From cd91b37dce728b372f164355719a4e601e12e7b3 Mon Sep 17 00:00:00 2001 From: Prashanth S Date: Sun, 7 Aug 2022 19:23:13 +0530 Subject: cpukit/dev/can: Added CAN support --- testsuites/libtests/can01/can-loopback.c | 110 ++++++++++++++ testsuites/libtests/can01/init.c | 249 +++++++++++++++++++++++++++++++ 2 files changed, 359 insertions(+) create mode 100644 testsuites/libtests/can01/can-loopback.c create mode 100644 testsuites/libtests/can01/init.c (limited to 'testsuites') 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 + +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 +#include +#include +#include +#include +#include + +#include + +#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 -- cgit v1.2.3