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

//

//        can_tx.c

//

//        Simple CAN TX test

//

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

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// the terms of the GNU General Public License as published by the Free     

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//

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

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

//

// Author(s):     Uwe Kindler

// Contributors:  Uwe Kindler

// Date:          2007-01-08

// Description:   Simple 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>

#include <cyg/hal/hal_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;

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

//                          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      i;

    cyg_uint32      len;

    CYG_CAN_MSG_INIT(tx_msg, 0x001, CYGNUM_CAN_ID_STD, 1, CYGNUM_CAN_FRAME_DATA);

    //

    // Open device and check return value

    //

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

    {

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

    }

#ifdef CYGOPT_IO_CAN_STD_CAN_ID    

    //

    // Now send 1000 messages with standard identifier.

    // Each message contains the message number in its identifier 

    // and in the first data byte

    //

    for (i = 0; i < 1000; ++i)

    {

        CYG_CAN_MSG_SET_STD_ID(tx_msg, i);

        CYG_CAN_MSG_SET_DATA(tx_msg, 0, i);

        len = sizeof(tx_msg);

        //

        // Each message with an odd identifier should be a remote request message

        //

        if (i % 2)

        {

            CYG_CAN_MSG_SET_FRAME_TYPE(tx_msg, CYGNUM_CAN_FRAME_RTR);

        }

        else

        {

            CYG_CAN_MSG_SET_FRAME_TYPE(tx_msg, CYGNUM_CAN_FRAME_DATA);

        }

        //

        // Sending CAN messages is blocking so the thread waits until there is

        // space in the tx queue

        //

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

        {

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

        }

    }

#endif

#ifdef CYGOPT_IO_CAN_EXT_CAN_ID    

    //

    // Now send 1000 messages with extended identifier.

    // Each message contains the message number in its identifier 

    // and in the first data byte

    //

    for (i = 0; i < 1000; ++i)

    {

        CYG_CAN_MSG_SET_EXT_ID(tx_msg, i + 0x800);

        CYG_CAN_MSG_SET_DATA(tx_msg, 0, i);

        CYG_CAN_MSG_SET_DATA_LEN(tx_msg, 8);

        len = sizeof(tx_msg);

        //

        // Each message with an odd identifier should be a remote request message

        //

        if (i % 2)

        {

            CYG_CAN_MSG_SET_FRAME_TYPE(tx_msg, CYGNUM_CAN_FRAME_RTR);

        }

        else

        {

            CYG_CAN_MSG_SET_FRAME_TYPE(tx_msg, CYGNUM_CAN_FRAME_DATA);

        }

        //

        // Sending CAN messages is blocking so the thread waits until there is

        // space in the tx queue

        //

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

        {

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

        }

    }

#endif

    CYG_TEST_PASS_FINISH("CAN TX test OK");

}

void

cyg_start(void)

{

    CYG_TEST_INIT();

    //

    // create the threads that 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 // 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_tx.c