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

//

//        can_filter.c

//

//        CAN message filter test

//

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

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

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

//

// Author(s):     Uwe Kindler

// Contributors:  Uwe Kindler

// Date:          2007-03-21

// Description:   CAN hardware filter 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_STD_CAN_ID)

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

//                               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;

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

//                          LOCAL FUNCTIONS

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

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

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

// Main thread

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

void can0_thread(cyg_addrword_t data)

{

    cyg_uint32             len;

    cyg_can_event          rx_event;

    cyg_uint16             i;

    cyg_can_hdi            hdi;

    cyg_can_msgbuf_info    msgbox_info;

    cyg_can_msgbuf_cfg     msgbox_cfg;

    len = sizeof(hdi);

    if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_HDI ,&hdi, &len))

    {

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

    }

    //

    // Normally the CAN modul should support message filters. So the

    // FULLCAN flag should be set - if it is not, we treat this as an error

    //

    if (!(hdi.support_flags & CYGNUM_CAN_HDI_FULLCAN))

    {

        CYG_TEST_FAIL_FINISH("/dev/can0 does not support message buffers");

    }

    //

    // Now reset message buffer configuration - this is mandatory bevore starting

    // message buffer runtime configuration

    //

    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 query number of available and free message boxes

    //

    len = sizeof(msgbox_info);

    if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_MSGBUF_INFO ,&msgbox_info, &len))

    {

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

    }

    //

    // if there are no free message boxes available then this is a failure

    //

    if (!msgbox_info.free)

    {

        CYG_TEST_FAIL_FINISH("No free message boxes available for /dev/can0");

    }

    //

    // We setup as many standard CAN message filters as there are free

    // message buffers available.

    //

    for (i = 0; i < msgbox_info.free; ++i)

    {

        cyg_can_filter rx_filter;

        rx_filter.cfg_id  = CYGNUM_CAN_MSGBUF_RX_FILTER_ADD;

        rx_filter.msg.id  = i;

        rx_filter.msg.ext = CYGNUM_CAN_ID_STD;

        len = sizeof(rx_filter);

        if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&rx_filter, &len))

        {

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

        }

        else if (CYGNUM_CAN_MSGBUF_NA == rx_filter.handle)

        {

            CYG_TEST_FAIL_FINISH("Error setting up message filter for /dev/can0");

        }

    }

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

                "receive messages identifiers in the range of 0x00 to 0x%X.\n"

                "As soon as a standard message with ID 0x000 arrives, all\n"

                "message filters will be cleared\n\n", (msgbox_info.free - 1));

    //

    // Now receive messages until a message arrives with largest ID of all

    // available message filters

    //

    rx_event.msg.id = 1;

    while(rx_event.msg.id != 0)

    {

        len = sizeof(rx_event);

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

        else

        {

                print_can_flags(rx_event.flags, "");

                rx_event.msg.id = 1;

        }

    } // while(1)

    //

    // Now enable reception of all available CAN messages

    //

    cyg_can_filter rx_filter;

    rx_filter.cfg_id  = CYGNUM_CAN_MSGBUF_RX_FILTER_ALL;

    len = sizeof(rx_filter);

    if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_MSGBUF , &rx_filter, &len))

    {

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

    }

    diag_printf("\n\nAll message filters have been cleared an now the device\n"

                "will receive any available CAN message identifiers.\n"

                "Send a CAN message with ID 0x100 to stop this test.\n\n");

    //

    // Now receive messages until a message arrives with largest ID of all

    // available message filters

    //

    rx_event.msg.id = 1;

    while(rx_event.msg.id != 0x100)

    {

        len = sizeof(rx_event);

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

    } // while(1)

    CYG_TEST_PASS_FINISH("can_filter test OK");

}

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 two threads which access the CAN device driver

    // a reader thread with a higher priority and a writer thread

    // with a lower priority

    //

    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_STD_CAN_ID

#define N_A_MSG "Needs support for standard CAN identifiers"

#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 can_filter.c