_rx_config {
+ int channel;
+ int id_type;
+ canid_t id;
+ canid_t mask;
+ int msg_obj;
+ };
+
+ struct ert_can_config {
+ int num_tx_obj;
+ int num_rx_obj;
+ struct ert_can_tx_config *tx_config;
+ struct ert_can_rx_config *rx_config;
+ struct ert_can_channel_config *channel_config;
+ };
+
#define CAN_TX_COUNT %<Rpp.Can.Tx.NumBlocks>
#define CAN_RX_COUNT %<Rpp.Can.Rx.NumBlocks>
- struct rpp_can_ctrl_config can_ctrl_cfg[3] = {
+ struct ert_can_channel_config can_channel_config[3] = {
{
.baudrate = %<LibBlockParameterValue(baudrate_can1, 0)>
},
{
- .baudrate = %<LibBlockParameterValue(baudrate_can2, 0)>
+ .baudrate = %<LibBlockParameterValue(baudrate_can2, 0)>
},
{
- .baudrate = %<LibBlockParameterValue(baudrate_can3, 0)>
+ .baudrate = %<LibBlockParameterValue(baudrate_can3, 0)>
}
};
- struct rpp_can_tx_config tx_config[CAN_TX_COUNT] = {
+ struct ert_can_tx_config tx_config[CAN_TX_COUNT] = {
%foreach id = Rpp.Can.Tx.NumBlocks
%with Rpp.Can.Tx.Block[id]
// %<Name>
{
%if %<Type> == 1
- .type = RPP_CAN_STANDARD,
+ .id_type = ERT_CAN_STANDARD,
%elseif %<Type> == 2
- .type = RPP_CAN_EXTENDED,
+ .id_type = ERT_CAN_EXTENDED,
%else
- .type = RPP_CAN_MIXED,
+ .id_type = ERT_CAN_MIXED,
%endif
- .controller = %<Controller>,
- .msg_obj = %<MsgObj>
+ .id = %<Id>,
+ .channel = %<Controller>,
+ .msg_obj = %<MsgObj>,
},
%endwith
%endforeach
};
- struct rpp_can_rx_config rx_config[CAN_RX_COUNT] = {
+ struct ert_can_rx_config rx_config[CAN_RX_COUNT] = {
%foreach id = Rpp.Can.Rx.NumBlocks
%with Rpp.Can.Rx.Block[id]
// %<Name>
{
%if %<Type>==1
- .type = RPP_CAN_STANDARD,
+ .id_type = ERT_CAN_STANDARD,
%elseif %<Type>==2
- .type = RPP_CAN_EXTENDED,
+ .id_type = ERT_CAN_EXTENDED,
%else
- .type = RPP_CAN_MIXED,
+ .id_type = ERT_CAN_MIXED,
%endif
- .controller = %<Controller>,
- .msg_obj = %<MsgObj>,
.id = %<Id>,
- .mask = %<SPRINTF("%#x", Mask)>
+ .mask = %<SPRINTF("%#x", Mask)>,
+ .channel = %<Controller>,
+ .msg_obj = %<MsgObj>,
},
%endwith
%endforeach
};
- const struct rpp_can_config can_config = {
+ const struct ert_can_config can_config = {
.num_tx_obj = CAN_TX_COUNT,
.num_rx_obj = CAN_RX_COUNT,
.tx_config = tx_config,
.rx_config = rx_config,
- .ctrl = can_ctrl_cfg
+ .channel_config = can_channel_config
};
+ int can_rx_handles[CAN_RX_COUNT];
+
+ int can_tx_handles[CAN_RX_COUNT];
+
%closefile buffer
%<LibSetSourceFileSection(LibGetModelDotCFile(), "Declarations", buffer)>
int returnstatus;
- dmmREG->PC4 = 1<<13; // set CAN_NSTB
- dmmREG->PC5 = 1<<15; // clr CAN_EN
- dmmREG->PC5 = 1<<13; // clr CAN_NSTB
- dmmREG->PC4 = 1<<13; // set CAN_NSTB
- dmmREG->PC4 = 1<<15; // set CAN_EN
-
returnstatus = rpp_can_init(&can_config);
- if (returnstatus == FAILURE) {
- rpp_sci_printf("CAN driver initialization error.\n");
+ if (returnstatus < 0) {
+ printf("CAN driver initialization error.\n");
}
%%else {
- %% rpp_sci_printf("CAN communication initialized.\n");
+ %% printf("CAN communication initialized.\n");
%%}
%endfunction
%assign msginput_data_type = LibBlockInputSignalDataTypeId(0)
{
- struct rpp_can_pdu pdu;
+ struct can_frame sc_frame;
+ int ret;
%if %<msginput_data_type>==3
// Transmit uint8
- pdu.dlc = 1;
- pdu.data[0]= %<message>;
+ sc_frame.can_dlc = 1;
+ sc_frame.data[0]= %<message>;
%elseif %<msginput_data_type>==5
// Transmit uint16
- pdu.dlc = 2;
- pdu.data[0]= (%<message>&0xFF);
- pdu.data[1]= (%<message>&0xFF00)>>8;
+ sc_frame.can_dlc = 2;
+ sc_frame.data[0]= (%<message>&0xFF);
+ sc_frame.data[1]= (%<message>&0xFF00)>>8;
%elseif %<msginput_data_type>==7
// Transmit uint32
- pdu.dlc = 4;
- pdu.data[0]= (%<message>&0xFF);
- pdu.data[1]= (%<message>&0xFF00)>>8;
- pdu.data[2]= (%<message>&0xFF0000)>>16;
- pdu.data[3]= (%<message>&0xFF000000)>>24;
+ sc_frame.can_dlc = 4;
+ sc_frame.data[0]= (%<message>&0xFF);
+ sc_frame.data[1]= (%<message>&0xFF00)>>8;
+ sc_frame.data[2]= (%<message>&0xFF0000)>>16;
+ sc_frame.data[3]= (%<message>&0xFF000000)>>24;
%else
// Transmit CAN_MESSAGE
- pdu.dlc = %<message>.Length;
+ sc_frame.can_dlc = %<message>.Length;
%foreach msg_index = 8
- pdu.data[%<msg_index>]= %<message>.Data[%<msg_index>];
+ sc_frame.data[%<msg_index>]= %<message>.Data[%<msg_index>];
%endforeach
%endif
- pdu.id=%<RppTxInfo.Id>;
+ sc_frame.can_id=%<RppTxInfo.Id>;
- %%rpp_sci_printf("CAN%d (hw_obj: %d): Sending message id 0x%X from mailbox %d. Data: ", %<module_id_par>, %<::rpp_can_tx_hw_obj_cnt>, pdu.id, %<mailbox_num_par>);
+ %%printf("CAN%d (hw_obj: %d): Sending message id 0x%X from mailbox %d. Data: ", %<module_id_par>, %<::rpp_can_tx_hw_obj_cnt>, pdu.id, %<mailbox_num_par>);
%%for (i = 0; i < pdu.dlc; i++ ) {
- %% rpp_sci_printf("%X ", pdu.data[i]);
+ %% printf("%X ", pdu.data[i]);
%%}
- %%rpp_sci_printf("\n");
- if (rpp_can_write(%<RppTxInfo.HwObj>, &pdu) != SUCCESS) {
- /% rpp_sci_printf("CAN%d (hw_obj: %d): Sending a message id 0x%X from mailbox %d failed.\n", %<module_id_par>, %<::rpp_can_tx_hw_obj_cnt>, pdu.id, %<mailbox_num_par>); %/
+ %%printf("\n");
+ ret = send(%<RppTxInfo.HwObj>, &sc_frame, sizeof(sc_frame), 0);
+ if (ret < sizeof(sc_frame)) {
+ /% printf("CAN%d (hw_obj: %d): Sending a message id 0x%X from mailbox %d failed.\n", %<module_id_par>, %<::rpp_can_tx_hw_obj_cnt>, pdu.id, %<mailbox_num_par>); %/
}
}
%endif
projects / socketcan-simulink.git / commitdiff