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//==========================================================================
//
//        can_nonblock.c
//
//        CAN driver test of nonblocking calls
//
//==========================================================================
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// -------------------------------------------                              
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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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//==========================================================================
//#####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