1 //==========================================================================
5 // CAN hardware description information test
7 //==========================================================================
8 //####ECOSGPLCOPYRIGHTBEGIN####
9 // -------------------------------------------
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38 // -------------------------------------------
39 //####ECOSGPLCOPYRIGHTEND####
40 //==========================================================================
41 //#####DESCRIPTIONBEGIN####
43 // Author(s): Uwe Kindler
44 // Contributors: Uwe Kindler
46 // Description: CAN hardware desciption information test
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>
73 //===========================================================================
75 //===========================================================================
76 typedef struct st_thread_data
79 long stack[CYGNUM_HAL_STACK_SIZE_TYPICAL];
84 //===========================================================================
86 //===========================================================================
87 cyg_thread_entry_t can0_thread;
88 thread_data_t can0_thread_data;
91 cyg_io_handle_t hCAN0;
94 //===========================================================================
96 //===========================================================================
97 #include "can_test_aux.inl" // include CAN test auxiliary functions
100 //===========================================================================
102 //===========================================================================
103 void can0_thread(cyg_addrword_t data)
107 cyg_can_msgbuf_info msgbox_info;
111 // Query information about hardware of CAN controller
114 if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_HDI ,&hdi, &len))
116 CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
120 // Check type of CAN controller - type of supported CAN frames
122 diag_printf("\n\nSupported message formats:\n");
123 if (hdi.support_flags & CYGNUM_CAN_HDI_FRAMETYPE_STD)
125 diag_printf(" Standard CAN (2.0A): yes\n");
126 diag_printf(" Extended CAN (2.0B): no\n");
128 else if (hdi.support_flags & CYGNUM_CAN_HDI_FRAMETYPE_EXT_PASSIVE)
130 diag_printf(" Standard CAN (2.0A): yes\n");
131 diag_printf(" Extended CAN (2.0B): passive\n");
133 else if (hdi.support_flags & CYGNUM_CAN_HDI_FRAMETYPE_EXT_ACTIVE)
135 diag_printf(" Standard CAN (2.0A): yes\n");
136 diag_printf(" Extended CAN (2.0B): yes\n");
140 // Check if this is a FullCAN controller
142 diag_printf("\nController type: ");
143 if (hdi.support_flags & CYGNUM_CAN_HDI_FULLCAN)
145 diag_printf("FullCAN\n");
147 // FullCAN means the controller supports a number of message buffers.
148 // Now query number of available and free message buffers
150 len = sizeof(msgbox_info);
151 if (ENOERR != cyg_io_get_config(hCAN0, CYG_IO_GET_CONFIG_CAN_MSGBUF_INFO ,&msgbox_info, &len))
153 CYG_TEST_FAIL_FINISH("Error reading config of /dev/can0");
156 diag_printf(" Message buffers: %d\n", msgbox_info.count);
157 diag_printf(" Message buffers free: %d\n", msgbox_info.free);
161 diag_printf("BasicCAN\n");
165 // Check if automatic baudrate detection is supported
167 if (hdi.support_flags & CYGNUM_CAN_HDI_AUTBAUD)
169 diag_printf("\nAutomatic baudrate detection: supported\n");
173 // Check if driver supports timestamps
175 if (hdi.support_flags & CYGNUM_CAN_HDI_TIMESTAMP)
177 diag_printf("Timestamps: supported\n");
181 CYG_TEST_PASS_FINISH("can_hdi test OK");
191 // open CAN device driver
193 if (ENOERR != cyg_io_lookup("/dev/can0", &hCAN0))
195 CYG_TEST_FAIL_FINISH("Error opening /dev/can0");
200 // create the two threads which access the CAN device driver
201 // a reader thread with a higher priority and a writer thread
202 // with a lower priority
204 cyg_thread_create(4, can0_thread,
207 (void *) can0_thread_data.stack,
209 &can0_thread_data.hdl,
210 &can0_thread_data.obj);
212 cyg_thread_resume(can0_thread_data.hdl);
214 cyg_scheduler_start();
217 #else // CYGFUN_KERNEL_API_C
218 #define N_A_MSG "Needs kernel C API"
221 #else // CYGPKG_IO_CAN && CYGPKG_KERNEL
222 #define N_A_MSG "Needs IO/CAN and Kernel"
230 CYG_TEST_NA( N_A_MSG);
234 //---------------------------------------------------------------------------