1 //==========================================================================
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40 //==========================================================================
41 //#####DESCRIPTIONBEGIN####
43 // Author(s): Uwe Kindler
44 // Contributors: Uwe Kindler
46 // Description: CAN load test
47 //####DESCRIPTIONEND####
50 //===========================================================================
52 //===========================================================================
53 #include <pkgconf/system.h>
55 #include <cyg/infra/testcase.h> // test macros
56 #include <cyg/infra/cyg_ass.h> // assertion macros
57 #include <cyg/infra/diag.h>
59 // Package requirements
60 #if defined(CYGPKG_IO_CAN) && defined(CYGPKG_KERNEL)
62 #include <pkgconf/kernel.h>
63 #include <cyg/io/io.h>
64 #include <cyg/io/canio.h>
66 // Package option requirements
67 #if defined(CYGFUN_KERNEL_API_C)
69 #include <cyg/hal/hal_arch.h> // CYGNUM_HAL_STACK_SIZE_TYPICAL
70 #include <cyg/kernel/kapi.h>
72 // Package option requirements
73 #if defined(CYGOPT_IO_CAN_STD_CAN_ID) && defined(CYGOPT_IO_CAN_EXT_CAN_ID)
76 //===========================================================================
78 //===========================================================================
79 typedef struct st_thread_data
82 long stack[CYGNUM_HAL_STACK_SIZE_TYPICAL];
87 //===========================================================================
89 //===========================================================================
90 cyg_thread_entry_t can0_thread;
91 thread_data_t can0_thread_data;
93 cyg_thread_entry_t can1_thread;
94 thread_data_t can1_thread_data;
96 cyg_io_handle_t hCAN0;
99 //===========================================================================
101 //===========================================================================
102 #include "can_test_aux.inl" // include CAN test auxiliary functions
105 //===========================================================================
107 //===========================================================================
108 void can0_thread(cyg_addrword_t data)
111 cyg_can_event rx_event;
112 cyg_can_timeout_info_t timeouts;
114 #if defined(CYGOPT_IO_CAN_SUPPORT_TIMEOUTS)
116 // setup large timeout values because we do not need timeouts here
118 timeouts.rx_timeout = 100000;
119 timeouts.tx_timeout = 100000;
121 len = sizeof(timeouts);
122 if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_TIMEOUT ,&timeouts, &len))
124 CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
126 #endif // defined(CYGOPT_IO_CAN_SUPPORT_TIMEOUTS)
129 // This thread simply receives all CAN events and prints the event flags and the
130 // CAN message if it was a TX or RX event. You can use this test in order to check
131 // when a RX overrun occurs
135 len = sizeof(rx_event);
137 if (ENOERR != cyg_io_read(hCAN0, &rx_event, &len))
139 CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");
143 print_can_flags(rx_event.flags, "");
145 if ((rx_event.flags & CYGNUM_CAN_EVENT_RX) || (rx_event.flags & CYGNUM_CAN_EVENT_TX))
147 print_can_msg(&rx_event.msg, "");
154 //===========================================================================
156 //===========================================================================
157 void can1_thread(cyg_addrword_t data)
161 cyg_can_message tx_msg =
163 0x000, // CAN identifier
166 {0x00, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7 } // 8 data bytes
168 CYGNUM_CAN_ID_STD, // standard frame
169 CYGNUM_CAN_FRAME_DATA, // data frame
170 8, // data length code
174 // This thread simply sends CAN messages. It increments the ID for each new CAN messsage
175 // and sends a remote frame after seven data frames. In the first byte of each data frame
176 // the number (0 - 7) of the data frame is stored and the length of the data frame grows
177 // from 1 - 8 data bytes.
179 // The received pattern should look like this way:
181 // ----------------------------------------------
186 // 004 5 04 F1 F2 F3 F4
187 // 005 6 05 F1 F2 F3 F4 F5
188 // 006 7 06 F1 F2 F3 F4 F5 F6
189 // 007 8 Remote Request
198 tx_msg.dlc = (i % 8) + 1;
199 tx_msg.data.bytes[0] = (i % 8);
203 // the 6th frame is a remote frame
207 tx_msg.rtr = CYGNUM_CAN_FRAME_RTR;
208 tx_msg.ext = CYGNUM_CAN_ID_STD;
211 // the 7th frame is a extended frame
213 else if ((i % 8) == 7)
215 tx_msg.ext = CYGNUM_CAN_ID_EXT;
216 tx_msg.rtr = CYGNUM_CAN_FRAME_DATA;
219 // the 8th frame is a extended remote frame
223 tx_msg.ext = CYGNUM_CAN_ID_EXT;
224 tx_msg.rtr = CYGNUM_CAN_FRAME_RTR;
227 // all other frames are standard data frames
231 tx_msg.ext = CYGNUM_CAN_ID_STD;
232 tx_msg.rtr = CYGNUM_CAN_FRAME_DATA;
235 len = sizeof(tx_msg);
236 if (ENOERR != cyg_io_write(hCAN0, &tx_msg, &len))
238 CYG_TEST_FAIL_FINISH("Error writing to /dev/can0");
241 cyg_thread_delay(50);
253 // open CAN device driver
255 if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0))
257 CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
261 // create the two threads which access the CAN device driver
262 // a reader thread with a higher priority and a writer thread
263 // with a lower priority
265 cyg_thread_create(4, can0_thread,
268 (void *) can0_thread_data.stack,
270 &can0_thread_data.hdl,
271 &can0_thread_data.obj);
273 cyg_thread_create(5, can1_thread,
274 (cyg_addrword_t) can0_thread_data.hdl,
276 (void *) can1_thread_data.stack,
278 &can1_thread_data.hdl,
279 &can1_thread_data.obj);
281 cyg_thread_resume(can0_thread_data.hdl);
282 cyg_thread_resume(can1_thread_data.hdl);
284 cyg_scheduler_start();
287 #else // defined(CYGOPT_IO_CAN_STD_CAN_ID) && defined(CYGOPT_IO_CAN_EXT_CAN_ID)
288 #define N_A_MSG "Needs support for standard and extended CAN identifiers"
291 #else // CYGFUN_KERNEL_API_C
292 #define N_A_MSG "Needs kernel C API"
295 #else // CYGPKG_IO_CAN && CYGPKG_KERNEL
296 #define N_A_MSG "Needs IO/CAN and Kernel"
304 CYG_TEST_NA( N_A_MSG);