stmhal: Allow sending CAN messages with timeout=0.

Thanks to Henrik Sölver for this patch.

2 files changed, 52 insertions, 15 deletions

diff --git a/tests/pyb/can.py b/tests/pyb/can.py
index 132da23069..5fd4d39d05 100644
--- a/tests/pyb/can.py
+++ b/tests/pyb/can.py
@@ -1,4 +1,5 @@
 from pyb import CAN
+import pyb
 
 CAN.initfilterbanks(14)
 can = CAN(1)
@@ -11,19 +12,19 @@ print(can.any(0))
 # Catch all filter
 can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))
 
-can.send('abcd', 123)
+can.send('abcd', 123, timeout=5000)
 print(can.any(0))
 print(can.recv(0))
 
-can.send('abcd', -1)
+can.send('abcd', -1, timeout=5000)
 print(can.recv(0))
 
-can.send('abcd', 0x7FF + 1)
+can.send('abcd', 0x7FF + 1, timeout=5000)
 print(can.recv(0))
 
 # Test too long message
 try:
-    can.send('abcdefghi', 0x7FF)
+    can.send('abcdefghi', 0x7FF, timeout=5000)
 except ValueError:
     print('passed')
 else:
@@ -39,7 +40,7 @@ can.setfilter(0, CAN.MASK32, 0, (0, 0))
 print(can)
 
 try:
-    can.send('abcde', 0x7FF + 1)
+    can.send('abcde', 0x7FF + 1, timeout=5000)
 except ValueError:
     print('failed')
 else:
@@ -95,17 +96,17 @@ def cb1a(bus, reason):
 can.rxcallback(0, cb0)
 can.rxcallback(1, cb1)
 
-can.send('11111111',1)
-can.send('22222222',2)
-can.send('33333333',3)
+can.send('11111111',1, timeout=5000)
+can.send('22222222',2, timeout=5000)
+can.send('33333333',3, timeout=5000)
 can.rxcallback(0, cb0a)
-can.send('44444444',4)
+can.send('44444444',4, timeout=5000)
 
-can.send('55555555',5)
-can.send('66666666',6)
-can.send('77777777',7)
+can.send('55555555',5, timeout=5000)
+can.send('66666666',6, timeout=5000)
+can.send('77777777',7, timeout=5000)
 can.rxcallback(1, cb1a)
-can.send('88888888',8)
+can.send('88888888',8, timeout=5000)
 
 print(can.recv(0))
 print(can.recv(0))
@@ -114,9 +115,39 @@ print(can.recv(1))
 print(can.recv(1))
 print(can.recv(1))
 
-can.send('11111111',1)
-can.send('55555555',5)
+can.send('11111111',1, timeout=5000)
+can.send('55555555',5, timeout=5000)
 
 print(can.recv(0))
 print(can.recv(1))
 
+del can
+
+# Testing asyncronous send
+can = CAN(1, CAN.LOOPBACK)
+can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))
+
+while can.any(0):
+    can.recv(0)
+
+can.send('abcde', 1, timeout=0)
+print(can.any(0))
+while not can.any(0):
+    pass
+
+print(can.recv(0))
+
+try:
+    can.send('abcde', 2, timeout=0)
+    can.send('abcde', 3, timeout=0)
+    can.send('abcde', 4, timeout=0)
+    can.send('abcde', 5, timeout=0)
+except OSError as e:
+    if str(e) == '16':
+        print('passed')
+    else:
+        print('failed')
+
+pyb.delay(500)
+while can.any(0):
+    print(can.recv(0))
diff --git a/tests/pyb/can.py.exp b/tests/pyb/can.py.exp
index b0ede7b9f4..845f6d5ba1 100644
--- a/tests/pyb/can.py.exp
+++ b/tests/pyb/can.py.exp
@@ -32,3 +32,9 @@ cb1a
 pending
 (1, 0, 0, b'11111111')
 (5, 0, 0, b'55555555')
+False
+(1, 0, 0, b'abcde')
+passed
+(2, 0, 0, b'abcde')
+(3, 0, 0, b'abcde')
+(4, 0, 0, b'abcde')