//===========================================================================
// Thread 1
//===========================================================================
void can_tx_thread(cyg_addrword_t data)
{
cyg_uint32 len;
cyg_can_message tx_msg;
cyg_uint32 msg_cnt = 0;
cyg_uint8 i;
CYG_CAN_MSG_SET_PARAM(tx_msg, 0, CYGNUM_CAN_ID_STD, 0, CYGNUM_CAN_FRAME_DATA);
//
// Prepare CAN message with a known CAN state
//
for (i = 0; i < 8; ++i)
{
tx_msg.data.bytes[i] = i;
}
while (msg_cnt < 0xF0)
{
tx_msg.id = msg_cnt;
len = sizeof(tx_msg);
if (ENOERR != cyg_io_write(hCAN_Tbl[0], &tx_msg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing to channel 0");
}
tx_msg.id = msg_cnt;
len = sizeof(tx_msg);
if (ENOERR != cyg_io_write(hLoopCAN_Tbl[0], &tx_msg, &len))
{
CYG_TEST_FAIL_FINISH("Error writing to channel 1");
}
//
// Increment data in each single data byte
//
for (i = 0; i < 8; ++i)
{
tx_msg.data.bytes[i] += 1;
}
msg_cnt++;
tx_msg.dlc = (tx_msg.dlc + 1) % 9;
} // while (msg_cnt < 0x100)
}
//===========================================================================
// 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)
}
//===========================================================================
// READER THREAD
//===========================================================================
void can_thread(cyg_addrword_t data)
{
cyg_uint32 len;
cyg_can_message tx_msg;
cyg_can_info_t can_info;
cyg_can_baud_rate_t baud;
cyg_uint8 i = 0;
cyg_uint8 j = 0;
//
// Check that all cannels have the same baudrate
//
#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN0
len = sizeof(can_info);
if (ENOERR != cyg_io_get_config(hCAN_Tbl[0], CYG_IO_GET_CONFIG_CAN_INFO, &can_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading baudrate of CAN channel 0");
}
else
{
baud = can_info.baud;
++i;
}
#endif
#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN1
len = sizeof(can_info);
if (ENOERR != cyg_io_get_config(hCAN_Tbl[1], CYG_IO_GET_CONFIG_CAN_INFO, &can_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading baudrate of CAN channel 1");
}
else
{
if (i && (baud != can_info.baud))
{
CYG_TEST_FAIL_FINISH("Error - different baudrates for CAN channel 0 and 1");
}
baud = can_info.baud;
++i;
}
#endif
#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN2
len = sizeof(can_info);
if (ENOERR != cyg_io_get_config(hCAN_Tbl[2], CYG_IO_GET_CONFIG_CAN_INFO, &can_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading baudrate of CAN channel 2");
}
else
{
if (i && (baud != can_info.baud))
{
CYG_TEST_FAIL_FINISH("Error - different baudrates for CAN channel 1 and 2");
}
baud = can_info.baud;
++i;
}
#endif
#ifdef CYGPKG_DEVS_CAN_LPC2XXX_CAN3
len = sizeof(can_info);
if (ENOERR != cyg_io_get_config(hCAN_Tbl[3], CYG_IO_GET_CONFIG_CAN_INFO, &can_info, &len))
{
CYG_TEST_FAIL_FINISH("Error reading baudrate of CAN channel 3");
}
else
{
if (i && (baud != can_info.baud))
{
CYG_TEST_FAIL_FINISH("Error - different baudrates for CAN channel 2 and 3");
}
baud = can_info.baud;
++i;
}
#endif
diag_printf("\n\nYou should no receive 4 CAN messages from each active CAN channel\n");
//
// Now each CAN channel sends 10 CAN messages
//
for (i = 0; i < 4; ++i)
{
if (hCAN_Tbl[i])
{
CYG_CAN_MSG_SET_PARAM(tx_msg, i * 0x100, CYGNUM_CAN_ID_STD, 4, CYGNUM_CAN_FRAME_DATA);
tx_msg.data.dwords[0] = 0;
tx_msg.data.dwords[1] = 0;
char err_msg[64];
diag_snprintf(err_msg, sizeof(err_msg), "Error sending TX using CAN channel %d", i);
for (j = 0; j < 4; ++j)
{
tx_msg.id = i * 0x100 + j;
tx_msg.data.bytes[0] = j;
len = sizeof(tx_msg);
if (ENOERR != cyg_io_write(hCAN_Tbl[i], &tx_msg, &len))
{
CYG_TEST_FAIL_FINISH(err_msg);
}
}
} // if (hCAN_Tbl[i])
} // for (i = 0; i < 4; ++i)
CYG_TEST_PASS_FINISH("LPC2xxx CAN multi channel TX 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, "");
}
}
}
}
