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//==========================================================================

//

//        can_nonblock.c

//

//        CAN driver test of nonblocking calls

//

//==========================================================================

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//

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// the terms of the GNU General Public License as published by the Free     

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//

// As a special exception, if other files instantiate templates or use      

// macros or inline functions from this file, or you compile this file      

// and link it with other works to produce a work based on this file,       

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// on this file might be covered by the GNU General Public License.         

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//==========================================================================

//#####DESCRIPTIONBEGIN####

//

// Author(s):     Uwe Kindler

// Contributors:  Uwe Kindler

// Date:          2005-08-14

// Description:   CAN driver test of nonblocking callst

//####DESCRIPTIONEND####

//===========================================================================

//                                INCLUDES

//===========================================================================

#include <pkgconf/system.h>

#include <cyg/infra/testcase.h>         // test macros

#include <cyg/infra/cyg_ass.h>          // assertion macros

#include <cyg/infra/diag.h>

// Package requirements

#if defined(CYGPKG_IO_CAN) && defined(CYGPKG_KERNEL)

#include <pkgconf/kernel.h>

#include <cyg/io/io.h>

#include <cyg/io/canio.h>

// Package option requirements

#if defined(CYGFUN_KERNEL_API_C)

#include <cyg/hal/hal_arch.h>           // CYGNUM_HAL_STACK_SIZE_TYPICAL

#include <cyg/kernel/kapi.h>

// Package option requirements

#if defined(CYGOPT_IO_CAN_SUPPORT_NONBLOCKING)

//===========================================================================

//                               DATA TYPES

//===========================================================================

typedef struct st_thread_data

{

    cyg_thread   obj;

    long         stack[CYGNUM_HAL_STACK_SIZE_TYPICAL];

    cyg_handle_t hdl;

} thread_data_t;

//===========================================================================

//                              LOCAL DATA

//===========================================================================

cyg_thread_entry_t can0_thread;

thread_data_t      can0_thread_data;

cyg_io_handle_t    hDrvFlexCAN;

//===========================================================================

//                          LOCAL FUNCTIONS

//===========================================================================

#include "can_test_aux.inl" // include CAN test auxiliary functions

//===========================================================================

//                             READER THREAD 

//===========================================================================

void can0_thread(cyg_addrword_t data)

{

    cyg_uint32             len;

    cyg_uint32             blocking;

    cyg_can_event          rx_event;

    Cyg_ErrNo              res;

    blocking = 0;

    len = sizeof(blocking);

    if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_READ_BLOCKING ,&blocking, &len))

    {

        CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");

    }

    len = sizeof(rx_event);

    res = cyg_io_read(hDrvFlexCAN, &rx_event, &len);

    if (-EAGAIN == res)

    {

        CYG_TEST_PASS_FINISH("can_test1 test OK");

    }

    else if (-EINTR == res)

    {

        CYG_TEST_PASS_FINISH("can_test1 test OK");

    }

    else

    {

        CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");

    }

}

void

cyg_start(void)

{

    cyg_uint32     len;

    cyg_can_info_t can_cfg;

    CYG_TEST_INIT();

    //

    // open flexcan device driver

    //

    if (ENOERR != cyg_io_lookup("/dev/can0", &hDrvFlexCAN))

    {

        CYG_TEST_FAIL_FINISH("Error opening /dev/can0");

    }

    //

    // setup CAN baudrate 250 KBaud

    //

    can_cfg.baud = CYGNUM_CAN_KBAUD_250;

    len = sizeof(can_cfg);

    if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_CAN_INFO ,&can_cfg, &len))

    {

        CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");

    }

    //

    // create the main thread

    //

    cyg_thread_create(4, can0_thread,

                        (cyg_addrword_t) 0,

                                "can0_thread",

                                (void *) can0_thread_data.stack,

                                1024 * sizeof(long),

                                &can0_thread_data.hdl,

                                &can0_thread_data.obj);

    cyg_thread_resume(can0_thread_data.hdl);

    cyg_scheduler_start();

}

#else // #if defined(CYGOPT_IO_CAN_SUPPORT_NONBLOCKING)

#define N_A_MSG "Needs nonblocking calls"

#endif

#else // CYGFUN_KERNEL_API_C

#define N_A_MSG "Needs kernel C API"

#endif

#else // CYGPKG_IO_CAN && CYGPKG_KERNEL

#define N_A_MSG "Needs IO/CAN and Kernel"

#endif

#ifdef N_A_MSG

void

cyg_start( void )

{

    CYG_TEST_INIT();

    CYG_TEST_NA( N_A_MSG);

}

#endif // N_A_MSG

// EOF can_nonblock.c