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

//

//        can_extended_cfg.c

//

//        Test of extended CAN configuration keys for LPC2xxx CAN driver

//

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

// ####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     

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// ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or    

// FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License    

// for more details.                                                        

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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,       

// this file does not by itself cause the resulting work to be covered by   

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// 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:          2006-06-20

// Description:   LPC2xxx CAN extended configuration 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>

// Package option requirements

#if defined(CYGOPT_IO_CAN_RUNTIME_MBOX_CFG)

#include "can_test_aux.inl"

#if defined(CYGOPT_DEVS_CAN_LPC2XXX_EXTENDED_CFG_KEYS)

#include <cyg/io/can_lpc2xxx.h>

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

//                               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    hCAN0;

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

//                             READER THREAD 

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

void can0_thread(cyg_addrword_t data)

{

    cyg_uint32              len;

    cyg_can_event           rx_event;

    cyg_can_filtergroup_cfg acc_filt_grp;

    cyg_can_msgbuf_cfg      msgbox_cfg;

    //

    // 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(hCAN0, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&msgbox_cfg, &len))

    {

        CYG_TEST_FAIL_FINISH("Error resetting message buffer configuration of /dev/can0");

    }

    //

    // Now we setup two different acceptance filter groups. Acceptance filter

    // groups are not part of the CAN I/O layer and are a LPC2xxx specific

    // feature. You should not use appcetance filter groups if you would like

    // to code portable eCos CAN applications

    //

#ifdef CYGOPT_IO_CAN_STD_CAN_ID    

    acc_filt_grp.ext            = CYGNUM_CAN_ID_STD;

    acc_filt_grp.lower_id_bound = 0x100;

    acc_filt_grp.upper_id_bound = 0x110;

    len = sizeof(acc_filt_grp);

    if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_LPC2XXX_ACCFILT_GROUP ,&acc_filt_grp, &len))

    {

        CYG_TEST_FAIL_FINISH("Error adding filter group to /dev/can0");

    }

#endif // CYGOPT_IO_CAN_STD_CAN_ID

#ifdef CYGOPT_IO_CAN_EXT_CAN_ID   

    acc_filt_grp.ext            = CYGNUM_CAN_ID_EXT;

    acc_filt_grp.lower_id_bound = 0x2000;

    acc_filt_grp.upper_id_bound = 0x2200;

    len = sizeof(acc_filt_grp);

    if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_LPC2XXX_ACCFILT_GROUP ,&acc_filt_grp, &len))

    {

        CYG_TEST_FAIL_FINISH("Error adding filter group to /dev/can0");

    }

#endif // CYGOPT_IO_CAN_STD_CAN_ID

    diag_printf("\n\nNow try to send CAN messages. The device should only\n"

                    "receive standard messages identifiers in the range of 0x100\n"

                    "to 0x110 and/or extended identifiers in the range 0x2000 to\n"

                    "0x2200. As soon as a standard message with ID 0x110 or an\n"

                    "extended message with ID 0x2200 arrives, the test finishes\n\n");

    while (1)

    {

        len = sizeof(rx_event);

        if (ENOERR != cyg_io_read(hCAN0, &rx_event, &len))

        {

            CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");

        }

        else

        {

            print_can_flags(rx_event.flags, "");

            if (rx_event.flags & CYGNUM_CAN_EVENT_RX)

            {

                print_can_msg(&rx_event.msg, "");

#ifdef CYGOPT_IO_CAN_STD_CAN_ID

                if (rx_event.msg.id == 0x110)

                {

                    CYG_TEST_PASS_FINISH("LPC2xxx CAN message filter group test OK");

                }

#endif // CYGOPT_IO_CAN_STD_CAN_ID

#ifdef CYGOPT_IO_CAN_EXT_CAN_ID          

                if (rx_event.msg.id == 0x2200)

                {

                    CYG_TEST_PASS_FINISH("LPC2xxx CAN message filter group test OK");

                }

#endif // CYGOPT_IO_CAN_EXT_CAN_ID  

                if (((rx_event.msg.id > 0x110) && (rx_event.msg.id < 0x2000))

                   || (rx_event.msg.id > 0x2200))

                {

                    CYG_TEST_FAIL_FINISH("Received CAN identifier outside filter group bounds");

                }

            }

        }

    } // while (1)

}

void

cyg_start(void)

{

    CYG_TEST_INIT();

    //

    // open CAN device driver

    //

    if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0))

    {

        CYG_TEST_FAIL_FINISH("Error opening /dev/can0");

    }

    //

    // create the thread that accesses 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_DEVS_CAN_LPC2XXX_EXTENDED_CFG_KEYS

#define N_A_MSG "Needs support for extended LPC2xxx CAN configuration keys" 

#endif

#else // CYGOPT_IO_CAN_RUNTIME_MBOX_CFG

#define N_A_MSG "Needs CAN message box runtime confuguration support"

#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 flexcan_remote.c