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

//

//        can_hdi.c

//

//        CAN hardware description information test

//

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

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//

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

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

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

//

// Author(s):     Uwe Kindler

// Contributors:  Uwe Kindler

// Date:          2007-03-22

// Description:   CAN hardware desciption information test

//####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>

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

//                               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    hCAN0;

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

//                          LOCAL FUNCTIONS

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

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

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

// Main thread

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

void can0_thread(cyg_addrword_t data)

{

    cyg_uint32             len;

    cyg_can_hdi            hdi;

    cyg_can_msgbuf_info    msgbox_info;

    //

    // Query information about hardware of CAN controller

    //

    len = sizeof(hdi);

    if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_HDI ,&hdi, &len))

    {

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

    }

    //

    // Check type of CAN controller - type of supported CAN frames

    //

    diag_printf("\n\nSupported message formats:\n");

    if (hdi.support_flags & CYGNUM_CAN_HDI_FRAMETYPE_STD)

    {

        diag_printf("  Standard CAN (2.0A):         yes\n");

        diag_printf("  Extended CAN (2.0B):         no\n");

    }

    else if (hdi.support_flags & CYGNUM_CAN_HDI_FRAMETYPE_EXT_PASSIVE)

    {

        diag_printf("  Standard CAN (2.0A):         yes\n");

        diag_printf("  Extended CAN (2.0B):         passive\n");

    }

    else if (hdi.support_flags & CYGNUM_CAN_HDI_FRAMETYPE_EXT_ACTIVE)

    {

        diag_printf("  Standard CAN (2.0A):         yes\n");

        diag_printf("  Extended CAN (2.0B):         yes\n");

    }

    //

    // Check if this is a FullCAN controller

    //

    diag_printf("\nController type:               ");

    if (hdi.support_flags & CYGNUM_CAN_HDI_FULLCAN)

    {

        diag_printf("FullCAN\n");

        //

        // FullCAN means the controller supports a number of message buffers.

        // Now query number of available and free message buffers

        //

        len = sizeof(msgbox_info);

        if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_MSGBUF_INFO ,&msgbox_info, &len))

        {

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

        }

        diag_printf("  Message buffers:             %d\n", msgbox_info.count);

        diag_printf("  Message buffers free:        %d\n", msgbox_info.free);

    }

    else

    {

        diag_printf("BasicCAN\n");

    }

    //

    // Check if automatic baudrate detection is supported

    //

    if (hdi.support_flags & CYGNUM_CAN_HDI_AUTBAUD)

    {

        diag_printf("\nAutomatic baudrate detection:  supported\n");

    }

    //

    // Check if driver supports timestamps

    //

    if (hdi.support_flags & CYGNUM_CAN_HDI_TIMESTAMP)

    {

        diag_printf("Timestamps:                    supported\n");

    }

    diag_printf("\n\n");

    CYG_TEST_PASS_FINISH("can_hdi test OK");

}

void

cyg_start(void)

{

    CYG_TEST_INIT();

    //

    // open CAN device driver

    //

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

    {

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

    }

    //

    // create the two threads which access the CAN device driver

    // a reader thread with a higher priority and a writer thread

    // with a lower priority

    //

    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 // 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_hdi.c