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[/] [openrisc/] [trunk/] [rtos/] [ecos-3.0/] [packages/] [io/] [can/] [current/] [tests/] [can_load.c] - Rev 825
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//========================================================================== // // can_load.c // // CAN load 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: 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
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