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1 //========================================================================== |
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2 // |
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3 // can_overrun2.c |
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4 // |
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5 // Test CAN device RX overrun events |
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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: 2005-08-07 |
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46 // Description: Simple read/write test of CAN driver |
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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 // 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 |
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73 //=========================================================================== |
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74 // DATA TYPES |
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75 //=========================================================================== |
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76 typedef struct st_thread_data |
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77 { |
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78 cyg_thread obj; |
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79 long stack[CYGNUM_HAL_STACK_SIZE_TYPICAL]; |
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80 cyg_handle_t hdl; |
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81 } thread_data_t; |
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82 |
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83 |
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84 //=========================================================================== |
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85 // LOCAL DATA |
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86 //=========================================================================== |
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87 cyg_thread_entry_t can0_thread; |
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88 thread_data_t can0_thread_data; |
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89 |
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90 cyg_thread_entry_t can1_thread; |
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91 thread_data_t can1_thread_data; |
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92 |
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93 |
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94 //=========================================================================== |
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95 // LOCAL FUNCTIONS |
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96 //=========================================================================== |
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97 #include "can_test_aux.inl" // include CAN test auxiliary functions |
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98 |
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99 |
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100 //=========================================================================== |
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101 // WRITER THREAD |
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102 //=========================================================================== |
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103 void can0_thread(cyg_addrword_t data) |
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104 { |
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105 cyg_io_handle_t hCAN0; |
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106 cyg_uint8 i; |
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107 cyg_uint32 len; |
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108 cyg_uint32 rx_bufsize; |
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109 cyg_can_buf_info_t tx_buf_info; |
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110 cyg_can_event rx_event; |
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111 cyg_can_message tx_msg = |
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112 { |
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113 0x000, // CAN identifier |
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114 {0x00, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7}, // 8 data bytes |
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115 CYGNUM_CAN_ID_STD, // standard frame |
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116 CYGNUM_CAN_FRAME_DATA, // data frame |
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117 2, // data length code |
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118 }; |
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119 |
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120 if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0)) |
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121 { |
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122 CYG_TEST_FAIL_FINISH("Error opening /dev/can0"); |
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123 } |
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124 |
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125 len = sizeof(tx_buf_info); |
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126 if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&tx_buf_info, &len)) |
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127 { |
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128 CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0"); |
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129 } |
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130 |
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131 // |
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132 // Before we can write the CAN messages, we need to know the buffer size of the |
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133 // receiver. The receiver will tell us this buffer size with one single CAN |
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134 // message |
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135 // |
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136 len = sizeof(rx_event); |
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137 |
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138 if (ENOERR != cyg_io_read(hCAN0, &rx_event, &len)) |
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139 { |
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140 CYG_TEST_FAIL_FINISH("Error reading from /dev/can0"); |
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141 } |
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142 |
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143 // |
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144 // we expect a RX event here - we treat any other flag as an error |
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145 // |
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146 if (!(rx_event.flags & CYGNUM_CAN_EVENT_RX) || (rx_event.flags & !CYGNUM_CAN_EVENT_RX)) |
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147 { |
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148 CYG_TEST_FAIL_FINISH("Unexpected RX event for /dev/can0"); |
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149 } |
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150 |
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151 rx_bufsize = *((cyg_uint32 *)rx_event.msg.data); |
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152 |
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153 // |
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154 // now we send exactly one CAN message more than there is space in the receive buffer |
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155 // this should cause an RX ovverun in receive buffer |
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156 // |
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157 diag_printf("/dev/can0: Sending %d CAN messages\n", rx_bufsize); |
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158 for (i = 0; i <= rx_bufsize; ++i) |
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159 { |
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160 // |
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161 // we store the message number as CAN id and in first data byte so |
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162 // a receiver can check this later |
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163 // |
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164 tx_msg.id = 0x000 + i; |
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165 tx_msg.data[0] = i; |
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166 len = sizeof(tx_msg); |
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167 |
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168 if (ENOERR != cyg_io_write(hCAN0, &tx_msg, &len)) |
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169 { |
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170 CYG_TEST_FAIL_FINISH("Error writing to /dev/can0"); |
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171 } |
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172 else |
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173 { |
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174 print_can_msg(&tx_msg, ""); |
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175 } |
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176 } // for (i = 0; i <= rx_bufsize; ++i) |
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177 |
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178 cyg_thread_suspend(cyg_thread_self()); |
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179 } |
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180 |
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181 |
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182 //=========================================================================== |
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183 // READER THREAD |
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184 //=========================================================================== |
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185 void can1_thread(cyg_addrword_t data) |
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186 { |
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187 cyg_io_handle_t hCAN1; |
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188 cyg_uint8 i; |
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189 cyg_uint32 len; |
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190 cyg_can_buf_info_t rx_buf_info; |
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191 cyg_can_event rx_event; |
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192 cyg_can_message tx_msg; |
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193 |
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194 if (ENOERR != cyg_io_lookup("/dev/can1", &hCAN1)) |
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195 { |
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196 CYG_TEST_FAIL_FINISH("Error opening /dev/can1"); |
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197 } |
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198 |
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199 len = sizeof(rx_buf_info); |
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200 if (ENOERR != cyg_io_get_config(hCAN1, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&rx_buf_info, &len)) |
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201 { |
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202 CYG_TEST_FAIL_FINISH("Error reading config of /dev/can1"); |
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203 } |
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204 |
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205 // |
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206 // first we send the size of our receive buffer to the writer |
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207 // we setup tx message now |
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208 // |
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209 tx_msg.id = 0x000; |
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210 tx_msg.ext = CYGNUM_CAN_ID_STD; |
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211 tx_msg.rtr = CYGNUM_CAN_FRAME_DATA; |
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212 tx_msg.dlc = sizeof(rx_buf_info.rx_bufsize); |
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213 |
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214 // |
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215 // we store size of rx buffer in CAN message. We do not need to care about |
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216 // endianess here because this is a loopback driver test and we will receive |
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217 // our own messages |
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218 // |
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219 *((cyg_uint32 *)tx_msg.data) = rx_buf_info.rx_bufsize; |
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220 len = sizeof(tx_msg); |
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221 |
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222 // |
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223 // as soon as we send a CAN message, thread 0 will resume because it is waiting |
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224 // for a message |
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225 // |
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226 diag_printf("/dev/can1: Sending size of RX buffer %d\n", rx_buf_info.rx_bufsize); |
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227 if (ENOERR != cyg_io_write(hCAN1, &tx_msg, &len)) |
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228 { |
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229 CYG_TEST_FAIL_FINISH("Error writing to /dev/can1"); |
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230 } |
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231 cyg_thread_delay(10); // let thread 0 run |
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232 |
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233 // |
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234 // now we check if we received CAN messages - if receive buffer is not full |
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235 // the we have an error here because we expect a full receive buffer |
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236 // |
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237 len = sizeof(rx_buf_info); |
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238 if (ENOERR != cyg_io_get_config(hCAN1, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&rx_buf_info, &len)) |
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239 { |
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240 CYG_TEST_FAIL_FINISH("Error reading config of /dev/can1"); |
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241 } |
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242 |
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243 if (rx_buf_info.rx_bufsize != rx_buf_info.rx_count) |
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244 { |
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245 CYG_TEST_FAIL_FINISH("RX buffer of /dev/can1 does not contain number of expected messages"); |
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246 } |
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247 |
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248 // |
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249 // now we wait for messages from /dev/can0 |
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250 // |
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251 diag_printf("/dev/can1: Receiving %d CAN messages\n", rx_buf_info.rx_count); |
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252 for (i = 0; i < rx_buf_info.rx_count; ++i) |
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253 { |
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254 len = sizeof(rx_event); |
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255 if (ENOERR != cyg_io_read(hCAN1, &rx_event, &len)) |
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256 { |
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257 CYG_TEST_FAIL_FINISH("Error reading from /dev/can0"); |
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258 } |
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259 else |
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260 { |
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261 if (rx_event.flags & CYGNUM_CAN_EVENT_RX) |
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262 { |
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263 print_can_msg(&rx_event.msg, ""); |
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264 if (rx_event.msg.data[0] != (i + 1)) |
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265 { |
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266 CYG_TEST_FAIL_FINISH("Received /dev/can1 RX event contains invalid data"); |
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267 } |
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268 } |
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269 else |
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270 { |
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271 CYG_TEST_FAIL_FINISH("Unexpected CAN event for /dev/can1"); |
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272 } |
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273 |
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274 // |
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275 // now check if any other flag is set |
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276 // |
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277 if (rx_event.flags & CYGNUM_CAN_EVENT_OVERRUN_RX) |
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278 { |
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279 diag_printf("RX queue overrun successfully indicated for /dev/can1\n"); |
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280 |
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281 // |
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282 // if TX events are supported then we have already a TX event in receive queue because |
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283 // we sent a message and the RX queue overrun will occur one message earlier |
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284 // |
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285 #if defined(CYGOPT_IO_CAN_TX_EVENT_SUPPORT) |
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286 if (i < (rx_buf_info.rx_bufsize - 2)) |
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287 #else |
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288 if (i < (rx_buf_info.rx_bufsize - 1)) |
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289 #endif |
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290 { |
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291 CYG_TEST_FAIL_FINISH("RX queue overrun occured too early for /dev/can1"); |
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292 } |
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293 else |
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294 { |
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295 CYG_TEST_PASS_FINISH("can_overrun2 test OK"); |
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296 } |
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297 } // if (rx_event.flags & CYGNUM_CAN_EVENT_OVERRUN_RX) |
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298 } |
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299 |
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300 } |
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301 } |
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302 |
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303 |
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304 |
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305 void |
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306 cyg_start(void) |
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307 { |
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308 CYG_TEST_INIT(); |
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309 |
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310 // |
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311 // create the two threads which access the CAN device driver |
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312 // |
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313 cyg_thread_create(4, can0_thread, |
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314 (cyg_addrword_t) 0, |
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315 "can0_thread", |
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316 (void *) can0_thread_data.stack, |
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317 1024 * sizeof(long), |
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318 &can0_thread_data.hdl, |
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319 &can0_thread_data.obj); |
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320 |
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321 cyg_thread_create(5, can1_thread, |
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322 (cyg_addrword_t) can0_thread_data.hdl, |
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323 "can1_thread", |
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324 (void *) can1_thread_data.stack, |
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325 1024 * sizeof(long), |
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326 &can1_thread_data.hdl, |
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327 &can1_thread_data.obj); |
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328 |
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329 cyg_thread_resume(can0_thread_data.hdl); |
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330 cyg_thread_resume(can1_thread_data.hdl); |
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331 |
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332 cyg_scheduler_start(); |
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333 } |
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334 |
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335 #else // CYGFUN_KERNEL_API_C |
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336 #define N_A_MSG "Needs kernel C API" |
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337 #endif |
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338 |
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339 #else // CYGPKG_IO_CAN && CYGPKG_KERNEL |
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340 #define N_A_MSG "Needs IO/CAN and Kernel" |
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341 #endif |
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342 |
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343 #ifdef N_A_MSG |
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344 void |
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345 cyg_start( void ) |
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346 { |
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347 CYG_TEST_INIT(); |
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348 CYG_TEST_NA( N_A_MSG); |
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349 } |
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350 #endif // N_A_MSG |
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351 |
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352 // EOF serial4.c |
