mirror of
https://gitee.com/Lamdonn/varch.git
synced 2025-12-06 08:46:42 +08:00
378 lines
8.4 KiB
C
378 lines
8.4 KiB
C
#include <stdio.h>
|
|
#include <stdlib.h>
|
|
#include <string.h>
|
|
|
|
#if defined(TEST_TARGET_cant)
|
|
#include <varch/command.h>
|
|
#include <varch/unitt.h>
|
|
#include <varch/cant.h>
|
|
#include <varch/cQueue.h>
|
|
#else
|
|
#include "init.h"
|
|
#include "command.h"
|
|
#include "unitt.h"
|
|
#include "kern.h"
|
|
#include "cant.h"
|
|
#include "cQueue.h"
|
|
#endif
|
|
|
|
/************************************************************************************/
|
|
/************************************* Unit Test ************************************/
|
|
/************************************************************************************/
|
|
|
|
// #define EXIT_TEST
|
|
extern uint64_t unitt_clock(void);
|
|
|
|
static int test_0(void)
|
|
{
|
|
for (int i = 0; i < 100; i++)
|
|
{
|
|
if (0)
|
|
{
|
|
|
|
#if defined (EXIT_TEST)
|
|
exit(0);
|
|
#endif
|
|
return UNITT_E_FAIL;
|
|
}
|
|
}
|
|
|
|
return UNITT_E_OK;
|
|
}
|
|
|
|
static void unitt_task(void)
|
|
{
|
|
static UNITT_TCASE rand_tests[] = {
|
|
UNITT_TCASE(test_0),
|
|
// UNITT_TCASE(test_1),
|
|
// UNITT_TCASE(test_2),
|
|
};
|
|
|
|
static UNITT suites[] = {
|
|
{ "xxx suite", rand_tests, sizeof(rand_tests) / sizeof(rand_tests[0]) , unitt_clock },
|
|
};
|
|
|
|
UNITT_EXE(suites);
|
|
}
|
|
|
|
/************************************************************************************/
|
|
/************************************* Base Test ************************************/
|
|
/************************************************************************************/
|
|
|
|
/////////////////////////////////
|
|
//// Simulating CAN BUS /////
|
|
/////////////////////////////////
|
|
|
|
typedef int (*canbus_receive_t)(uint32_t canid, uint8_t *data, uint16_t length);
|
|
|
|
typedef struct
|
|
{
|
|
uint8_t devid;
|
|
canbus_receive_t receive;
|
|
} CanDevType;
|
|
|
|
typedef struct
|
|
{
|
|
uint8_t devid;
|
|
uint16_t length;
|
|
uint32_t canid;
|
|
uint8_t data[64];
|
|
} CanTpType;
|
|
|
|
typedef struct
|
|
{
|
|
CanDevType devs[8];
|
|
uint8_t devn;
|
|
cQueue(CanTpType, 1024) tp;
|
|
} CanBusType;
|
|
|
|
static CanBusType canbus;
|
|
static uint8_t canbus_maxdev = (uint8_t)(sizeof(canbus.devs) / sizeof(canbus.devs[0]));
|
|
|
|
static int canbus_attach_dev(uint8_t devid, canbus_receive_t receive)
|
|
{
|
|
if (devid >= canbus_maxdev) return -1;
|
|
if (!receive) return -2;
|
|
|
|
canbus.devs[devid].devid = devid;
|
|
canbus.devs[devid].receive = receive;
|
|
|
|
return 0;
|
|
}
|
|
|
|
static int canbus_transer(uint8_t devid, uint32_t canid, uint8_t *data, uint16_t length)
|
|
{
|
|
CanTpType tp;
|
|
int ret = 0;
|
|
|
|
if (devid >= canbus_maxdev) return -1;
|
|
if (canbus.devs[devid].devid == 0xFF) return -3;
|
|
if (!data) return -4;
|
|
if (length > 64) return -5;
|
|
|
|
tp.devid = devid;
|
|
tp.length = length;
|
|
tp.canid = canid;
|
|
for (uint16_t i = 0; i < length; i++) tp.data[i] = data[i];
|
|
|
|
ret = cQueue_push(canbus.tp, tp);
|
|
if (!ret) return -6;
|
|
|
|
return 0;
|
|
}
|
|
|
|
static void canbus_init()
|
|
{
|
|
memset(&canbus, 0, sizeof(canbus));
|
|
|
|
for (uint8_t devid = 0; devid < canbus_maxdev; devid++)
|
|
{
|
|
canbus.devs[devid].devid = 0xFF;
|
|
}
|
|
|
|
cQueue_init(canbus.tp);
|
|
}
|
|
|
|
static void canbus_task()
|
|
{
|
|
CanTpType tp;
|
|
|
|
while (cQueue_pop(canbus.tp, tp))
|
|
{
|
|
for (uint8_t devid = 0; devid < canbus_maxdev; devid++)
|
|
{
|
|
if (canbus.devs[devid].devid == 0xFF) continue;
|
|
if (canbus.devs[devid].devid == tp.devid) continue;
|
|
|
|
if (canbus.devs[devid].receive)
|
|
{
|
|
canbus.devs[devid].receive(tp.canid, tp.data, tp.length);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
/////////////////////////////////
|
|
//// Simulating CAN DEV /////
|
|
/////////////////////////////////
|
|
|
|
static CANT cant0;
|
|
static CANT cant1;
|
|
|
|
static int dev0_can_transmit(uint32_t canid, uint8_t *data, uint16_t length)
|
|
{
|
|
int ret = canbus_transer(0, canid, data, length);
|
|
return ret;
|
|
}
|
|
|
|
static int dev1_can_transmit(uint32_t canid, uint8_t *data, uint16_t length)
|
|
{
|
|
int ret = canbus_transer(1, canid, data, length);
|
|
return ret;
|
|
}
|
|
|
|
static int dev0_can_receive(uint32_t canid, uint8_t *data, uint16_t length)
|
|
{
|
|
#if 0
|
|
printf("[DEV0][%08x] ", canid);
|
|
for (int i = 0; i < length; i++)
|
|
{
|
|
printf("%02x ", data[i]);
|
|
}
|
|
printf("\n");
|
|
#endif
|
|
cant_receive(&cant0, canid, data, length);
|
|
return 0;
|
|
}
|
|
|
|
static int dev1_can_receive(uint32_t canid, uint8_t *data, uint16_t length)
|
|
{
|
|
#if 0
|
|
printf("[DEV1][%08x] ", canid);
|
|
for (int i = 0; i < length; i++)
|
|
{
|
|
printf("%02x ", data[i]);
|
|
}
|
|
printf("\n");
|
|
#endif
|
|
cant_receive(&cant1, canid, data, length);
|
|
return 0;
|
|
}
|
|
|
|
/////////////////////////////////
|
|
///// CANT //////////
|
|
/////////////////////////////////
|
|
|
|
static CANT cant0 = {
|
|
.config = {
|
|
.channel = 0,
|
|
.baundrate = CANT_BAUDRATE_500K,
|
|
.period = 5,
|
|
.transmit = dev0_can_transmit,
|
|
.receive = NULL,
|
|
},
|
|
};
|
|
|
|
static CANT cant1 = {
|
|
.config = {
|
|
.channel = 0,
|
|
.baundrate = CANT_BAUDRATE_500K,
|
|
.period = 5,
|
|
.transmit = dev1_can_transmit,
|
|
.receive = NULL,
|
|
},
|
|
};
|
|
|
|
static void dev0_cant_task(void)
|
|
{
|
|
static uint32_t count = 0;
|
|
|
|
count += 5;
|
|
if (count >= 25200000) count = 0;
|
|
|
|
if (count % 5 == 0)
|
|
{
|
|
cant_task(&cant0);
|
|
}
|
|
|
|
if (count % 1000 == 0)
|
|
{
|
|
static uint8_t data[64];
|
|
static uint32_t sc = 0;
|
|
*(uint32_t *)data = sc++;
|
|
cant_transmit(&cant0, 0x75, data, 64);
|
|
|
|
printf("road = %d\r\n", cant0.busload);
|
|
}
|
|
}
|
|
|
|
static void dev1_cant_task(void)
|
|
{
|
|
cant_task(&cant1);
|
|
}
|
|
|
|
static void test_base(void)
|
|
{
|
|
printf("cant test!\r\n");
|
|
|
|
/* can bus init */
|
|
canbus_init();
|
|
task_create(5, canbus_task);
|
|
|
|
/* can dev init */
|
|
canbus_attach_dev(0, dev0_can_receive);
|
|
canbus_attach_dev(1, dev1_can_receive);
|
|
|
|
/* cant protcol init */
|
|
cant_init(&cant0);
|
|
cant_init(&cant1);
|
|
task_create(5, dev0_cant_task);
|
|
task_create(5, dev1_cant_task);
|
|
|
|
cant_set_dummy_canid(&cant0, 0x777);
|
|
cant_set_busload(&cant0, 3000);
|
|
}
|
|
|
|
/************************************************************************************/
|
|
/************************************* Command ************************************/
|
|
/************************************************************************************/
|
|
|
|
static void usage(void)
|
|
{
|
|
printf(
|
|
"Usage: cant [opt] [arg] ...\n"
|
|
"\n"
|
|
"options:\n"
|
|
" -e <execute> Specifies the function to execute, the default is the <base> test\n"
|
|
" <base> Test base function\n"
|
|
" <ut> Unit test\n"
|
|
" -h Print help\n"
|
|
" -v Print version\n"
|
|
" -u [<period>] Unit test period, unit ms, the default is 1000ms\n"
|
|
"\n"
|
|
|
|
);
|
|
}
|
|
|
|
static int test(int argc, char *argv[])
|
|
{
|
|
char *execute = NULL;
|
|
int ut_period = 1000;
|
|
int period = 1000; // ms
|
|
|
|
/* reset getopt */
|
|
command_opt_init();
|
|
|
|
while (1)
|
|
{
|
|
int opt = command_getopt(argc, argv, "e:hvu::p:");
|
|
if (opt == -1) break;
|
|
|
|
switch (opt)
|
|
{
|
|
case 'p' :
|
|
period = atoi(command_optarg);
|
|
break;
|
|
case 'u' :
|
|
if (command_optarg) ut_period = atoi(command_optarg);
|
|
break;
|
|
case 'e' :
|
|
execute = command_optarg;
|
|
break;
|
|
case 'v' :
|
|
printf("cant version %d.%d.%d\r\n", CANT_V_MAJOR, CANT_V_MINOR, CANT_V_PATCH);
|
|
return 0;
|
|
case '?':
|
|
printf("Unknown option `%c`\r\n", command_optopt);
|
|
return -1;
|
|
case 'h' :
|
|
default:
|
|
usage();
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
if (execute)
|
|
{
|
|
if (!strcmp(execute, "base"))
|
|
{
|
|
test_base();
|
|
}
|
|
else if (!strcmp(execute, "ut"))
|
|
{
|
|
#if defined(TEST_TARGET_cant)
|
|
while (1)
|
|
{
|
|
unitt_task();
|
|
usleep(1000 * ut_period);
|
|
}
|
|
#else
|
|
printf("create task %d\r\n", task_create(ut_period, unitt_task));
|
|
#endif
|
|
}
|
|
}
|
|
else
|
|
{
|
|
test_base();
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
/************************************************************************************/
|
|
/************************************ Test entry ************************************/
|
|
/************************************************************************************/
|
|
|
|
#if defined(TEST_TARGET_cant)
|
|
int main(int argc, char *argv[])
|
|
{
|
|
return test(argc, argv);
|
|
}
|
|
#else
|
|
void test_cant(void)
|
|
{
|
|
command_export("cant", test);
|
|
}
|
|
init_export_app(test_cant);
|
|
#endif
|