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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