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

//

//        can_timeout.c

//

//        Test CAN device driver timeouts

//

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

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//

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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:          2005-08-07

// Description:   Timeout test of CAN device driver

//####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>

// timeout support required

#if defined(CYGOPT_IO_CAN_SUPPORT_TIMEOUTS)

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

//                               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;

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

//                          LOCAL FUNCTIONS

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

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

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

// Measure timeout time and compare it with RX timeout value

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

void check_timeout(cyg_io_handle_t hCAN, cyg_uint32 timeout)

{

    cyg_can_event          rx_event;

    cyg_can_timeout_info_t timeout_info;

    cyg_uint32             len;

    cyg_uint32             current_time_old;

    cyg_uint32             current_time_new;

    cyg_int32              diff_time;

    timeout_info.tx_timeout = timeout;

    timeout_info.rx_timeout = timeout;

    len = sizeof(timeout_info);

    if (ENOERR != cyg_io_set_config(hCAN, CYG_IO_SET_CONFIG_CAN_TIMEOUT ,&timeout_info, &len))

    {

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

    }

    diag_printf("read timeout:  %d\n", timeout);

    //

    // if the return code is -EINTR then we know that a timout occured. Normally the

    // receive queue should be empty so we can expect a timeout here

    //

    current_time_old = (cyg_uint32)cyg_current_time();

    len = sizeof(rx_event);

    if (-EINTR == cyg_io_read(hCAN, &rx_event, &len))

    {

        current_time_new = (cyg_uint32)cyg_current_time();

        diff_time = current_time_new -  current_time_old;

        diag_printf("measured time: %d\n\n", diff_time);

        diff_time = diff_time - timeout;

        //

        // If the measured value is smaller then the timeout value or if

        // the difference is > 2 the we treat this as an error

        //

        if ((diff_time < 0) || (diff_time > 2))

        {

            CYG_TEST_FAIL_FINISH("Measured timeout time differs from /dev/can0 RX timeout value.");

        }

    }

    else

    {

        CYG_TEST_FAIL_FINISH("Timeout expected for /dev/can0");

    }

}

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

//                             WRITER THREAD 

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

void can0_thread(cyg_addrword_t data)

{

    cyg_io_handle_t        hCAN0;

    cyg_uint32             len;

    cyg_uint32             blocking;

    cyg_can_timeout_info_t timeout_info;

    if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0))

    {

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

    }

    //

    // the first thing we need to do is to switch to nonblocking calls because

    // function calls with timeout require nonblocking calls

    //

    blocking = 0;

    len = sizeof(blocking);

    if (ENOERR != cyg_io_set_config(hCAN0, CYG_IO_SET_CONFIG_READ_BLOCKING ,&blocking, &len))

    {

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

    }

    //

    // first we read the timeout configuration

    //

    len = sizeof(timeout_info);

    if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_TIMEOUT ,&timeout_info, &len))

    {

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

    }

    //

    // now we check the default timeout and a number of different timeout values

    //

    check_timeout(hCAN0, timeout_info.rx_timeout);

    check_timeout(hCAN0, 10);

    check_timeout(hCAN0, 20);

    check_timeout(hCAN0, 50);

    check_timeout(hCAN0, 100);

    check_timeout(hCAN0, 200);

    check_timeout(hCAN0, 500);

    CYG_TEST_PASS_FINISH("can_timeout test OK");

}

void

cyg_start(void)

{

    CYG_TEST_INIT();

    //

    // create the thread which access the CAN device driver

    //

    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 // CYGOPT_IO_CAN_SUPPORT_TIMEOUTS

#define N_A_MSG "Timeout support required for IO/CAN"

#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_timeout.c