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//==========================================================================
//
// can_callback.c
//
// CAN driver test of callback on event
//
//==========================================================================
// ####ECOSGPLCOPYRIGHTBEGIN####
// -------------------------------------------
// This file is part of eCos, the Embedded Configurable Operating System.
// Copyright (C) 1998, 1999, 2000, 2001, 2002 Free Software Foundation, Inc.
//
// eCos is free software; you can redistribute it and/or modify it under
// the terms of the GNU General Public License as published by the Free
// Software Foundation; either version 2 or (at your option) any later
// version.
//
// eCos is distributed in the hope that it will be useful, but WITHOUT
// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
// FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
// for more details.
//
// You should have received a copy of the GNU General Public License
// along with eCos; if not, write to the Free Software Foundation, Inc.,
// 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
//
// As a special exception, if other files instantiate templates or use
// macros or inline functions from this file, or you compile this file
// and link it with other works to produce a work based on this file,
// this file does not by itself cause the resulting work to be covered by
// the GNU General Public License. However the source code for this file
// must still be made available in accordance with section (3) of the GNU
// General Public License v2.
//
// This exception does not invalidate any other reasons why a work based
// on this file might be covered by the GNU General Public License.
// -------------------------------------------
// ####ECOSGPLCOPYRIGHTEND####
//==========================================================================
//#####DESCRIPTIONBEGIN####
//
// Author(s): Uwe Kindler, Alexey Shusharin
// Contributors: Uwe Kindler, Alexey Shusharin
// Date: 2007-08-23
// Description: CAN driver test of callback on event
//####DESCRIPTIONEND####
//===========================================================================
// INCLUDES
//===========================================================================
#include <pkgconf/system.h>
#include <cyg/infra/testcase.h> // test macros
#include <cyg/infra/cyg_ass.h> // assertion macros
#include <cyg/infra/diag.h>
// Package requirements
#if defined(CYGPKG_IO_CAN) && defined(CYGPKG_KERNEL)
#include <pkgconf/kernel.h>
#include <cyg/io/io.h>
#include <cyg/io/canio.h>
// Package option requirements
#if defined(CYGFUN_KERNEL_API_C)
#include <cyg/hal/hal_arch.h> // CYGNUM_HAL_STACK_SIZE_TYPICAL
#include <cyg/kernel/kapi.h>
// Package option requirements
#if defined(CYGOPT_IO_CAN_SUPPORT_CALLBACK)
//===========================================================================
// DATA TYPES
//===========================================================================
typedef struct st_thread_data
{
cyg_thread obj;
long stack[CYGNUM_HAL_STACK_SIZE_TYPICAL];
cyg_handle_t hdl;
} thread_data_t;
//===========================================================================
// LOCAL DATA
//===========================================================================
cyg_thread_entry_t can_thread;
thread_data_t can_thread_data;
cyg_mutex_t can_lock;
cyg_cond_t can_wait;
cyg_io_handle_t hCAN0;
cyg_io_handle_t hCAN1;
//===========================================================================
// LOCAL FUNCTIONS
//===========================================================================
#include "can_test_aux.inl" // include CAN test auxiliary functions
//===========================================================================
// CALLBACK FUNCTION
//===========================================================================
static void callback_func(cyg_uint16 flags, CYG_ADDRWORD data)
{
if (data == ((CYG_ADDRWORD) hCAN0) && (flags & CYGNUM_CAN_EVENT_RX))
{
// Wake up thread
cyg_cond_signal(&can_wait);
}
}
//===========================================================================
// READER THREAD
//===========================================================================
void can_thread(cyg_addrword_t data)
{
cyg_uint32 len;
cyg_can_callback_cfg callback_cfg;
cyg_can_message tx_msg;
cyg_bool_t wait_res;
//
// open CAN0 device driver
//
if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
}
//
// open CAN1 device driver
//
if (ENOERR != cyg_io_lookup("/dev/can1", &hCAN1))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can1");
}
//
// configure CAN0 callback
//
len = sizeof(callback_cfg);
callback_cfg.flag_mask = 0xFFFF;
callback_cfg.data = (CYG_ADDRWORD) hCAN0;
callback_cfg.callback_func = callback_func;
if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_CALLBACK,
&callback_cfg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
//
// transmit message from CAN1 to CAN0
//
tx_msg.id = 0x001;
tx_msg.ext = CYGNUM_CAN_ID_STD;
tx_msg.rtr = CYGNUM_CAN_FRAME_DATA;
tx_msg.dlc = 0;
len = sizeof(tx_msg);
if (ENOERR != cyg_io_write(hCAN1, &tx_msg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing message to /dev/can1");
}
//
// Wait CAN0 callback
//
cyg_mutex_lock(&can_lock);
wait_res = cyg_cond_timed_wait(&can_wait, 100);
cyg_mutex_unlock(&can_lock);
//
// If result of wait is a signal operation, test is successed
// If timeout - test is failed, because callback_func() hasn't been
// called with correct parameters
//
if(wait_res)
{
CYG_TEST_PASS_FINISH("can_callback test OK");
}
else
{
CYG_TEST_FAIL_FINISH("can_callback test FAILED");
}
}
void
cyg_start(void)
{
CYG_TEST_INIT();
cyg_mutex_init(&can_lock);
cyg_cond_init(&can_wait, &can_lock);
//
// create the main thread
//
cyg_thread_create(4, can_thread,
(cyg_addrword_t) 0,
"can_thread",
(void *) can_thread_data.stack,
1024 * sizeof(long),
&can_thread_data.hdl,
&can_thread_data.obj);
cyg_thread_resume(can_thread_data.hdl);
cyg_scheduler_start();
}
#else // #if defined(CYGOPT_IO_CAN_SUPPORT_CALLBACK)
#define N_A_MSG "Needs callback support"
#endif
#else // CYGFUN_KERNEL_API_C
#define N_A_MSG "Needs kernel C API"
#endif
#else // CYGPKG_IO_CAN && CYGPKG_KERNEL
#define N_A_MSG "Needs IO/CAN and Kernel"
#endif
#ifdef N_A_MSG
void
cyg_start( void )
{
CYG_TEST_INIT();
CYG_TEST_NA( N_A_MSG);
}
#endif // N_A_MSG
// EOF can_callback.c
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