--- /dev/null
+//==========================================================================
+//
+// can_multichan_rx.c
+//
+// CAN RX test for multiple CAN channels
+//
+//==========================================================================
+//####ECOSGPLCOPYRIGHTBEGIN####
+// -------------------------------------------
+// This file is part of eCos, the Embedded Configurable Operating System.
+// Copyright (C) 1998, 1999, 2000, 2001, 2002 Red Hat, 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.,
+// 59 Temple Place, Suite 330, Boston, MA 02111-1307 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.
+//
+// This exception does not invalidate any other reasons why a work based on
+// this file might be covered by the GNU General Public License.
+//
+// Alternative licenses for eCos may be arranged by contacting Red Hat, Inc.
+// at http://sources.redhat.com/ecos/ecos-license/
+// -------------------------------------------
+//####ECOSGPLCOPYRIGHTEND####
+//==========================================================================
+//#####DESCRIPTIONBEGIN####
+//
+// Author(s): Uwe Kindler
+// Contributors: Uwe Kindler
+// Date: 2007-06-26
+// Description: CAN RX test for multiple CAN controller channels
+//####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_NONBLOCKING)
+
+#include "can_test_aux.inl" // include CAN test auxiliary functions
+//===========================================================================
+// 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 can0_thread_data;
+cyg_io_handle_t hCAN_Tbl[4];
+
+
+//===========================================================================
+// Setup acceptance filter
+//===========================================================================
+void can_setup_channel(cyg_io_handle_t hCAN, unsigned char Channel)
+{
+ cyg_uint32 len;
+ cyg_can_msgbuf_cfg msgbox_cfg;
+ cyg_uint8 i;
+ cyg_uint32 blocking;
+
+ //
+ // First we reset message buffer configuration - this is mandatory bevore starting
+ // message buffer runtime configuration. This call clears/frees all message buffers
+ // The CAN controller cannot receive any further CAN message after this call
+ //
+ msgbox_cfg.cfg_id = CYGNUM_CAN_MSGBUF_RESET_ALL;
+ len = sizeof(msgbox_cfg);
+ if (ENOERR != cyg_io_set_config(hCAN, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&msgbox_cfg, &len))
+ {
+ CYG_TEST_FAIL_FINISH("Error resetting message buffer configuration of /dev/can0");
+ }
+
+ //
+ // Now setup 10 message filters for this channel
+ //
+ for (i = 0; i < 10; ++i)
+ {
+ cyg_can_filter rx_filter;
+
+ rx_filter.cfg_id = CYGNUM_CAN_MSGBUF_RX_FILTER_ADD;
+ rx_filter.msg.id = Channel * 0x100 + i;
+ rx_filter.msg.ext = CYGNUM_CAN_ID_STD;
+
+ len = sizeof(rx_filter);
+ if (ENOERR != cyg_io_set_config(hCAN, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&rx_filter, &len))
+ {
+ CYG_TEST_FAIL_FINISH("Error writing config");
+ }
+ else if (CYGNUM_CAN_MSGBUF_NA == rx_filter.handle)
+ {
+ CYG_TEST_FAIL_FINISH("Error setting up message filter");
+ }
+ }
+
+ //
+ // Now set driver into nonblocking mode because the receiver thread will
+ // receive the messages from all channels
+ //
+ blocking = 0;
+ len = sizeof(blocking);
+ if (ENOERR != cyg_io_set_config(hCAN, CYG_IO_SET_CONFIG_READ_BLOCKING ,&blocking, &len))
+ {
+ CYG_TEST_FAIL_FINISH("Error setting channel into nonblocking mode");
+ }
+
+ //
+ // If timeouts are supported we need to setup a timeout value of 0 because
+ // the driver should return immediatelly if no message is available
+ //
+#ifdef CYGOPT_IO_CAN_SUPPORT_TIMEOUTS
+ cyg_can_timeout_info_t timeouts;
+
+ timeouts.rx_timeout = 0;
+ timeouts.tx_timeout = 0;
+ len = sizeof(timeouts);
+ if (ENOERR != cyg_io_set_config(hCAN, CYG_IO_SET_CONFIG_CAN_TIMEOUT ,&timeouts, &len))
+ {
+ CYG_TEST_FAIL_FINISH("Error setting timeout for channel");
+ }
+#endif
+}
+
+
+//===========================================================================
+// READER THREAD
+//===========================================================================
+void can_thread(cyg_addrword_t data)
+{
+ cyg_uint32 len;
+ cyg_uint8 i = 0;
+
+ //
+ // Check that all cannels have the same baudrate
+ //
+#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN0
+ can_setup_channel(hCAN_Tbl[0], 0);
+#endif
+
+#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN1
+ can_setup_channel(hCAN_Tbl[1], 1);
+#endif
+
+#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN2
+ can_setup_channel(hCAN_Tbl[2], 2);
+#endif
+
+#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN3
+ can_setup_channel(hCAN_Tbl[3], 3);
+#endif
+
+ diag_printf("\n\nThis test uses all available CAN channels for reception\n"
+ "of CAN standard messages. The following messages will be received:\n\n");
+
+ for (i = 0; i < 4; ++i)
+ {
+ if (hCAN_Tbl[i])
+ {
+ diag_printf("CAN channel %d: msg: 0x%03x - 0x%03x\n", i, i * 0x100, i * 0x100 + 9);
+ }
+ }
+
+ diag_printf("\n\nYou can stop this test by sending a message with ID 0xX09\n");
+
+ while (1)
+ {
+ for (i = 0; i < 4; ++i)
+ {
+ if (hCAN_Tbl[i])
+ {
+ Cyg_ErrNo ret;
+ cyg_can_event rx_event;
+
+ len = sizeof(rx_event);
+ ret = cyg_io_read(hCAN_Tbl[i], &rx_event, &len);
+ if ((ret == -EAGAIN) || (ret == -EINTR))
+ {
+ continue;
+ }
+
+ if (ENOERR != ret)
+ {
+ CYG_TEST_FAIL_FINISH("Error reading from channel");
+ }
+ else
+ {
+ diag_printf("Channel %d events: ", i);
+ print_can_flags(rx_event.flags, "");
+ if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
+ {
+ print_can_msg(&rx_event.msg, "");
+ if ((rx_event.msg.id & 9) == 9)
+ {
+ CYG_TEST_PASS_FINISH("LPC2xxx CAN multi channel RX test OK");
+ }
+ } // if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
+ }
+ } // if (hCAN_Tbl[i])
+ } // for (i = 0; i < 4; ++i)
+ } // while (1)
+}
+
+
+
+void
+cyg_start(void)
+{
+ CYG_TEST_INIT();
+
+#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN0
+ //
+ // open CAN device driver
+ //
+ if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN0_NAME, &hCAN_Tbl[0]))
+ {
+ CYG_TEST_FAIL_FINISH("Error opening CAN channel 0");
+ }
+#else
+ hCAN_Tbl[0] = 0;
+#endif
+
+#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN1
+ //
+ // open CAN device driver
+ //
+ if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN1_NAME, &hCAN_Tbl[1]))
+ {
+ CYG_TEST_FAIL_FINISH("Error opening CAN channel 1");
+ }
+#else
+ hCAN_Tbl[1] = 0;
+#endif
+
+#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN2
+ //
+ // open CAN device driver
+ //
+ if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN2_NAME, &hCAN_Tbl[2]))
+ {
+ CYG_TEST_FAIL_FINISH("Error opening CAN channel 2");
+ }
+#else
+ hCAN_Tbl[2] = 0;
+#endif
+
+#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN3
+ //
+ // open CAN device driver
+ //
+ if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN3_NAME, &hCAN_Tbl[3]))
+ {
+ CYG_TEST_FAIL_FINISH("Error opening CAN channel 3");
+ }
+#else
+ hCAN_Tbl[3] = 0;
+#endif
+
+ //
+ // create the thread that accesses the CAN device driver
+ //
+ cyg_thread_create(4, can_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_SUPPORT_NONBLOCKING
+#define N_A_MSG "Needs support for nonblocking calls"
+#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 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_multichan_rx.c