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//==========================================================================
//
// can_rdwr.c
//
// Test CAN device drivers
//
//==========================================================================
// ####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
// Contributors: Uwe Kindler
// Date: 2005-08-07
// Description: Simple read/write test of CAN driver
//####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>
//===========================================================================
// 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 can0_thread;
thread_data_t can0_thread_data;
cyg_thread_entry_t can1_thread;
thread_data_t can1_thread_data;
cyg_sem_t sem_wait;
//===========================================================================
// LOCAL FUNCTIONS
//===========================================================================
#include "can_test_aux.inl" // include CAN test auxiliary functions
//===========================================================================
// WRITER THREAD
//===========================================================================
void can0_thread(cyg_addrword_t data)
{
cyg_io_handle_t hCAN0;
cyg_uint8 i;
cyg_uint32 len;
cyg_can_buf_info_t tx_buf_info;
cyg_can_message tx_msg =
{
0x000, // CAN identifier
data :
{
{0x00, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7}, // 8 data bytes
},
CYGNUM_CAN_ID_STD, // standard frame
CYGNUM_CAN_FRAME_DATA, // data frame
8, // data length code
};
if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
}
len = sizeof(tx_buf_info);
if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&tx_buf_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
if (tx_buf_info.tx_bufsize < 10)
{
CYG_TEST_FAIL_FINISH("TX quesize of /dev/can0 too small for 10 CAN messages");
}
while (1)
{
//
// now we simply send 10 CAN messages and then suspend the thread
//
CYG_TEST_INFO("Thread0: Writing 10 CAN messages");
for (i = 0; i < 10; ++i)
{
//
// we store the message number as CAN id and in first data byte so
// a receiver can check this later
//
CYG_CAN_MSG_SET_STD_ID(tx_msg, 0x000 + i);
CYG_CAN_MSG_SET_DATA(tx_msg, 0, i);
len = sizeof(tx_msg);
if (ENOERR != cyg_io_write(hCAN0, &tx_msg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing to /dev/can0");
}
else
{
print_can_msg(&tx_msg, "");
}
} // for (i = 0; i < 10; ++i)
//
// Give reader thread 200 ticks time for readung all messages. The reader thread
// signals the semaphore if it received all transmitted messages
//
if (!cyg_semaphore_timed_wait( &sem_wait, cyg_current_time( ) + 200 ))
{
CYG_TEST_FAIL_FINISH("Waiting for reader thread timed out.");
}
else
{
CYG_TEST_PASS_FINISH("can_rdwr test OK");
}
} // while (1)
}
//===========================================================================
// READER THREAD
//===========================================================================
void can1_thread(cyg_addrword_t data)
{
cyg_io_handle_t hCAN1;
cyg_uint8 i;
cyg_uint32 len;
cyg_can_buf_info_t rx_buf_info;
cyg_can_event rx_event;
if (ENOERR != cyg_io_lookup("/dev/can1", &hCAN1))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can1");
}
len = sizeof(rx_buf_info);
if (ENOERR != cyg_io_get_config(hCAN1, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&rx_buf_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can1");
}
if (rx_buf_info.rx_bufsize < 10)
{
CYG_TEST_FAIL_FINISH("RX quesize of /dev/can1 too small for 10 CAN events");
}
while (1)
{
//
// now we try to read the 10 CAN messages that was sent by writer
// thread previously
//
CYG_TEST_INFO("Thread1: Reading 10 CAN messages");
for (i = 0; i < 10; ++i)
{
len = sizeof(rx_event);
if (ENOERR != cyg_io_read(hCAN1, &rx_event, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from /dev/can1");
}
//
// we expect only RX events in this test case - so all other events
// cause a test fail
//
if (!(rx_event.flags & CYGNUM_CAN_EVENT_RX))
{
CYG_TEST_FAIL_FINISH("Received wrong CAN event type");
}
//
// The writer thread stored the message number in CAN id and first
// data byte so we can check now if we received valid data
//
if ((rx_event.msg.id != i) || (rx_event.msg.data.bytes[0] != i))
{
CYG_TEST_FAIL_FINISH("Received CAN message contains unexpected data");
}
else
{
print_can_msg(&rx_event.msg, "");
}
} //for (i = 0; i < 10; ++i)
//
// signal successfull reception of all messages
//
cyg_semaphore_post(&sem_wait);
} // while (1)
}
void
cyg_start(void)
{
CYG_TEST_INIT();
//
// Initialize the wait semaphore to 0
//
cyg_semaphore_init( &sem_wait, 0 );
//
// create the two threads which access the CAN device driver
//
cyg_thread_create(4, can0_thread,
(cyg_addrword_t) 0,
"can0_thread",
(void *) can0_thread_data.stack,
1024 * sizeof(long),
&can0_thread_data.hdl,
&can0_thread_data.obj);
cyg_thread_create(5, can1_thread,
(cyg_addrword_t) can0_thread_data.hdl,
"can1_thread",
(void *) can1_thread_data.stack,
1024 * sizeof(long),
&can1_thread_data.hdl,
&can1_thread_data.obj);
cyg_thread_resume(can0_thread_data.hdl);
cyg_thread_resume(can1_thread_data.hdl);
cyg_scheduler_start();
}
#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 serial4.c
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