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

//

//        can_multichan_rx.c

//

//        CAN RX test for multiple CAN channels

//

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

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

//#####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