//===========================================================================
// READER THREAD
//===========================================================================
void can0_thread(cyg_addrword_t data)
{
cyg_uint32 len;
cyg_can_event rx_event;
cyg_can_remote_buf rtr_buf;
cyg_can_remote_buf rtr_buf2;
cyg_can_msgbuf_info msgbox_info;
cyg_can_mode mode;
cyg_can_state state;
//
// before we start configuring the CAN hardware we stop the chip
//
mode = CYGNUM_CAN_MODE_STOP;
len = sizeof(mode);
if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_CAN_MODE ,&mode, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
//
// now check if FlexCAN modul is really stopped
//
len = sizeof(state);
if (ENOERR != cyg_io_get_config(hDrvFlexCAN, CYG_IO_GET_CONFIG_CAN_STATE ,&state, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
if (state != CYGNUM_CAN_STATE_STOPPED)
{
CYG_TEST_FAIL_FINISH("Error stopping FlexCAN /dev/can0");
}
//
// We would like to setup 2 remote buffers - check if we have enough
// free message buffers
//
len = sizeof(msgbox_info);
if (ENOERR != cyg_io_get_config(hDrvFlexCAN, CYG_IO_GET_CONFIG_CAN_MSGBUF_INFO ,&msgbox_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
else
{
diag_printf("Message boxes available: %d free: %d\n",
msgbox_info.count, msgbox_info.free);
}
if (msgbox_info.free < 2)
{
CYG_TEST_FAIL_FINISH("Not enough free message buffers/dev/can0");
}
//
// Setup the first remote response buffer for resception of standard
// remote frames
//
rtr_buf.cfg_id = CYGNUM_CAN_MSGBUF_REMOTE_BUF_ADD;
rtr_buf.msg.id = 0x7FF;
rtr_buf.msg.ext = CYGNUM_CAN_ID_STD;
rtr_buf.msg.rtr = CYGNUM_CAN_FRAME_DATA;
rtr_buf.msg.dlc = 1;
rtr_buf.msg.data[0] = 0xAB;
len = sizeof(rtr_buf);
if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&rtr_buf, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
//
// setup the second remote response buffer for reception of extended
// remote frames
//
rtr_buf2.cfg_id = CYGNUM_CAN_MSGBUF_REMOTE_BUF_ADD;
rtr_buf2.msg.id = 0x800;
rtr_buf2.msg.ext = CYGNUM_CAN_ID_EXT;
rtr_buf2.msg.rtr = CYGNUM_CAN_FRAME_DATA;
rtr_buf2.msg.dlc = 4;
rtr_buf2.msg.data[0] = 0xAB;
len = sizeof(rtr_buf2);
if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&rtr_buf2, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
if (rtr_buf.handle == CYGNUM_CAN_MSGBUF_NA)
{
CYG_TEST_FAIL_FINISH("No free message buffer available for /dev/can0");
}
//
// now configuration is finished and we can start chip again
//
mode = CYGNUM_CAN_MODE_START;
len = sizeof(mode);
if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_CAN_MODE ,&mode, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
diag_printf("Test of FlexCAN remote response buffer configuration\n"
"If a CAN node sends a remote request with ID 0x7FF\n"
"or 0x800 then the FlexCAN modul should respond with\n"
"data frames.\n");
diag_printf("!!! This test can be stopped by sending a data frame with ID 0x100 !!!\n\n");
len = sizeof(msgbox_info);
if (ENOERR != cyg_io_get_config(hDrvFlexCAN, CYG_IO_GET_CONFIG_CAN_MSGBUF_INFO ,&msgbox_info, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
else
{
diag_printf("Message boxes available: %d free: %d\n",
msgbox_info.count, msgbox_info.free);
}
while (1)
{
len = sizeof(rx_event);
if (ENOERR != cyg_io_read(hDrvFlexCAN, &rx_event, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");
}
if (0x100 == rx_event.msg.id)
{
CYG_TEST_PASS_FINISH("flexcan_remote test OK");
}
else
{
print_can_flags(rx_event.flags, "");
print_can_msg(&rx_event.msg, "");
}
}
}
//===========================================================================
// Thread 0
//===========================================================================
void can_rx_thread(cyg_addrword_t data)
{
cyg_uint32 len;
cyg_can_event rx_event;
cyg_can_event loop_rx_event;
cyg_uint32 msg_cnt = 0;
cyg_uint8 i;
while (msg_cnt < 0xF0)
{
//
// First receive CAN event from real CAN hardware
//
len = sizeof(rx_event);
if (ENOERR != cyg_io_read(hCAN_Tbl[1], &rx_event, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from channel 1");
}
if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
{
print_can_msg(&rx_event.msg, "RX chan 1:");
} // if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
else
{
print_can_flags(rx_event.flags, "");
}
//
// Now receive CAN event from loop CAN driver
//
len = sizeof(loop_rx_event);
if (ENOERR != cyg_io_read(hLoopCAN_Tbl[1], &loop_rx_event, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from loop channel 1");
}
if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
{
print_can_msg(&rx_event.msg, "RX loop 1:");
} // if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
else
{
print_can_flags(rx_event.flags, "");
}
//
// Chaeck message ID and DLC of HW CAN message and CAN message from loop driver
// booth should be the same
//
if (rx_event.msg.id != loop_rx_event.msg.id)
{
CYG_TEST_FAIL_FINISH("Received message IDs of hw CAN channel and loop CAN channel are not equal");
}
if (rx_event.msg.dlc != loop_rx_event.msg.dlc)
{
CYG_TEST_FAIL_FINISH("Received DLCs of hw CAN msg and loop CAN msg are not equal");
}
//
// Now check each data byte of the receive message
//
for (i = 0; i < rx_event.msg.dlc; ++i)
{
if (rx_event.msg.data.bytes[i] != loop_rx_event.msg.data.bytes[i])
{
CYG_TEST_FAIL_FINISH("Data of hw CAN msg and loop CAN msg are not equal");
}
if (rx_event.msg.data.bytes[i] != (i + msg_cnt))
{
CYG_TEST_FAIL_FINISH("CAN message contains unexpected data");
}
}
msg_cnt++;
} // while (1)
CYG_TEST_PASS_FINISH("CAN rx/tx test OK");
}
//===========================================================================
// READER THREAD
//===========================================================================
void can_thread(cyg_addrword_t data)
{
cyg_uint32 len;
cyg_uint8 i = 0;
//
// Check that all cannels have the same baudrate
//
#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN0
can_setup_channel(hCAN_Tbl[0], 0);
#endif
#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN1
can_setup_channel(hCAN_Tbl[1], 1);
#endif
#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN2
can_setup_channel(hCAN_Tbl[2], 2);
#endif
#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN3
can_setup_channel(hCAN_Tbl[3], 3);
#endif
diag_printf("\n\nThis test uses all available CAN channels for reception\n"
"of CAN standard messages. The following messages will be received:\n\n");
for (i = 0; i < 4; ++i)
{
if (hCAN_Tbl[i])
{
diag_printf("CAN channel %d: msg: 0x%03x - 0x%03x\n", i, i * 0x100, i * 0x100 + 9);
}
}
diag_printf("\n\nYou can stop this test by sending a message with ID 0xX09\n");
while (1)
{
for (i = 0; i < 4; ++i)
{
if (hCAN_Tbl[i])
{
Cyg_ErrNo ret;
cyg_can_event rx_event;
len = sizeof(rx_event);
ret = cyg_io_read(hCAN_Tbl[i], &rx_event, &len);
if ((ret == -EAGAIN) || (ret == -EINTR))
{
continue;
}
if (ENOERR != ret)
{
CYG_TEST_FAIL_FINISH("Error reading from channel");
}
else
{
diag_printf("Channel %d events: ", i);
print_can_flags(rx_event.flags, "");
if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
{
print_can_msg(&rx_event.msg, "");
if ((rx_event.msg.id & 9) == 9)
{
CYG_TEST_PASS_FINISH("LPC2xxx CAN multi channel RX test OK");
}
} // if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
}
} // if (hCAN_Tbl[i])
} // for (i = 0; i < 4; ++i)
} // while (1)
}
//===========================================================================
// READER THREAD
//===========================================================================
void can0_thread(cyg_addrword_t data)
{
cyg_uint32 len;
cyg_can_event rx_event1;
cyg_can_event rx_event2;
cyg_can_msgbuf_info msgbox_info;
cyg_can_mode mode;
cyg_can_state state;
diag_printf("Test of FlexCAN standby mode with selfwakeup\n"
"As soon as a message arrives the FlexCAN modul\n"
"will leave standby and generates a leave standby event.\n"
"Each time you send a message you should see LSTY first\n"
"for \"leaving standby\" and then \"RX\" for the\n"
"RX event that caused the leave standby event. You can send\n"
"a CAN data frame with any ID\n");
diag_printf("!!! This test can be stopped by sending a data frame with ID 0x100 !!!\n\n");
len = sizeof(msgbox_info);
if (ENOERR != cyg_io_get_config(hDrvFlexCAN, CYG_IO_GET_CONFIG_CAN_MSGBUF_INFO ,&msgbox_info, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
else
{
diag_printf("Message boxes available: %d free: %d\n",
msgbox_info.count, msgbox_info.free);
}
while (1)
{
//
// now we set FlexCAN into standby mode
//
mode = CYGNUM_CAN_MODE_STANDBY;
len = sizeof(mode);
if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_CAN_MODE ,&mode, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
//
// now check if FlexCAN modul is really in standby mode
//
len = sizeof(state);
if (ENOERR != cyg_io_get_config(hDrvFlexCAN, CYG_IO_GET_CONFIG_CAN_STATE ,&state, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
if (state != CYGNUM_CAN_STATE_STANDBY)
{
CYG_TEST_FAIL_FINISH("Error stopping FlexCAN /dev/can0");
}
//
// as soon as a message arrives the FlexCAN modul leaves standby mode
// and we should receive a CYGNUM_CAN_EVENT_LEAVING_STANDBY event but
// we will also receive a RX event because a message arrived
//
len = sizeof(rx_event1);
if (ENOERR != cyg_io_read(hDrvFlexCAN, &rx_event1, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");
}
len = sizeof(rx_event2);
if (ENOERR != cyg_io_read(hDrvFlexCAN, &rx_event2, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");
}
print_can_flags(rx_event1.flags, "");
print_can_flags(rx_event2.flags, "");
//
// The first event we receive should be a leaving standby event because
// first flexcan leaves standby and then a message will be received
//
if (!(rx_event1.flags & CYGNUM_CAN_EVENT_LEAVING_STANDBY))
{
CYG_TEST_FAIL_FINISH("CYGNUM_CAN_EVENT_LEAVING_STANDBY event expexted /dev/can0");
}
if (rx_event2.msg.id == 0x100)
{
CYG_TEST_PASS_FINISH("flexcan_wake test OK");
}
}
}
//===========================================================================
// READER THREAD
//===========================================================================
void can0_thread(cyg_addrword_t data)
{
cyg_uint32 len;
cyg_can_event rx_event;
cyg_can_filtergroup_cfg acc_filt_grp;
cyg_can_msgbuf_cfg msgbox_cfg;
//
// First we reset message buffer configuration - this is mandatory bevore starting
// message buffer runtime configuration. This call clears/frees all message buffers
// The CAN controller cannot receive any further CAN message after this call
//
msgbox_cfg.cfg_id = CYGNUM_CAN_MSGBUF_RESET_ALL;
len = sizeof(msgbox_cfg);
if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&msgbox_cfg, &len))
{
CYG_TEST_FAIL_FINISH("Error resetting message buffer configuration of /dev/can0");
}
//
// Now we setup two different acceptance filter groups. Acceptance filter
// groups are not part of the CAN I/O layer and are a LPC2xxx specific
// feature. You should not use appcetance filter groups if you would like
// to code portable eCos CAN applications
//
#ifdef CYGOPT_IO_CAN_STD_CAN_ID
acc_filt_grp.ext = CYGNUM_CAN_ID_STD;
acc_filt_grp.lower_id_bound = 0x100;
acc_filt_grp.upper_id_bound = 0x110;
len = sizeof(acc_filt_grp);
if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_LPC2XXX_ACCFILT_GROUP ,&acc_filt_grp, &len))
{
CYG_TEST_FAIL_FINISH("Error adding filter group to /dev/can0");
}
#endif // CYGOPT_IO_CAN_STD_CAN_ID
#ifdef CYGOPT_IO_CAN_EXT_CAN_ID
acc_filt_grp.ext = CYGNUM_CAN_ID_EXT;
acc_filt_grp.lower_id_bound = 0x2000;
acc_filt_grp.upper_id_bound = 0x2200;
len = sizeof(acc_filt_grp);
if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_LPC2XXX_ACCFILT_GROUP ,&acc_filt_grp, &len))
{
CYG_TEST_FAIL_FINISH("Error adding filter group to /dev/can0");
}
#endif // CYGOPT_IO_CAN_STD_CAN_ID
diag_printf("\n\nNow try to send CAN messages. The device should only\n"
"receive standard messages identifiers in the range of 0x100\n"
"to 0x110 and/or extended identifiers in the range 0x2000 to\n"
"0x2200. As soon as a standard message with ID 0x110 or an\n"
"extended message with ID 0x2200 arrives, the test finishes\n\n");
while (1)
{
len = sizeof(rx_event);
if (ENOERR != cyg_io_read(hCAN0, &rx_event, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");
}
else
{
print_can_flags(rx_event.flags, "");
if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
{
print_can_msg(&rx_event.msg, "");
#ifdef CYGOPT_IO_CAN_STD_CAN_ID
if (rx_event.msg.id == 0x110)
{
CYG_TEST_PASS_FINISH("LPC2xxx CAN message filter group test OK");
}
#endif // CYGOPT_IO_CAN_STD_CAN_ID
#ifdef CYGOPT_IO_CAN_EXT_CAN_ID
if (rx_event.msg.id == 0x2200)
{
CYG_TEST_PASS_FINISH("LPC2xxx CAN message filter group test OK");
}
#endif // CYGOPT_IO_CAN_EXT_CAN_ID
if (((rx_event.msg.id > 0x110) && (rx_event.msg.id < 0x2000))
|| (rx_event.msg.id > 0x2200))
{
CYG_TEST_FAIL_FINISH("Received CAN identifier outside filter group bounds");
}
}
}
} // while (1)
}
//===========================================================================
// Thread 0
//===========================================================================
void can0_thread(cyg_addrword_t data)
{
cyg_uint32 len;
cyg_can_message tx_msg;
cyg_can_event rx_event;
cyg_uint32 i;
cyg_uint32 rx_msg_cnt = 0;
//
// Prepeare message - we use a data length of 0 bytes here. Each received message
// causes an iterrupt. The shortest message is a 0 data byte message. This will generate
// the highest interrupt rate
//
CYG_CAN_MSG_SET_PARAM(tx_msg, 0, CYGNUM_CAN_ID_STD, 0, CYGNUM_CAN_FRAME_DATA);
//
// Now send 1024 CAN messages as fast as possible to stress the receiver of CAN
// channel 1
//
for (i = 0; i< 1024; ++i)
{
tx_msg.id = i;
len = sizeof(tx_msg);
if (ENOERR != cyg_io_write(hCAN_Tbl[1], &tx_msg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing to channel 0");
}
}
//
// Now try to receive all 1024 CAN messages. If all messages are received
// and no overrun occured then the message processing is fast enought
//
while (1)
{
len = sizeof(rx_event);
//
// First receive CAN event from real CAN hardware
//
len = sizeof(rx_event);
if (ENOERR != cyg_io_read(hCAN_Tbl[0], &rx_event, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from channel 1");
}
if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
{
print_can_msg(&rx_event.msg, "RX chan 1:");
rx_msg_cnt++;
if (rx_msg_cnt == 1024)
{
CYG_TEST_PASS_FINISH("CAN load test OK");
}
} // if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
else
{
print_can_flags(rx_event.flags, "");
if (rx_event.flags & CYGNUM_CAN_EVENT_OVERRUN_RX)
{
CYG_TEST_FAIL_FINISH("RX overrun for channel 1");
}
if (rx_event.flags & CYGNUM_CAN_EVENT_ERR_PASSIVE)
{
CYG_TEST_FAIL_FINISH("Channel 1 error passive event");
}
if (rx_event.flags & CYGNUM_CAN_EVENT_BUS_OFF)
{
CYG_TEST_FAIL_FINISH("Channel 1 bus off event");
}
}
} // while (1)
}
//===========================================================================
// Main thread
//===========================================================================
void can0_thread(cyg_addrword_t data)
{
cyg_uint32 len;
cyg_can_event rx_event;
cyg_uint16 i;
cyg_can_hdi hdi;
cyg_can_msgbuf_info msgbox_info;
cyg_can_msgbuf_cfg msgbox_cfg;
len = sizeof(hdi);
if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_HDI ,&hdi, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
//
// Normally the CAN modul should support message filters. So the
// FULLCAN flag should be set - if it is not, we treat this as an error
//
if (!(hdi.support_flags & CYGNUM_CAN_HDI_FULLCAN))
{
CYG_TEST_FAIL_FINISH("/dev/can0 does not support message buffers");
}
//
// Now reset message buffer configuration - this is mandatory bevore starting
// message buffer runtime configuration
//
msgbox_cfg.cfg_id = CYGNUM_CAN_MSGBUF_RESET_ALL;
len = sizeof(msgbox_cfg);
if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&msgbox_cfg, &len))
{
CYG_TEST_FAIL_FINISH("Error resetting message buffer configuration of /dev/can0");
}
//
// Now query number of available and free message boxes
//
len = sizeof(msgbox_info);
if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_MSGBUF_INFO ,&msgbox_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
//
// if there are no free message boxes available then this is a failure
//
if (!msgbox_info.free)
{
CYG_TEST_FAIL_FINISH("No free message boxes available for /dev/can0");
}
//
// We setup as many standard CAN message filters as there are free
// message buffers available.
//
for (i = 0; i < msgbox_info.free; ++i)
{
cyg_can_filter rx_filter;
rx_filter.cfg_id = CYGNUM_CAN_MSGBUF_RX_FILTER_ADD;
rx_filter.msg.id = i;
rx_filter.msg.ext = CYGNUM_CAN_ID_STD;
len = sizeof(rx_filter);
if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&rx_filter, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
else if (CYGNUM_CAN_MSGBUF_NA == rx_filter.handle)
{
CYG_TEST_FAIL_FINISH("Error setting up message filter for /dev/can0");
}
}
diag_printf("\n\nNow try to send CAN messages. The device should only\n"
"receive messages identifiers in the range of 0x00 to 0x%X.\n"
"As soon as a standard message with ID 0x000 arrives, all\n"
"message filters will be cleared\n\n", (msgbox_info.free - 1));
//
// Now receive messages until a message arrives with largest ID of all
// available message filters
//
rx_event.msg.id = 1;
while(rx_event.msg.id != 0)
{
len = sizeof(rx_event);
if (ENOERR != cyg_io_read(hCAN0, &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 (ENOERR != cyg_io_read(hCAN0, &rx_event, &len))
else
{
print_can_flags(rx_event.flags, "");
rx_event.msg.id = 1;
}
} // while(1)
//
// Now enable reception of all available CAN messages
//
cyg_can_filter rx_filter;
rx_filter.cfg_id = CYGNUM_CAN_MSGBUF_RX_FILTER_ALL;
len = sizeof(rx_filter);
if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_MSGBUF , &rx_filter, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
diag_printf("\n\nAll message filters have been cleared an now the device\n"
"will receive any available CAN message identifiers.\n"
"Send a CAN message with ID 0x100 to stop this test.\n\n");
//
// Now receive messages until a message arrives with largest ID of all
// available message filters
//
rx_event.msg.id = 1;
while(rx_event.msg.id != 0x100)
{
len = sizeof(rx_event);
if (ENOERR != cyg_io_read(hCAN0, &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 (ENOERR != cyg_io_read(hCAN0, &rx_event, &len))
} // while(1)
CYG_TEST_PASS_FINISH("can_filter test OK");
}
//===========================================================================
// Main thread
//===========================================================================
void can0_thread(cyg_addrword_t data)
{
cyg_uint32 len;
cyg_can_event rx_event;
cyg_can_remote_buf rtr_buf;
cyg_can_filter rx_filter;
cyg_can_msgbuf_info msgbox_info;
cyg_can_msgbuf_cfg msgbox_cfg;
//
// We would like to setup 2 remote buffers - check if we have enough
// free message buffers
//
len = sizeof(msgbox_info);
if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_MSGBUF_INFO ,&msgbox_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
else
{
diag_printf("\n\n\nMessage boxes available: %d free: %d\n",
msgbox_info.count, msgbox_info.free);
}
//
// We have not enougth free message buffers, so we clear all message buffers now
// and try again
//
if (msgbox_info.free < 2)
{
msgbox_cfg.cfg_id = CYGNUM_CAN_MSGBUF_RESET_ALL;
len = sizeof(msgbox_cfg);
if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_MSGBUF, &msgbox_cfg, &len))
{
CYG_TEST_FAIL_FINISH("Error clearing message buffers of /dev/can0");
}
//
// Now query number of free message boxes again. We need 3 free message boxes.
// 2 message boxes for setup of remote response buffers and 1 message box for
// setup of receive message box for CAN identifier 0x100
//
len = sizeof(msgbox_info);
if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_MSGBUF_INFO ,&msgbox_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
}
else
{
diag_printf("Message boxes available: %d free: %d\n",
msgbox_info.count, msgbox_info.free);
}
if (msgbox_info.free < 3)
{
CYG_TEST_FAIL_FINISH("Not enough free message buffers available for /dev/can0");
}
else
{
rx_filter.cfg_id = CYGNUM_CAN_MSGBUF_RX_FILTER_ADD;
CYG_CAN_MSG_SET_STD_ID(rx_filter.msg, 0x100);
len = sizeof(rx_filter);
if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&rx_filter, &len))
{
CYG_TEST_FAIL_FINISH("Error adding rx filter for CAN ID 0x100 for /dev/can0");
}
} // if (msgbox_info.free < 3)
} // if (msgbox_info.free < 2)
#ifdef CYGOPT_IO_CAN_STD_CAN_ID
//
// Setup the first remote response buffer for resception of standard
// remote frames
//
rtr_buf.cfg_id = CYGNUM_CAN_MSGBUF_REMOTE_BUF_ADD;
CYG_CAN_MSG_SET_PARAM(rtr_buf.msg, 0x7FF, CYGNUM_CAN_ID_STD, 1, CYGNUM_CAN_FRAME_DATA);
CYG_CAN_MSG_SET_DATA(rtr_buf.msg, 0, 0xAB);
len = sizeof(rtr_buf);
if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&rtr_buf, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
#endif
#ifdef CYGOPT_IO_CAN_EXT_CAN_ID
cyg_can_remote_buf rtr_buf2;
//
// setup the second remote response buffer for reception of extended
// remote frames
//
rtr_buf2.cfg_id = CYGNUM_CAN_MSGBUF_REMOTE_BUF_ADD;
CYG_CAN_MSG_SET_PARAM(rtr_buf2.msg, 0x800, CYGNUM_CAN_ID_EXT, 4, CYGNUM_CAN_FRAME_DATA);
CYG_CAN_MSG_SET_DATA(rtr_buf2.msg, 0, 0xCD);
len = sizeof(rtr_buf2);
if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_CAN_MSGBUF ,&rtr_buf2, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
if (rtr_buf.handle == CYGNUM_CAN_MSGBUF_NA)
{
CYG_TEST_FAIL_FINISH("No free message buffer available for /dev/can0");
}
#endif
diag_printf("\nTest of CAN remote response buffer configuration\n"
"If a CAN node sends a remote request with ID 0x7FF (std. ID)\n"
"or 0x800 (ext. ID) then the CAN driver should respond with\n"
"data frames.\n\n");
diag_printf("!!! This test can be stopped by sending a data frame\n"
"with ID 0x100 !!!\n\n");
len = sizeof(msgbox_info);
if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_MSGBUF_INFO ,&msgbox_info, &len))
{
CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
}
else
{
diag_printf("Message boxes available: %d free: %d\n",
msgbox_info.count, msgbox_info.free);
}
while (1)
{
len = sizeof(rx_event);
if (ENOERR != cyg_io_read(hCAN0, &rx_event, &len))
{
CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");
}
if (0x100 == rx_event.msg.id)
{
CYG_TEST_PASS_FINISH("can_remote test OK");
}
else
{
print_can_flags(rx_event.flags, "");
if (rx_event.flags & CYGNUM_CAN_EVENT_RX)
{
print_can_msg(&rx_event.msg, "");
}
}
}
}