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

//

//        can_rx_tx.c

//

//        CAN RX / TX test

//

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

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

//#####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