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[/] [openrisc/] [trunk/] [rtos/] [ecos-3.0/] [packages/] [io/] [can/] [current/] [tests/] [can_tx.c] - Rev 825
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//========================================================================== // // can_tx.c // // Simple CAN TX 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: 2007-01-08 // 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
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