diff -ruN -x 'Entries*' ecos_web_cvs/ecos/packages/devs/can/loop/current/ChangeLog ecos/ecos/packages/devs/can/loop/current/ChangeLog --- ecos_web_cvs/ecos/packages/devs/can/loop/current/ChangeLog 2005-08-25 15:40:36.000000000 +0200 +++ ecos/ecos/packages/devs/can/loop/current/ChangeLog 2007-03-23 16:26:52.000000000 +0100 @@ -1,3 +1,17 @@ +2007-03-23 Uwe Kindler + + * cdl/can_loop.cdl: Driver now implements the interfaces + CYGINT_IO_CAN_TX_EVENTS, CYGINT_IO_CAN_STD_CAN_ID, + CYGINT_IO_CAN_EXT_CAN_ID. + Removed CYGPKG_IO_CAN_LOOP_CFLAGS_ADD and + CYGPKG_IO_CAN_LOOP_CFLAGS_REMOVE because they had no function. + + * src/loop_can.c: Added missing function loop_can_get_config + to make the driver build properly. + + * tests: Did some fixes and cleanups for all test cases to make them + work properly with the changes in the CAN I/O layer. + 2005-08-15 Uwe Kindler * Loopback CAN driver created diff -ruN -x 'Entries*' ecos_web_cvs/ecos/packages/devs/can/loop/current/cdl/can_loop.cdl ecos/ecos/packages/devs/can/loop/current/cdl/can_loop.cdl --- ecos_web_cvs/ecos/packages/devs/can/loop/current/cdl/can_loop.cdl 2005-08-25 15:40:36.000000000 +0200 +++ ecos/ecos/packages/devs/can/loop/current/cdl/can_loop.cdl 2007-03-11 20:04:53.000000000 +0100 @@ -71,6 +71,9 @@ flavor bool default_value 0 implements CYGINT_IO_CAN_TIMESTAMP + implements CYGINT_IO_CAN_TX_EVENTS + implements CYGINT_IO_CAN_STD_CAN_ID + implements CYGINT_IO_CAN_EXT_CAN_ID description " This option includes the CAN loop device driver for channel [set ::loopcan]." @@ -124,28 +127,6 @@ compiler flags used only in building this package, and details of which tests are built." - - cdl_option CYGPKG_IO_CAN_LOOP_CFLAGS_ADD { - display "Additional compiler flags" - flavor data - no_define - default_value { "" } - description " - This option modifies the set of compiler flags for - building these CAN device drivers. These flags - are used in addition to the set of global flags." - } - - cdl_option CYGPKG_IO_CAN_LOOP_CFLAGS_REMOVE { - display "Suppressed compiler flags" - flavor data - no_define - default_value { "" } - description " - This option modifies the set of compiler flags for - building these CAN device drivers. These flags are - removed from the set of global flags if present." - } cdl_option CYGPKG_IO_CAN_LOOP_TESTS { display "CAN loop device driver tests" diff -ruN -x 'Entries*' ecos_web_cvs/ecos/packages/devs/can/loop/current/src/loop_can.c ecos/ecos/packages/devs/can/loop/current/src/loop_can.c --- ecos_web_cvs/ecos/packages/devs/can/loop/current/src/loop_can.c 2005-08-25 15:40:36.000000000 +0200 +++ ecos/ecos/packages/devs/can/loop/current/src/loop_can.c 2007-03-11 12:09:05.000000000 +0100 @@ -82,6 +82,8 @@ static bool loop_can_getevent(can_channel *priv, cyg_can_event *pevent, void *pdata); static Cyg_ErrNo loop_can_set_config(can_channel *chan, cyg_uint32 key, const void *xbuf, cyg_uint32 *len); +static Cyg_ErrNo loop_can_get_config(can_channel *chan, cyg_uint32 key, + const void* buf, cyg_uint32* len); static void loop_can_start_xmit(can_channel *chan); static void loop_can_stop_xmit(can_channel *chan); @@ -129,6 +131,7 @@ CAN_LOWLEVEL_FUNS(loop_can_lowlevel_funs, loop_can_putmsg, loop_can_getevent, + loop_can_get_config, loop_can_set_config, loop_can_start_xmit, loop_can_stop_xmit @@ -266,7 +269,9 @@ loop_can_info *loop_chan = (loop_can_info *)chan->dev_priv; struct fifo *fwr = loop_chan->write_fifo; +#ifdef CYGOPT_IO_CAN_TX_EVENT_SUPPORT struct fifo *frd = loop_chan->read_fifo; +#endif if( fwr->num == FIFO_SIZE ) { @@ -333,6 +338,16 @@ return ENOERR; } +//------------------------------------------------------------------------- +// Query device configuration + +static Cyg_ErrNo +loop_can_get_config(can_channel *chan, cyg_uint32 key, + const void* buf, cyg_uint32* len) +{ + return ENOERR; +} + //------------------------------------------------------------------------- // Enable the transmitter on the device diff -ruN -x 'Entries*' ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_nonblock.c ecos/ecos/packages/devs/can/loop/current/tests/can_nonblock.c --- ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_nonblock.c 2005-09-13 15:36:37.000000000 +0200 +++ ecos/ecos/packages/devs/can/loop/current/tests/can_nonblock.c 2007-03-14 20:04:53.000000000 +0100 @@ -70,7 +70,7 @@ #include // Package option requirements -#if defined(CYGOPT_IO_CAN_SUPPORT_NONBLOCKING) && !defined(CYGOPT_IO_CAN_SUPPORT_TIMEOUTS) +#if defined(CYGOPT_IO_CAN_SUPPORT_NONBLOCKING) //=========================================================================== // DATA TYPES @@ -107,6 +107,7 @@ cyg_uint32 len; cyg_uint32 blocking; cyg_can_event rx_event; + Cyg_ErrNo res; blocking = 0; len = sizeof(blocking); @@ -115,12 +116,17 @@ CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0"); } - len = sizeof(rx_event); + len = sizeof(rx_event); + res = cyg_io_read(hDrvFlexCAN, &rx_event, &len); - if (-EAGAIN == cyg_io_read(hDrvFlexCAN, &rx_event, &len)) + if (-EAGAIN == res) { CYG_TEST_PASS_FINISH("can_test1 test OK"); } + else if (-EINTR == res) + { + CYG_TEST_PASS_FINISH("can_test1 test OK"); + } else { CYG_TEST_FAIL_FINISH("Error reading from /dev/can0"); @@ -155,9 +161,7 @@ } // - // 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 + // create the main thread // cyg_thread_create(4, can0_thread, (cyg_addrword_t) 0, @@ -172,8 +176,8 @@ cyg_scheduler_start(); } -#else // #if defined(CYGOPT_IO_CAN_SUPPORT_NONBLOCKING) && !defined(CYGOPT_IO_CAN_SUPPORT_TIMEOUTS -#define N_A_MSG "Needs nonblocking calls and disabled timeouts" +#else // #if defined(CYGOPT_IO_CAN_SUPPORT_NONBLOCKING) +#define N_A_MSG "Needs nonblocking calls" #endif #else // CYGFUN_KERNEL_API_C diff -ruN -x 'Entries*' ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_overrun1.c ecos/ecos/packages/devs/can/loop/current/tests/can_overrun1.c --- ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_overrun1.c 2005-08-25 15:40:37.000000000 +0200 +++ ecos/ecos/packages/devs/can/loop/current/tests/can_overrun1.c 2007-03-11 20:08:51.000000000 +0100 @@ -110,7 +110,10 @@ cyg_can_message tx_msg = { 0x000, // CAN identifier - {0x00, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7}, // 8 data bytes + data : + { + {0x00, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7 }// 8 data bytes + }, CYGNUM_CAN_ID_STD, // standard frame CYGNUM_CAN_FRAME_DATA, // data frame 0, // data length code @@ -140,8 +143,8 @@ diag_printf("Sending %d CAN messages to /dev/can0\n", buf_info.rx_bufsize + 1); for (i = 0; i <= buf_info.rx_bufsize; ++i) { - tx_msg.id = 0x000 + i; - tx_msg.data[0] = i; + CYG_CAN_MSG_SET_STD_ID(tx_msg, 0x000 + i); + CYG_CAN_MSG_SET_DATA(tx_msg, 0, i); len = sizeof(tx_msg); if (ENOERR != cyg_io_write(hCAN0, &tx_msg, &len)) @@ -190,7 +193,7 @@ if (rx_event.flags & CYGNUM_CAN_EVENT_TX) { print_can_msg(&rx_event.msg, ""); - if (rx_event.msg.data[0] != (i + 1)) + if (rx_event.msg.data.bytes[0] != (i + 1)) { CYG_TEST_FAIL_FINISH("Received /dev/can0 TX event contains invalid data"); } diff -ruN -x 'Entries*' ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_overrun2.c ecos/ecos/packages/devs/can/loop/current/tests/can_overrun2.c --- ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_overrun2.c 2005-08-25 15:40:37.000000000 +0200 +++ ecos/ecos/packages/devs/can/loop/current/tests/can_overrun2.c 2007-03-11 19:58:31.000000000 +0100 @@ -111,7 +111,10 @@ cyg_can_message tx_msg = { 0x000, // CAN identifier - {0x00, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7}, // 8 data bytes + data : + { + {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 @@ -148,7 +151,7 @@ CYG_TEST_FAIL_FINISH("Unexpected RX event for /dev/can0"); } - rx_bufsize = *((cyg_uint32 *)rx_event.msg.data); + rx_bufsize = *((cyg_uint32 *)rx_event.msg.data.bytes); // // now we send exactly one CAN message more than there is space in the receive buffer @@ -161,8 +164,8 @@ // 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; + CYG_CAN_MSG_SET_STD_ID(tx_msg, 0x000 + i); + CYG_CAN_MSG_SET_DATA(tx_msg, 0, i); len = sizeof(tx_msg); if (ENOERR != cyg_io_write(hCAN0, &tx_msg, &len)) @@ -216,7 +219,7 @@ // 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; + *((cyg_uint32 *)tx_msg.data.bytes) = rx_buf_info.rx_bufsize; len = sizeof(tx_msg); // @@ -261,7 +264,7 @@ if (rx_event.flags & CYGNUM_CAN_EVENT_RX) { print_can_msg(&rx_event.msg, ""); - if (rx_event.msg.data[0] != (i + 1)) + if (rx_event.msg.data.bytes[0] != (i + 1)) { CYG_TEST_FAIL_FINISH("Received /dev/can1 RX event contains invalid data"); } diff -ruN -x 'Entries*' ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_rdwr.c ecos/ecos/packages/devs/can/loop/current/tests/can_rdwr.c --- ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_rdwr.c 2005-08-25 15:40:37.000000000 +0200 +++ ecos/ecos/packages/devs/can/loop/current/tests/can_rdwr.c 2007-03-14 19:57:57.000000000 +0100 @@ -90,6 +90,8 @@ cyg_thread_entry_t can1_thread; thread_data_t can1_thread_data; +cyg_sem_t sem_wait; + //=========================================================================== // LOCAL FUNCTIONS @@ -108,11 +110,14 @@ cyg_can_buf_info_t tx_buf_info; 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 - 8, // data length code + 0x000, // CAN identifier + data : + { + {0x00, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7}, // 8 data bytes + }, + CYGNUM_CAN_ID_STD, // standard frame + CYGNUM_CAN_FRAME_DATA, // data frame + 8, // data length code }; if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0)) @@ -143,8 +148,8 @@ // 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; + CYG_CAN_MSG_SET_STD_ID(tx_msg, 0x000 + i); + CYG_CAN_MSG_SET_DATA(tx_msg, 0, i); len = sizeof(tx_msg); if (ENOERR != cyg_io_write(hCAN0, &tx_msg, &len)) @@ -155,15 +160,21 @@ { print_can_msg(&tx_msg, ""); } - } + } // for (i = 0; i < 10; ++i) // - // Now we we give the reader thread a chance to run and to read - // the messages + // Give reader thread 200 ticks time for readung all messages. The reader thread + // signals the semaphore if it received all transmitted messages // - cyg_thread_delay(100); - CYG_TEST_FAIL_FINISH("Error reading from /dev/can0"); - } + if (!cyg_semaphore_timed_wait( &sem_wait, cyg_current_time( ) + 200 )) + { + CYG_TEST_FAIL_FINISH("Waiting for reader thread timed out."); + } + else + { + CYG_TEST_PASS_FINISH("can_rdwr test OK"); + } + } // while (1) } @@ -223,7 +234,7 @@ // The writer thread stored the message number in CAN id and first // data byte so we can check now if we received valid data // - if ((rx_event.msg.id != i) || (rx_event.msg.data[0] != i)) + if ((rx_event.msg.id != i) || (rx_event.msg.data.bytes[0] != i)) { CYG_TEST_FAIL_FINISH("Received CAN message contains unexpected data"); } @@ -233,7 +244,10 @@ } } //for (i = 0; i < 10; ++i) - CYG_TEST_PASS_FINISH("can_rdwr test OK"); + // + // signal successfull reception of all messages + // + cyg_semaphore_post(&sem_wait); } // while (1) } @@ -245,6 +259,11 @@ CYG_TEST_INIT(); // + // Initialize the wait semaphore to 0 + // + cyg_semaphore_init( &sem_wait, 0 ); + + // // create the two threads which access the CAN device driver // cyg_thread_create(4, can0_thread, diff -ruN -x 'Entries*' ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_test_aux.inl ecos/ecos/packages/devs/can/loop/current/tests/can_test_aux.inl --- ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_test_aux.inl 2005-09-13 15:36:37.000000000 +0200 +++ ecos/ecos/packages/devs/can/loop/current/tests/can_test_aux.inl 2007-03-04 10:46:54.000000000 +0100 @@ -68,11 +68,12 @@ if (pmsg->rtr) { - diag_printf("%s [ID:%03X] [RTR:%d] [EXT:%d]\n", + diag_printf("%s [ID:%03X] [RTR:%d] [EXT:%d] [DLC:%d]\n", pMsg, pmsg->id, pmsg->rtr, - pmsg->ext); + pmsg->ext, + pmsg->dlc); return; } @@ -91,14 +92,14 @@ pmsg->id, pmsg->rtr, pmsg->ext, - pmsg->data[0], - pmsg->data[1], - pmsg->data[2], - pmsg->data[3], - pmsg->data[4], - pmsg->data[5], - pmsg->data[6], - pmsg->data[7]); + pmsg->data.bytes[0], + pmsg->data.bytes[1], + pmsg->data.bytes[2], + pmsg->data.bytes[3], + pmsg->data.bytes[4], + pmsg->data.bytes[5], + pmsg->data.bytes[6], + pmsg->data.bytes[7]); } @@ -124,7 +125,7 @@ "ESTY ", "ALOS ", "DEVC ", - "PHY ", + "PHYF ", "PHYH ", "PHYL " }; diff -ruN -x 'Entries*' ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_timeout.c ecos/ecos/packages/devs/can/loop/current/tests/can_timeout.c --- ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_timeout.c 2005-08-25 15:40:37.000000000 +0200 +++ ecos/ecos/packages/devs/can/loop/current/tests/can_timeout.c 2007-03-14 19:43:29.000000000 +0100 @@ -113,6 +113,7 @@ timeout_info.tx_timeout = timeout; timeout_info.rx_timeout = timeout; + len = sizeof(timeout_info); if (ENOERR != cyg_io_set_config(hCAN, CYG_IO_SET_CONFIG_CAN_TIMEOUT ,&timeout_info, &len)) { CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0"); diff -ruN -x 'Entries*' ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_txevent.c ecos/ecos/packages/devs/can/loop/current/tests/can_txevent.c --- ecos_web_cvs/ecos/packages/devs/can/loop/current/tests/can_txevent.c 2005-08-25 15:40:37.000000000 +0200 +++ ecos/ecos/packages/devs/can/loop/current/tests/can_txevent.c 2007-03-11 20:09:23.000000000 +0100 @@ -110,7 +110,10 @@ cyg_can_message tx_msg = { 0x000, // CAN identifier - {0x00, 0xf1, 0xf2, 0xf3, 0xf4, 0xf5, 0xf6, 0xf7}, // 8 data bytes + data : + { + {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 @@ -146,8 +149,8 @@ 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; + CYG_CAN_MSG_SET_STD_ID(tx_msg, 0x000 + i); + CYG_CAN_MSG_SET_DATA(tx_msg, 0, i); len = sizeof(tx_msg); if (ENOERR != cyg_io_write(hCAN0, &tx_msg, &len)) @@ -204,7 +207,7 @@ // 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)) + if ((rx_event.msg.id != i) || (rx_event.msg.data.bytes[0] != i)) { CYG_TEST_FAIL_FINISH("Received invalid data in TX event"); }