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[/] [openrisc/] [trunk/] [rtos/] [ecos-3.0/] [packages/] [io/] [can/] [current/] [tests/] [can_remote.c] - Rev 825
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//========================================================================== // // can_remote.c // // CAN remote response buffer 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_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
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