1 //==========================================================================
5 // FlexCAN remote response buffer test
7 //==========================================================================
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39 //####ECOSGPLCOPYRIGHTEND####
40 //==========================================================================
41 //#####DESCRIPTIONBEGIN####
43 // Author(s): Uwe Kindler
44 // Contributors: Uwe Kindler
46 // Description: FlexCAN load test
47 //####DESCRIPTIONEND####
50 //===========================================================================
52 //===========================================================================
53 #include <pkgconf/system.h>
55 #include <cyg/infra/testcase.h> // test macros
56 #include <cyg/infra/cyg_ass.h> // assertion macros
57 #include <cyg/infra/diag.h>
59 // Package requirements
60 #if defined(CYGPKG_IO_CAN) && defined(CYGPKG_KERNEL)
62 #include <pkgconf/kernel.h>
63 #include <cyg/io/io.h>
64 #include <cyg/io/canio.h>
66 // Package option requirements
67 #if defined(CYGFUN_KERNEL_API_C)
69 #include <cyg/hal/hal_arch.h> // CYGNUM_HAL_STACK_SIZE_TYPICAL
70 #include <cyg/kernel/kapi.h>
73 //===========================================================================
75 //===========================================================================
76 typedef struct st_thread_data
79 long stack[CYGNUM_HAL_STACK_SIZE_TYPICAL];
84 //===========================================================================
86 //===========================================================================
87 cyg_thread_entry_t can0_thread;
88 thread_data_t can0_thread_data;
91 cyg_io_handle_t hDrvFlexCAN;
94 //===========================================================================
96 //===========================================================================
97 #include "can_test_aux.inl" // include CAN test auxiliary functions
100 //===========================================================================
102 //===========================================================================
103 void can0_thread(cyg_addrword_t data)
106 cyg_can_event rx_event;
107 cyg_can_rtr_buf_t rtr_buf;
108 cyg_can_rtr_buf_t rtr_buf2;
111 rtr_buf.handle = CYGNUM_CAN_RTR_BUF_INIT;
112 rtr_buf.msg.id = 0x7FF;
113 rtr_buf.msg.ext = CYGNUM_CAN_ID_STD;
114 rtr_buf.msg.rtr = CYGNUM_CAN_FRAME_DATA;
116 rtr_buf.msg.data[0] = 0xAB;
118 len = sizeof(rtr_buf);
119 if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_CAN_RTR_BUF ,&rtr_buf, &len))
121 CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
124 if (rtr_buf.handle == CYGNUM_CAN_RTR_BUF_NA)
126 CYG_TEST_FAIL_FINISH("No free message buffer available for /dev/can0");
129 rtr_buf2.handle = CYGNUM_CAN_RTR_BUF_INIT;
130 rtr_buf2.msg.id = 0x7FE;
131 rtr_buf2.msg.ext = CYGNUM_CAN_ID_STD;
132 rtr_buf2.msg.rtr = CYGNUM_CAN_FRAME_DATA;
133 rtr_buf2.msg.dlc = 4;
134 rtr_buf2.msg.data[0] = 0xAB;
136 len = sizeof(rtr_buf2);
137 if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_CAN_RTR_BUF ,&rtr_buf2, &len))
139 CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
142 if (rtr_buf.handle == CYGNUM_CAN_RTR_BUF_NA)
144 CYG_TEST_FAIL_FINISH("No free message buffer available for /dev/can0");
147 diag_printf("Test of FlexCAN remote response buffer configuration\n"
148 "If a CAN node sends a remote request with ID 0x7FE\n"
149 "or 0x7FF then the FlexCAN modul should respond with\n"
151 diag_printf("!!! This test can be stopped by sending a data frame with ID 0x100 !!!\n\n");
155 len = sizeof(rx_event);
157 if (ENOERR != cyg_io_read(hDrvFlexCAN, &rx_event, &len))
159 CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");
162 if (0x100 == rx_event.msg.id)
164 CYG_TEST_PASS_FINISH("flexcan_remote test OK");
176 cyg_can_info_t can_cfg;
181 // open flexcan device driver
183 if (ENOERR != cyg_io_lookup("/dev/can0", &hDrvFlexCAN))
185 CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
189 // setup CAN baudrate 250 KBaud
191 can_cfg.baud = CYGNUM_CAN_KBAUD_250;
192 len = sizeof(can_cfg);
193 if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_CAN_INFO ,&can_cfg, &len))
195 CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
199 // create the two threads which access the CAN device driver
200 // a reader thread with a higher priority and a writer thread
201 // with a lower priority
203 cyg_thread_create(4, can0_thread,
206 (void *) can0_thread_data.stack,
208 &can0_thread_data.hdl,
209 &can0_thread_data.obj);
211 cyg_thread_resume(can0_thread_data.hdl);
213 cyg_scheduler_start();
216 #else // CYGFUN_KERNEL_API_C
217 #define N_A_MSG "Needs kernel C API"
220 #else // CYGPKG_IO_CAN && CYGPKG_KERNEL
221 #define N_A_MSG "Needs IO/CAN and Kernel"
229 CYG_TEST_NA( N_A_MSG);
233 // EOF flexcan_remote.c