Subversion Repositories openrisc

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

//

//        can_overrun2.c

//

//        Test CAN device RX overrun events

//

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

// ####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     

// 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.,    

// 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, 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 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:          2005-08-07

// Description:   Simple read/write test of CAN driver

//####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>

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

//                               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_thread_entry_t can1_thread;

thread_data_t      can1_thread_data;

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

//                          LOCAL FUNCTIONS

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

#include "can_test_aux.inl" // include CAN test auxiliary functions

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

//                             WRITER THREAD 

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

void can0_thread(cyg_addrword_t data)

{

    cyg_io_handle_t    hCAN0;

    cyg_uint8          i;

    cyg_uint32         len;

    cyg_uint32         rx_bufsize;

    cyg_can_buf_info_t tx_buf_info;

    cyg_can_event      rx_event;

    cyg_can_message    tx_msg =

    {

        0x000,                                               // CAN identifier

        data :

        {

            {0x00, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7 }// 8 data bytes

        },

        CYGNUM_CAN_ID_STD,                                   // standard frame

        CYGNUM_CAN_FRAME_DATA,                               // data frame

        2,                                                   // data length code

    };

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

    {

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

    }

    len = sizeof(tx_buf_info);

    if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&tx_buf_info, &len))

    {

        CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");

    }

    //

    // Before we can write the CAN messages, we need to know the buffer size of the

    // receiver. The receiver will tell us this buffer size with one single CAN

    // message

    //

    len = sizeof(rx_event);

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

    {

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

    }

    //

    // we expect a RX event here - we treat any other flag as an error

    //

    if (!(rx_event.flags & CYGNUM_CAN_EVENT_RX) || (rx_event.flags & !CYGNUM_CAN_EVENT_RX))

    {

        CYG_TEST_FAIL_FINISH("Unexpected RX event for /dev/can0");

    }

    rx_bufsize = *((cyg_uint32 *)rx_event.msg.data.bytes);

    //

    // now we send exactly one CAN message more than there is space in the receive buffer

    // this should cause an RX ovverun in receive buffer

    //

    diag_printf("/dev/can0: Sending %d CAN messages\n", rx_bufsize);

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

    {

        //

        // we store the message number as CAN id and in first data byte so

        // a receiver can check this later

        //

        CYG_CAN_MSG_SET_STD_ID(tx_msg, 0x000 + i);

        CYG_CAN_MSG_SET_DATA(tx_msg, 0, i);

        len = sizeof(tx_msg);

        if (ENOERR != cyg_io_write(hCAN0, &tx_msg, &len))

        {

            CYG_TEST_FAIL_FINISH("Error writing to /dev/can0");

        }

        else

        {

            print_can_msg(&tx_msg, "");

        }

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

    cyg_thread_suspend(cyg_thread_self());

}

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

//                            READER THREAD

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

void can1_thread(cyg_addrword_t data)

{

    cyg_io_handle_t    hCAN1;

    cyg_uint8          i;

    cyg_uint32         len;

    cyg_can_buf_info_t rx_buf_info;

    cyg_can_event      rx_event;

    cyg_can_message    tx_msg;

    if (ENOERR != cyg_io_lookup("/dev/can1", &hCAN1))

    {

        CYG_TEST_FAIL_FINISH("Error opening /dev/can1");

    }

    len = sizeof(rx_buf_info);

    if (ENOERR != cyg_io_get_config(hCAN1, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&rx_buf_info, &len))

    {

        CYG_TEST_FAIL_FINISH("Error reading config of /dev/can1");

    }

    //

    // first we send the size of our receive buffer to the writer

    // we setup tx message now

    //

    tx_msg.id  = 0x000;

    tx_msg.ext = CYGNUM_CAN_ID_STD;

    tx_msg.rtr = CYGNUM_CAN_FRAME_DATA;

    tx_msg.dlc = sizeof(rx_buf_info.rx_bufsize);

    //

    // we store size of rx buffer in CAN message. We do not need to care about

    // endianess here because this is a loopback driver test and we will receive

    // our own messages

    //

    *((cyg_uint32 *)tx_msg.data.bytes) = rx_buf_info.rx_bufsize;

    len = sizeof(tx_msg);

    //

    // as soon as we send a CAN message, thread 0 will resume because it is waiting

    // for a message

    //

    diag_printf("/dev/can1: Sending size of RX buffer %d\n", rx_buf_info.rx_bufsize);

    if (ENOERR != cyg_io_write(hCAN1, &tx_msg, &len))

    {

        CYG_TEST_FAIL_FINISH("Error writing to /dev/can1");

    }

    cyg_thread_delay(10); // let thread 0 run

    //

    // now we check if we received CAN messages  - if receive buffer is not full

    // the we have an error here because we expect a full receive buffer

    //

    len = sizeof(rx_buf_info);

    if (ENOERR != cyg_io_get_config(hCAN1, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&rx_buf_info, &len))

    {

        CYG_TEST_FAIL_FINISH("Error reading config of /dev/can1");

    }

    if (rx_buf_info.rx_bufsize != rx_buf_info.rx_count)

    {

        CYG_TEST_FAIL_FINISH("RX buffer of /dev/can1 does not contain number of expected messages");

    }

    //

    // now we wait for messages from /dev/can0

    //

    diag_printf("/dev/can1: Receiving %d CAN messages\n", rx_buf_info.rx_count);

    for (i = 0; i < rx_buf_info.rx_count; ++i)

    {

        len = sizeof(rx_event);

        if (ENOERR != cyg_io_read(hCAN1, &rx_event, &len))

        {

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

        }

        else

        {

            if (rx_event.flags & CYGNUM_CAN_EVENT_RX)

            {

                print_can_msg(&rx_event.msg, "");

                if (rx_event.msg.data.bytes[0] != (i + 1))

                {

                    CYG_TEST_FAIL_FINISH("Received /dev/can1 RX event contains invalid data");

                }

            }

            else

            {

                CYG_TEST_FAIL_FINISH("Unexpected CAN event for /dev/can1");

            }

            //

            // now check if any other flag is set

            //

            if (rx_event.flags &  CYGNUM_CAN_EVENT_OVERRUN_RX)

            {

                diag_printf("RX queue overrun successfully indicated for /dev/can1\n");

//

// if TX events are supported then we have already a TX event in receive queue because

// we sent a message and the RX queue overrun will occur one message earlier

//

#if defined(CYGOPT_IO_CAN_TX_EVENT_SUPPORT)

                if (i < (rx_buf_info.rx_bufsize - 2))

#else

                if (i < (rx_buf_info.rx_bufsize - 1))

#endif

                {

                    CYG_TEST_FAIL_FINISH("RX queue overrun occured too early for /dev/can1");

                }

                else

                {

                    CYG_TEST_PASS_FINISH("can_overrun2 test OK");

                }

            } // if (rx_event.flags &  CYGNUM_CAN_EVENT_OVERRUN_RX)  

        }

    }

}

void

cyg_start(void)

{

    CYG_TEST_INIT();

    //

    // create the two threads which access 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_create(5, can1_thread,

                        (cyg_addrword_t) can0_thread_data.hdl,

                                "can1_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 // CYGFUN_KERNEL_API_C

#define N_A_MSG "Needs kernel C API"

#endif

#else // CYGPKG_IO_CAN && CYGPKG_KERNEL

#define N_A_MSG "Needs IO/CAN and Kernel"

#endif

#ifdef N_A_MSG

void

cyg_start( void )

{

    CYG_TEST_INIT();

    CYG_TEST_NA( N_A_MSG);

}

#endif // N_A_MSG

// EOF serial4.c