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//==========================================================================

//

//        can_baudrates.c

//

//        CAN test of all supported baudrates

//

//==========================================================================

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// -------------------------------------------                              

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// Copyright (C) 1998, 1999, 2000, 2001, 2002 Free Software Foundation, Inc.

//

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// the terms of the GNU General Public License as published by the Free     

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// You should have received a copy of the GNU General Public License        

// along with eCos; if not, write to the Free Software Foundation, Inc.,    

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//

// 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,       

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// on this file might be covered by the GNU General Public License.         

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//==========================================================================

//#####DESCRIPTIONBEGIN####

//

// Author(s):     Uwe Kindler

// Contributors:  Uwe Kindler

// Date:          2007-06-26

// Description:   CAN LPC2xxx baudrate test

//####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>

#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 can0_thread;

thread_data_t      can0_thread_data;

cyg_io_handle_t    hCAN;

//

// The table of baudrates to test

//

static cyg_can_baud_rate_t baudrate_tbl[9] =

{

    CYGNUM_CAN_KBAUD_10,

    CYGNUM_CAN_KBAUD_20,

    CYGNUM_CAN_KBAUD_50,

    CYGNUM_CAN_KBAUD_100,

    CYGNUM_CAN_KBAUD_125,

    CYGNUM_CAN_KBAUD_250,

    CYGNUM_CAN_KBAUD_500,

    CYGNUM_CAN_KBAUD_800,

    CYGNUM_CAN_KBAUD_1000,

};

//

// String table forprinting supported baudrates

//

static char* baudrate_strings_tbl[9] =

{

    "10",

    "20",

    "50",

    "100",

    "125",

    "250",

    "500",

    "800",

    "1000",

};

//===========================================================================

// Thread 0

//===========================================================================

void can0_thread(cyg_addrword_t data)

{

    cyg_uint32          len;

    cyg_can_event       rx_event;

    cyg_uint32          i;

    cyg_can_info_t      can_info;

    diag_printf("\n\nWhen the LPC2xxx driver selects a new baudrate then you need\n"

                "to setup your hardware to the new baudrate and send one CAN\n"

                "single CAN standard message.\n");

    //

    // Test all supported baudrates

    //

    for (i = 0; i < 9; ++i)

    {

        diag_printf("\n\nBaudrate: %s Kbaud\n", baudrate_strings_tbl[i]);

        can_info.baud = baudrate_tbl[i];

        len = sizeof(can_info);

        if (ENOERR != cyg_io_set_config(hCAN, CYG_IO_SET_CONFIG_CAN_INFO, &can_info, &len))

        {

            diag_printf("not supported\n");

            continue;

        }

        else

        {

            diag_printf("waiting for CAN message...\n");

        }

        len = sizeof(rx_event);

        //

        // First receive CAN event from real CAN hardware

        //

        len = sizeof(rx_event);

        if (ENOERR != cyg_io_read(hCAN, &rx_event, &len))

        {

            CYG_TEST_FAIL_FINISH("Error reading from channel 0");

        }

        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, "");

            CYG_TEST_FAIL_FINISH("Rx message expected");

        }

    } // for (i = 0; i < 9; ++i)

    CYG_TEST_PASS_FINISH("CAN baudrate test OK");

}

//===========================================================================

// 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))

    {

        CYG_TEST_FAIL_FINISH("Error opening CAN channel 0");

    }

    //

    // create the main thread

    //

    cyg_thread_create(5, can0_thread,

                        (cyg_addrword_t) 0,

                        "can_tx_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 // 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_busload.c