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

//

//        can_load.c

//

//        CAN load test

//

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

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

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

//

// Author(s):     Uwe Kindler

// Contributors:  Uwe Kindler

// Date:          2005-08-14

// Description:  CAN load 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) && defined(CYGOPT_IO_CAN_EXT_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_thread_entry_t can1_thread;

thread_data_t      can1_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_can_timeout_info_t timeouts;

#if defined(CYGOPT_IO_CAN_SUPPORT_TIMEOUTS)   

    //

    // setup large timeout values because we do not need timeouts here

    //

    timeouts.rx_timeout = 100000;

    timeouts.tx_timeout = 100000;

    len = sizeof(timeouts);

    if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_TIMEOUT ,&timeouts, &len))

    {

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

    }

#endif // defined(CYGOPT_IO_CAN_SUPPORT_TIMEOUTS)  

    //

    // This thread simply receives all CAN events and prints the event flags and the

    // CAN message if it was a TX or RX event. You can use this test in order to check

    // when a RX overrun occurs

    //

    while (1)

    {

        len = sizeof(rx_event);

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

        {

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

        }

        else

        {

            print_can_flags(rx_event.flags, "");

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

            {

                print_can_msg(&rx_event.msg, "");

            }

        }

    }

}

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

//                            WRITER THREAD

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

void can1_thread(cyg_addrword_t data)

{

    cyg_uint16      i = 0;

    cyg_uint32      len;

    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

        8,                                                   // data length code

    };

    //

    // This thread simply sends CAN messages. It increments the ID for each new CAN messsage

    // and sends a remote frame after seven data frames. In the first byte of each data frame

    // the number (0 - 7) of the data frame is stored and the length of the data frame grows

    // from 1 - 8 data bytes.

    //

    // The received pattern should look like this way:

    // ID    Length    Data

    // ----------------------------------------------

    // 000   1         00

    // 001   2         01 F1

    // 002   3         02 F1 F2

    // 003   4         03 F1 F2 F3

    // 004   5         04 F1 F2 F3 F4

    // 005   6         05 F1 F2 F3 F4 F5

    // 006   7         06 F1 F2 F3 F4 F5 F6

    // 007   8         Remote Request

    // 008   1         00

    // 009   2         01 F1

    // 00A   3         02 F1 F2

    // ...

    //

    while (1)

    {

        tx_msg.id            = i;

        tx_msg.dlc           = (i % 8) + 1;

        tx_msg.data.bytes[0] = (i % 8);

        i = (i + 1) % 0x7FF;

        //

        // the 6th frame is a remote frame

        //

        if ((i % 8) == 6)

        {

            tx_msg.rtr =  CYGNUM_CAN_FRAME_RTR;

            tx_msg.ext =  CYGNUM_CAN_ID_STD;

        }

        //

        // the 7th frame is a extended frame

        //

        else if ((i % 8) == 7)

        {

            tx_msg.ext =  CYGNUM_CAN_ID_EXT;

            tx_msg.rtr = CYGNUM_CAN_FRAME_DATA;

        }

        //

        // the 8th frame is a extended remote frame

        //

        else if (!(i % 8))

        {

            tx_msg.ext =  CYGNUM_CAN_ID_EXT;

            tx_msg.rtr = CYGNUM_CAN_FRAME_RTR;

        }

        //

        // all other frames are standard data frames

        //

        else

        {

            tx_msg.ext =  CYGNUM_CAN_ID_STD;

            tx_msg.rtr =  CYGNUM_CAN_FRAME_DATA;

        }

        len = sizeof(tx_msg);

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

        {

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

        }

        cyg_thread_delay(50);

    } // while (1)

}

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_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 // defined(CYGOPT_IO_CAN_STD_CAN_ID) && defined(CYGOPT_IO_CAN_EXT_CAN_ID)

#define N_A_MSG "Needs support for standard and extended 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_load.c