[PATCH 3/3] Revert "cpukit/dev/can: Added CAN support"
Gedare Bloom
gedare at rtems.org
Thu Jul 27 18:28:21 UTC 2023
This reverts commit cd91b37dce728b372f164355719a4e601e12e7b3.
Closes #4803.
---
cpukit/dev/can/can.c | 505 -----------------------
cpukit/include/dev/can/can-msg.h | 105 -----
cpukit/include/dev/can/can.h | 284 -------------
cpukit/include/dev/can/canqueueimpl.h | 231 -----------
spec/build/cpukit/librtemscpu.yml | 5 -
spec/build/testsuites/libtests/can01.yml | 20 -
spec/build/testsuites/libtests/grp.yml | 2 -
testsuites/libtests/can01/can-loopback.c | 110 -----
testsuites/libtests/can01/init.c | 249 -----------
9 files changed, 1511 deletions(-)
delete mode 100644 cpukit/dev/can/can.c
delete mode 100644 cpukit/include/dev/can/can-msg.h
delete mode 100644 cpukit/include/dev/can/can.h
delete mode 100644 cpukit/include/dev/can/canqueueimpl.h
delete mode 100644 spec/build/testsuites/libtests/can01.yml
delete mode 100644 testsuites/libtests/can01/can-loopback.c
delete mode 100644 testsuites/libtests/can01/init.c
diff --git a/cpukit/dev/can/can.c b/cpukit/dev/can/can.c
deleted file mode 100644
index 2e6d5df65b..0000000000
--- a/cpukit/dev/can/can.c
+++ /dev/null
@@ -1,505 +0,0 @@
-/* SPDX-License-Identifier: BSD-2-Clause */
-
-/**
- * @file
- *
- * @ingroup CANBus
- *
- * @brief Controller Area Network (CAN) Bus Implementation
- *
- */
-
-/*
- * Copyright (C) 2022 Prashanth S (fishesprashanth at 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 <string.h>
-#include <stdlib.h>
-
-#include <fcntl.h>
-
-#include <rtems/imfs.h>
-#include <rtems/thread.h>
-
-#include <dev/can/canqueueimpl.h>
-#include <dev/can/can.h>
-
-#define can_interrupt_lock_acquire(bus) \
- do { \
- CAN_DEBUG_LOCK("acquiring lock\n"); \
- real_can_interrupt_lock_acquire(bus); \
- } while (0);
-
-#define can_interrupt_lock_release(bus) \
- do { \
- CAN_DEBUG_LOCK("releasing lock\n"); \
- real_can_interrupt_lock_release(bus); \
- } while (0);
-
-static ssize_t
-can_bus_open(rtems_libio_t *iop, const char *path, int oflag, mode_t mode);
-static ssize_t
-can_bus_read(rtems_libio_t *iop, void *buffer, size_t count);
-static ssize_t
-can_bus_write(rtems_libio_t *iop, const void *buffer, size_t count);
-static ssize_t
-can_bus_ioctl(rtems_libio_t *iop, ioctl_command_t request, void *buffer);
-
-static int can_xmit(struct can_bus *bus);
-
-static int can_bus_create_sem(struct can_bus *);
-static int try_sem(struct can_bus *);
-static int take_sem(struct can_bus *);
-static int give_sem(struct can_bus *);
-
-
-static void can_bus_obtain(can_bus *bus)
-{
- CAN_DEBUG("can_bus_obtain Entry\n");
- rtems_mutex_lock(&bus->mutex);
- CAN_DEBUG("can_bus_obtain Exit\n");
-}
-
-static void can_bus_release(can_bus *bus)
-{
- CAN_DEBUG("can_bus_release Entry\n");
- rtems_mutex_unlock(&bus->mutex);
- CAN_DEBUG("can_bus_release Exit\n");
-}
-
-static void can_bus_destroy_mutex(struct can_bus *bus)
-{
- rtems_mutex_destroy(&bus->mutex);
-}
-
-static int can_bus_create_sem(struct can_bus *bus)
-{
- int ret = 0;
-
- ret = rtems_semaphore_create(rtems_build_name('c', 'a', 'n', bus->index),
- CAN_TX_BUF_COUNT, RTEMS_FIFO | RTEMS_COUNTING_SEMAPHORE | RTEMS_LOCAL,
- 0, &bus->tx_fifo_sem_id);
-
- if (ret != 0) {
- CAN_ERR("can_create_sem: rtems_semaphore_create failed %d\n", ret);
- }
-
- return ret;
-}
-
-static void can_bus_free_tx_semaphore(struct can_bus *bus)
-{
- rtems_semaphore_delete(bus->tx_fifo_sem_id);
-}
-
-static void real_can_interrupt_lock_acquire(struct can_bus *bus)
-{
- bus->can_dev_ops->dev_int(bus->priv, false);
- can_bus_obtain(bus);
-}
-
-static void real_can_interrupt_lock_release(struct can_bus *bus)
-{
- can_bus_release(bus);
- bus->can_dev_ops->dev_int(bus->priv, true);
-}
-
-static int take_sem(struct can_bus *bus)
-{
- int ret = rtems_semaphore_obtain(bus->tx_fifo_sem_id, RTEMS_WAIT,
- RTEMS_NO_TIMEOUT);
-#ifdef CAN_DEBUG_LOCK
- if (ret == RTEMS_SUCCESSFUL) {
- bus->sem_count++;
- CAN_DEBUG_LOCK("take_sem: Semaphore count = %d\n", bus->sem_count);
- if (bus->sem_count > CAN_TX_BUF_COUNT) {
- CAN_ERR("take_sem error: sem_count is misleading\n");
- return RTEMS_INTERNAL_ERROR;
- }
- }
-#endif /* CAN_DEBUG_LOCK */
-
- return ret;
-}
-
-static int give_sem(struct can_bus *bus)
-{
- int ret = rtems_semaphore_release(bus->tx_fifo_sem_id);
-
-#ifdef CAN_DEBUG_LOCK
- if (ret == RTEMS_SUCCESSFUL) {
- bus->sem_count--;
- CAN_DEBUG_LOCK("give_sem: Semaphore count = %d\n", bus->sem_count);
- if (bus->sem_count < 0) {
- CAN_ERR("give_sem error: sem_count is misleading\n");
- return RTEMS_INTERNAL_ERROR;
- }
- }
-#endif /* CAN_DEBUG_LOCK */
-
- return ret;
-}
-
-static int try_sem(struct can_bus *bus)
-{
- int ret = rtems_semaphore_obtain(bus->tx_fifo_sem_id, RTEMS_NO_WAIT,
- RTEMS_NO_TIMEOUT);
-#ifdef CAN_DEBUG_LOCK
- if (ret == RTEMS_SUCCESSFUL) {
- bus->sem_count++;
- CAN_DEBUG_LOCK("try_sem: Semaphore count = %d\n", bus->sem_count);
- if (bus->sem_count > CAN_TX_BUF_COUNT) {
- CAN_ERR("take_sem error: sem_count is misleading\n");
- return RTEMS_INTERNAL_ERROR;
- }
- }
-#endif /* CAN_DEBUG_LOCK */
-
- return ret;
-}
-
-static ssize_t
-can_bus_open(rtems_libio_t *iop, const char *path, int oflag, mode_t mode)
-{
- CAN_DEBUG("can_bus_open\n");
-
- return 0;
-}
-
-/* Should be called only with CAN interrupts disabled */
-int can_receive(struct can_bus *bus, struct can_msg *msg)
-{
- memcpy(&bus->can_rx_msg, msg, CAN_MSG_LEN(msg));
-
- return CAN_MSG_LEN(msg);
-}
-
-/* FIXME: Should be modified to read count number of bytes, Now sending one can_msg */
-static ssize_t can_bus_read(rtems_libio_t *iop, void *buffer, size_t count)
-{
- int len;
-
- can_bus *bus = IMFS_generic_get_context_by_iop(iop);
- if (bus == NULL) {
- return -RTEMS_NOT_DEFINED;
- }
-
- struct can_msg *msg = (struct can_msg *)buffer;
-
- len = CAN_MSG_LEN(&bus->can_rx_msg);
-
- if (count < len) {
- CAN_DEBUG("can_bus_read: buffer size is small min sizeof(struct can_msg) = %u\n",
- sizeof(struct can_msg));
- return -RTEMS_INVALID_SIZE;
- }
-
- can_interrupt_lock_acquire(bus);
- memcpy(msg, &bus->can_rx_msg, len);
- can_interrupt_lock_release(bus);
-
- return len;
-}
-
-/* This function is a critical section and should be called
- * with CAN interrupts disabled and mutually exclusive
- */
-static int can_xmit(struct can_bus *bus)
-{
- int ret = RTEMS_SUCCESSFUL;
-
- struct can_msg *msg = NULL;
-
- CAN_DEBUG(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> can_xmit Entry\n");
-
- while (1) {
- CAN_DEBUG("can_dev_ops->dev_tx_ready\n");
- if (bus->can_dev_ops->dev_tx_ready(bus->priv) != true) {
- break;
- }
-
- CAN_DEBUG("can_tx_get_data_buf\n");
- msg = can_bus_tx_get_data_buf(bus);
- if (msg == NULL) {
- break;
- }
-
- CAN_DEBUG("can_dev_ops->dev_tx\n");
- ret = bus->can_dev_ops->dev_tx(bus->priv, msg);
- if (ret != RTEMS_SUCCESSFUL) {
- CAN_ERR("can_xmit: dev_send failed\n");
- break;
- }
-
- ret = give_sem(bus);
- if (ret != RTEMS_SUCCESSFUL) {
- CAN_ERR("can_xmit: rtems_semaphore_release failed = %d\n", ret);
- break;
- }
- }
-
- CAN_DEBUG(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> can_xmit Exit\n");
-
- return ret;
-}
-
-void can_print_msg(struct can_msg const *msg)
-{
-#ifdef CAN_DEBUG
- CAN_DEBUG("\n----------------------------------------------------------------\n");
- CAN_DEBUG("id = %d len = %d flags = 0x%08X\n", msg->id, msg->len, msg->flags);
-
- CAN_DEBUG("msg->data[0] = 0x%08x\n", ((uint32_t *)msg->data)[0]);
- CAN_DEBUG("msg->data[1] = 0x%08x\n", ((uint32_t *)msg->data)[1]);
-
- for (int i = 0; i < msg->len; i++) {
- CAN_DEBUG("%02x\n", ((char *)msg->data)[i]);
- }
-
- CAN_DEBUG("\n-----------------------------------------------------------------\n");
-#endif /* CAN_DEBUG */
-}
-
-/* can_tx_done should be called only with CAN interrupts disabled */
-int can_tx_done(struct can_bus *bus)
-{
- CAN_DEBUG("------------ can_tx_done Entry\n");
- int ret = RTEMS_SUCCESSFUL;
-
- if (bus->can_dev_ops->dev_tx_ready(bus->priv) == true) {
- ret = can_xmit(bus);
- }
- CAN_DEBUG("------------ can_tx_done Exit\n");
-
- return ret;
-}
-
-/* FIXME: Add support to send multiple CAN msgs for can_bus_write */
-static ssize_t
-can_bus_write(rtems_libio_t *iop, const void *buffer, size_t count)
-{
- can_bus *bus = IMFS_generic_get_context_by_iop(iop);
-
- if (bus == NULL || bus->can_dev_ops->dev_tx == NULL) {
- return -RTEMS_NOT_DEFINED;
- }
-
- int ret = RTEMS_SUCCESSFUL;
-
- struct can_msg const *msg = buffer;
- struct can_msg *fifo_buf = NULL;
-
- uint32_t msg_size = CAN_MSG_LEN(msg);
-
- CAN_DEBUG_TX("can_bus_write: can_msg_size = %u\n", msg_size);
- if (msg_size > sizeof(struct can_msg)) {
- CAN_ERR("can_bus_write:"
- "can message len error msg_size = %u struct can_msg = %u\n",
- msg_size, sizeof(struct can_msg));
- return -RTEMS_INVALID_SIZE;
- }
-
- if ((iop->flags & O_NONBLOCK) != 0) {
- ret = try_sem(bus);
- if (ret != RTEMS_SUCCESSFUL) {
- return -ret;
- }
- } else {
- ret = take_sem(bus);
- if (ret != RTEMS_SUCCESSFUL) {
- CAN_ERR("can_bus_write: cannot take semaphore\n");
- return -ret;
- }
- }
-
- can_interrupt_lock_acquire(bus);
-
- fifo_buf = can_bus_tx_get_empty_buf(bus);
- if (fifo_buf == NULL) {
- /* This error will not happen until buffer counts are not synchronized */
- CAN_ERR("can_bus_write: Buffer counts are not synchronized with semaphore count\n");
- ret = -RTEMS_INTERNAL_ERROR;
- goto release_lock_and_return;
- }
-
- CAN_DEBUG_TX("can_bus_write: empty_count = %u\n", bus->tx_fifo.empty_count);
-
- CAN_DEBUG_TX("can_bus_write: copying msg from application to driver buffer\n");
- memcpy(fifo_buf, msg, msg_size);
-
- if (bus->can_dev_ops->dev_tx_ready(bus->priv) == true) {
- ret = can_xmit(bus);
- if (ret != RTEMS_SUCCESSFUL) {
- ret = -ret;
- goto release_lock_and_return;
- }
- }
-
- ret = msg_size;
-
-release_lock_and_return:
- can_interrupt_lock_release(bus);
- return ret;
-}
-
-static ssize_t
-can_bus_ioctl(rtems_libio_t *iop, ioctl_command_t request, void *buffer)
-{
- can_bus *bus = IMFS_generic_get_context_by_iop(iop);
-
- if (bus == NULL || bus->can_dev_ops->dev_ioctl == NULL) {
- return -RTEMS_NOT_DEFINED;
- }
-
- can_bus_obtain(bus);
-
- bus->can_dev_ops->dev_ioctl(bus->priv, NULL, 0);
-
- can_bus_release(bus);
-
- return RTEMS_SUCCESSFUL;
-}
-
-static const rtems_filesystem_file_handlers_r can_bus_handler = {
- .open_h = can_bus_open,
- .close_h = rtems_filesystem_default_close,
- .read_h = can_bus_read,
- .write_h = can_bus_write,
- .ioctl_h = can_bus_ioctl,
- .lseek_h = rtems_filesystem_default_lseek,
- .fstat_h = IMFS_stat,
- .ftruncate_h = rtems_filesystem_default_ftruncate,
- .fsync_h = rtems_filesystem_default_fsync_or_fdatasync,
- .fdatasync_h = rtems_filesystem_default_fsync_or_fdatasync,
- .fcntl_h = rtems_filesystem_default_fcntl,
- .kqfilter_h = rtems_filesystem_default_kqfilter,
- .mmap_h = rtems_filesystem_default_mmap,
- .poll_h = rtems_filesystem_default_poll,
- .readv_h = rtems_filesystem_default_readv,
- .writev_h = rtems_filesystem_default_writev
-};
-
-static void can_bus_node_destroy(IMFS_jnode_t *node)
-{
- can_bus *bus;
-
- bus = IMFS_generic_get_context_by_node(node);
- (*bus->destroy)(bus);
-
- IMFS_node_destroy_default(node);
-}
-
-static const
-IMFS_node_control can_bus_node_control = IMFS_GENERIC_INITIALIZER(&can_bus_handler,
- IMFS_node_initialize_generic, can_bus_node_destroy);
-
-rtems_status_code can_bus_register(can_bus *bus, const char *bus_path)
-{
- int ret = RTEMS_SUCCESSFUL;
-
- static uint8_t index = 0;
-
- if (index == CAN_BUS_REG_MAX) {
- CAN_ERR("can_bus_register: can bus registration limit reached\n");
- return RTEMS_TOO_MANY;
- }
-
- bus->index = index++;
- CAN_DEBUG("Registering CAN bus index = %u\n", bus->index);
-
- ret = IMFS_make_generic_node(bus_path, S_IFCHR | S_IRWXU | S_IRWXG | S_IRWXO,
- &can_bus_node_control, bus);
- if (ret != RTEMS_SUCCESSFUL) {
- CAN_ERR("can_bus_register: Creating node failed = %d\n", ret);
- goto fail;
- }
-
- if ((ret = can_bus_create_sem(bus)) != RTEMS_SUCCESSFUL) {
- CAN_ERR("can_bus_register: can_create_sem failed = %d\n", ret);
- goto fail;
- }
-
- if ((ret = can_bus_create_tx_buffers(bus)) != RTEMS_SUCCESSFUL) {
- CAN_ERR("can_bus_register: can_create_tx_buffers failed = %d\n", ret);
- goto free_tx_semaphore;
- }
-
- return ret;
-
-free_tx_semaphore:
- rtems_semaphore_delete(bus->tx_fifo_sem_id);
-
-fail:
- can_bus_destroy_mutex(bus);
- return ret;
-
-}
-
-static void can_bus_destroy(can_bus *bus)
-{
- can_bus_free_tx_buffers(bus);
- can_bus_free_tx_semaphore(bus);
- can_bus_destroy_mutex(bus);
-}
-
-static int can_bus_do_init(can_bus *bus, void (*destroy)(can_bus *bus))
-{
- rtems_mutex_init(&bus->mutex, "CAN Bus");
- bus->destroy = can_bus_destroy;
-
- return RTEMS_SUCCESSFUL;
-}
-
-static void can_bus_destroy_and_free(can_bus *bus)
-{
- can_bus_destroy(bus);
- free(bus);
-}
-
-int can_bus_init(can_bus *bus)
-{
- memset(bus, 0, sizeof(*bus));
-
- return can_bus_do_init(bus, can_bus_destroy);
-}
-
-can_bus *can_bus_alloc_and_init(size_t size)
-{
- can_bus *bus = NULL;
-
- if (size >= sizeof(*bus)) {
- bus = calloc(1, size);
- if (bus == NULL) {
- CAN_ERR("can_bus_alloc_and_init: calloc failed\b");
- return NULL;
- }
-
- int rv = can_bus_do_init(bus, can_bus_destroy_and_free);
- if (rv != 0) {
- CAN_ERR("can_bus_alloc_and_init: can_bus_do_init failed\n");
- return NULL;
- }
- }
- return bus;
-}
diff --git a/cpukit/include/dev/can/can-msg.h b/cpukit/include/dev/can/can-msg.h
deleted file mode 100644
index 9863e14d84..0000000000
--- a/cpukit/include/dev/can/can-msg.h
+++ /dev/null
@@ -1,105 +0,0 @@
-/* SPDX-License-Identifier: BSD-2-Clause */
-
-/**
- * @file
- *
- * @ingroup CANBus
- *
- * @brief Controller Area Network (CAN) Bus Implementation
- *
- */
-
-/*
- * Copyright (C) 2022 Prashanth S <fishesprashanth at 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.
- */
-
-#ifndef _DEV_CAN_CAN_MSG_H
-#define _DEV_CAN_CAN_MSG_H
-
-/**
- * @defgroup Controller Area Network (CAN) Driver
- *
- * @ingroup RTEMSDeviceDrivers
- *
- * @brief Controller Area Network (CAN) bus and device driver support.
- *
- * @{
- */
-
-/**
- * @defgroup CANBus CAN Bus Driver
- *
- * @ingroup CAN
- *
- * @{
- */
-
-/**
- * @brief CAN message size
- */
-#define CAN_MSG_MAX_SIZE (8u)
-
-/**
- * @brief Number of CAN tx buffers
- */
-#define CAN_TX_BUF_COUNT (10u)
-
-/**
- * @brief Number of CAN rx buffers
- */
-#define CAN_RX_BUF_COUNT (2u)
-
-#define CAN_MSGLEN(msg) (sizeof(struct can_msg) - (CAN_MSG_MAX_SIZE - msg->len))
-
-/**
- * @brief CAN message structure.
- */
-struct can_msg {
- /**
- * @brief CAN message id.
- */
- uint32_t id;
- /**
- * @brief CAN message timestamp.
- */
- uint32_t timestamp;
- /**
- * @brief CAN message flags RTR | BRS | EXT.
- */
- uint16_t flags;
- /**
- * @brief CAN message length.
- */
- uint16_t len;
- /**
- * @brief CAN message.
- */
- uint8_t data[CAN_MSG_MAX_SIZE];
-};
-
-/** @} */ /* end of CAN message */
-
-/** @} */
-
-#endif /* _DEV_CAN_CAN_MSG_H */
diff --git a/cpukit/include/dev/can/can.h b/cpukit/include/dev/can/can.h
deleted file mode 100644
index 9e55395039..0000000000
--- a/cpukit/include/dev/can/can.h
+++ /dev/null
@@ -1,284 +0,0 @@
-/* SPDX-License-Identifier: BSD-2-Clause */
-
-/**
- * @file
- *
- * @ingroup CANBus
- *
- * @brief Controller Area Network (CAN) Bus Implementation
- *
- */
-
-/*
- * Copyright (C) 2022 Prashanth S (fishesprashanth at 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.
- */
-
-#ifndef _DEV_CAN_CAN_H
-#define _DEV_CAN_CAN_H
-
-#include <rtems/imfs.h>
-#include <rtems/thread.h>
-#include <semaphore.h>
-
-#include <string.h>
-#include <stdlib.h>
-#include <stdio.h>
-
-#include <dev/can/can-msg.h>
-
-#define DEBUG(str, ...) \
- do { \
- printf("CAN: %s:%d ID: %08X ", __FILE__, __LINE__, rtems_task_self()); \
- printf(str, ##__VA_ARGS__); \
- } while (false);
-
-#define CAN_DEBUG(str, ...) DEBUG(str, ##__VA_ARGS__)
-#define CAN_DEBUG_BUF(str, ...) CAN_DEBUG(str, ##__VA_ARGS__)
-#define CAN_DEBUG_ISR(str, ...) CAN_DEBUG(str, ##__VA_ARGS__)
-#define CAN_DEBUG_LOCK(str, ...) CAN_DEBUG(str, ##__VA_ARGS__)
-#define CAN_DEBUG_RX(str, ...) CAN_DEBUG(str, ##__VA_ARGS__)
-#define CAN_DEBUG_TX(str, ...) CAN_DEBUG(str, ##__VA_ARGS__)
-#define CAN_DEBUG_REG(str, ...) //CAN_DEBUG(str, ##__VA_ARGS__)
-#define CAN_ERR(str, ...) DEBUG(str, ##__VA_ARGS__)
-
-#define CAN_MSG_LEN(msg) ((char *)(&((struct can_msg *)msg)->data[(uint16_t)((struct can_msg *)msg)->len]) - (char *)(msg))
-
-/* Maximum Bus Reg (255) */
-#define CAN_BUS_REG_MAX (255)
-
-/**
- * @defgroup Controller Area Network (CAN) Driver
- *
- * @ingroup RTEMSDeviceDrivers
- *
- * @brief Controller Area Network (CAN) bus and device driver support.
- *
- * @{
- */
-
-/**
- * @defgroup CANBus CAN Bus Driver
- *
- * @ingroup CAN
- *
- * @{
- */
-
-/**
- * @brief CAN tx fifo data structure.
- */
-struct ring_buf {
- /**
- * @brief Pointer to array of can_msg structure.
- */
- struct can_msg *pbuf;
- /**
- * @brief Index of the next free buffer.
- */
- uint32_t head;
- /**
- * @brief Index of the produced buffer.
- */
- uint32_t tail;
- /**
- * @brief Number of empty buffers.
- */
- uint32_t empty_count;
-};
-
-/**
- * @brief CAN Controller device specific operations.
- * These function pointers are initialized by the CAN device driver while
- * registering (can_bus_register).
- */
-typedef struct can_dev_ops {
- /**
- * @brief Transfers CAN messages to device fifo.
- *
- * @param[in] priv device control structure.
- * @param[in] msg can_msg message structure.
- *
- * @retval 0 Successful operation.
- * @retval >0 error number in case of an error.
- */
- int32_t (*dev_tx)(void *priv, struct can_msg *msg);
- /**
- * @brief Check device is ready to transfer a CAN message
- *
- * @param[in] priv device control structure.
- *
- * @retval true device ready.
- * @retval false device not ready.
- */
- bool (*dev_tx_ready)(void *priv);
- /**
- * @brief Enable/Disable CAN interrupts.
- *
- * @param[in] priv device control structure.
- * @param[in] flag true/false to Enable/Disable CAN interrupts.
- *
- */
- void (*dev_int)(void *priv, bool flag);
- /**
- * @brief CAN device specific I/O controls.
- *
- * @param[in] priv device control structure.
- * @param[in] buffer This depends on the cmd.
- * @param[in] cmd Device specific I/O commands.
- *
- * @retval 0 Depends on the cmd.
- */
- int32_t (*dev_ioctl)(void *priv, void *buffer, size_t cmd);
-} can_dev_ops;
-
-/**
- * @name CAN bus control
- *
- * @{
- */
-
-/**
- * @brief Obtains the bus.
- *
- * This command has no argument.
- */
-typedef struct can_bus {
- /**
- * @brief Device specific control.
- */
- void *priv;
- /**
- * @brief Device controller index.
- */
- uint8_t index;
- /**
- * @brief Device specific operations.
- */
- struct can_dev_ops *can_dev_ops;
- /**
- * @brief tx fifo.
- */
- struct ring_buf tx_fifo;
- /**
- * @brief Counting semaphore id (for fifo sync).
- */
- rtems_id tx_fifo_sem_id;
-
- /* FIXME: Using only one CAN msg buffer, Should create a ring buffer */
- /**
- * @brief rx fifo.
- */
- struct can_msg can_rx_msg;
- /**
- * @brief Mutex to handle bus concurrency.
- */
- rtems_mutex mutex;
- /**
- * @brief Destroys the bus.
- *
- * @param[in] bus control structure.
- */
- void (*destroy)(struct can_bus *bus);
-#ifdef CAN_DEBUG_LOCK
-
- /**
- * @brief For debugging semaphore obtain/release.
- */
- int sem_count;
-
-#endif /* CAN_DEBUG_LOCK */
-
-} can_bus;
-
-/** @} */
-
-/**
- * @brief Register a CAN node with the CAN bus driver.
- *
- * @param[in] bus bus control structure.
- * @param[in] bus_path path of device node.
- *
- * @retval >=0 rtems status.
- */
-rtems_status_code can_bus_register(can_bus *bus, const char *bus_path);
-
-/**
- * @brief Allocate and initilaize bus control structure.
- *
- * @param[in] size Size of the bus control structure.
- *
- * @retval NULL No memory available.
- * @retval Address Pointer to the allocated bus control structure.
- */
-can_bus *can_bus_alloc_and_init(size_t size);
-
-/**
- * @brief initilaize bus control structure.
- *
- * @param[in] bus bus control structure.
- *
- * @retval 0 success.
- * @retval >0 error number.
- */
-int can_bus_init(can_bus *bus);
-
-/**
- * @brief Initiates CAN message transfer.
- *
- * Should be called with CAN interrupt disabled.
- *
- * @param[in] bus Bus control structure.
- *
- * @retval 0 success.
- * @retval >0 error number.
- */
-int can_tx_done(struct can_bus *bus);
-
-/**
- * @brief Sends the received CAN message to the application.
- *
- * Should be called by the device when CAN message should be sent to applicaiton.
- * Should be called only with CAN interrupts disabled.
- *
- * @param[in] bus bus control structure.
- * @param[in] msg can_msg structure.
- *
- * @retval 0 success.
- * @retval >0 error number.
- */
-int can_receive(struct can_bus *bus, struct can_msg *msg);
-
-/**
- * @brief Prints the can_msg values pointed by msg.
- *
- * @param[in] msg can_msg structure.
- *
- */
-void can_print_msg(struct can_msg const *msg);
-
-/** @} */ /* end of CAN device driver */
-
-/** @} */
-
-#endif /* _DEV_CAN_CAN_H */
diff --git a/cpukit/include/dev/can/canqueueimpl.h b/cpukit/include/dev/can/canqueueimpl.h
deleted file mode 100644
index ef0d56fe31..0000000000
--- a/cpukit/include/dev/can/canqueueimpl.h
+++ /dev/null
@@ -1,231 +0,0 @@
-/* SPDX-License-Identifier: BSD-2-Clause */
-
-/**
- * @file
- *
- * @ingroup CANBus
- *
- * @brief Controller Area Network (CAN) Bus Implementation
- *
- */
-
-/*
- * Copyright (C) 2022 Prashanth S <fishesprashanth at 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.
- */
-
-#ifndef _DEV_CAN_CAN_QUEUE_H
-#define _DEV_CAN_CAN_QUEUE_H
-
-#include <rtems/imfs.h>
-#include <rtems/thread.h>
-
-#include <string.h>
-#include <stdlib.h>
-#include <stdio.h>
-
-#include <dev/can/can-msg.h>
-#include <dev/can/can.h>
-
-/**
- * @defgroup Controller Area Network (CAN) Driver
- *
- * @ingroup RTEMSDeviceDrivers
- *
- * @brief Controller Area Network (CAN) bus and device driver support.
- *
- * @{
- */
-
-/**
- * @defgroup CANBus CAN Bus Driver
- *
- * @ingroup CAN
- *
- * @{
- */
-
-/**
- * @brief Create CAN tx buffers.
- *
- * @param[in] bus Bus control structure.
- *
- * @retval 0 Successful operation.
- * @retval >0 error number in case of an error.
- */
-static rtems_status_code can_bus_create_tx_buffers(struct can_bus *bus);
-
-/**
- * @brief Free CAN tx buffers.
- *
- * @param[in] bus Bus control structure.
- *
- */
-static void can_bus_free_tx_buffers(struct can_bus *bus);
-
-/**
- * @brief Check for atleast one empty CAN tx buffer.
- *
- * @param[in] bus Bus control structure.
- *
- * @retval true If atleast one CAN buffer is empty.
- * @retval false If no CAN buffer is empty.
- */
-static bool can_bus_tx_buf_is_empty(struct can_bus *bus);
-
-/**
- * @brief Get a produced tx buffer to transmit from the tx fifo.
- *
- * @param[in] bus Bus control structure.
- *
- * @retval can_msg Pointer to can_msg structure buffer.
- * @retval NULL If no can_msg buffer.
- */
-static struct can_msg *can_bus_tx_get_data_buf(struct can_bus *bus);
-
-/**
- * @brief Get a empty tx buffer.
- *
- * @param[in] bus Bus control structure.
- *
- * @retval can_msg Pointer to can_msg structure buffer.
- * @retval NULL If no empty can_msg buffer.
- */
-static struct can_msg *can_bus_tx_get_empty_buf(struct can_bus *bus);
-
-/**
- * @brief Creates tx buffers for the CAN bus driver.
- *
- * @param[in] bus Bus control structure.
- *
- * @retval rtems_status_code
- */
-static rtems_status_code can_bus_create_tx_buffers(struct can_bus *bus)
-{
- bus->tx_fifo.pbuf = (struct can_msg *)malloc(CAN_TX_BUF_COUNT *
- sizeof(struct can_msg));
- if (bus->tx_fifo.pbuf == NULL) {
- CAN_ERR("can_create_tx_buffers: malloc failed\n");
- return RTEMS_NO_MEMORY;
- }
-
- bus->tx_fifo.empty_count = CAN_TX_BUF_COUNT;
-
- return RTEMS_SUCCESSFUL;
-}
-
-/**
- * @brief Free tx buffers for the CAN bus driver.
- *
- * @param[in] bus Bus control structure.
- *
- */
-static void can_bus_free_tx_buffers(struct can_bus *bus)
-{
- free(bus->tx_fifo.pbuf);
-}
-
-/**
- * @brief Check if there is atleast one tx buffer in the CAN
- * bus driver.
- *
- * @param[in] bus Bus control structure.
- *
- * @retval true - If there is at least one free tx buffer.
- * false - If there is no free tx buffer.
- */
-static bool can_bus_tx_buf_is_empty(struct can_bus *bus)
-{
- if (bus->tx_fifo.empty_count == 0) {
- return false;
- }
-
- return true;
-}
-
-/**
- * @brief To get a can_msg tx buf which contains valid data to send in
- * in the CAN bus.
- *
- * Note: freeing the returned data buf is done in the same function,
- * So the returned buffer should be sent before releasing the
- * lock acquired while calling this function.
- *
- * @param[in] bus Bus control structure.
- *
- * @retval *can_msg - If there is atleast one tx buffer to send in the CAN bus.
- * NULL - If there is no valid tx buffer.
- */
-static struct can_msg *can_bus_tx_get_data_buf(struct can_bus *bus)
-{
- struct can_msg *msg = NULL;
-
- if (bus->tx_fifo.empty_count == CAN_TX_BUF_COUNT ||
- bus->tx_fifo.tail >= CAN_TX_BUF_COUNT) {
- CAN_DEBUG_BUF("can_bus_tx_get_data_buf: All buffers are empty\n");
- return NULL;
- }
-
- msg = &bus->tx_fifo.pbuf[bus->tx_fifo.tail];
- bus->tx_fifo.empty_count++;
- bus->tx_fifo.tail = (bus->tx_fifo.tail + 1) % CAN_TX_BUF_COUNT;
-
- return msg;
-}
-
-/**
- * @brief To get a can_msg tx buf which is empty (contains no valid data).
- *
- * Note: marking the returned buf valid is done in the same function
- * So a valid CAN message should be copied to the returned buffer before
- * releasing the lock acquired while calling this function.
- *
- * @param[in] bus Bus control structure.
- *
- * @retval *can_msg - If there is atleast one empty tx buffer.
- * NULL - If there is no empty tx buffer.
- */
-static struct can_msg *can_bus_tx_get_empty_buf(struct can_bus *bus)
-{
- struct can_msg *msg = NULL;
-
- /* Check whether there is a empty CAN msg buffer */
- if (can_bus_tx_buf_is_empty(bus) == false) {
- CAN_DEBUG_BUF("can_bus_tx_get_empty_buf: No empty buffer\n");
- return NULL;
- }
-
- bus->tx_fifo.empty_count--;
-
- /* tx_fifo.head always points to a empty buffer if there is atleast one */
- msg = &bus->tx_fifo.pbuf[bus->tx_fifo.head];
- bus->tx_fifo.head = (bus->tx_fifo.head + 1) % CAN_TX_BUF_COUNT;
-
- return msg;
-}
-
-/** @} */ /* end of CAN device driver */
-
-/** @} */
-
-#endif /*_DEV_CAN_CAN_QUEUE_H */
diff --git a/spec/build/cpukit/librtemscpu.yml b/spec/build/cpukit/librtemscpu.yml
index d556c95bc8..4acd4ff1e1 100644
--- a/spec/build/cpukit/librtemscpu.yml
+++ b/spec/build/cpukit/librtemscpu.yml
@@ -55,11 +55,6 @@ install:
- destination: ${BSP_INCLUDEDIR}/dev/flash
source:
- cpukit/include/dev/flash/flashdev.h
-- destination: ${BSP_INCLUDEDIR}/dev/can
- source:
- - cpukit/include/dev/can/can.h
- - cpukit/include/dev/can/can-msg.h
- - cpukit/include/dev/can/canqueueimpl.h
- destination: ${BSP_INCLUDEDIR}/linux
source:
- cpukit/include/linux/i2c-dev.h
diff --git a/spec/build/testsuites/libtests/can01.yml b/spec/build/testsuites/libtests/can01.yml
deleted file mode 100644
index b5c1e1ae5c..0000000000
--- a/spec/build/testsuites/libtests/can01.yml
+++ /dev/null
@@ -1,20 +0,0 @@
-SPDX-License-Identifier: CC-BY-SA-4.0 OR BSD-2-Clause
-build-type: test-program
-cflags: []
-copyrights:
-- Copyright (c) 2022 Prashanth S (fishesprashanth at gmail.com).
-cppflags: []
-cxxflags: []
-enabled-by: true
-features: c cprogram
-includes: []
-ldflags: []
-links: []
-source:
-- testsuites/libtests/can01/init.c
-- testsuites/libtests/can01/can-loopback.c
-stlib: []
-target: testsuites/libtests/can01.exe
-type: build
-use-after: []
-use-before: []
diff --git a/spec/build/testsuites/libtests/grp.yml b/spec/build/testsuites/libtests/grp.yml
index be340c8ab6..addcb286ad 100644
--- a/spec/build/testsuites/libtests/grp.yml
+++ b/spec/build/testsuites/libtests/grp.yml
@@ -76,8 +76,6 @@ links:
uid: cpuuse
- role: build-dependency
uid: crypt01
-- role: build-dependency
- uid: can01
- role: build-dependency
uid: debugger01
- role: build-dependency
diff --git a/testsuites/libtests/can01/can-loopback.c b/testsuites/libtests/can01/can-loopback.c
deleted file mode 100644
index 0aaf2f6a6d..0000000000
--- a/testsuites/libtests/can01/can-loopback.c
+++ /dev/null
@@ -1,110 +0,0 @@
-/**
- * @file
- *
- * @ingroup CANBus
- *
- * @brief Controller Area Network (CAN) loopback device Implementation
- *
- */
-
-/*
- * Copyright (C) 2022 Prashanth S (fishesprashanth at 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
deleted file mode 100644
index 0675fe606f..0000000000
--- a/testsuites/libtests/can01/init.c
+++ /dev/null
@@ -1,249 +0,0 @@
-/* SPDX-License-Identifier: BSD-2-Clause */
-
-/*
- * Copyright (c) 2022 Prashanth S (fishesprashanth at 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>
--
2.34.1
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