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[/] [openrisc/] [trunk/] [rtos/] [ecos-3.0/] [packages/] [io/] [can/] [current/] [tests/] [can_filter.c] - Rev 825
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//========================================================================== // // can_filter.c // // CAN message filter test // //========================================================================== // ####ECOSGPLCOPYRIGHTBEGIN#### // ------------------------------------------- // This file is part of eCos, the Embedded Configurable Operating System. // Copyright (C) 1998, 1999, 2000, 2001, 2002 Free Software Foundation, Inc. // // eCos is free software; you can redistribute it and/or modify it under // the terms of the GNU General Public License as published by the Free // Software Foundation; either version 2 or (at your option) any later // version. // // eCos is distributed in the hope that it will be useful, but WITHOUT // ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or // FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License // for more details. // // You should have received a copy of the GNU General Public License // along with eCos; if not, write to the Free Software Foundation, Inc., // 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA. // // As a special exception, if other files instantiate templates or use // macros or inline functions from this file, or you compile this file // and link it with other works to produce a work based on this file, // this file does not by itself cause the resulting work to be covered by // the GNU General Public License. However the source code for this file // must still be made available in accordance with section (3) of the GNU // General Public License v2. // // This exception does not invalidate any other reasons why a work based // on this file might be covered by the GNU General Public License. // ------------------------------------------- // ####ECOSGPLCOPYRIGHTEND#### //========================================================================== //#####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
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