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//==========================================================================
//
// can_txevent.c
//
// Test CAN device driver timeouts
//
//==========================================================================
// ####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: Timeout test of CAN device 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>
// tx event support required
#if defined(CYGOPT_IO_CAN_TX_EVENT_SUPPORT)
//===========================================================================
// 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;
//===========================================================================
// 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_uint32 len;
cyg_can_buf_info_t buf_info;
cyg_uint16 i;
cyg_can_event rx_event;
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
4, // data length code
};
if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
}
//
// first we read the buffer info
//
len = sizeof(buf_info);
if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&buf_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
//
// check if buffer is really empty
//
if (buf_info.rx_count != 0)
{
CYG_TEST_FAIL_FINISH("Receive buffer of /dev/can0 is not empty.");
}
//
// now send messages - because TX events are supported each transmitted CAN message
// will cause a TX event that is filled into receive queue
//
diag_printf("Sending %d CAN messages to /dev/can0 \n", buf_info.rx_bufsize);
for (i = 0; i < buf_info.rx_bufsize; ++i)
{
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, "");
}
}
//
// Give the loop back driver time to process all those messages.
//
cyg_thread_delay(10);
//
// now we read the buffer info - we expect a completely filled recieve queue
//
len = sizeof(buf_info);
if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&buf_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
//
// if receive queue is not completely filled, then we have an error here
//
if (buf_info.rx_bufsize != buf_info.rx_count)
{
diag_printf("RX bufsize: %d events in RX buffer: %d\n", buf_info.rx_bufsize, buf_info.rx_count);
CYG_TEST_FAIL_FINISH("Receive queue of /dev/can0 not completely filled.");
}
//
// now we read the receive queue
//
diag_printf("Receiving %d TX events from /dev/can0 \n", buf_info.rx_count);
for (i = 0; i < buf_info.rx_count; ++i)
{
len = sizeof(rx_event);
if (ENOERR != cyg_io_read(hCAN0, &rx_event, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");
}
//
// we expect only a set TX flag because no other events may arrive for the
// loopback driver
//
if (!(rx_event.flags & CYGNUM_CAN_EVENT_TX) || (rx_event.flags & !CYGNUM_CAN_EVENT_TX))
{
CYG_TEST_FAIL_FINISH("Unexpected receive event flags.");
}
//
// Now check if TX events contain valid data - we know that the ID and the first
// data byte contain the message number
//
if ((rx_event.msg.id != i) || (rx_event.msg.data.bytes[0] != i))
{
CYG_TEST_FAIL_FINISH("Received invalid data in TX event");
}
else
{
print_can_msg(&rx_event.msg, "");
}
} // for (i = 0; i < buf_info.rx_count; ++i)
CYG_TEST_PASS_FINISH("can_txevent test OK");
}
void
cyg_start(void)
{
CYG_TEST_INIT();
//
// create the thread 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_resume(can0_thread_data.hdl);
cyg_scheduler_start();
}
#else // CYGOPT_IO_CAN_TX_EVENT_SUPPORT
#define N_A_MSG "TX event support required for IO/CAN"
#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 serial4.c
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