--- /dev/null
+//==========================================================================
+//
+// can_rx_tx.c
+//
+// CAN RX / TX test
+//
+//==========================================================================
+//####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/TX test for 2 CAN 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>
+
+// We need two CAN channels
+#if defined(CYGPKG_DEVS_CAN_LPC2XXX_CAN0) && defined(CYGPKG_DEVS_CAN_LPC2XXX_CAN1)
+
+
+// The same baud rates are required because we send from one channel to the other one
+#if CYGNUM_DEVS_CAN_LPC2XXX_CAN0_KBAUD == CYGNUM_DEVS_CAN_LPC2XXX_CAN1_KBAUD
+
+
+// We need the loop can driver
+#if defined(CYGPKG_DEVS_CAN_LOOP)
+#include <pkgconf/devs_can_loop.h>
+
+#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_tx_thread;
+thread_data_t can0_thread_data;
+cyg_thread_entry_t can_rx_thread;
+thread_data_t can1_thread_data;
+cyg_io_handle_t hCAN_Tbl[2];
+cyg_io_handle_t hLoopCAN_Tbl[2];
+
+
+//===========================================================================
+// Thread 0
+//===========================================================================
+void can_rx_thread(cyg_addrword_t data)
+{
+ cyg_uint32 len;
+ cyg_can_event rx_event;
+ cyg_can_event loop_rx_event;
+ cyg_uint32 msg_cnt = 0;
+ cyg_uint8 i;
+
+ while (msg_cnt < 0xF0)
+ {
+
+ //
+ // First receive CAN event from real CAN hardware
+ //
+ len = sizeof(rx_event);
+ if (ENOERR != cyg_io_read(hCAN_Tbl[1], &rx_event, &len))
+ {
+ CYG_TEST_FAIL_FINISH("Error reading from channel 1");
+ }
+
+ if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
+ {
+ print_can_msg(&rx_event.msg, "RX chan 1:");
+ } // if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
+ else
+ {
+ print_can_flags(rx_event.flags, "");
+ }
+
+ //
+ // Now receive CAN event from loop CAN driver
+ //
+ len = sizeof(loop_rx_event);
+ if (ENOERR != cyg_io_read(hLoopCAN_Tbl[1], &loop_rx_event, &len))
+ {
+ CYG_TEST_FAIL_FINISH("Error reading from loop channel 1");
+ }
+
+ if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
+ {
+ print_can_msg(&rx_event.msg, "RX loop 1:");
+ } // if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
+ else
+ {
+ print_can_flags(rx_event.flags, "");
+ }
+
+ //
+ // Chaeck message ID and DLC of HW CAN message and CAN message from loop driver
+ // booth should be the same
+ //
+ if (rx_event.msg.id != loop_rx_event.msg.id)
+ {
+ CYG_TEST_FAIL_FINISH("Received message IDs of hw CAN channel and loop CAN channel are not equal");
+ }
+
+ if (rx_event.msg.dlc != loop_rx_event.msg.dlc)
+ {
+ CYG_TEST_FAIL_FINISH("Received DLCs of hw CAN msg and loop CAN msg are not equal");
+ }
+
+ //
+ // Now check each data byte of the receive message
+ //
+ for (i = 0; i < rx_event.msg.dlc; ++i)
+ {
+ if (rx_event.msg.data.bytes[i] != loop_rx_event.msg.data.bytes[i])
+ {
+ CYG_TEST_FAIL_FINISH("Data of hw CAN msg and loop CAN msg are not equal");
+ }
+
+ if (rx_event.msg.data.bytes[i] != (i + msg_cnt))
+ {
+ CYG_TEST_FAIL_FINISH("CAN message contains unexpected data");
+ }
+ }
+
+ msg_cnt++;
+ } // while (1)
+
+ CYG_TEST_PASS_FINISH("CAN rx/tx test OK");
+}
+
+
+//===========================================================================
+// Thread 1
+//===========================================================================
+void can_tx_thread(cyg_addrword_t data)
+{
+ cyg_uint32 len;
+ cyg_can_message tx_msg;
+ cyg_uint32 msg_cnt = 0;
+ cyg_uint8 i;
+
+
+ CYG_CAN_MSG_SET_PARAM(tx_msg, 0, CYGNUM_CAN_ID_STD, 0, CYGNUM_CAN_FRAME_DATA);
+
+ //
+ // Prepare CAN message with a known CAN state
+ //
+ for (i = 0; i < 8; ++i)
+ {
+ tx_msg.data.bytes[i] = i;
+ }
+
+ while (msg_cnt < 0xF0)
+ {
+ tx_msg.id = msg_cnt;
+ len = sizeof(tx_msg);
+ if (ENOERR != cyg_io_write(hCAN_Tbl[0], &tx_msg, &len))
+ {
+ CYG_TEST_FAIL_FINISH("Error writing to channel 0");
+ }
+
+
+ tx_msg.id = msg_cnt;
+ len = sizeof(tx_msg);
+ if (ENOERR != cyg_io_write(hLoopCAN_Tbl[0], &tx_msg, &len))
+ {
+ CYG_TEST_FAIL_FINISH("Error writing to channel 1");
+ }
+
+ //
+ // Increment data in each single data byte
+ //
+ for (i = 0; i < 8; ++i)
+ {
+ tx_msg.data.bytes[i] += 1;
+ }
+
+ msg_cnt++;
+ tx_msg.dlc = (tx_msg.dlc + 1) % 9;
+ } // while (msg_cnt < 0x100)
+}
+
+
+//===========================================================================
+// Entry point
+//===========================================================================
+void cyg_start(void)
+{
+ CYG_TEST_INIT();
+
+ //
+ // open CAN device driver channel 1
+ //
+ if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN0_NAME, &hCAN_Tbl[0]))
+ {
+ CYG_TEST_FAIL_FINISH("Error opening CAN channel 0");
+ }
+
+
+ //
+ // open CAN device driver channel 2
+ //
+ if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN1_NAME, &hCAN_Tbl[1]))
+ {
+ CYG_TEST_FAIL_FINISH("Error opening CAN channel 1");
+ }
+
+ //
+ // open Loop CAN device driver channel 1
+ //
+ if (ENOERR != cyg_io_lookup(CYGDAT_DEVS_CAN_LOOP_CAN0_NAME, &hLoopCAN_Tbl[0]))
+ {
+ CYG_TEST_FAIL_FINISH("Error opening loop CAN channel 0");
+ }
+
+
+ //
+ // open Loop CAN device driver channel 2
+ //
+ if (ENOERR != cyg_io_lookup(CYGDAT_DEVS_CAN_LOOP_CAN1_NAME, &hLoopCAN_Tbl[1]))
+ {
+ CYG_TEST_FAIL_FINISH("Error opening loop CAN channel 1");
+ }
+
+
+
+
+
+ //
+ // create the first thread that access the CAN device driver
+ //
+ cyg_thread_create(5, can_tx_thread,
+ (cyg_addrword_t) 0,
+ "can_tx_thread",
+ (void *) can0_thread_data.stack,
+ 1024 * sizeof(long),
+ &can0_thread_data.hdl,
+ &can0_thread_data.obj);
+
+ //
+ // create the second thread that access the CAN device driver
+ //
+ cyg_thread_create(4, can_rx_thread,
+ (cyg_addrword_t) 0,
+ "can_rx_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 // defined(CYGPKG_DEVS_CAN_LOOP)
+#define N_A_MSG "Needs support for loop CAN device driver"
+#endif
+
+#else // CYGNUM_DEVS_CAN_LPC2XXX_CAN0_KBAUD == CYGNUM_DEVS_CAN_LPC2XXX_CAN1_KBAUD
+#define N_A_MSG "Baudrate of channel 0 and 1 need to be equal"
+#endif
+
+#else // defined(CYGPKG_DEVS_CAN_LPC2XXX_CAN0) && defined(CYGPKG_DEVS_CAN_LPC2XXX_CAN1)
+#define N_A_MSG "Needs support for CAN channel 1 and 2"
+#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_rx_tx.c
projects / karo-tx-redboot.git / blobdiff