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cpukit/dev/can: Added CAN support

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Prashanth S
2022-10-30 09:35:54 +01:00
committed by Christian Mauderer
parent 89ba2a9838
commit cd91b37dce
9 changed files with 1512 additions and 0 deletions
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testsuites/libtests/can01/can-loopback.c
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/**
* @file
*
* @ingroup CANBus
*
* @brief Controller Area Network (CAN) loopback device Implementation
*
*/
/*
* Copyright (C) 2022 Prashanth S (fishesprashanth@gmail.com)
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#include <dev/can/can.h>
struct can_loopback_priv {
struct can_bus *bus;
};
static bool can_loopback_tx_ready(void *data);
static void can_loopback_int(void *data, bool flag);
static int can_loopback_tx(void *data, struct can_msg *msg);
int can_loopback_init(const char *can_dev_file);
static struct can_dev_ops dev_ops = {
.dev_tx = can_loopback_tx,
.dev_tx_ready = can_loopback_tx_ready,
.dev_int = can_loopback_int,
};
static bool can_loopback_tx_ready(void *data)
{
return true;
}
static void can_loopback_int(void *data, bool flag)
{
return;
}
static int can_loopback_tx(void *data, struct can_msg *msg)
{
struct can_loopback_priv *priv = data;
can_receive(priv->bus, msg);
return RTEMS_SUCCESSFUL;
}
int can_loopback_init(const char *can_dev_file)
{
int ret;
struct can_loopback_priv *priv = NULL;
struct can_bus *bus = can_bus_alloc_and_init(sizeof(struct can_bus));
if (bus == NULL) {
CAN_ERR("can_loopback_init: can_bus_alloc_and_init failed\n");
return RTEMS_NO_MEMORY;
}
priv = (struct can_loopback_priv *)calloc(1, sizeof(struct can_loopback_priv));
if (priv == NULL) {
CAN_ERR("can_loopback_init: calloc failed\n");
ret = RTEMS_NO_MEMORY;
goto free_bus_return;
}
priv->bus = bus;
bus->priv = priv;
priv->bus->can_dev_ops = &dev_ops;
if ((ret = can_bus_register(bus, can_dev_file)) != RTEMS_SUCCESSFUL) {
CAN_ERR("can_loopback_init: bus register failed\n");
goto free_priv_return;
}
CAN_DEBUG("can_loopback_init: can_loopback driver registered\n");
return ret;
free_priv_return:
free(priv);
free_bus_return:
free(bus);
return ret;
}
testsuites/libtests/can01/init.c
+249
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/* SPDX-License-Identifier: BSD-2-Clause */
/*
* Copyright (c) 2022 Prashanth S (fishesprashanth@gmail.com) All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifdef HAVE_CONFIG_H
#include "config.h"
#endif
#include <rtems.h>
#include <rtems/error.h>
#include <sched.h>
#include <tmacros.h>
#include <unistd.h>
#include <fcntl.h>
#include <dev/can/can.h>
#define TASKS (12)
#define CAN_DEV_FILE "/dev/can-loopback"
#define NUM_TEST_MSGS (0xf)
#define NEXT_TASK_NAME(c1, c2, c3, c4) \
if (c4 == '9') { \
if (c3 == '9') { \
if (c2 == 'z') { \
if (c1 == 'z') { \
printf("not enough task letters for names !!!\n"); \
exit( 1 ); \
} else \
c1++; \
c2 = 'a'; \
} else \
c2++; \
c3 = '0'; \
} else \
c3++; \
c4 = '0'; \
} \
else \
c4++ \
static void test_task(rtems_task_argument);
int can_loopback_init(const char *);
int create_task(int);
static rtems_id task_id[TASKS];
static rtems_id task_test_status[TASKS] = {[0 ... (TASKS - 1)] = false};
const char rtems_test_name[] = "CAN test TX, RX with CAN loopback driver";
/*FIXME: Should Implement one more test application for the
* RTR support
*
* For testing, the number of successful read and write
* count is verified.
*/
static void test_task(rtems_task_argument data)
{
//sleep so that other tasks will be created.
sleep(1);
int fd, task_num = (uint32_t)data;
uint32_t count = 0, msg_size;
struct can_msg msg;
printf("CAN tx and rx for %s\n", CAN_DEV_FILE);
fd = open(CAN_DEV_FILE, O_RDWR);
if (fd < 0) {
printf("open error: task = %u %s: %s\n", task_num, CAN_DEV_FILE, strerror(errno));
}
rtems_test_assert(fd >= 0);
for (int i = 0; i < NUM_TEST_MSGS; i++) {
printf("test_task %u\n", task_num);
msg.id = task_num;
//FIXME: Implement Test cases for other flags also.
msg.flags = 0;
msg.len = (i + 1) % 9;
for (int j = 0; j < msg.len; j++) {
msg.data[j] = 'a' + j;
}
msg_size = ((char *)&msg.data[msg.len] - (char *)&msg);
printf("calling write task = %u\n", task_num);
count = write(fd, &msg, sizeof(msg));
rtems_test_assert(count == msg_size);
printf("task = %u write count = %u\n", task_num, count);
printf("calling read task = %u\n", task_num);
count = read(fd, &msg, sizeof(msg));
rtems_test_assert(count > 0);
printf("task = %u read count = %u\n", task_num, count);
printf("received message\n");
can_print_msg(&msg);
sleep(1);
}
close(fd);
task_test_status[task_num] = true;
printf("task exited = %u\n", task_num);
rtems_task_exit();
}
int create_task(int i)
{
printf("Creating task %d\n", i);
rtems_status_code result;
rtems_name name;
char c1 = 'a';
char c2 = 'a';
char c3 = '1';
char c4 = '1';
name = rtems_build_name(c1, c2, c3, c4);
result = rtems_task_create(name,
1,
RTEMS_MINIMUM_STACK_SIZE,
RTEMS_PREEMPT | RTEMS_TIMESLICE,
RTEMS_FIFO | RTEMS_FLOATING_POINT,
&task_id[i]);
if (result != RTEMS_SUCCESSFUL) {
printf("rtems_task_create error: %s\n", rtems_status_text(result));
rtems_test_assert(result == RTEMS_SUCCESSFUL);
}
printf("number = %3" PRIi32 ", id = %08" PRIxrtems_id ", starting, ", i, task_id[i]);
fflush(stdout);
printf("starting task\n");
result = rtems_task_start(task_id[i],
test_task,
(rtems_task_argument)i);
if (result != RTEMS_SUCCESSFUL) {
printf("rtems_task_start failed %s\n", rtems_status_text(result));
rtems_test_assert(result == RTEMS_SUCCESSFUL);
}
NEXT_TASK_NAME(c1, c2, c3, c4);
return result;
}
static rtems_task Init(
rtems_task_argument ignored
)
{
printf("Init\n");
int ret;
rtems_print_printer_fprintf_putc(&rtems_test_printer);
TEST_BEGIN();
rtems_task_priority old_priority;
rtems_mode old_mode;
rtems_task_set_priority(RTEMS_SELF, RTEMS_MAXIMUM_PRIORITY - 1, &old_priority);
rtems_task_mode(RTEMS_PREEMPT, RTEMS_PREEMPT_MASK, &old_mode);
ret = can_loopback_init(CAN_DEV_FILE);
if (ret != RTEMS_SUCCESSFUL) {
printf("%s failed\n", rtems_test_name);
rtems_test_assert(ret == RTEMS_SUCCESSFUL);
}
for (int i = 0; i < TASKS; i++) {
create_task(i);
}
/* Do not exit untill all the tasks are exited */
while (1) {
int flag = 0;
for (int i = 0; i < TASKS; i++) {
if (task_test_status[i] == false) {
printf("task not exited = %d\n", i);
sleep(1);
flag = 1;
break;
}
}
if (flag == 0) {
break;
}
}
TEST_END();
rtems_test_exit( 0 );
}
#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER
#define CONFIGURE_APPLICATION_NEEDS_SIMPLE_CONSOLE_DRIVER
#define CONFIGURE_RTEMS_INIT_TASKS_TABLE
#define CONFIGURE_INIT_TASK_ATTRIBUTES RTEMS_FLOATING_POINT
#define CONFIGURE_MAXIMUM_TASKS (TASKS + TASKS)
#define CONFIGURE_MAXIMUM_SEMAPHORES 10
#define CONFIGURE_MAXIMUM_FILE_DESCRIPTORS (TASKS * 2)
#define CONFIGURE_TICKS_PER_TIMESLICE 100
#define CONFIGURE_INIT
#include <rtems/confdefs.h>