Hi All, This is a review request for DCAN (Work in Progress) support.
As the patch size exceeds the mail limit, I am attaching the patch in compressed format. Regards Prashanth S Prashanth S On Sun, 14 Aug 2022 at 13:56, <devel-requ...@rtems.org> wrote: > > Send devel mailing list submissions to > devel@rtems.org > > To subscribe or unsubscribe via the World Wide Web, visit > http://lists.rtems.org/mailman/listinfo/devel > or, via email, send a message with subject or body 'help' to > devel-requ...@rtems.org > > You can reach the person managing the list at > devel-ow...@rtems.org > > When replying, please edit your Subject line so it is more specific > than "Re: Contents of devel digest..." > > > Today's Topics: > > 1. [PATCH v4] cpukit/dev/can: Added CAN support (Prashanth S) > > > ---------------------------------------------------------------------- > > Message: 1 > Date: Sun, 14 Aug 2022 13:56:16 +0530 > From: Prashanth S <fishesprasha...@gmail.com> > To: devel@rtems.org > Cc: Prashanth S <fishesprasha...@gmail.com> > Subject: [PATCH v4] cpukit/dev/can: Added CAN support > Message-ID: <20220814082616.7345-1-fishesprasha...@gmail.com> > > --- > cpukit/dev/can/can.c | 521 +++++++++++++++++++++++ > cpukit/include/dev/can/can-msg.h | 105 +++++ > cpukit/include/dev/can/can-queue.h | 219 ++++++++++ > cpukit/include/dev/can/can.h | 258 +++++++++++ > spec/build/cpukit/librtemscpu.yml | 6 + > spec/build/testsuites/libtests/can01.yml | 19 + > spec/build/testsuites/libtests/grp.yml | 2 + > testsuites/libtests/can01/init.c | 257 +++++++++++ > 8 files changed, 1387 insertions(+) > create mode 100644 cpukit/dev/can/can.c > create mode 100644 cpukit/include/dev/can/can-msg.h > create mode 100644 cpukit/include/dev/can/can-queue.h > create mode 100644 cpukit/include/dev/can/can.h > create mode 100644 spec/build/testsuites/libtests/can01.yml > create mode 100644 testsuites/libtests/can01/init.c > > diff --git a/cpukit/dev/can/can.c b/cpukit/dev/can/can.c > new file mode 100644 > index 0000000000..02377a9098 > --- /dev/null > +++ b/cpukit/dev/can/can.c > @@ -0,0 +1,521 @@ > +/* SPDX-License-Identifier: BSD-2-Clause */ > + > +/** > + * @file > + * > + * @ingroup CANBus > + * > + * @brief Controller Area Network (CAN) Bus Implementation > + * > + */ > + > +/* > + * Copyright (C) 2022 Prashanth S (fishesprasha...@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 <rtems/imfs.h> > +#include <rtems/thread.h> > + > +#include <dev/can/can-queue.h> > +#include <dev/can/can.h> > + > +#include <string.h> > +#include <stdlib.h> > + > +#include <fcntl.h> > + > +#define can_interrupt_lock_acquire(bus) \ > + do { \ > + CAN_DEBUG_LOCK("acquiring lock %s:%d\n", > __FILE__, __LINE__); \ > + real_can_interrupt_lock_acquire(bus); > \ > + } while (0); > + > +#define can_interrupt_lock_release(bus) \ > + do { \ > + CAN_DEBUG_LOCK("releasing lock %s:%d\n", > __FILE__, __LINE__); \ > + 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_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 *); > + > +/* sem_count this is for debug purpose, for debugging > +the take_sem and give_sem > +*/ > +static int sem_count = 0; > + > +static void can_bus_obtain(can_bus *bus) > +{ > + printf("can_bus_obtain Entry\n"); > + rtems_mutex_lock(&bus->mutex); > + printf("can_bus_obtain Exit\n"); > +} > + > +static void can_bus_release(can_bus *bus) > +{ > + printf("can_bus_release Entry\n"); > + rtems_mutex_unlock(&bus->mutex); > + printf("can_bus_release Exit\n"); > +} > + > +static void can_bus_destroy_mutex(struct can_bus *bus) > +{ > + rtems_mutex_destroy(&bus->mutex); > +} > + > +static int can_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) { > + printf("can_create_sem: rtems_semaphore_create failed %d\n", ret); > + } > + > + return ret; > +} > + > +static void can_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); > + if (ret == RTEMS_SUCCESSFUL) { > + sem_count++; > + CAN_DEBUG_LOCK("take_sem: Semaphore count = %d\n", sem_count); > + if (sem_count > CAN_TX_BUF_COUNT) { > + printf("take_sem error: sem_count is misleading\n"); > + while (1); > + } > + } > + return ret; > +} > + > +static int give_sem(struct can_bus *bus) > +{ > + int ret = rtems_semaphore_release(bus->tx_fifo_sem_id); > + if (ret == RTEMS_SUCCESSFUL) { > + sem_count--; > + CAN_DEBUG_LOCK("give_sem: Semaphore count = %d\n", sem_count); > + if (sem_count < 0) { > + printf("give_sem error: sem_count is misleading\n"); > + while (1); > + } > + } > + 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); > + if (ret == RTEMS_SUCCESSFUL) { > + sem_count++; > + CAN_DEBUG_LOCK("try_sem: Semaphore count = %d\n", sem_count); > + if (sem_count > CAN_TX_BUF_COUNT) { > + printf("take_sem error: sem_count is misleading\n"); > + while (1); > + } > + } > + 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"); > +/* > + can_bus *bus = IMFS_generic_get_context_by_iop(iop); > + > + if (bus == NULL) { > + return -RTEMS_NOT_DEFINED; > + } > +*/ > + return 0; > +} > + > +int can_receive(struct can_bus *bus, struct can_msg *msg) > +{ > + int32_t ret = 0; > + > + uint32_t count = 0; > + > + ret = rtems_message_queue_broadcast(bus->rx_queue_id, msg, CAN_MSGLEN(msg), > + &count); > + if (ret != RTEMS_SUCCESSFUL) { > + CAN_DEBUG_RX("rtems_message_queue_send failed\n"); > + } > + > + CAN_DEBUG_RX("rtems_message_queue_broadcast = %u\n", count); > + > + return ret; > +} > + > +/* count argument is not used here as struct can_msg has the dlc member */ > +static ssize_t can_bus_read(rtems_libio_t *iop, void *buffer, size_t count) > +{ > + int32_t ret = 0; > + uint32_t flags = 0; > + > + 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; > + > + if ((iop->flags & O_NONBLOCK) != 0) { > + flags = RTEMS_NO_WAIT; > + } > + > + ret = rtems_message_queue_receive(bus->rx_queue_id, (void *)msg, &count, > + flags, 0); > + if (ret != RTEMS_SUCCESSFUL) { > + return ret; > + } > + > + return count; > +} > + > +/* This function is a critical section and should be called > + * with CAN interrupts disabled and mutual 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) { > + printf("can_dev_ops->dev_tx_ready\n"); > + ret = bus->can_dev_ops->dev_tx_ready(bus->priv); > + if (ret != true) { > + break; > + } > + printf("can_tx_get_data_buf\n"); > + msg = can_tx_get_data_buf(bus); > + if (msg == NULL) { > + break; > + } > + printf("can_dev_ops->dev_tx\n"); > + ret = bus->can_dev_ops->dev_tx(bus->priv, msg); > + if (ret != RTEMS_SUCCESSFUL) { > + printf("can_xmit: dev_send failed\n"); > + } > + > + ret = give_sem(bus); > + if (ret != RTEMS_SUCCESSFUL) { > + printf("can_tx_done: rtems_semaphore_release failed = %d\n", ret); > + } > + } > + > + > CAN_DEBUG(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> > can_xmit Exit\n"); > + > + return ret; > +} > + > +void can_print_msg(struct can_msg const *msg) > +{ > + > printf("\n----------------------------------------------------------------\n"); > + printf("id = %d len = %d flags = 0x%08X\n", msg->id, msg->len, msg->flags); > + > + for (int i = 0; i < msg->len; i++) { > + printf("%02x ", msg->data[i]); > + } > + > + > printf("\n-----------------------------------------------------------------\n"); > +} > + > +/* can_tx_done should be called only with interrupts disabled */ > +int can_tx_done(struct can_bus *bus) > +{ > + CAN_DEBUG("------------ can_tx_done Entry\n"); > + int ret = 0; > + > + if (bus->can_dev_ops->dev_tx_ready(bus->priv) == true) { > + can_xmit(bus); > + } > + CAN_DEBUG("------------ can_tx_done Exit\n"); > + > + return ret; > +} > + > +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; > + } > + > + int32_t ret = 0; > + > + struct can_msg const *msg = buffer; > + struct can_msg *fifo_buf = NULL; > + > + 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) { > + printf("can_bus_write: cannot take semaphore\n"); > + return -ret; > + } > + } > + > + /* sleep is for debug purpose to test concurrency issues */ > + printf("can_bus_write: calling sleep\n"); > + //sleep(1); > + printf("can_bus_write: coming out sleep\n"); > + > + can_interrupt_lock_acquire(bus); > + > + fifo_buf = can_tx_get_empty_buf(bus); > + if (fifo_buf == NULL) { > + printf("can_bus_write: Buffer counts are not synchronized with semaphore > count\n"); > + return -RTEMS_INTERNAL_ERROR; > + } > + > + CAN_DEBUG_TX("can_bus_write: empty_count = %u\n", > bus->tx_fifo.empty_count); > + > + /* sleep is for debug purpose to test concurrency issues */ > + printf("can_bus_write: calling sleep\n"); > + //sleep(1); > + printf("can_bus_write: coming out sleep\n"); > + > + uint32_t msg_size = (char *)&msg->data[msg->len] - (char *)msg; > + > + CAN_DEBUG_TX("can_bus_write: can_msg_size = %u\n", msg_size); > + if (msg_size > sizeof(struct can_msg)) { > + printf("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; > + } > + > + CAN_DEBUG_TX("can_bus_write: copying msg from application to driver > buffer\n"); > + memcpy(fifo_buf, msg, msg_size); > + ret = msg_size; > + > + /* sleep is for debug purpose to test concurrency issues */ > + printf("can_bus_write: calling sleep\n"); > + //sleep(1); > + printf("can_bus_write: coming out sleep\n"); > + > + if (bus->can_dev_ops->dev_tx_ready(bus->priv) == true) { > + can_xmit(bus); > + } > + 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 == 255) { > + printf("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) { > + printf("can_bus_register: Creating node failed = %d\n", ret); > + goto fail; > + } > + > + if ((ret = can_create_sem(bus)) != RTEMS_SUCCESSFUL) { > + printf("can_bus_register: can_create_sem failed = %d\n", ret); > + goto fail; > + } > + > + if ((ret = can_create_tx_buffers(bus)) != RTEMS_SUCCESSFUL) { > + printf("can_bus_register: can_create_tx_buffers failed = %d\n", ret); > + goto free_tx_semaphore; > + } > + > + if ((ret = can_create_rx_buffers(bus)) != RTEMS_SUCCESSFUL) { > + printf("can_bus_register: can_create_rx_buffers failed = %d\n", ret); > + goto free_tx_buffers; > + } > + > + return ret; > + > +free_tx_buffers: > + free(bus->tx_fifo.pbuf); > + > +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_free_rx_buffers(bus); > + can_free_tx_buffers(bus); > + can_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) { > + printf("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) { > + printf("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 > new file mode 100644 > index 0000000000..9863e14d84 > --- /dev/null > +++ b/cpukit/include/dev/can/can-msg.h > @@ -0,0 +1,105 @@ > +/* SPDX-License-Identifier: BSD-2-Clause */ > + > +/** > + * @file > + * > + * @ingroup CANBus > + * > + * @brief Controller Area Network (CAN) Bus Implementation > + * > + */ > + > +/* > + * Copyright (C) 2022 Prashanth S <fishesprasha...@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-queue.h > b/cpukit/include/dev/can/can-queue.h > new file mode 100644 > index 0000000000..0d8aa78a84 > --- /dev/null > +++ b/cpukit/include/dev/can/can-queue.h > @@ -0,0 +1,219 @@ > +/* SPDX-License-Identifier: BSD-2-Clause */ > + > +/** > + * @file > + * > + * @ingroup CANBus > + * > + * @brief Controller Area Network (CAN) Bus Implementation > + * > + */ > + > +/* > + * Copyright (C) 2022 Prashanth S <fishesprasha...@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_create_tx_buffers(struct can_bus *bus); > + > +/** > + * @brief Create CAN rx 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_create_rx_buffers(struct can_bus *bus); > + > +/** > + * @brief Free CAN tx buffers. > + * > + * @param[in] bus Bus control structure. > + * > + */ > +static void can_free_tx_buffers(struct can_bus *bus); > + > +/** > + * @brief Free CAN rx buffers. > + * > + * @param[in] bus Bus control structure. > + * > + */ > +static void can_free_rx_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_tx_buf_isempty(struct can_bus *bus); > + > +/** > + * @brief Get a produced tx buffer to process. > + * > + * @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_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_tx_get_empty_buf(struct can_bus *bus); > + > +/** @} */ /* end of i2c device driver */ > + > +/** @} */ > + > +static rtems_status_code can_create_rx_buffers(struct can_bus *bus) > +{ > + return rtems_message_queue_create(rtems_build_name('c', 'a', 'n', > bus->index), > + CAN_RX_BUF_COUNT, sizeof(struct can_msg), > + RTEMS_FIFO | RTEMS_LOCAL, &bus->rx_queue_id); > +} > + > +static rtems_status_code can_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) { > + printf("can_create_tx_buffers: malloc failed\n"); > + return RTEMS_NO_MEMORY; > + } > + > + bus->tx_fifo.empty_count = CAN_TX_BUF_COUNT; > + > + return RTEMS_SUCCESSFUL; > +} > + > +static void can_free_tx_buffers(struct can_bus *bus) > +{ > + free(bus->tx_fifo.pbuf); > +} > + > +static void can_free_rx_buffers(struct can_bus *bus) > +{ > + rtems_message_queue_delete(bus->rx_queue_id); > +} > + > +static bool can_tx_buf_isempty(struct can_bus *bus) > +{ > + if (bus->tx_fifo.empty_count == 0) { > + return false; > + } > + > + return true; > +} > + > +// TODO: free the given data buf is done in the same function > +// SO the returned buffer should be consumed before releasing the > +// lock acquired while calling this function. > +static struct can_msg *can_tx_get_data_buf(struct can_bus *bus) > +{ > + struct can_msg *msg = NULL; > + > + if (bus->tx_fifo.empty_count == CAN_TX_BUF_COUNT) { > + CAN_DEBUG_BUF("can_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; > +} > + > +// TODO: marking the given buf as produced is done in the same function > +// So the returned buffer should be produced before releasing the > +// lock acquired while calling this function. > +static struct can_msg *can_tx_get_empty_buf(struct can_bus *bus) > +{ > + struct can_msg *msg = NULL; > + > + /* Check whether there is a empty CAN msg buffer */ > + if (can_tx_buf_isempty(bus) == false) { > + CAN_DEBUG_BUF("can_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; > +} > + > +#endif /*_DEV_CAN_CAN_QUEUE_H */ > diff --git a/cpukit/include/dev/can/can.h b/cpukit/include/dev/can/can.h > new file mode 100644 > index 0000000000..0074a3dd8f > --- /dev/null > +++ b/cpukit/include/dev/can/can.h > @@ -0,0 +1,258 @@ > +/* SPDX-License-Identifier: BSD-2-Clause */ > + > +/** > + * @file > + * > + * @ingroup CANBus > + * > + * @brief Controller Area Network (CAN) Bus Implementation > + * > + */ > + > +/* > + * Copyright (C) 2022 Prashanth S (fishesprasha...@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 CAN_DEBUG(str, ...) printf("CAN: %s:%d ID: %08X ", __FILE__, > __LINE__, rtems_task_self());printf(str, ##__VA_ARGS__) > +#define CAN_DEBUG_BUF(str, ...) printf("CAN: %s:%d ID: %08X ", __FILE__, > __LINE__, rtems_task_self());printf(str, ##__VA_ARGS__) > +#define CAN_DEBUG_ISR(str, ...) printf("CAN: %s:%d ID: %08X ", __FILE__, > __LINE__, rtems_task_self());printf(str, ##__VA_ARGS__) > +#define CAN_DEBUG_LOCK(str, ...) printf("CAN: %s:%d ID: %08X ", __FILE__, > __LINE__, rtems_task_self());printf(str, ##__VA_ARGS__) > +#define CAN_DEBUG_RX(str, ...) printf("CAN: %s:%d ID: %08X ", __FILE__, > __LINE__, rtems_task_self());printf(str, ##__VA_ARGS__) > +#define CAN_DEBUG_TX(str, ...) printf("CAN: %s:%d ID: %08X ", __FILE__, > __LINE__, rtems_task_self());printf(str, ##__VA_ARGS__) > + > +/** > + * @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 device specific operations. > + */ > +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; > + /** > + * @brief rx message queue id. > + */ > + rtems_id rx_queue_id; > + /** > + * @brief rx message queue name. > + */ > + uint32_t rx_queue_name; > + /** > + * @brief Mutex to handle bus concurrency. > + */ > + rtems_mutex mutex; // For handling driver concurrency. > + /** > + * @brief Destroys the bus. > + * > + * @param[in] bus control structure. > + */ > + void (*destroy)(struct can_bus *bus); // Clean the CAN controller > specific resources. > +} 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. > + */ > +extern 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. > + */ > +extern 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. > + */ > +extern int can_bus_init(can_bus *bus); > + > +/** > + * @brief Initiates CAN message transfer. > + * > + * Should be called in interrupt context. > + * > + * @param[in] bus bus control structure. > + * > + * @retval 0 success. > + * @retval >0 error number. > + */ > +extern 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. > + * > + * @param[in] bus bus control structure. > + * @param[in] msg can_msg structure. > + * > + * @retval 0 success. > + * @retval >0 error number. > + */ > +extern int can_receive(struct can_bus *bus, struct can_msg *msg); > + > +extern uint16_t can_len_to_dlc(uint16_t len); > +extern uint16_t can_dlc_to_len(uint16_t dlc); > + > +extern void can_print_msg(struct can_msg const *); > + > +/** @} */ /* end of CAN device driver */ > + > +/** @} */ > + > +#endif /* _DEV_CAN_CAN_H */ > diff --git a/spec/build/cpukit/librtemscpu.yml > b/spec/build/cpukit/librtemscpu.yml > index 31a68cf85a..b7f6c0457c 100644 > --- a/spec/build/cpukit/librtemscpu.yml > +++ b/spec/build/cpukit/librtemscpu.yml > @@ -50,6 +50,11 @@ install: > - destination: ${BSP_INCLUDEDIR}/dev/spi > source: > - cpukit/include/dev/spi/spi.h > +- destination: ${BSP_INCLUDEDIR}/dev/can > + source: > + - cpukit/include/dev/can/can.h > + - cpukit/include/dev/can/can-msg.h > + - cpukit/include/dev/can/can-queue.h > - destination: ${BSP_INCLUDEDIR}/linux > source: > - cpukit/include/linux/i2c-dev.h > @@ -530,6 +535,7 @@ source: > - cpukit/dev/serial/sc16is752-spi.c > - cpukit/dev/serial/sc16is752.c > - cpukit/dev/spi/spi-bus.c > +- cpukit/dev/can/can.c > - cpukit/dtc/libfdt/fdt.c > - cpukit/dtc/libfdt/fdt_addresses.c > - cpukit/dtc/libfdt/fdt_empty_tree.c > diff --git a/spec/build/testsuites/libtests/can01.yml > b/spec/build/testsuites/libtests/can01.yml > new file mode 100644 > index 0000000000..2d5be51db1 > --- /dev/null > +++ b/spec/build/testsuites/libtests/can01.yml > @@ -0,0 +1,19 @@ > +SPDX-License-Identifier: CC-BY-SA-4.0 OR BSD-2-Clause > +build-type: test-program > +cflags: [] > +copyrights: > +- Copyright (C) 2020 embedded brains GmbH (http://www.embedded-brains.de) > +cppflags: [] > +cxxflags: [] > +enabled-by: true > +features: c cprogram > +includes: [] > +ldflags: [] > +links: [] > +source: > +- testsuites/libtests/can01/init.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 2aa7fa058e..9d91df75a0 100644 > --- a/spec/build/testsuites/libtests/grp.yml > +++ b/spec/build/testsuites/libtests/grp.yml > @@ -76,6 +76,8 @@ 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/init.c > b/testsuites/libtests/can01/init.c > new file mode 100644 > index 0000000000..2fc7e2fe8a > --- /dev/null > +++ b/testsuites/libtests/can01/init.c > @@ -0,0 +1,257 @@ > +/* > + * COPYRIGHT (c) 1989-2012. > + * On-Line Applications Research Corporation (OAR). > + * > + * The license and distribution terms for this file may be > + * found in the file LICENSE in this distribution or at > + * http://www.rtems.org/license/LICENSE. > + */ > + > +#ifdef HAVE_CONFIG_H > +#include "config.h" > +#endif > + > +#include <rtems.h> > +#include <tmacros.h> > +#include <unistd.h> > +#include <stdlib.h> > +#include <errno.h> > +#include <fcntl.h> > +#include <inttypes.h> > +#include <rtems/error.h> > + > +#include <dev/can/can.h> > + > +#define TASKS 12 > + > +#include <sys/time.h> > +#include <errno.h> > +#include <inttypes.h> > +#include <sched.h> > +#include <stdint.h> > +#include <unistd.h> > + > +#include <pthread.h> > + > +#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++ \ > + > + > +const char rtems_test_name[] = "CAN test TX, RX with " "TASKS " "threads"; > + > +void test_task_0(rtems_task_argument); > +bool status_code_bad(rtems_status_code); > +int create_task(int); > + > +void test_task_0(rtems_task_argument data) > +{ > + sleep(1); > + > + uint32_t count = 0, fd = 0; > + > + struct can_msg msg; > + > + char str[12]; > + > + snprintf(str, 12, "/dev/can%d", 1); > + > + > printf(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> > CAN tx and rx for %s\n", str); > + > + fd = open(str, O_RDWR); > + rtems_test_assert(fd >= 0); > + > + if (fd < 0) { > + printf("open error %s: %s\n", str, strerror(errno)); > + return; > + } > + > + for (int i = 0; i < 0xffff; i++) { > + > printf(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> > test_task_0 %d\n", (int)data); > + > + msg.id = (uint32_t)data; > + msg.flags = 0; > + msg.len = (i + 1) % 9; > + > + msg.data[0] = '0'; > + msg.data[1] = '1'; > + msg.data[2] = 't'; > + msg.data[3] = 'a'; > + msg.data[4] = '-'; > + msg.data[5] = '0'; > + > + printf("calling write task = %d\n", (int)data); > + count = write(fd, &msg, sizeof(msg)); > + > + > printf(">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> > task = %d\n", (int)data); > + > + printf("task = %d write count = %u\n", (int)data, count); > + > + printf("calling read task = %d\n", (int)data); > + count = read(fd, &msg, sizeof(msg)); > + printf("task = %d read count = %u\n", (int)data, count); > + > + > printf("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ > received message\n"); > + can_print_msg(&msg); > + > printf("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ > received message\n"); > + } > + > + close(fd); > +} > + > +bool status_code_bad( > + rtems_status_code status_code > +) > +{ > + if (status_code != RTEMS_SUCCESSFUL) > + { > + printf("failure, "); > + > + if (status_code == RTEMS_TOO_MANY) > + { > + printf("too many.\n"); > + return TRUE; > + } > + if (status_code == RTEMS_UNSATISFIED) > + { > + printf("unsatisfied.\n"); > + return TRUE; > + } > + > + printf("error code = %i\n", status_code); > + exit( 1 ); > + } > + return FALSE; > +} > + > +int create_task(int i) > +{ > + printf("Creating task %d\n", i); > + > +#ifndef _POSIX_THREADS_ > + > + static rtems_id task_id[TASKS]; > + > + 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, > + 10, > + 1024 * 12, > + RTEMS_PREEMPT | RTEMS_TIMESLICE, > + > RTEMS_FIFO, > + &task_id[i]); > + if (result != 0) { > + printf("rtems_task_create %d\n", result); > + return result; > + } > + > + printf("number = %3" PRIi32 ", id = %08" PRIxrtems_id ", starting, ", i, > task_id[i]); > + > + fflush(stdout); > + > + result = rtems_task_start(task_id[i], > + test_task_0, > + (rtems_task_argument)i); > + > + if (status_code_bad(result)) { > + printf("rtems_task_start failed\n"); > + return result; > + } > + > + NEXT_TASK_NAME(c1, c2, c3, c4); > + > +#else > + > + static pthread_t Task_id[TASKS]; > + > + int status = pthread_create( &Task_id[i], NULL, test_task_0, (void > *)i); > + > + if (status != 0) { > + printf("pthread_create failed %d\n", status); > + return status; > + } > + printf("Creating tasks\n"); > +#endif /* _POSIX_THREADS_ */ > + return 0; > +} > + > +static rtems_task Init( > + rtems_task_argument ignored > +) > +{ > + printf("Init\n"); > + > + 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); > + > + for (int i = 0; i < TASKS; i++) { > + create_task(i); > + } > + > + while(1); > + > + TEST_END(); > + > + rtems_test_exit( 0 ); > +} > + > + > +#define CONFIGURE_MICROSECONDS_PER_TICK 2000 > + > +#define CONFIGURE_APPLICATION_NEEDS_CLOCK_DRIVER > +#define CONFIGURE_APPLICATION_NEEDS_SIMPLE_CONSOLE_DRIVER > + > +#define CONFIGURE_MAXIMUM_FILE_DESCRIPTORS 20 > + > +#define CONFIGURE_MAXIMUM_TASKS 20 > + > +#define CONFIGURE_MAXIMUM_SEMAPHORES 10 > + > +#define CONFIGURE_MAXIMUM_MESSAGE_QUEUES 20 > +//#define CONFIGURE_MESSAGE_BUFFER_MEMORY > CONFIGURE_MESSAGE_BUFFERS_FOR_QUEUE(1, 1) > + > +#define CONFIGURE_INITIAL_EXTENSIONS RTEMS_TEST_INITIAL_EXTENSION > + > +#define CONFIGURE_RTEMS_INIT_TASKS_TABLE > + > +#define CONFIGURE_INIT > + > +#define CONFIGURE_MAXIMUM_POSIX_THREADS TASKS > + > +//#define CONFIGURE_POSIX_INIT_THREAD_TABLE > + > +//#define CONFIGURE_POSIX_INIT_THREAD_ENTRY_POINT POSIX_Init > +//#define CONFIGURE_POSIX_INIT_THREAD_ENTRY_POINT POSIX_Init > + > +#include <rtems/confdefs.h> > -- > 2.25.1 > > > > ------------------------------ > > Subject: Digest Footer > > _______________________________________________ > devel mailing list > devel@rtems.org > http://lists.rtems.org/mailman/listinfo/devel > > ------------------------------ > > End of devel Digest, Vol 129, Issue 37 > **************************************
0001-bsps-arm-beagle-dcan-Added-DCAN-support.patch.lzma
Description: application/lzma
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