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annotate packages/devs/can/arm/lpc2xxx/current/tests/can_rx_tx.c @ 2729:74dbf4c3f2e1 after-copyright-change-20090129

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Update all copyright banners to reflect FSF ownership; fix and improve licence text.
author jlarmour
date Thu, 29 Jan 2009 17:47:46 +0000
parents a52d470bc691
children
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1 //==========================================================================
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2 //
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3 // can_rx_tx.c
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4 //
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5 // CAN RX / TX test
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6 //
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7 //==========================================================================
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8 // ####ECOSGPLCOPYRIGHTBEGIN####
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9 // -------------------------------------------
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10 // This file is part of eCos, the Embedded Configurable Operating System.
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11 // Copyright (C) 1998, 1999, 2000, 2001, 2002 Free Software Foundation, Inc.
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12 //
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13 // eCos is free software; you can redistribute it and/or modify it under
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14 // the terms of the GNU General Public License as published by the Free
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15 // Software Foundation; either version 2 or (at your option) any later
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16 // version.
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17 //
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18 // eCos is distributed in the hope that it will be useful, but WITHOUT
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19 // ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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20 // FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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21 // for more details.
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22 //
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23 // You should have received a copy of the GNU General Public License
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24 // along with eCos; if not, write to the Free Software Foundation, Inc.,
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25 // 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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26 //
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27 // As a special exception, if other files instantiate templates or use
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28 // macros or inline functions from this file, or you compile this file
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29 // and link it with other works to produce a work based on this file,
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30 // this file does not by itself cause the resulting work to be covered by
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31 // the GNU General Public License. However the source code for this file
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32 // must still be made available in accordance with section (3) of the GNU
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33 // General Public License v2.
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34 //
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35 // This exception does not invalidate any other reasons why a work based
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36 // on this file might be covered by the GNU General Public License.
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37 // -------------------------------------------
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38 // ####ECOSGPLCOPYRIGHTEND####
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39 //==========================================================================
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40 //#####DESCRIPTIONBEGIN####
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41 //
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42 // Author(s): Uwe Kindler
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43 // Contributors: Uwe Kindler
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44 // Date: 2007-06-26
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45 // Description: CAN RX/TX test for 2 CAN channels
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46 //####DESCRIPTIONEND####
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47
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48
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49 //===========================================================================
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50 // INCLUDES
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51 //===========================================================================
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52 #include <pkgconf/system.h>
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53
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54 #include <cyg/infra/testcase.h> // test macros
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55 #include <cyg/infra/cyg_ass.h> // assertion macros
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56 #include <cyg/infra/diag.h>
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57
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58 // Package requirements
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59 #if defined(CYGPKG_IO_CAN) && defined(CYGPKG_KERNEL)
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60
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61 #include <pkgconf/kernel.h>
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62 #include <cyg/io/io.h>
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63 #include <cyg/io/canio.h>
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64
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65
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66 // Package option requirements
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67 #if defined(CYGFUN_KERNEL_API_C)
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68
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69 #include <cyg/hal/hal_arch.h> // CYGNUM_HAL_STACK_SIZE_TYPICAL
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70 #include <cyg/kernel/kapi.h>
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71
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72 // We need two CAN channels
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73 #if defined(CYGPKG_DEVS_CAN_LPC2XXX_CAN0) && defined(CYGPKG_DEVS_CAN_LPC2XXX_CAN1)
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74
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75
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76 // The same baud rates are required because we send from one channel to the other one
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77 #if CYGNUM_DEVS_CAN_LPC2XXX_CAN0_KBAUD == CYGNUM_DEVS_CAN_LPC2XXX_CAN1_KBAUD
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78
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79
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80 // We need the loop can driver
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81 #if defined(CYGPKG_DEVS_CAN_LOOP)
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82 #include <pkgconf/devs_can_loop.h>
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83
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84 #include "can_test_aux.inl" // include CAN test auxiliary functions
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85 //===========================================================================
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86 // DATA TYPES
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87 //===========================================================================
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88 typedef struct st_thread_data
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89 {
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90 cyg_thread obj;
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91 long stack[CYGNUM_HAL_STACK_SIZE_TYPICAL];
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92 cyg_handle_t hdl;
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93 } thread_data_t;
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94
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95
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96 //===========================================================================
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97 // LOCAL DATA
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98 //===========================================================================
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99 cyg_thread_entry_t can_tx_thread;
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100 thread_data_t can0_thread_data;
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101 cyg_thread_entry_t can_rx_thread;
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102 thread_data_t can1_thread_data;
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103 cyg_io_handle_t hCAN_Tbl[2];
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104 cyg_io_handle_t hLoopCAN_Tbl[2];
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105
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106
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107 //===========================================================================
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108 // Thread 0
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109 //===========================================================================
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110 void can_rx_thread(cyg_addrword_t data)
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111 {
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112 cyg_uint32 len;
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113 cyg_can_event rx_event;
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114 cyg_can_event loop_rx_event;
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115 cyg_uint32 msg_cnt = 0;
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116 cyg_uint8 i;
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117
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118 while (msg_cnt < 0xF0)
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119 {
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120
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121 //
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122 // First receive CAN event from real CAN hardware
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123 //
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124 len = sizeof(rx_event);
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125 if (ENOERR != cyg_io_read(hCAN_Tbl[1], &rx_event, &len))
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126 {
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127 CYG_TEST_FAIL_FINISH("Error reading from channel 1");
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128 }
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129
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130 if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
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131 {
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132 print_can_msg(&rx_event.msg, "RX chan 1:");
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133 } // if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
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134 else
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135 {
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136 print_can_flags(rx_event.flags, "");
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137 }
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138
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139 //
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140 // Now receive CAN event from loop CAN driver
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141 //
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142 len = sizeof(loop_rx_event);
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143 if (ENOERR != cyg_io_read(hLoopCAN_Tbl[1], &loop_rx_event, &len))
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144 {
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145 CYG_TEST_FAIL_FINISH("Error reading from loop channel 1");
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146 }
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147
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148 if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
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149 {
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150 print_can_msg(&rx_event.msg, "RX loop 1:");
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151 } // if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
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152 else
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153 {
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154 print_can_flags(rx_event.flags, "");
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155 }
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156
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157 //
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158 // Chaeck message ID and DLC of HW CAN message and CAN message from loop driver
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159 // booth should be the same
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160 //
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161 if (rx_event.msg.id != loop_rx_event.msg.id)
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162 {
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163 CYG_TEST_FAIL_FINISH("Received message IDs of hw CAN channel and loop CAN channel are not equal");
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164 }
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165
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166 if (rx_event.msg.dlc != loop_rx_event.msg.dlc)
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167 {
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168 CYG_TEST_FAIL_FINISH("Received DLCs of hw CAN msg and loop CAN msg are not equal");
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169 }
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170
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171 //
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172 // Now check each data byte of the receive message
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173 //
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174 for (i = 0; i < rx_event.msg.dlc; ++i)
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175 {
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176 if (rx_event.msg.data.bytes[i] != loop_rx_event.msg.data.bytes[i])
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177 {
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178 CYG_TEST_FAIL_FINISH("Data of hw CAN msg and loop CAN msg are not equal");
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179 }
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180
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181 if (rx_event.msg.data.bytes[i] != (i + msg_cnt))
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182 {
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183 CYG_TEST_FAIL_FINISH("CAN message contains unexpected data");
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184 }
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185 }
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186
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187 msg_cnt++;
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188 } // while (1)
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189
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190 CYG_TEST_PASS_FINISH("CAN rx/tx test OK");
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191 }
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192
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193
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194 //===========================================================================
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195 // Thread 1
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196 //===========================================================================
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197 void can_tx_thread(cyg_addrword_t data)
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198 {
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199 cyg_uint32 len;
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200 cyg_can_message tx_msg;
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201 cyg_uint32 msg_cnt = 0;
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202 cyg_uint8 i;
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203
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204
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205 CYG_CAN_MSG_SET_PARAM(tx_msg, 0, CYGNUM_CAN_ID_STD, 0, CYGNUM_CAN_FRAME_DATA);
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206
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207 //
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208 // Prepare CAN message with a known CAN state
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209 //
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210 for (i = 0; i < 8; ++i)
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211 {
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212 tx_msg.data.bytes[i] = i;
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213 }
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214
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215 while (msg_cnt < 0xF0)
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216 {
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217 tx_msg.id = msg_cnt;
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218 len = sizeof(tx_msg);
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219 if (ENOERR != cyg_io_write(hCAN_Tbl[0], &tx_msg, &len))
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220 {
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221 CYG_TEST_FAIL_FINISH("Error writing to channel 0");
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222 }
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223
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224
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225 tx_msg.id = msg_cnt;
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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226 len = sizeof(tx_msg);
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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227 if (ENOERR != cyg_io_write(hLoopCAN_Tbl[0], &tx_msg, &len))
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228 {
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229 CYG_TEST_FAIL_FINISH("Error writing to channel 1");
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230 }
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231
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232 //
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233 // Increment data in each single data byte
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234 //
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235 for (i = 0; i < 8; ++i)
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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236 {
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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237 tx_msg.data.bytes[i] += 1;
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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238 }
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239
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240 msg_cnt++;
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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241 tx_msg.dlc = (tx_msg.dlc + 1) % 9;
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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242 } // while (msg_cnt < 0x100)
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243 }
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244
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245
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246 //===========================================================================
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247 // Entry point
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248 //===========================================================================
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249 void cyg_start(void)
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250 {
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251 CYG_TEST_INIT();
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252
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253 //
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254 // open CAN device driver channel 1
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255 //
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256 if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN0_NAME, &hCAN_Tbl[0]))
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257 {
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258 CYG_TEST_FAIL_FINISH("Error opening CAN channel 0");
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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259 }
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260
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261
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262 //
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263 // open CAN device driver channel 2
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264 //
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265 if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN1_NAME, &hCAN_Tbl[1]))
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266 {
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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267 CYG_TEST_FAIL_FINISH("Error opening CAN channel 1");
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268 }
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269
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270 //
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271 // open Loop CAN device driver channel 1
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272 //
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273 if (ENOERR != cyg_io_lookup(CYGDAT_DEVS_CAN_LOOP_CAN0_NAME, &hLoopCAN_Tbl[0]))
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274 {
2509
a52d470bc691 * cdl/can_lpc2xxx.cdl: Added CYGOPT_DEVS_CAN_LPC2XXX_ALIE to make
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275 CYG_TEST_FAIL_FINISH("Error opening loop CAN channel 0");
2406
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276 }
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277
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278
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279 //
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280 // open Loop CAN device driver channel 2
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281 //
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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282 if (ENOERR != cyg_io_lookup(CYGDAT_DEVS_CAN_LOOP_CAN1_NAME, &hLoopCAN_Tbl[1]))
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283 {
2509
a52d470bc691 * cdl/can_lpc2xxx.cdl: Added CYGOPT_DEVS_CAN_LPC2XXX_ALIE to make
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284 CYG_TEST_FAIL_FINISH("Error opening loop CAN channel 1");
2406
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285 }
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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286
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287
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288
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289
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290
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291 //
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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292 // create the first thread that access the CAN device driver
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293 //
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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294 cyg_thread_create(5, can_tx_thread,
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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295 (cyg_addrword_t) 0,
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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296 "can_tx_thread",
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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297 (void *) can0_thread_data.stack,
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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298 1024 * sizeof(long),
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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299 &can0_thread_data.hdl,
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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300 &can0_thread_data.obj);
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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301
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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302 //
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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303 // create the second thread that access the CAN device driver
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304 //
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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305 cyg_thread_create(4, can_rx_thread,
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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306 (cyg_addrword_t) 0,
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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307 "can_rx_thread",
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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308 (void *) can1_thread_data.stack,
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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309 1024 * sizeof(long),
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310 &can1_thread_data.hdl,
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311 &can1_thread_data.obj);
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312
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313 cyg_thread_resume(can0_thread_data.hdl);
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314 cyg_thread_resume(can1_thread_data.hdl);
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315
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316 cyg_scheduler_start();
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317 }
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318 #else // defined(CYGPKG_DEVS_CAN_LOOP)
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319 #define N_A_MSG "Needs support for loop CAN device driver"
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320 #endif
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321
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322 #else // CYGNUM_DEVS_CAN_LPC2XXX_CAN0_KBAUD == CYGNUM_DEVS_CAN_LPC2XXX_CAN1_KBAUD
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323 #define N_A_MSG "Baudrate of channel 0 and 1 need to be equal"
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324 #endif
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325
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326 #else // defined(CYGPKG_DEVS_CAN_LPC2XXX_CAN0) && defined(CYGPKG_DEVS_CAN_LPC2XXX_CAN1)
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327 #define N_A_MSG "Needs support for CAN channel 1 and 2"
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328 #endif
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329
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330 #else // CYGFUN_KERNEL_API_C
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331 #define N_A_MSG "Needs kernel C API"
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332 #endif
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333
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334 #else // CYGPKG_IO_CAN && CYGPKG_KERNEL
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335 #define N_A_MSG "Needs Kernel"
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336 #endif
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337
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338 #ifdef N_A_MSG
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339 void
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340 cyg_start( void )
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341 {
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342 CYG_TEST_INIT();
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343 CYG_TEST_NA(N_A_MSG);
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344 }
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345 #endif // N_A_MSG
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346
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347 //---------------------------------------------------------------------------
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348 // EOF can_rx_tx.c