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

//

//        can_remote.c

//

//        CAN remote response buffer 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_RUNTIME_MBOX_CFG)

// Package option requirements

#if defined(CYGOPT_IO_CAN_REMOTE_BUF)

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

//                               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_can_remote_buf     rtr_buf;

    cyg_can_filter         rx_filter;

    cyg_can_msgbuf_info    msgbox_info;

    cyg_can_msgbuf_cfg     msgbox_cfg;

    //

    // We would like to setup 2 remote buffers - check if we have enough

    // free message buffers

    //

    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");

    }

    else

    {

        diag_printf("\n\n\nMessage boxes available: %d    free: %d\n",

                    msgbox_info.count, msgbox_info.free);

    }

    //

    // We have not enougth free message buffers, so we clear all message buffers now

    // and try again

    //

    if (msgbox_info.free < 2)

    {

        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 clearing message buffers of /dev/can0");

        }

        //

        // Now query number of free message boxes again. We need 3 free message boxes.

        // 2 message boxes for setup of remote response buffers and 1 message box for

        // setup of receive message box for CAN identifier 0x100

        //

        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");

        }

        else

        {

            diag_printf("Message boxes available: %d    free: %d\n",

                        msgbox_info.count, msgbox_info.free);

        }

        if (msgbox_info.free < 3)

        {

            CYG_TEST_FAIL_FINISH("Not enough free message buffers available for /dev/can0");

        }

        else

        {

            rx_filter.cfg_id = CYGNUM_CAN_MSGBUF_RX_FILTER_ADD;

            CYG_CAN_MSG_SET_STD_ID(rx_filter.msg, 0x100);

            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 adding rx filter for CAN ID 0x100 for /dev/can0");

            }

        } // if (msgbox_info.free < 3)

    } // if (msgbox_info.free < 2)

#ifdef CYGOPT_IO_CAN_STD_CAN_ID

    //

    // Setup the first remote response buffer for resception of standard

    // remote frames

    //

    rtr_buf.cfg_id      = CYGNUM_CAN_MSGBUF_REMOTE_BUF_ADD;

    CYG_CAN_MSG_SET_PARAM(rtr_buf.msg, 0x7FF, CYGNUM_CAN_ID_STD, 1, CYGNUM_CAN_FRAME_DATA);

    CYG_CAN_MSG_SET_DATA(rtr_buf.msg, 0, 0xAB);

    len = sizeof(rtr_buf);

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

    {

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

    }

#endif

#ifdef CYGOPT_IO_CAN_EXT_CAN_ID

    cyg_can_remote_buf     rtr_buf2;

    //

    // setup the second remote response buffer for reception of extended

    // remote frames

    // 

    rtr_buf2.cfg_id      = CYGNUM_CAN_MSGBUF_REMOTE_BUF_ADD;

    CYG_CAN_MSG_SET_PARAM(rtr_buf2.msg, 0x800, CYGNUM_CAN_ID_EXT, 4, CYGNUM_CAN_FRAME_DATA);

    CYG_CAN_MSG_SET_DATA(rtr_buf2.msg, 0, 0xCD);

    len = sizeof(rtr_buf2);

    if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&rtr_buf2, &len))

    {

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

    }

    if (rtr_buf.handle == CYGNUM_CAN_MSGBUF_NA)

    {

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

    }

#endif

    diag_printf("\nTest of CAN remote response buffer configuration\n"

                "If a CAN node sends a remote request with ID 0x7FF (std. ID)\n"

                "or 0x800 (ext. ID) then the CAN driver should respond with\n"

                "data frames.\n\n");

    diag_printf("!!! This test can be stopped by sending a data frame\n"

                "with ID 0x100 !!!\n\n");

    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 writing config of /dev/can0");

    }

    else

    {

        diag_printf("Message boxes available: %d    free: %d\n",

                    msgbox_info.count, msgbox_info.free);

    }

    while (1)

    {

        len = sizeof(rx_event);

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

        {

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

        }

        if (0x100 == rx_event.msg.id)

        {

            CYG_TEST_PASS_FINISH("can_remote test OK");

        }

        else

        {

            print_can_flags(rx_event.flags, "");

            if (rx_event.flags & CYGNUM_CAN_EVENT_RX)

            {

                print_can_msg(&rx_event.msg, "");

            }

        }

    }

}

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 thread that accesses 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_REMOTE_BUF

#define N_A_MSG "Needs support for CAN remote response buffers"

#endif

#else // CYGOPT_IO_CAN_RUNTIME_MBOX_CFG

#define N_A_MSG "Needs support for CAN message buffer runtime configuration"

#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_remote.c