Mercurial > ecos-v3_0-branch

annotate packages/devs/can/arm/lpc2xxx/current/tests/can_rx_tx.c @ 2509:a52d470bc691

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* cdl/can_lpc2xxx.cdl: Added CYGOPT_DEVS_CAN_LPC2XXX_ALIE to make arbitration lost interrupt optional. Added option CYGNUM_DEVS_CAN_LPC2XXX_INT_PRIORITY to configure the interrupt priority for global CAN interrupt in LPC24xx variants. * include/can_lpc2xxx_baudrates.h: Replaced CYGNUM_CAN_LPC2XXX_VPB_CLK by CYGNUM_HAL_ARM_LPC2XXX_CAN_CLK because newer variants like LPC24xx do not have a global VPB_CLK. * src/can_accfilt_lpc2xxx.c: Adjusted LPC2XXX_CAN_FIRST_IN_LUT to be 0 for LPC24xxx variants. Added macro CAN_CHAN_NO_LUT(_info_) to abstract channel numbering from acceptance filter code. * src/can_lpc2xxx.c: Removed icr data field from lpc2xxx_can_info_st structure because it is not required any longer. A lot of small modifications to make the driver usable with newer LPC2xxx variants like LPC24xx. ISR and DSR code changed - instead of disabling interrupts in IER register they are disabled in VIC by using cyg_drv_interrupt_mask() function calls. Added global CAN ISR and DSR for LPC24xx variants (they do not support individual interrupt vectors for RX and TX interrupts). Moved LUT error checking code from ISR into DSR to keep ISR as short as possible and made LUT error checking code optional. * cdl/can_lpc2xxx.cdl: add CAN interrupt priorities * src/can_lpc2xxx.c: add CAN interrupt priorities, repair "chan" definition missing in rx_ISR * src/can_accfilt_lpc2xxx.c: add various types of CAN controllers numbering (depends on LPC2XXX version)
author asl
date Tue, 22 Jul 2008 19:40:02 +0000
parents 05280737f180
children 74dbf4c3f2e1
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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 Red Hat, 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 version.
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16 //
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17 // eCos is distributed in the hope that it will be useful, but WITHOUT ANY
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18 // WARRANTY; without even the implied warranty of MERCHANTABILITY or
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19 // FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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20 // for more details.
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21 //
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22 // You should have received a copy of the GNU General Public License along
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23 // with eCos; if not, write to the Free Software Foundation, Inc.,
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24 // 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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25 //
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26 // As a special exception, if other files instantiate templates or use macros
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27 // or inline functions from this file, or you compile this file and link it
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28 // with other works to produce a work based on this file, this file does not
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29 // by itself cause the resulting work to be covered by the GNU General Public
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30 // License. However the source code for this file must still be made available
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31 // in accordance with section (3) of the GNU General Public License.
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32 //
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33 // This exception does not invalidate any other reasons why a work based on
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34 // this file might be covered by the GNU General Public License.
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35 //
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36 // Alternative licenses for eCos may be arranged by contacting Red Hat, Inc.
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37 // at http://sources.redhat.com/ecos/ecos-license/
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38 // -------------------------------------------
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39 //####ECOSGPLCOPYRIGHTEND####
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40 //==========================================================================
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41 //#####DESCRIPTIONBEGIN####
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42 //
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43 // Author(s): Uwe Kindler
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44 // Contributors: Uwe Kindler
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45 // Date: 2007-06-26
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46 // Description: CAN RX/TX test for 2 CAN channels
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47 //####DESCRIPTIONEND####
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48
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49
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50 //===========================================================================
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51 // INCLUDES
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52 //===========================================================================
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53 #include <pkgconf/system.h>
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54
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55 #include <cyg/infra/testcase.h> // test macros
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56 #include <cyg/infra/cyg_ass.h> // assertion macros
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57 #include <cyg/infra/diag.h>
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58
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59 // Package requirements
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60 #if defined(CYGPKG_IO_CAN) && defined(CYGPKG_KERNEL)
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61
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62 #include <pkgconf/kernel.h>
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63 #include <cyg/io/io.h>
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64 #include <cyg/io/canio.h>
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65
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66
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67 // Package option requirements
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68 #if defined(CYGFUN_KERNEL_API_C)
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69
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70 #include <cyg/hal/hal_arch.h> // CYGNUM_HAL_STACK_SIZE_TYPICAL
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71 #include <cyg/kernel/kapi.h>
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72
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73 // We need two CAN channels
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74 #if defined(CYGPKG_DEVS_CAN_LPC2XXX_CAN0) && defined(CYGPKG_DEVS_CAN_LPC2XXX_CAN1)
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75
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76
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77 // The same baud rates are required because we send from one channel to the other one
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78 #if CYGNUM_DEVS_CAN_LPC2XXX_CAN0_KBAUD == CYGNUM_DEVS_CAN_LPC2XXX_CAN1_KBAUD
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79
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80
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81 // We need the loop can driver
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82 #if defined(CYGPKG_DEVS_CAN_LOOP)
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83 #include <pkgconf/devs_can_loop.h>
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84
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85 #include "can_test_aux.inl" // include CAN test auxiliary functions
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86 //===========================================================================
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87 // DATA TYPES
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88 //===========================================================================
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89 typedef struct st_thread_data
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90 {
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91 cyg_thread obj;
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92 long stack[CYGNUM_HAL_STACK_SIZE_TYPICAL];
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93 cyg_handle_t hdl;
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94 } thread_data_t;
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95
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96
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97 //===========================================================================
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98 // LOCAL DATA
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99 //===========================================================================
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100 cyg_thread_entry_t can_tx_thread;
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101 thread_data_t can0_thread_data;
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102 cyg_thread_entry_t can_rx_thread;
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103 thread_data_t can1_thread_data;
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104 cyg_io_handle_t hCAN_Tbl[2];
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105 cyg_io_handle_t hLoopCAN_Tbl[2];
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106
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107
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108 //===========================================================================
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109 // Thread 0
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110 //===========================================================================
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111 void can_rx_thread(cyg_addrword_t data)
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112 {
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113 cyg_uint32 len;
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114 cyg_can_event rx_event;
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115 cyg_can_event loop_rx_event;
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116 cyg_uint32 msg_cnt = 0;
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117 cyg_uint8 i;
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118
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119 while (msg_cnt < 0xF0)
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120 {
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121
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122 //
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123 // First receive CAN event from real CAN hardware
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124 //
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125 len = sizeof(rx_event);
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126 if (ENOERR != cyg_io_read(hCAN_Tbl[1], &rx_event, &len))
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127 {
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128 CYG_TEST_FAIL_FINISH("Error reading from channel 1");
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129 }
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130
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131 if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
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132 {
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133 print_can_msg(&rx_event.msg, "RX chan 1:");
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134 } // if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
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135 else
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136 {
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137 print_can_flags(rx_event.flags, "");
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138 }
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139
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140 //
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141 // Now receive CAN event from loop CAN driver
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142 //
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143 len = sizeof(loop_rx_event);
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144 if (ENOERR != cyg_io_read(hLoopCAN_Tbl[1], &loop_rx_event, &len))
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145 {
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146 CYG_TEST_FAIL_FINISH("Error reading from loop channel 1");
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147 }
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148
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149 if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
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150 {
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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151 print_can_msg(&rx_event.msg, "RX loop 1:");
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152 } // if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
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153 else
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154 {
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155 print_can_flags(rx_event.flags, "");
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156 }
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157
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158 //
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159 // Chaeck message ID and DLC of HW CAN message and CAN message from loop driver
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160 // booth should be the same
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161 //
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162 if (rx_event.msg.id != loop_rx_event.msg.id)
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163 {
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164 CYG_TEST_FAIL_FINISH("Received message IDs of hw CAN channel and loop CAN channel are not equal");
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165 }
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166
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167 if (rx_event.msg.dlc != loop_rx_event.msg.dlc)
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168 {
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169 CYG_TEST_FAIL_FINISH("Received DLCs of hw CAN msg and loop CAN msg are not equal");
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170 }
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171
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172 //
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173 // Now check each data byte of the receive message
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174 //
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175 for (i = 0; i < rx_event.msg.dlc; ++i)
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176 {
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177 if (rx_event.msg.data.bytes[i] != loop_rx_event.msg.data.bytes[i])
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178 {
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179 CYG_TEST_FAIL_FINISH("Data of hw CAN msg and loop CAN msg are not equal");
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180 }
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181
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182 if (rx_event.msg.data.bytes[i] != (i + msg_cnt))
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183 {
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184 CYG_TEST_FAIL_FINISH("CAN message contains unexpected data");
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185 }
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186 }
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187
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188 msg_cnt++;
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189 } // while (1)
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190
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191 CYG_TEST_PASS_FINISH("CAN rx/tx test OK");
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192 }
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193
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194
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195 //===========================================================================
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196 // Thread 1
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197 //===========================================================================
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198 void can_tx_thread(cyg_addrword_t data)
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199 {
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200 cyg_uint32 len;
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201 cyg_can_message tx_msg;
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202 cyg_uint32 msg_cnt = 0;
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203 cyg_uint8 i;
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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204
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205
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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206 CYG_CAN_MSG_SET_PARAM(tx_msg, 0, CYGNUM_CAN_ID_STD, 0, CYGNUM_CAN_FRAME_DATA);
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207
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208 //
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209 // Prepare CAN message with a known CAN state
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210 //
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211 for (i = 0; i < 8; ++i)
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212 {
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213 tx_msg.data.bytes[i] = i;
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214 }
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215
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216 while (msg_cnt < 0xF0)
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217 {
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218 tx_msg.id = msg_cnt;
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219 len = sizeof(tx_msg);
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220 if (ENOERR != cyg_io_write(hCAN_Tbl[0], &tx_msg, &len))
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221 {
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222 CYG_TEST_FAIL_FINISH("Error writing to channel 0");
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223 }
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224
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225
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226 tx_msg.id = msg_cnt;
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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227 len = sizeof(tx_msg);
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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228 if (ENOERR != cyg_io_write(hLoopCAN_Tbl[0], &tx_msg, &len))
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229 {
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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230 CYG_TEST_FAIL_FINISH("Error writing to channel 1");
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231 }
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232
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233 //
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234 // Increment data in each single data byte
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235 //
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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236 for (i = 0; i < 8; ++i)
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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237 {
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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238 tx_msg.data.bytes[i] += 1;
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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239 }
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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240
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241 msg_cnt++;
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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242 tx_msg.dlc = (tx_msg.dlc + 1) % 9;
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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243 } // while (msg_cnt < 0x100)
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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244 }
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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245
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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246
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247 //===========================================================================
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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248 // Entry point
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249 //===========================================================================
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250 void cyg_start(void)
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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251 {
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252 CYG_TEST_INIT();
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253
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254 //
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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255 // open CAN device driver channel 1
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256 //
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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257 if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN0_NAME, &hCAN_Tbl[0]))
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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258 {
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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259 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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260 }
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261
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262
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263 //
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264 // open CAN device driver channel 2
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265 //
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266 if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN1_NAME, &hCAN_Tbl[1]))
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267 {
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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268 CYG_TEST_FAIL_FINISH("Error opening CAN channel 1");
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269 }
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270
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271 //
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272 // open Loop CAN device driver channel 1
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273 //
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274 if (ENOERR != cyg_io_lookup(CYGDAT_DEVS_CAN_LOOP_CAN0_NAME, &hLoopCAN_Tbl[0]))
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275 {
2509
a52d470bc691 * cdl/can_lpc2xxx.cdl: Added CYGOPT_DEVS_CAN_LPC2XXX_ALIE to make
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276 CYG_TEST_FAIL_FINISH("Error opening loop CAN channel 0");
2406
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277 }
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278
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279
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280 //
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281 // open Loop CAN device driver channel 2
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282 //
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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283 if (ENOERR != cyg_io_lookup(CYGDAT_DEVS_CAN_LOOP_CAN1_NAME, &hLoopCAN_Tbl[1]))
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284 {
2509
a52d470bc691 * cdl/can_lpc2xxx.cdl: Added CYGOPT_DEVS_CAN_LPC2XXX_ALIE to make
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285 CYG_TEST_FAIL_FINISH("Error opening loop CAN channel 1");
2406
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286 }
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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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
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292 //
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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293 // create the first thread that access the CAN device driver
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294 //
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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295 cyg_thread_create(5, can_tx_thread,
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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296 (cyg_addrword_t) 0,
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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297 "can_tx_thread",
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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298 (void *) can0_thread_data.stack,
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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299 1024 * sizeof(long),
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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300 &can0_thread_data.hdl,
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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301 &can0_thread_data.obj);
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302
641c0b821739 CAN driver for LPC2xxx, plus misc CAN improvements - from Uwe Kindler
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303 //
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304 // create the second thread that access the CAN device driver
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305 //
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306 cyg_thread_create(4, can_rx_thread,
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307 (cyg_addrword_t) 0,
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308 "can_rx_thread",
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309 (void *) can1_thread_data.stack,
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310 1024 * sizeof(long),
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311 &can1_thread_data.hdl,
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312 &can1_thread_data.obj);
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313
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314 cyg_thread_resume(can0_thread_data.hdl);
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315 cyg_thread_resume(can1_thread_data.hdl);
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316
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317 cyg_scheduler_start();
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318 }
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319 #else // defined(CYGPKG_DEVS_CAN_LOOP)
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320 #define N_A_MSG "Needs support for loop CAN device driver"
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321 #endif
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322
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323 #else // CYGNUM_DEVS_CAN_LPC2XXX_CAN0_KBAUD == CYGNUM_DEVS_CAN_LPC2XXX_CAN1_KBAUD
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324 #define N_A_MSG "Baudrate of channel 0 and 1 need to be equal"
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325 #endif
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326
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327 #else // defined(CYGPKG_DEVS_CAN_LPC2XXX_CAN0) && defined(CYGPKG_DEVS_CAN_LPC2XXX_CAN1)
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328 #define N_A_MSG "Needs support for CAN channel 1 and 2"
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329 #endif
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330
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331 #else // CYGFUN_KERNEL_API_C
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332 #define N_A_MSG "Needs kernel C API"
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333 #endif
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334
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335 #else // CYGPKG_IO_CAN && CYGPKG_KERNEL
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336 #define N_A_MSG "Needs Kernel"
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337 #endif
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338
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339 #ifdef N_A_MSG
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340 void
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341 cyg_start( void )
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342 {
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343 CYG_TEST_INIT();
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344 CYG_TEST_NA(N_A_MSG);
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345 }
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346 #endif // N_A_MSG
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347
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348 //---------------------------------------------------------------------------
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349 // EOF can_rx_tx.c