void
cyg_start(void)
{
CYG_TEST_INIT();
//
// open flexcan device driver
//
if (ENOERR != cyg_io_lookup("/dev/can0", &hDrvFlexCAN))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
}
//
// create the two threads which access the CAN device driver
// a reader thread with a higher priority and a writer thread
// with a lower priority
//
cyg_thread_create(4, can0_thread,
(cyg_addrword_t) 0,
"can0_thread",
(void *) can0_thread_data.stack,
1024 * sizeof(long),
&can0_thread_data.hdl,
&can0_thread_data.obj);
cyg_thread_resume(can0_thread_data.hdl);
cyg_scheduler_start();
}
/*
* Opens a serial device for communication.
*/
sio_fd_t sio_open(u8_t devnum)
{
Cyg_ErrNo ret;
cyg_io_handle_t handle;
char *dev;
#ifdef CYGDBG_LWIP_DEBUG_SIO
diag_printf("sio_open(devnum=%d)\n", devnum);
#endif
switch (devnum) {
#ifdef CYGPKG_LWIP_SLIP
case SIO_DEV_SLIPIF:
dev = CYGDAT_LWIP_SLIPIF_DEV;
break;
#endif
#ifdef CYGFUN_LWIP_PPPOS_SUPPORT
case SIO_DEV_PPPOS:
dev = CYGDAT_LWIP_PPPOS_DEV;
break;
#endif
default:
// Unknown serial io device
return NULL;
break;
}
ret = cyg_io_lookup(dev, &handle);
if (ret != ENOERR)
return NULL;
return handle;
}
void
cyg_start(void)
{
CYG_TEST_INIT();
//
// open CAN device driver
//
if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
}
//
// create the thread that accesses the CAN device driver
//
cyg_thread_create(4, can0_thread,
(cyg_addrword_t) 0,
"can0_thread",
(void *) can0_thread_data.stack,
1024 * sizeof(long),
&can0_thread_data.hdl,
&can0_thread_data.obj);
cyg_thread_resume(can0_thread_data.hdl);
cyg_scheduler_start();
}
//===========================================================================
// Entry point
//===========================================================================
void cyg_start(void)
{
CYG_TEST_INIT();
//
// open CAN device driver channel 1
//
if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN0_NAME, &hCAN_Tbl[0]))
{
CYG_TEST_FAIL_FINISH("Error opening CAN channel 0");
}
//
// open CAN device driver channel 2
//
if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN1_NAME, &hCAN_Tbl[1]))
{
CYG_TEST_FAIL_FINISH("Error opening CAN channel 1");
}
//
// create the main thread
//
cyg_thread_create(5, can0_thread,
(cyg_addrword_t) 0,
"can_tx_thread",
(void *) can0_thread_data.stack,
1024 * sizeof(long),
&can0_thread_data.hdl,
&can0_thread_data.obj);
cyg_thread_resume(can0_thread_data.hdl);
cyg_scheduler_start();
}
void
cyg_start(void)
{
CYG_TEST_INIT();
//
// open flexcan device driver
//
if (ENOERR != cyg_io_lookup("/dev/can0", &hDrvFlexCAN))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
}
//
// setup CAN baudrate 250 KBaud
// We do not setup baud rate and use the default baud rate instead
/*
cyg_uint32 len;
cyg_can_info_t can_cfg;
can_cfg.baud = CYGNUM_CAN_KBAUD_250;
len = sizeof(can_cfg);
if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_CAN_INFO ,&can_cfg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}*/
//
// create the two threads which access the CAN device driver
// a reader thread with a higher priority and a writer thread
// with a lower priority
//
cyg_thread_create(4, can0_thread,
(cyg_addrword_t) 0,
"can0_thread",
(void *) can0_thread_data.stack,
1024 * sizeof(long),
&can0_thread_data.hdl,
&can0_thread_data.obj);
cyg_thread_resume(can0_thread_data.hdl);
cyg_scheduler_start();
}
static void
adc_thread(cyg_addrword_t data)
{
cyg_io_handle_t channel;
cyg_devtab_entry_t *t;
CYG_TEST_INFO("ADC test");
for (t = &__DEVTAB__[0]; t != &__DEVTAB_END__; t++) {
if (t->handlers != &cyg_io_adc_devio)
continue;
if (cyg_io_lookup(t->name, &channel) == ENOERR) {
test_channel(t->name, channel);
} else {
CYG_TEST_FAIL_FINISH("Cannot open ADC channel");
}
}
CYG_TEST_PASS_FINISH("ADC test OK");
}
void
cyg_start(void)
{
cyg_uint32 len;
cyg_can_info_t can_cfg;
CYG_TEST_INIT();
//
// open flexcan device driver
//
if (ENOERR != cyg_io_lookup("/dev/can0", &hDrvFlexCAN))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
}
//
// setup CAN baudrate 250 KBaud
//
can_cfg.baud = CYGNUM_CAN_KBAUD_250;
len = sizeof(can_cfg);
if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_CAN_INFO ,&can_cfg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
//
// create the main thread
//
cyg_thread_create(4, can0_thread,
(cyg_addrword_t) 0,
"can0_thread",
(void *) can0_thread_data.stack,
1024 * sizeof(long),
&can0_thread_data.hdl,
&can0_thread_data.obj);
cyg_thread_resume(can0_thread_data.hdl);
cyg_scheduler_start();
}
static void simple_prog(CYG_ADDRESS data)
{
cyg_io_handle_t handle;
Cyg_ErrNo err;
const char test_string[] = "serial example is working correctly!\n";
cyg_uint32 len = strlen(test_string);
printf("Starting serial example\n");
err = cyg_io_lookup( "/dev/haldiag", &handle );
if (ENOERR == err) {
printf("Found /dev/haldiag. Writing string....\n");
err = cyg_io_write( handle, test_string, &len );
}
if (ENOERR == err) {
printf("I think I wrote the string. Did you see it?\n");
}
printf("Serial example finished\n");
}
Cyg_ErrNo
cyg_io_lookup(const char *name, cyg_io_handle_t *handle)
{
union devtab_entry_handle_union {
cyg_devtab_entry_t *st;
cyg_io_handle_t h;
} stunion;
cyg_devtab_entry_t *t;
Cyg_ErrNo res;
const char *name_ptr;
for (t = &__DEVTAB__[0]; t != &__DEVTAB_END__; t++) {
if (cyg_io_compare(name, t->name, &name_ptr)) {
// FUTURE: Check 'avail'/'online' here
if (t->dep_name) {
res = cyg_io_lookup(t->dep_name, &stunion.h);
if (res != ENOERR) {
return res;
}
} else {
stunion.st = NULL;
}
if (t->lookup) {
// This indirection + the name pointer allows the lookup routine
// to return a different 'devtab' handle. This will provide for
// 'pluggable' devices, file names, etc.
res = (t->lookup)(&t, stunion.st, name_ptr);
if (res != ENOERR) {
return res;
}
}
*handle = (cyg_io_handle_t)t;
return ENOERR;
}
}
return -ENOENT; // Not found
}
void
console_test( CYG_ADDRWORD x )
{
Cyg_ErrNo res;
cyg_io_handle_t handle;
char msg[] = "This is a test\n";
int msglen = sizeof(msg)-1;
char in_msg[80];
int in_msglen = sizeof(in_msg)-1;
cyg_serial_info_t serial_info;
cyg_tty_info_t tty_info;
char short_msg[] = "This is a short message\n";
char long_msg[] = "This is a longer message 0123456789abcdefghijklmnopqrstuvwxyz\n";
char filler[] = " ";
char prompt[] = "\nPlease enter some data: ";
int i, len;
res = cyg_io_lookup(CYGDAT_IO_SERIAL_TTY_CONSOLE, &handle);
if (res != ENOERR) {
diag_printf("Can't lookup - DEVIO error: %d\n", res);
return;
}
len = sizeof(serial_info);
res = cyg_io_get_config(handle, CYG_IO_GET_CONFIG_SERIAL_INFO, &serial_info, &len);
if (res != ENOERR) {
diag_printf("Can't get serial config - DEVIO error: %d\n", res);
hang();
return;
}
len = sizeof(tty_info);
res = cyg_io_get_config(handle, CYG_IO_GET_CONFIG_TTY_INFO, &tty_info, &len);
if (res != ENOERR) {
diag_printf("Can't get tty config - DEVIO error: %d\n", res);
hang();
return;
}
diag_printf("Config - baud: %d, stop: %d, parity: %d, out flags: %x, in flags: %x\n",
serial_info.baud, serial_info.stop, serial_info.parity,
tty_info.tty_out_flags, tty_info.tty_in_flags);
len = sizeof(serial_info);
res = cyg_io_set_config(handle, CYG_IO_SET_CONFIG_SERIAL_INFO, &serial_info, &len);
if (res != ENOERR) {
diag_printf("Can't set serial config - DEVIO error: %d\n", res);
hang();
return;
}
len = sizeof(tty_info);
res = cyg_io_set_config(handle, CYG_IO_SET_CONFIG_TTY_INFO, &tty_info, &len);
if (res != ENOERR) {
diag_printf("Can't set tty config - DEVIO error: %d\n", res);
hang();
return;
}
msglen = strlen(msg);
res = cyg_io_write(handle, msg, &msglen);
if (res != ENOERR) {
diag_printf("Can't write data - DEVIO error: %d\n", res);
hang();
return;
}
for (i = 0; i < 10; i++) {
len = strlen(short_msg);
res = cyg_io_write(handle, short_msg, &len);
if (res != ENOERR) {
diag_printf("Can't write [short] data - DEVIO error: %d\n", res);
hang();
return;
}
}
for (i = 0; i < 100; i++) {
len = (i % 10) + 1;
cyg_io_write(handle, filler, &len);
len = strlen(long_msg);
res = cyg_io_write(handle, long_msg, &len);
if (res != ENOERR) {
diag_printf("Can't write [long] data - DEVIO error: %d\n", res);
hang();
return;
}
}
len = strlen(prompt);
cyg_io_write(handle, prompt, &len);
res = cyg_io_read(handle, in_msg, &in_msglen);
if (res != ENOERR) {
diag_printf("Can't read data - DEVIO error: %d\n", res);
hang();
return;
}
diag_printf("Read %d bytes\n", in_msglen);
dump_buf(in_msg, in_msglen);
CYG_TEST_PASS_FINISH("Console I/O test OK");
}
void
cyg_start(void)
{
CYG_TEST_INIT();
#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN0
//
// open CAN device driver
//
if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN0_NAME, &hCAN_Tbl[0]))
{
CYG_TEST_FAIL_FINISH("Error opening CAN channel 0");
}
#else
hCAN_Tbl[0] = 0;
#endif
#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN1
//
// open CAN device driver
//
if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN1_NAME, &hCAN_Tbl[1]))
{
CYG_TEST_FAIL_FINISH("Error opening CAN channel 1");
}
#else
hCAN_Tbl[1] = 0;
#endif
#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN2
//
// open CAN device driver
//
if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN2_NAME, &hCAN_Tbl[2]))
{
CYG_TEST_FAIL_FINISH("Error opening CAN channel 2");
}
#else
hCAN_Tbl[2] = 0;
#endif
#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN3
//
// open CAN device driver
//
if (ENOERR != cyg_io_lookup(CYGPKG_DEVS_CAN_LPC2XXX_CAN3_NAME, &hCAN_Tbl[3]))
{
CYG_TEST_FAIL_FINISH("Error opening CAN channel 3");
}
#else
hCAN_Tbl[3] = 0;
#endif
//
// create the thread that accesses the CAN device driver
//
cyg_thread_create(4, can_thread,
(cyg_addrword_t) 0,
"can0_thread",
(void *) can0_thread_data.stack,
1024 * sizeof(long),
&can0_thread_data.hdl,
&can0_thread_data.obj);
cyg_thread_resume(can0_thread_data.hdl);
cyg_scheduler_start();
}
// Mount disk/filesystem
static void
do_mount(int argc, char *argv[])
{
char *dev_str = "<undefined>", *type_str, *mp_str;
bool dev_set = false, type_set = false;
struct option_info opts[3];
int err, num_opts = 2;
int i,m=0; /* Set to 0 to silence warning */
#ifdef CYGPKG_IO_FLASH_BLOCK_DEVICE_LEGACY
char *part_str;
bool part_set = false;
#endif
init_opts(&opts[0], 'd', true, OPTION_ARG_TYPE_STR,
(void *)&dev_str, &dev_set, "device");
init_opts(&opts[1], 't', true, OPTION_ARG_TYPE_STR,
(void *)&type_str, &type_set, "fstype");
#ifdef CYGPKG_IO_FLASH_BLOCK_DEVICE_LEGACY
init_opts(&opts[2], 'f', true, OPTION_ARG_TYPE_STR,
(void *)&part_str, &part_set, "partition");
num_opts++;
#endif
CYG_ASSERT(num_opts <= NUM_ELEMS(opts), "Too many options");
if (!scan_opts(argc, argv, 1, opts, num_opts, &mp_str, OPTION_ARG_TYPE_STR, "mountpoint"))
return;
if (!type_set) {
err_printf("fs mount: Must specify file system type\n");
return;
}
if( mp_str == 0 )
mp_str = "/";
if( mount_count >= MAX_MOUNTS )
{
err_printf("fs mount: Maximum number of mounts exceeded\n");
return;
}
#ifdef CYGPKG_IO_FLASH_BLOCK_DEVICE_LEGACY
if (part_set) {
int len;
cyg_io_handle_t h;
if (dev_set && strcmp(dev_str, CYGDAT_IO_FLASH_BLOCK_DEVICE_NAME_1)) {
err_printf("fs mount: May only set one of <device> or <partition>\n");
return;
}
dev_str = CYGDAT_IO_FLASH_BLOCK_DEVICE_NAME_1;
len = strlen(part_str);
err = cyg_io_lookup(dev_str, &h);
if (err < 0) {
err_printf("fs mount: cyg_io_lookup of \"%s\" returned %d\n", err);
return;
}
err = cyg_io_set_config(h, CYG_IO_SET_CONFIG_FLASH_FIS_NAME,
part_str, &len);
if (err < 0) {
diag_printf("fs mount: FIS partition \"%s\" not found\n",
part_str);
return;
}
}
#endif
for( i = 0; i < MAX_MOUNTS; i++ )
{
if( mounts[i].mp_str[0] != '\0' )
{
if( strcmp(mounts[i].dev_str, dev_str ) == 0 )
{
err_printf("fs mount: Device %s already mounted\n",dev_str);
return;
}
}
else
m = i;
}
strcpy( mounts[m].mp_str, mp_str );
strcpy( mounts[m].dev_str, dev_str );
strcpy( mounts[m].type_str, type_str );
err = mount(mounts[m].dev_str, mounts[m].mp_str, mounts[m].type_str);
if (err)
{
err_printf("fs mount: mount(%s,%s,%s) failed %d\n", dev_str, mp_str, type_str, errno);
mounts[m].mp_str[0] = '\0'; // mount failed so don't let it appear mounted
}
else
{
if( mount_count == 0 )
chdir( "/" );
mount_count++;
}
}
int read_gps(struct gps *gpsData_ptr)
{
// serial port buffer handle
cyg_io_handle_t port_handle;
cyg_serial_buf_info_t buff_info;
unsigned int len = sizeof (buff_info);
// get serial port handle
cyg_io_lookup( gpsData_ptr->portName, &port_handle );
cyg_io_get_config (port_handle, CYG_IO_GET_CONFIG_SERIAL_BUFFER_INFO,\
&buff_info, &len);
unsigned int bytesInBuffer = buff_info.rx_count;
unsigned int bytesReadThisCall =0;;
unsigned short msgPayloadSize = 0, bytesToRead = 0, bytesRead = 0;
int status = 0;
// Initialization of persistent local buffer
if (gpsData_ptr->localBuffer == NULL)
{
gpsData_ptr->localBuffer = (unsigned char*) malloc (1024 * sizeof (unsigned char));
}
// First check if there are any bytes in the serial buffer, return if none
if( bytesInBuffer == 0 )
return -1;
// Get localBuffer stored in gps packet. This is to keep the following code readable
localBuffer = gpsData_ptr->localBuffer;
bytesInLocalBuffer= gpsData_ptr->bytesInLocalBuffer;
readState = gpsData_ptr->readState;
// Keep reading until we've processed all of the bytes in the buffer
while (bytesReadThisCall < bytesInBuffer){
switch (readState){
case 0: //Look for packet header bytes
// Read in up to 2 bytes to the first open location in the local buffer
bytesRead = read(gpsData_ptr->port,&localBuffer[bytesInLocalBuffer],2-bytesInLocalBuffer);
bytesReadThisCall += bytesRead; // keep track of bytes read during this call
if (localBuffer[0] == 0xA0){ // Check for first header byte
bytesInLocalBuffer = 1;
if (localBuffer[1] == 0xA2){ // Check for second header byte
bytesInLocalBuffer = 2;
readState++; // header complete, move to next stage
}
}
else {
gpsData_ptr->err_type = noPacketHeader;
}
break; // end case 0
case 1: //Look for message size bytes
// Find how many bytes need to be read for data length (2) - bytes already read (includes 2 byte header)
bytesToRead = 4 - bytesInLocalBuffer;
// Read in up to 2 bytes to the first open location in the local buffer
bytesRead = read(gpsData_ptr->port,&localBuffer[bytesInLocalBuffer],bytesToRead);
bytesReadThisCall += bytesRead; // keep track of bytes read during this call
bytesInLocalBuffer += bytesRead; // keep track of bytes in local buffer
if (bytesRead == bytesToRead){
readState++; // size bytes complete, move to next stage
}
else{
//printf ("\n<GPS>: Failed to get size bytes");
gpsData_ptr->err_type = incompletePacket;
}
break; // end case 1
case 2: //Read payload, checksum, and stop bytes
// Find message payload size
msgPayloadSize = getbeuw(localBuffer,2)&0x7FFF; // packet size is 15 bits. bitwise AND ensures only 15 bits are used.
//printf("<GPS>: msgPayloadSize: %d\n",msgPayloadSize);
// Error checking on payload size. If size is bigger than expected, dump packet
if(msgPayloadSize > GPS_MAX_MSG_SIZE){
gpsData_ptr->err_type = incompletePacket;
reset_localBuffer();
}
// Find how many bytes need to be read for the total message (Header (2) + Size (2) + Payload + checksum (2) + stop (2) - bytes already read )
bytesToRead = msgPayloadSize + 8 - bytesInLocalBuffer;
// Read in the remainder of the message to the local buffer, starting at the first empty location
bytesRead = read (gpsData_ptr->port, &localBuffer[bytesInLocalBuffer], bytesToRead);
bytesInLocalBuffer += bytesRead; // keep track of bytes in local buffer
bytesReadThisCall += bytesRead; // keep track of bytes read during this call
if (bytesRead == bytesToRead){
//printf ("\n<GPS>: Got complete message! Tried for %d, got %d",bytesToRead,bytesRead);
//printf("<GPS>: Packet ID %d \n", localBuffer[4]);
//printf("<GPS>: msgPayloadSize: %d\n",msgPayloadSize);
//printf("<GPS>: My checksum: %d Recv: %d\n",do_chksum(localBuffer, 4, msgPayloadSize+4),getbeuw(localBuffer,4+msgPayloadSize));
// Checksum verification (15-bit, big endian)
if ( (do_chksum(localBuffer, 4, msgPayloadSize+4)&0x7FFF) == (getbeuw(localBuffer,4+msgPayloadSize)&0x7FFF) ){
// If it's OK, extract data
parse_gps( gpsData_ptr );
gpsData_ptr->err_type = data_valid;
//printf ("\n<GPS>: Success!");
status = 1;
}
else{
//printf ("\n<GPS>: Checksum mismatch!");
gpsData_ptr->err_type = checksum_err;
}
reset_localBuffer(); // Clear the local buffer regardless
}
else{
//printf ("<GPS>: Didn't get complete message. Tried for %d, got %d. %d\n",bytesToRead,bytesRead,msgPayloadSize);
gpsData_ptr->err_type= incompletePacket;
status = 0;
}
break; // end case 2
default:
reset_localBuffer();
printf ("\n<GPS>: Why are you here?");
status = 0;
break; // end default
} // end switch (readState)
} // end while (bytesReadThisCall < bytesInBuffer)
// Store local buffer in gps packet
gpsData_ptr->localBuffer = localBuffer;
gpsData_ptr->bytesInLocalBuffer = bytesInLocalBuffer;
gpsData_ptr->readState = readState;
return status;
}
externC void
cyg_start( void )
{
Cyg_ErrNo stat;
cyg_io_handle_t flash_handle;
cyg_io_flash_getconfig_erase_t e;
cyg_io_flash_getconfig_devsize_t d;
cyg_io_flash_getconfig_blocksize_t b;
cyg_io_flash_getconfig_lock_t l;
cyg_io_flash_getconfig_unlock_t u;
CYG_ADDRWORD flash_start, flash_end;
CYG_ADDRWORD flash_test_start, flash_addr;
cyg_uint32 flash_block_size, flash_num_blocks;
CYG_ADDRWORD test_buf1, test_buf2;
cyg_uint32 *lp1, *lp2;
int i, len;
cyg_bool passed, ok;
CYG_TEST_INIT();
passed = true;
if ((stat = cyg_io_lookup(FLASH_TEST_DEVICE, &flash_handle)) == -ENOENT) {
stat = cyg_io_lookup(FLASH_TEST_DEVICE2, &flash_handle);
}
if (stat != 0) {
diag_printf("FLASH: driver init failed: %s\n", strerror(-stat));
CYG_TEST_FAIL_FINISH("FLASH driver init failed");
}
len = sizeof(d);
stat = cyg_io_get_config( flash_handle, CYG_IO_GET_CONFIG_FLASH_DEVSIZE, &d, &len );
flash_start = 0;
// Keep 'end' address as last valid location, to avoid wrap around problems
flash_end = d.dev_size - 1;
len = sizeof(b);
b.offset = 0;
stat = cyg_io_get_config( flash_handle, CYG_IO_GET_CONFIG_FLASH_BLOCKSIZE, &b, &len );
flash_block_size = b.block_size;
flash_num_blocks = d.dev_size/flash_block_size;
diag_printf("FLASH: %p - %p, %d blocks of 0x%x bytes each.\n",
(void*)flash_start, (void*)(flash_end + 1), flash_num_blocks, flash_block_size);
// Verify that the testing limits are within the bounds of the
// physical device. Also verify that the size matches with
// the erase block size on the device
if ((FLASH_TEST_OFFSET > (flash_end - flash_start)) ||
((FLASH_TEST_OFFSET + FLASH_TEST_LENGTH) > (flash_end - flash_start))) {
CYG_TEST_FAIL_FINISH("FLASH test region outside physical limits");
}
if ((FLASH_TEST_LENGTH % flash_block_size) != 0) {
CYG_TEST_FAIL_FINISH("FLASH test region must be integral multiple of erase block size");
}
// Allocate two buffers large enough for the test
test_buf1 = (CYG_ADDRWORD)CYGMEM_SECTION_heap1;
test_buf2 = test_buf1 + FLASH_TEST_LENGTH;
if (CYGMEM_SECTION_heap1_SIZE < (FLASH_TEST_LENGTH * 2)) {
CYG_TEST_FAIL_FINISH("FLASH not enough heap space - reduce size of test region");
}
diag_printf("... Using test buffers at %p and %p\n", (void *)test_buf1, (void *)test_buf2);
flash_test_start = flash_start + FLASH_TEST_OFFSET;
#ifdef CYGHWR_IO_FLASH_BLOCK_LOCKING
// Unlock test
diag_printf("... Unlock test\n");
ok = true;
u.offset = flash_test_start;
u.len = FLASH_TEST_LENGTH;
len = sizeof(u);
if ((stat = cyg_io_get_config(flash_handle, CYG_IO_GET_CONFIG_FLASH_UNLOCK, &u, &len ) ) != 0 || u.flasherr != 0)
{
diag_printf("FLASH: unlock failed: %s %s\n", strerror(stat), cyg_flash_errmsg(u.flasherr));
ok = false;
}
#endif
// Erase test
diag_printf("... Erase test\n");
ok = true;
e.offset = flash_test_start;
e.len = FLASH_TEST_LENGTH;
len = sizeof(e);
if ((stat = cyg_io_get_config(flash_handle, CYG_IO_GET_CONFIG_FLASH_ERASE, &e, &len ) ) != 0 || e.flasherr != 0)
{
diag_printf("FLASH: erase failed: %s %s\n", cyg_epcs_errmsg(stat), cyg_epcs_errmsg(e.flasherr));
ok = false;
}
len = FLASH_TEST_LENGTH;
if (ok && (stat = cyg_io_bread(flash_handle, (void *)test_buf1, &len, flash_test_start)) != 0)
{
diag_printf("FLASH: read/verify after erase failed: %s\n", cyg_epcs_errmsg(stat));
ok = false;
}
lp1 = (cyg_uint32 *)test_buf1;
for (i = 0; i < FLASH_TEST_LENGTH; i += sizeof(cyg_uint32)) {
if (*lp1++ != 0xFFFFFFFF) {
diag_printf("FLASH: non-erased data found at offset %p\n", (void*)((CYG_ADDRWORD)(lp1-1) - test_buf1));
diag_dump_buf((void *)(lp1-1), 32);
ok = false;
break;
}
}
// Try reading in little pieces
len = FLASH_TEST_LENGTH;
flash_addr = flash_test_start;
while (len > 0) {
cyg_uint32 l = 0x200;
if ((stat = cyg_io_bread(flash_handle, (void *)test_buf1, &l, flash_addr)) != CYG_FLASH_ERR_OK) {
diag_printf("FLASH: read[short]/verify after erase failed: %s\n", strerror(stat));
ok = false;
break;
}
flash_addr = flash_addr + l;
len -= l;
lp1 = (cyg_uint32 *)test_buf1;
for (i = 0; i < 0x200; i += sizeof(cyg_uint32)) {
if (*lp1++ != 0xFFFFFFFF) {
diag_printf("FLASH: non-erased data found at offset %p\n",
(cyg_uint8 *)flash_addr + (CYG_ADDRWORD)((lp1-1) - test_buf1));
diag_dump_buf((void *)(lp1-1), 32);
ok = false;
len = 0;
break;
}
}
}
if (!ok) {
CYG_TEST_INFO("FLASH erase failed");
passed = false;
}
// Simple write/verify test
diag_printf("... Write/verify test\n");
lp1 = (cyg_uint32 *)test_buf1;
for (i = 0; i < FLASH_TEST_LENGTH; i += sizeof(cyg_uint32)) {
*lp1 = (cyg_uint32)lp1;
lp1++;
}
ok = true;
len = FLASH_TEST_LENGTH;
if (ok && (stat = cyg_io_bwrite(flash_handle, (void *)test_buf1,
&len, flash_test_start)) != 0) {
diag_printf("FLASH: write failed: %s\n", strerror(stat));
ok = false;
}
len = FLASH_TEST_LENGTH;
if (ok && (stat = cyg_io_bread(flash_handle, (void *)test_buf2, &len, flash_test_start)) != CYG_FLASH_ERR_OK) {
diag_printf("FLASH: read/verify after write failed: %s\n", strerror(stat));
ok = false;
}
lp1 = (cyg_uint32 *)test_buf1;
lp2 = (cyg_uint32 *)test_buf2;
for (i = 0; i < FLASH_TEST_LENGTH; i += sizeof(cyg_uint32)) {
if (*lp2++ != *lp1++) {
diag_printf("FLASH: incorrect data found at offset %p\n", (void *)((CYG_ADDRWORD)(lp2-1) - test_buf2));
diag_dump_buf((void *)(lp2-1), 32);
ok = false;
break;
}
}
// Try reading in little pieces
len = FLASH_TEST_LENGTH;
flash_addr = flash_test_start;
lp1 = (cyg_uint32 *)test_buf1;
lp2 = (cyg_uint32 *)test_buf2;
while (len > 0) {
cyg_uint32 l = 0x200;
if ((stat = cyg_io_bread(flash_handle, (void *)lp2, &l, flash_addr)) != 0) {
diag_printf("FLASH: read[short]/verify after erase failed: %s\n", strerror(stat));
ok = false;
break;
}
flash_addr = flash_addr + l;
len -= l;
for (i = 0; i < l; i += sizeof(cyg_uint32)) {
if (*lp2++ != *lp1++) {
diag_printf("FLASH: incorrect data found at offset %p\n",
(cyg_uint8 *)flash_addr + (CYG_ADDRWORD)((lp2-1) - test_buf2));
diag_dump_buf((void *)(lp2-1), 32);
ok = false;
len = 0;
break;
}
}
}
#ifdef CYGHWR_IO_FLASH_BLOCK_LOCKING
// Lock test
diag_printf("... Lock test\n");
ok = true;
l.offset = flash_test_start;
l.len = FLASH_TEST_LENGTH;
len = sizeof(l);
if ((stat = cyg_io_get_config(flash_handle, CYG_IO_GET_CONFIG_FLASH_LOCK, &l, &len ) ) != 0 || l.flasherr != 0 )
{
diag_printf("FLASH: unlock failed: %s %s\n", strerror(stat), cyg_flash_errmsg(l.flasherr));
ok = false;
}
#endif
if (!ok) {
CYG_TEST_INFO("FLASH write/verify failed");
}
if (passed) {
CYG_TEST_PASS_FINISH("FLASH test1");
} else {
CYG_TEST_FAIL_FINISH("FLASH test1");
}
}
externC void
cyg_pppd_main(CYG_ADDRWORD arg)
{
int i;
struct timeval timo;
struct protent *protp;
int connect_attempts = 0;
phase = PHASE_INITIALIZE;
cyg_ppp_options_install( ((struct tty *)arg)->options );
for (i = 0; (protp = protocols[i]) != NULL; ++i)
(*protp->init)(0);
if (!ppp_available()) {
option_error(no_ppp_msg);
exit(1);
}
/*
* Initialize system-dependent stuff and magic number package.
*/
sys_init();
magic_init();
if (debug)
setlogmask(LOG_UPTO(LOG_DEBUG));
for (;;) {
need_holdoff = 1;
{
Cyg_ErrNo err;
while ((err = cyg_io_lookup(devnam, &tty_handle)) < 0) {
if (err != 0)
syslog(LOG_ERR, "Failed to open %s: %d", devnam,err);
}
#ifdef CYGOPT_IO_SERIAL_SUPPORT_LINE_STATUS
if( modem )
{
cyg_uint32 len = sizeof(ppp_tty.serial_callbacks);
ppp_tty.serial_callbacks.fn = cyg_ppp_serial_callback;
ppp_tty.serial_callbacks.priv = (CYG_ADDRWORD)&ppp_tty;
err = cyg_io_set_config( tty_handle,
CYG_IO_SET_CONFIG_SERIAL_STATUS_CALLBACK,
&ppp_tty.serial_callbacks,
&len);
if( err != 0 ) {
syslog(LOG_ERR, "cyg_io_set_config(serial callbacks): %d",err);
die(1);
}
}
#endif
}
hungup = 0;
kill_link = 0;
/* set line speed, flow control, etc.; clear CLOCAL if modem option */
set_up_tty(tty_handle, 0);
#ifdef CYGPKG_PPP_CHAT
if( script != NULL )
{
if( !cyg_ppp_chat( devnam, script ) )
{
connect_attempts++;
goto fail;
}
}
#endif
#ifdef CYGOPT_IO_SERIAL_SUPPORT_LINE_STATUS
if( modem )
{
while( !ppp_tty.carrier_detected )
cyg_thread_delay(100);
}
#endif
connect_attempts = 0; /* we made it through ok */
/* set up the serial device as a ppp interface */
establish_ppp(tty_handle);
syslog(LOG_INFO, "Using interface ppp%d", ifunit);
(void) sprintf(ifname, "ppp%d", ifunit);
/*
* Start opening the connection and wait for
* incoming events (reply, timeout, etc.).
*/
syslog(LOG_NOTICE, "Connect: %s <--> %s", ifname, devnam);
stime = time((time_t *) NULL);
lcp_lowerup(0);
lcp_open(0); /* Start protocol */
for (phase = PHASE_ESTABLISH; phase != PHASE_DEAD; ) {
wait_input(timeleft(&timo));
calltimeout();
get_input();
if (kill_link) {
lcp_close(0, "User request");
kill_link = 0;
}
if (open_ccp_flag) {
if (phase == PHASE_NETWORK) {
ccp_fsm[0].flags = OPT_RESTART; /* clears OPT_SILENT */
(*ccp_protent.open)(0);
}
open_ccp_flag = 0;
}
}
clean_check();
disestablish_ppp(tty_handle);
#ifdef CYGPKG_PPP_CHAT
fail:
#endif
if (tty_handle != 0)
close_tty();
/* limit to retries? */
if (max_con_attempts)
if (connect_attempts >= max_con_attempts)
break;
if (!persist)
die(1);
#if 0
if (holdoff > 0 && need_holdoff) {
phase = PHASE_HOLDOFF;
TIMEOUT(holdoff_end, NULL, holdoff);
do {
wait_time(timeleft(&timo));
calltimeout();
if (kill_link) {
if (!persist)
die(0);
kill_link = 0;
phase = PHASE_DORMANT; /* allow signal to end holdoff */
}
} while (phase == PHASE_HOLDOFF);
}
#endif
}
die(0);
}
//===========================================================================
// WRITER THREAD
//===========================================================================
void can0_thread(cyg_addrword_t data)
{
cyg_io_handle_t hCAN0;
cyg_uint32 len;
cyg_can_buf_info_t buf_info;
cyg_uint16 i;
cyg_can_event rx_event;
cyg_can_message tx_msg =
{
0x000, // CAN identifier
{0x00, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7}, // 8 data bytes
CYGNUM_CAN_ID_STD, // standard frame
CYGNUM_CAN_FRAME_DATA, // data frame
4, // data length code
};
if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
}
//
// first we read the buffer info
//
len = sizeof(buf_info);
if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&buf_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
//
// check if buffer is really empty
//
if (buf_info.rx_count != 0)
{
CYG_TEST_FAIL_FINISH("Receive buffer of /dev/can0 is not empty.");
}
//
// now send messages - because TX events are supported each transmitted CAN message
// will cause a TX event that is filled into receive queue
//
diag_printf("Sending %d CAN messages to /dev/can0 \n", buf_info.rx_bufsize);
for (i = 0; i < buf_info.rx_bufsize; ++i)
{
tx_msg.id = i;
tx_msg.data[0] = i;
len = sizeof(tx_msg);
if (ENOERR != cyg_io_write(hCAN0, &tx_msg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing to /dev/can0");
}
else
{
print_can_msg(&tx_msg, "");
}
}
//
// now we read the buffer info - we expect a completely filled recieve queue
//
len = sizeof(buf_info);
if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&buf_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
//
// if receive queue is not completely filled, then we have an error here
//
if (buf_info.rx_bufsize != buf_info.rx_count)
{
diag_printf("RX bufsize: %d events in RX buffer: %d\n", buf_info.rx_bufsize, buf_info.rx_count);
CYG_TEST_FAIL_FINISH("Receive queue of /dev/can0 not completely filled.");
}
//
// now we read the receive queue
//
diag_printf("Receiving %d TX events from /dev/can0 \n", buf_info.rx_count);
for (i = 0; i < buf_info.rx_count; ++i)
{
len = sizeof(rx_event);
if (ENOERR != cyg_io_read(hCAN0, &rx_event, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");
}
//
// we expect only a set TX flag because no other events may arrive for the
// loopback driver
//
if (!(rx_event.flags & CYGNUM_CAN_EVENT_TX) || (rx_event.flags & !CYGNUM_CAN_EVENT_TX))
{
CYG_TEST_FAIL_FINISH("Unexpected receive event flags.");
}
//
// Now check if TX events contain valid data - we know that the ID and the first
// data byte contain the message number
//
if ((rx_event.msg.id != i) || (rx_event.msg.data[0] != i))
{
CYG_TEST_FAIL_FINISH("Received invalid data in TX event");
}
else
{
print_can_msg(&rx_event.msg, "");
}
} // for (i = 0; i < buf_info.rx_count; ++i)
CYG_TEST_PASS_FINISH("can_txevent test OK");
}
static int
fatfs_mount(cyg_fstab_entry *fste, cyg_mtab_entry *mte)
{
cyg_io_handle_t dev_h;
fatfs_disk_t *disk;
fatfs_dir_entry_t root_dentry;
Cyg_ErrNo err;
CYG_TRACE2(TFS, "mount fste=%p mte=%p", fste, mte);
init_fatfs_fds();
CYG_TRACE1(TFS, "looking up disk device '%s'", mte->devname);
err = cyg_io_lookup(mte->devname, &dev_h);
if (err != ENOERR)
return err;
disk = (fatfs_disk_t *)malloc(sizeof(fatfs_disk_t));
if (NULL == disk)
return ENOMEM;
CYG_TRACE0(TFS, "initializing block cache");
disk->bcache_mem = (cyg_uint8 *)malloc(CYGNUM_FS_FAT_BLOCK_CACHE_MEMSIZE);
if (NULL == disk->bcache_mem)
{
free(disk);
return ENOMEM;
}
// FIXME: get block size from disk device
err = cyg_blib_io_create(dev_h, disk->bcache_mem,
CYGNUM_FS_FAT_BLOCK_CACHE_MEMSIZE, 512, &disk->blib);
if (err != ENOERR)
{
free(disk->bcache_mem);
free(disk);
return err;
}
disk->dev_h = dev_h;
CYG_TRACE0(TFS, "initializing disk");
err = fatfs_init(disk);
if (err != ENOERR)
{
cyg_blib_delete(&disk->blib);
free(disk->bcache_mem);
free(disk);
return err;
}
#if TFS
print_disk_info(disk);
#endif
CYG_TRACE0(TFS, "initializing node cache");
fatfs_node_cache_init(disk);
CYG_TRACE0(TFS, "initializing root node");
fatfs_get_root_dir_entry(disk, &root_dentry);
disk->root = fatfs_node_alloc(disk, &root_dentry);
fatfs_node_ref(disk, disk->root);
mte->root = (cyg_dir)disk->root;
mte->data = (CYG_ADDRWORD)disk;
CYG_TRACE0(TFS, "disk mounted");
return ENOERR;
}
//===========================================================================
// ADC THREAD
//===========================================================================
void adc_thread(cyg_addrword_t data)
{
int res;
cyg_io_handle_t handle[8] = {0, 0, 0, 0, 0, 0, 0, 0};
cyg_uint32 sample_cnt[8] = {0, 0, 0, 0, 0, 0, 0, 0};
cyg_uint32 cfg_data;
cyg_uint32 len;
cyg_uint32 start_time;
cyg_uint32 end_time;
int i;
cyg_uint8 seconds = 0;
float final_seconds;
cyg_uint32 samples_expected;
diag_printf("This test reads samples from all enabled ADC channels.\n"
"Each second the number of already acquired samples\n"
"will be printed. After 10 seconds all ADC channels\n"
"will be stopped and each ADC buffer will be read until\n"
"it is empty. If the number of acquired samples is much\n"
"smaller than the number of expected samples, then you\n"
"should lower the sample rate.\n\n");
// Get a handle for ADC device 0 channel 1 - 8
res = cyg_io_lookup( "/dev/adc00", &handle[0]);
res = cyg_io_lookup( "/dev/adc01", &handle[1]);
res = cyg_io_lookup( "/dev/adc02", &handle[2]);
res = cyg_io_lookup( "/dev/adc03", &handle[3]);
res = cyg_io_lookup( "/dev/adc04", &handle[4]);
res = cyg_io_lookup( "/dev/adc05", &handle[5]);
res = cyg_io_lookup( "/dev/adc06", &handle[6]);
res = cyg_io_lookup( "/dev/adc07", &handle[7]);
//
// switch all channels to non blocking
//
for (i = 0; i < 8; ++i)
{
if (handle[i])
{
cfg_data = 0;
len = sizeof(cfg_data);
res = cyg_io_set_config(handle[i],
CYG_IO_SET_CONFIG_READ_BLOCKING,
&cfg_data,
&len);
if (ENOERR != res)
{
CYG_TEST_FAIL_FINISH("Error switching ADC channel to non blocking");
}
sample_cnt[i] = 0;
} // if (handle[i])
} // for (i = 0; i < 8; ++i)
start_time = cyg_current_time();
do
{
for (i = 0; i < 8; ++i)
{
if (handle[i])
{
cyg_adc_sample_t sample;
// read a sample from the channel
do
{
cyg_uint32 len = sizeof(sample);
res = cyg_io_read( handle[i], &sample, &len );
}
while (-EAGAIN == res);
if (ENOERR == res)
{
sample_cnt[i]++;
}
} // if (handle[i])
}
//
// print number of acquired samples - if one second is expired.
// we expect that the number of acquired samples is nearly the
// sample rate
//
end_time = cyg_current_time();
if ((end_time - start_time) >= 100)
{
start_time = end_time;
diag_printf("%d\t %d\t %d\t %d\t %d\t %d\t %d\t %d\n",
sample_cnt[0],
sample_cnt[1],
sample_cnt[2],
sample_cnt[3],
sample_cnt[4],
sample_cnt[5],
sample_cnt[6],
sample_cnt[7]);
seconds++;
} // if ((end_time - start_time) >= 100)
} while (seconds < 10);
//
// Now stop all channels
//
for (i = 0; i < 8; ++i)
{
if (handle[i])
{
res = cyg_io_set_config(handle[i],
CYG_IO_SET_CONFIG_ADC_DISABLE,
0,
0);
if (ENOERR != res)
{
CYG_TEST_FAIL_FINISH("Error disabling ADC channel");
}
} // if (handle[i])
}
end_time = cyg_current_time();
end_time = seconds * 1000 + (end_time - start_time) * 10;
final_seconds = end_time / 1000.0;
//
// Now read all remaining samples from buffer
//
for (i = 0; i < 8; ++i)
{
if (handle[i])
{
do
{
cyg_adc_sample_t sample;
cyg_uint32 len = sizeof(sample);
res = cyg_io_read( handle[i], &sample, &len );
if (ENOERR == res)
{
sample_cnt[i]++;
}
} while (ENOERR == res);
} // if (handle[i])
}
diag_printf("\n\n----------------------------------------\n");
samples_expected = final_seconds * CYGNUM_DEVS_ADC_ARM_LPC24XX_DEFAULT_RATE;
diag_printf("Samples expected after %d milliseconds: %d\n",
end_time, samples_expected);
diag_printf("Samples read (per channel):\n");
diag_printf("%d\t %d\t %d\t %d\t %d\t %d\t %d\t %d\n",
sample_cnt[0],
sample_cnt[1],
sample_cnt[2],
sample_cnt[3],
sample_cnt[4],
sample_cnt[5],
sample_cnt[6],
sample_cnt[7]);
CYG_TEST_PASS_FINISH("ADC test OK");
}
// How to handle static variables with multiple sensors? objects? add to gpspacket?
int read_gps(struct gps *gpsData_ptr)
{
cyg_io_handle_t port_handle;
cyg_serial_buf_info_t buff_info;
unsigned int len = sizeof (buff_info);
// get serial port handle
cyg_io_lookup( gpsData_ptr->portName, &port_handle );
cyg_io_get_config (port_handle, CYG_IO_GET_CONFIG_SERIAL_BUFFER_INFO,\
&buff_info, &len);
unsigned int bytesInBuffer = buff_info.rx_count;
unsigned int bytesReadThisCall =0;;
unsigned short msgPayloadSize = 0, bytesToRead = 0, bytesRead = 0;
int status =0;
// Initialization of persistent local buffer
if (gpsData_ptr->localBuffer == NULL)
{
gpsData_ptr->localBuffer = (unsigned char*) malloc (1024 * sizeof (unsigned char));
}
// First check if there are any bytes in the serial buffer, return if none
if( bytesInBuffer == 0 )
return -1;
// Get localBuffer stored in gps packet. This is to keep the following code readable
localBuffer = gpsData_ptr->localBuffer;
bytesInLocalBuffer= gpsData_ptr->bytesInLocalBuffer;
readState = gpsData_ptr->readState;
//fprintf(stderr, "read state is %d (before while)\n", readState);
// Keep reading until we've processed all of the bytes in the buffer
while (bytesReadThisCall < bytesInBuffer){
//fprintf(stderr, "read state is %d (after while)\n", readState);
switch (readState){
case 0: //Look for packet header bytes
// Read in up to 4 bytes to the first open location in the local buffer
bytesRead = read(gpsData_ptr->port,&localBuffer[bytesInLocalBuffer],4-bytesInLocalBuffer);
bytesReadThisCall += bytesRead; // keep track of bytes read during this call
if (localBuffer[0] == '$'){ // Check for first header byte
bytesInLocalBuffer = 1;
//fprintf(stderr, "case 0, $ header type \n");
if (localBuffer[1] == 'B'){ // Check for second header byte
bytesInLocalBuffer = 2;
if (localBuffer[2] == 'I'){ // Check for third header byte
bytesInLocalBuffer = 3;
if (localBuffer[3] == 'N'){ // Check for fourth header byte
bytesInLocalBuffer = 4;
readState++; // header complete, move to next stage
}
}
}
}
else {
gpsData_ptr->err_type = noPacketHeader;
}
break; // end case 0
case 1: // Look for block ID and data length
// Find how many bytes need to be read for block ID (2) + data length (2) - bytes already read (includes 4 byte header)
bytesToRead = 8 - bytesInLocalBuffer;
// Read in bytes to the last location in the local buffer
bytesRead = read(gpsData_ptr->port,&localBuffer[bytesInLocalBuffer],bytesToRead);
bytesInLocalBuffer += bytesRead; // keep track of bytes in local buffer
bytesReadThisCall += bytesRead; // keep track of bytes read during this call
if (bytesRead == bytesToRead){
readState++;
//printf ("\n<GPS>: Got msgID: %d and Data Length: %d", localBuffer[5]*256 + localBuffer[4], localBuffer[7]*256 + localBuffer[6]);
}
else{
gpsData_ptr->err_type = incompletePacket;
}
break; // end case 1
case 2: //Read payload, checksum, and stop bytes
// Find message payload size
msgPayloadSize = localBuffer[7]*256 + localBuffer[6]; // data is in little endian format
// Error checking on payload size. If size is bigger than expected, dump packet
if(msgPayloadSize > GPS_MAX_MSG_SIZE){
gpsData_ptr->err_type = incompletePacket;
reset_localBuffer();
}
// Find how many bytes need to be read for the total message (Header (4) + ID (2) + Size (2) + Payload + checksum (2) + stop (2) - bytes already read )
bytesToRead = msgPayloadSize + 12 - bytesInLocalBuffer;
// Read in the remainder of the message to the local buffer, starting at the first empty location
bytesRead = read (gpsData_ptr->port, &localBuffer[bytesInLocalBuffer], bytesToRead);
bytesInLocalBuffer += bytesRead; // keep track of bytes in local buffer
bytesReadThisCall += bytesRead; // keep track of bytes read during this call
if (bytesRead == bytesToRead){
//printf ("\n<GPS>: Got complete message! Tried for %d, got %d",bytesToRead,bytesRead);
//printf ("\n<GPS>: My checksum: %d Recv: %d",do_chksum(localBuffer, 8, msgPayloadSize+8),(localBuffer[8+msgPayloadSize+1]*256 + localBuffer[8+msgPayloadSize]));
// Checksum verification
if ( do_chksum(localBuffer, 8, msgPayloadSize+8) == (localBuffer[8+msgPayloadSize+1]*256 + localBuffer[8+msgPayloadSize]) ){
// If it's OK, extract data
parse_gps( gpsData_ptr );
gpsData_ptr->err_type = data_valid;
//printf ("\n<GPS>: Success!");
status = 1;
}
else{
//printf ("\n<GPS>: Checksum mismatch!");
gpsData_ptr->err_type = checksum_err;
}
reset_localBuffer();
}
else{
//printf ("\n<GPS>: Didn't get complete message. Tried for %d, got %d",bytesToRead,bytesRead);
gpsData_ptr->err_type= incompletePacket;
status = 0;
}
break; // end case 2
default:
reset_localBuffer();
printf ("\n<GPS>: Why are you here?");
status = 0;
break; // end default
} // end switch (readState)
} // end while (bytesReadThisCall < bytesInBuffer)
// Store local buffer in gps packet
gpsData_ptr->localBuffer = localBuffer;
gpsData_ptr->bytesInLocalBuffer = bytesInLocalBuffer;
gpsData_ptr->readState = readState;
return status;
}
//===========================================================================
// READER THREAD
//===========================================================================
void can1_thread(cyg_addrword_t data)
{
cyg_io_handle_t hCAN1;
cyg_uint8 i;
cyg_uint32 len;
cyg_can_buf_info_t rx_buf_info;
cyg_can_event rx_event;
cyg_can_message tx_msg;
if (ENOERR != cyg_io_lookup("/dev/can1", &hCAN1))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can1");
}
len = sizeof(rx_buf_info);
if (ENOERR != cyg_io_get_config(hCAN1, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&rx_buf_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can1");
}
//
// first we send the size of our receive buffer to the writer
// we setup tx message now
//
tx_msg.id = 0x000;
tx_msg.ext = CYGNUM_CAN_ID_STD;
tx_msg.rtr = CYGNUM_CAN_FRAME_DATA;
tx_msg.dlc = sizeof(rx_buf_info.rx_bufsize);
//
// we store size of rx buffer in CAN message. We do not need to care about
// endianess here because this is a loopback driver test and we will receive
// our own messages
//
*((cyg_uint32 *)tx_msg.data) = rx_buf_info.rx_bufsize;
len = sizeof(tx_msg);
//
// as soon as we send a CAN message, thread 0 will resume because it is waiting
// for a message
//
diag_printf("/dev/can1: Sending size of RX buffer %d\n", rx_buf_info.rx_bufsize);
if (ENOERR != cyg_io_write(hCAN1, &tx_msg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing to /dev/can1");
}
cyg_thread_delay(10); // let thread 0 run
//
// now we check if we received CAN messages - if receive buffer is not full
// the we have an error here because we expect a full receive buffer
//
len = sizeof(rx_buf_info);
if (ENOERR != cyg_io_get_config(hCAN1, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&rx_buf_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can1");
}
if (rx_buf_info.rx_bufsize != rx_buf_info.rx_count)
{
CYG_TEST_FAIL_FINISH("RX buffer of /dev/can1 does not contain number of expected messages");
}
//
// now we wait for messages from /dev/can0
//
diag_printf("/dev/can1: Receiving %d CAN messages\n", rx_buf_info.rx_count);
for (i = 0; i < rx_buf_info.rx_count; ++i)
{
len = sizeof(rx_event);
if (ENOERR != cyg_io_read(hCAN1, &rx_event, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");
}
else
{
if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
{
print_can_msg(&rx_event.msg, "");
if (rx_event.msg.data[0] != (i + 1))
{
CYG_TEST_FAIL_FINISH("Received /dev/can1 RX event contains invalid data");
}
}
else
{
CYG_TEST_FAIL_FINISH("Unexpected CAN event for /dev/can1");
}
//
// now check if any other flag is set
//
if (rx_event.flags & CYGNUM_CAN_EVENT_OVERRUN_RX)
{
diag_printf("RX queue overrun successfully indicated for /dev/can1\n");
//
// if TX events are supported then we have already a TX event in receive queue because
// we sent a message and the RX queue overrun will occur one message earlier
//
#if defined(CYGOPT_IO_CAN_TX_EVENT_SUPPORT)
if (i < (rx_buf_info.rx_bufsize - 2))
#else
if (i < (rx_buf_info.rx_bufsize - 1))
#endif
{
CYG_TEST_FAIL_FINISH("RX queue overrun occured too early for /dev/can1");
}
else
{
CYG_TEST_PASS_FINISH("can_overrun2 test OK");
}
} // if (rx_event.flags & CYGNUM_CAN_EVENT_OVERRUN_RX)
}
}
}
//===========================================================================
// WRITER THREAD
//===========================================================================
void can0_thread(cyg_addrword_t data)
{
cyg_io_handle_t hCAN0;
cyg_uint8 i;
cyg_uint32 len;
cyg_uint32 rx_bufsize;
cyg_can_buf_info_t tx_buf_info;
cyg_can_event rx_event;
cyg_can_message tx_msg =
{
0x000, // CAN identifier
{0x00, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7}, // 8 data bytes
CYGNUM_CAN_ID_STD, // standard frame
CYGNUM_CAN_FRAME_DATA, // data frame
2, // data length code
};
if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
}
len = sizeof(tx_buf_info);
if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_BUFFER_INFO ,&tx_buf_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
//
// Before we can write the CAN messages, we need to know the buffer size of the
// receiver. The receiver will tell us this buffer size with one single CAN
// message
//
len = sizeof(rx_event);
if (ENOERR != cyg_io_read(hCAN0, &rx_event, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");
}
//
// we expect a RX event here - we treat any other flag as an error
//
if (!(rx_event.flags & CYGNUM_CAN_EVENT_RX) || (rx_event.flags & !CYGNUM_CAN_EVENT_RX))
{
CYG_TEST_FAIL_FINISH("Unexpected RX event for /dev/can0");
}
rx_bufsize = *((cyg_uint32 *)rx_event.msg.data);
//
// now we send exactly one CAN message more than there is space in the receive buffer
// this should cause an RX ovverun in receive buffer
//
diag_printf("/dev/can0: Sending %d CAN messages\n", rx_bufsize);
for (i = 0; i <= rx_bufsize; ++i)
{
//
// we store the message number as CAN id and in first data byte so
// a receiver can check this later
//
tx_msg.id = 0x000 + i;
tx_msg.data[0] = i;
len = sizeof(tx_msg);
if (ENOERR != cyg_io_write(hCAN0, &tx_msg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing to /dev/can0");
}
else
{
print_can_msg(&tx_msg, "");
}
} // for (i = 0; i <= rx_bufsize; ++i)
cyg_thread_suspend(cyg_thread_self());
}
//===========================================================================
// READER THREAD
//===========================================================================
void can_thread(cyg_addrword_t data)
{
cyg_uint32 len;
cyg_can_callback_cfg callback_cfg;
cyg_can_message tx_msg;
cyg_bool_t wait_res;
//
// open CAN0 device driver
//
if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
}
//
// open CAN1 device driver
//
if (ENOERR != cyg_io_lookup("/dev/can1", &hCAN1))
{
CYG_TEST_FAIL_FINISH("Error opening /dev/can1");
}
//
// configure CAN0 callback
//
len = sizeof(callback_cfg);
callback_cfg.flag_mask = 0xFFFF;
callback_cfg.data = (CYG_ADDRWORD) hCAN0;
callback_cfg.callback_func = callback_func;
if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_CALLBACK,
&callback_cfg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
//
// transmit message from CAN1 to CAN0
//
tx_msg.id = 0x001;
tx_msg.ext = CYGNUM_CAN_ID_STD;
tx_msg.rtr = CYGNUM_CAN_FRAME_DATA;
tx_msg.dlc = 0;
len = sizeof(tx_msg);
if (ENOERR != cyg_io_write(hCAN1, &tx_msg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing message to /dev/can1");
}
//
// Wait CAN0 callback
//
cyg_mutex_lock(&can_lock);
wait_res = cyg_cond_timed_wait(&can_wait, 100);
cyg_mutex_unlock(&can_lock);
//
// If result of wait is a signal operation, test is successed
// If timeout - test is failed, because callback_func() hasn't been
// called with correct parameters
//
if(wait_res)
{
CYG_TEST_PASS_FINISH("can_callback test OK");
}
else
{
CYG_TEST_FAIL_FINISH("can_callback test FAILED");
}
}
// How to handle static variables with multiple sensors? objects? add to gpspacket?
int read_gps(struct gps *gpsData_ptr)
{
cyg_io_handle_t port_handle;
cyg_serial_buf_info_t buff_info;
unsigned int len = sizeof (buff_info);
// get serial port handle
cyg_io_lookup( gpsData_ptr->portName, &port_handle );
cyg_io_get_config (port_handle, CYG_IO_GET_CONFIG_SERIAL_BUFFER_INFO,\
&buff_info, &len);
unsigned int bytesInBuffer = buff_info.rx_count;
unsigned int bytesReadThisCall = 0;
unsigned short msgPayloadSize = 0, bytesToRead = 0, bytesRead = 0;
unsigned long CRC_computed, CRC_read;
int j, status =0;
// Initialization of persistent local buffer
if (gpsData_ptr->localBuffer == NULL)
{
gpsData_ptr->localBuffer = (unsigned char*) malloc (1024 * sizeof (unsigned char));
}
// First check if there are any bytes in the serial buffer, return if none
if( bytesInBuffer == 0 )
return -1;
// Get localBuffer stored in gps packet. This is to keep the following code readable
localBuffer = gpsData_ptr->localBuffer;
bytesInLocalBuffer= gpsData_ptr->bytesInLocalBuffer;
readState = gpsData_ptr->readState;
while (bytesReadThisCall < bytesInBuffer){
switch (readState){
case 0: //Look for packet header bytes
// Read in up to 3 bytes to the first open location in the local buffer
//fprintf(stderr,"bytesInLocalBuffer is %d\n",bytesInLocalBuffer);
bytesRead = read(gpsData_ptr->port,&localBuffer[bytesInLocalBuffer],3-bytesInLocalBuffer);
//fprintf(stderr,"The first three bytes are %0X %0X %0X\n",localBuffer[0],localBuffer[1],localBuffer[2]);
//fprintf(stderr,"bytesRead is %d\n",bytesRead);
//fprintf(stderr,"Read %d bytes, The first three bytes are %0X %0X %0X\n", bytesRead,localBuffer[0],localBuffer[1],localBuffer[2]);
bytesReadThisCall += bytesRead; // keep track of bytes read during this call
if (localBuffer[0] == 0xAA){ // Check for first header byte
bytesInLocalBuffer = 1;
//fprintf(stderr, "case 0, 0xAA header type \n");
if (localBuffer[1] == 0x44){ // Check for second header byte
bytesInLocalBuffer = 2;
if (localBuffer[2] == 0x12){ // Check for third header byte
bytesInLocalBuffer = 3;
readState++;
}
}
}
else {
gpsData_ptr->err_type = noPacketHeader;
}
break; // end case 0
case 1: // Look for block ID and data length
// Read 28 Header Bytes
bytesToRead = 28 - bytesInLocalBuffer;
// Read in bytes to the last location in the local buffer
bytesRead = read(gpsData_ptr->port,&localBuffer[bytesInLocalBuffer],bytesToRead);
bytesInLocalBuffer += bytesRead; // keep track of bytes in local buffer
bytesReadThisCall += bytesRead; // keep track of bytes read during this call
if (bytesRead == bytesToRead){
readState++;
//fprintf (stderr,"<GPS>: Got msgID: %d and Data Length: %d\n", localBuffer[5]*256 + localBuffer[4], localBuffer[9]*256 + localBuffer[8]);
//printf ("<GPS>: localBuffer[0] = %02X localBuffer[1] = %02X localBuffer[2] = %02X localBuffer[3] = %02X localBuffer[4] = %02X localBuffer[5] = %02X \n", localBuffer[0], localBuffer[1], localBuffer[2], localBuffer[3], localBuffer[4], localBuffer[5]);
}
else{
gpsData_ptr->err_type = incompletePacket;
}
break; // end case 1
case 2: //Read payload
// Find message payload size
msgPayloadSize = localBuffer[9]*256 + localBuffer[8]; // data is in little endian format
// Error checking on payload size. If size is bigger than expected, dump packet
if(msgPayloadSize > GPS_MAX_MSG_SIZE){
gpsData_ptr->err_type = incompletePacket;
reset_localBuffer();
}
// Find how many bytes need to be read for the total message (Sync (3) + Remaining Header (25) + Payload - bytes already read )
bytesToRead = msgPayloadSize + 28 - bytesInLocalBuffer;
//printf("bytesInLocalBuffer is %d bytesToRead is %d \n",bytesInLocalBuffer,bytesToRead);
// Read in the remainder of the message to the local buffer, starting at the first empty location
bytesRead = read (gpsData_ptr->port, &localBuffer[bytesInLocalBuffer], bytesToRead);
bytesInLocalBuffer += bytesRead; // keep track of bytes in local buffer
bytesReadThisCall += bytesRead; // keep track of bytes read during this call
if (bytesRead == bytesToRead){
//printf ("<GPS>: Got complete message! Tried for %d, got %d\n",bytesToRead,bytesRead);
readState++;
}
else {
gpsData_ptr->err_type = incompletePacket;
}
break; // end case 2
case 3: // read CRC bytes (4 bytes)
bytesToRead = 4;
bytesRead = read (gpsData_ptr->port, &localBuffer[bytesInLocalBuffer], bytesToRead);
bytesInLocalBuffer += bytesRead;
bytesReadThisCall += bytesRead;
if(bytesRead == bytesToRead) {
// CRC verification
CRC_computed = CalculateBlockCRC32(bytesInLocalBuffer-4,localBuffer);
endian_swap(localBuffer,140,4);
CRC_read = *(uint32_t *) (localBuffer+140);
if (CRC_computed == CRC_read) {
gpsData_ptr->err_type = data_valid;
parse_gps(gpsData_ptr);
//fprintf (stderr,"<GPS t = %9.3lf>: Success!\n",gpsData_ptr->GPS_TOW);
}
else{
send_status("GPS CRC ERR");
//fprintf (stderr,"<GPS>: Checksum mismatch!\n");
/* ============= DEBUG CHECKSUM ERROR ================
fprintf (stderr,"<GPS %d>: Checksum mismatch! Buffer: %02X%02X%02X%02X Read: %08lX Computed: %08lX\n",localBuffer[5]*256 + localBuffer[4],localBuffer[140],localBuffer[141],localBuffer[142],localBuffer[143],CRC_read,CRC_computed);
fprintf (stderr,"Hex: \n");
for (j = 0; j < bytesInLocalBuffer; j++) {
fprintf(stderr,"%02X ",localBuffer[j]);
if(j%8==7)
fprintf(stderr,"\n");
}
*/
gpsData_ptr->err_type = checksum_err;
}
reset_localBuffer();
}
else{
//printf ("\n<GPS>: Didn't get complete message. Tried for %d, got %d",bytesToRead,bytesRead);
gpsData_ptr->err_type= incompletePacket;
status = 0;
}
break; // end case 3
default:
reset_localBuffer();
printf ("\n<GPS>: Why are you here?");
status = 0;
break; // end default
} // end switch (readState)
} // end while (bytesReadThisCall < bytesInBuffer)
// Store local buffer in gps packet
gpsData_ptr->localBuffer = localBuffer;
gpsData_ptr->bytesInLocalBuffer = bytesInLocalBuffer;
gpsData_ptr->readState = readState;
return status;
}
int main(int argc, char *argv[])
{
int i;
int disk;
int fd[NUM_DISKS];
// Initialize the ISP Fibre Channel Controller
isp_controller_init(0);
// Create test complete semaphore
cyg_semaphore_init(&test_cmpl_sema, 0);
/* Open a connection to the first NUM_DISKS found.
*/
for (i = 0, disk = 0; (disk < NUM_DISKS) && (i < MAX_NUM_DISKS); ++i)
{
cyg_io_handle_t handle;
Cyg_ErrNo status;
char device[10];
sprintf(device, "/dev/sd%d", i);
/* See if this device is present */
status = cyg_io_lookup(device, &handle);
if (status == ENOERR)
{
fd[disk] = open(device, O_RDWR, 0);
if (fd[disk] == -1)
{
printf ("disktest: open() failed for %s - ", device);
perror("open");
return(-1);
}
++disk;
}
}
printf("\nPerforming disktest on %d disk(s)\n", disk);
// Create tasks to perform disk testing. Each task tests one disk.
for (i = 0; i < disk; ++i)
{
cyg_thread_create(15, &disktest, fd[i], "disktest", &stack[i][0],
CYGNUM_HAL_STACK_SIZE_TYPICAL,
&disktest_handle[i], &disktest_thread[i]);
cyg_thread_resume(disktest_handle[i]);
}
// Wait for test to complete
for (i = 0; i < disk; ++i)
cyg_semaphore_wait(&test_cmpl_sema);
// Close all the files
for (i = 0; i < disk; ++i)
close(fd[i]);
// Delete semaphore
cyg_semaphore_destroy(&test_cmpl_sema);
printf("disktest completed.\n");
cyg_thread_exit();
// Should never get here
return(0);
}
