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

//

//        can_txevent.c

//

//        Test CAN device driver timeouts

//

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

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

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

//

// Author(s):     Uwe Kindler

// Contributors:  Uwe Kindler

// Date:          2005-08-07

// Description:   Timeout test of CAN device 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>

// tx event support required

#if defined(CYGOPT_IO_CAN_TX_EVENT_SUPPORT)

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

//                               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;

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

//                          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_uint32         len;

    cyg_can_buf_info_t buf_info;

    cyg_uint16         i;

    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

        4,                                                   // data length code

    };

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

    {

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

    }

    //

    // first we read the buffer info

    //

    len = sizeof(buf_info);

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

    {

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

    }

    //

    // check if buffer is really empty

    //

    if (buf_info.rx_count != 0)

    {

        CYG_TEST_FAIL_FINISH("Receive buffer of /dev/can0 is not empty.");

    }

    //

    // now send messages - because TX events are supported each transmitted CAN message

    // will cause a TX event that is filled into receive queue

    //

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

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

    {

        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, "");

        }

    }

    //

    // Give the loop back driver time to process all those messages.

    //

    cyg_thread_delay(10);

    //

    // now we read the buffer info - we expect a completely filled recieve queue

    //

    len = sizeof(buf_info);

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

    {

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

    }

    //

    // if receive queue is not completely filled, then we have an error here

    //

    if (buf_info.rx_bufsize != buf_info.rx_count)

    {

        diag_printf("RX bufsize: %d    events in RX buffer: %d\n", buf_info.rx_bufsize, buf_info.rx_count);

        CYG_TEST_FAIL_FINISH("Receive queue of /dev/can0 not completely filled.");

    }

    //

    // now we read the receive queue

    //

    diag_printf("Receiving %d TX events from /dev/can0 \n", buf_info.rx_count);

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

    {

        len = sizeof(rx_event);

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

        {

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

        }

        //

        // we expect only a set TX flag because no other events may arrive for the

        // loopback driver

        //

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

        {

            CYG_TEST_FAIL_FINISH("Unexpected receive event flags.");

        }

        //

        // Now check if TX events contain valid data - we know that the ID and the first

        // data byte contain the message number

        //

        if ((rx_event.msg.id != i) || (rx_event.msg.data.bytes[0] != i))

        {

            CYG_TEST_FAIL_FINISH("Received invalid data in TX event");

        }

        else

        {

            print_can_msg(&rx_event.msg, "");

        }

    } // for (i = 0; i < buf_info.rx_count; ++i)

    CYG_TEST_PASS_FINISH("can_txevent test OK");

}

void

cyg_start(void)

{

    CYG_TEST_INIT();

    //

    // create the thread 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_resume(can0_thread_data.hdl);

    cyg_scheduler_start();

}

#else // CYGOPT_IO_CAN_TX_EVENT_SUPPORT

#define N_A_MSG "TX event support required for IO/CAN"

#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 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