cpukit/dev/can: Added CAN support

2 files changed, 359 insertions, 0 deletions

diff --git a/testsuites/libtests/can01/can-loopback.c b/testsuites/libtests/can01/can-loopback.c
new file mode 100644
index 0000000000..0aaf2f6a6d
--- /dev/null
+++ b/testsuites/libtests/can01/can-loopback.c
@@ -0,0 +1,110 @@
+/**
+ * @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;
+}
diff --git a/testsuites/libtests/can01/init.c b/testsuites/libtests/can01/init.c
new file mode 100644
index 0000000000..0675fe606f
--- /dev/null
+++ b/testsuites/libtests/can01/init.c
@@ -0,0 +1,249 @@
+/* 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>