1 //==========================================================================
5 // CAN driver test of nonblocking calls
7 //==========================================================================
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9 // -------------------------------------------
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38 // -------------------------------------------
39 //####ECOSGPLCOPYRIGHTEND####
40 //==========================================================================
41 //#####DESCRIPTIONBEGIN####
43 // Author(s): Uwe Kindler
44 // Contributors: Uwe Kindler
46 // Description: CAN driver test of nonblocking callst
47 //####DESCRIPTIONEND####
50 //===========================================================================
52 //===========================================================================
53 #include <pkgconf/system.h>
55 #include <cyg/infra/testcase.h> // test macros
56 #include <cyg/infra/cyg_ass.h> // assertion macros
57 #include <cyg/infra/diag.h>
59 // Package requirements
60 #if defined(CYGPKG_IO_CAN) && defined(CYGPKG_KERNEL)
62 #include <pkgconf/kernel.h>
63 #include <cyg/io/io.h>
64 #include <cyg/io/canio.h>
66 // Package option requirements
67 #if defined(CYGFUN_KERNEL_API_C)
69 #include <cyg/hal/hal_arch.h> // CYGNUM_HAL_STACK_SIZE_TYPICAL
70 #include <cyg/kernel/kapi.h>
72 // Package option requirements
73 #if defined(CYGOPT_IO_CAN_SUPPORT_NONBLOCKING)
75 //===========================================================================
77 //===========================================================================
78 typedef struct st_thread_data
81 long stack[CYGNUM_HAL_STACK_SIZE_TYPICAL];
86 //===========================================================================
88 //===========================================================================
89 cyg_thread_entry_t can0_thread;
90 thread_data_t can0_thread_data;
93 cyg_io_handle_t hDrvFlexCAN;
96 //===========================================================================
98 //===========================================================================
99 #include "can_test_aux.inl" // include CAN test auxiliary functions
102 //===========================================================================
104 //===========================================================================
105 void can0_thread(cyg_addrword_t data)
109 cyg_can_event rx_event;
113 len = sizeof(blocking);
114 if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_READ_BLOCKING ,&blocking, &len))
116 CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
119 len = sizeof(rx_event);
120 res = cyg_io_read(hDrvFlexCAN, &rx_event, &len);
124 CYG_TEST_PASS_FINISH("can_test1 test OK");
126 else if (-EINTR == res)
128 CYG_TEST_PASS_FINISH("can_test1 test OK");
132 CYG_TEST_FAIL_FINISH("Error reading from /dev/can0");
141 cyg_can_info_t can_cfg;
146 // open flexcan device driver
148 if (ENOERR != cyg_io_lookup("/dev/can0", &hDrvFlexCAN))
150 CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
154 // setup CAN baudrate 250 KBaud
156 can_cfg.baud = CYGNUM_CAN_KBAUD_250;
157 len = sizeof(can_cfg);
158 if (ENOERR != cyg_io_set_config(hDrvFlexCAN, CYG_IO_SET_CONFIG_CAN_INFO ,&can_cfg, &len))
160 CYG_TEST_FAIL_FINISH("Error writing config of /dev/can0");
164 // create the main thread
166 cyg_thread_create(4, can0_thread,
169 (void *) can0_thread_data.stack,
171 &can0_thread_data.hdl,
172 &can0_thread_data.obj);
174 cyg_thread_resume(can0_thread_data.hdl);
176 cyg_scheduler_start();
179 #else // #if defined(CYGOPT_IO_CAN_SUPPORT_NONBLOCKING)
180 #define N_A_MSG "Needs nonblocking calls"
183 #else // CYGFUN_KERNEL_API_C
184 #define N_A_MSG "Needs kernel C API"
187 #else // CYGPKG_IO_CAN && CYGPKG_KERNEL
188 #define N_A_MSG "Needs IO/CAN and Kernel"
196 CYG_TEST_NA( N_A_MSG);
200 // EOF can_nonblock.c