In twister, we do not include the ZTEST testsuite as part of the
identifier, something we should start doing especially for tests with
multiple suites. The issue happens with same testcase name in different
suites, where results get messed up.
Work around this for now by making the testcase names unqiue until we
have a better solution twister.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
Adds CAN drivers for XMC4xxx SoCs.
XMC4xxx has multiple CAN nodes. The nodes share a common clock and
a message object pool.
The CAN nodes do not have a loopback mode. Instead there is an
internal bus which can be used to exchange messages between
nodes on the SoC. For this reason tests/samples which rely on the
loopback feature have been disabled.
Signed-off-by: Andriy Gelman <andriy.gelman@gmail.com>
A growing number of CAN controllers do not have support for individual RX
hardware filters based on the Remote Transmission Request (RTR) bit. This
leads to various work-arounds on the driver level mixing hardware and
software filtering.
As the use of RTR frames is discouraged by CAN in Automation (CiA) - and
not even supported by newer standards, e.g. CAN FD - this often leads to
unnecessary overhead, added complexity, and worst-case to non-portable
behavior between various CAN controller drivers.
Instead, move to a simpler approach where the ability to accept/reject RTR
frames is globally configured via Kconfig. By default, all incoming RTR
frames are rejected at the driver level, a setting which can be supported
in hardware by most in-tree CAN controllers drivers.
Legacy applications or protocol implementations, where RTR reception is
required, can now select CONFIG_CAN_ACCEPT_RTR to accept incoming RTR
frames matching added CAN filters. These applications or protocols will
need to distinguish between RTR and data frames in their respective CAN RX
frame handling routines.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Remove the CAN_FILTER_FDF flag for filtering on classic CAN/CAN FD frames
as it is not supported natively by any known CAN controller.
Applications can still filter on classic CAN/CAN FD frames in their receive
callback functions as needed.
Fixes: #64554
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Unify spelling of CAN Flexible Data-rate abbreviation to "CAN FD" instead
of "CAN-FD". The former aligns with the CAN in Automation (CiA)
recommendation.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Add a simple test to validate that the CAN statistics accessor functions
can be called from user mode threads.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Update the CAN controller drivers to solely use the sjw and sjw-data
devicetree properties for setting the initial timing when devicetree timing
parameters are specified in Time Quanta (TQ).
Any timing set via the CAN timing APIs will contain either user-provided or
automatically calculated SJW values. This includes any timing parameters
calculated from bus-speed and bus-speed-data devicetree properties.
Update the CAN controller driver tests accordingly and remove the
CAN_SJW_NO_CHANGE definition as it has lost its meaning.
Fixes: #63033
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Remove virtual esp32 board and replace it with the
real word boards:
- esp32_devkitc_wroom
- esp32_devkitc_wrover (with PSRAM option)
Signed-off-by: Marek Matej <marek.matej@espressif.com>
Remove the need for the can_transceiver fixture by assigning the CAN TX
and CAN RX lines to the same GPIO pin to allow for testing without a
transceiver or physical jumper.
Signed-off-by: Eric Holmberg <eric.holmberg@northriversystems.co.nz>
Change the test_set_timing_data_while_started test to actually attempt to
set the data phase timing parameters instead of attempting to set the
nominal/arbitration timing parameters.
Update test descriptions to explicitly mention data phase timing.
Fixes: #59046
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Twister now supports using YAML lists for all fields that were written
as space-separated lists. Used twister_to_list.py script. Some artifacts
on string length are due to how ruamel dumps content.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Move the build-only test for the MCP2515 CAN controller driver to the
tests/drivers/build_all/can/ folder.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Test that filters are preserved when changing between CAN-FD mode and
classic CAN mode and vice versa.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Adjust the CAN IDs used for testing in order for them to match the various
can_*_filter_2 as documented in common.h.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Move the test definitions, frames, and filters to common.h/common.c and
reuse them between the classic CAN and CAN-FD API tests.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Fold the CAN-FD specific tests into the main CAN API tests and stop
treating the CAN-FD API functionality as an add-on to CAN API.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Remove the CAN_HAS_CANFD Kconfig helper symbol in order to allow enabling
CAN-FD support in the API regardless of driver support.
Change default to CAN-FD support being disabled and have samples and tests
that require CAN-FD support turn it on. This aligns the default
configuration across CAN controller drivers regardless of their
capabilities.
The rationale behind this is that we are starting to see MCUs with multiple
CAN controllers, some CAN-FD compatible, some not (e.g. NXP i.MX RT1060 and
FPGAs). Automatically enabling CAN-FD support based on the presence of a
CAN-FD capable CAN controller leads to different application default
settings based on the CAN controller(s) in use.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Skip all CAN controller tests utilizing CAN loopback mode for the
kvaser,pcican CAN controller card as emulated in QEMU.
QEMU emulation of the SJA1000 CAN controller backend does not yet support
the SJA1000 Self Reception Request command which is required for proper
loopback operation.
Signed-off-by: Henrik Brix Andersen <henrik@brixandersen.dk>
The can_frame and can_filter structs support a number of different flags
(standard/extended CAN ID type, Remote Transmission Request, CAN-FD format,
Bit Rate Switch, ...). Each of these flags is represented as a discrete bit
in the given structure.
This design pattern requires every user of these structs to initialize all
of these flags to either 0 or 1, which does not scale well for future flag
additions.
Some of these flags have associated enumerations to be used for assignment,
some do not. CAN drivers and protocols tend to rely on the logical value of
the flag instead of using the enumeration, leading to a very fragile
API. The enumerations are used inconsistently between the can_frame and
can_filter structures, which further complicates the API.
Instead, convert these flags to bitfields with separate flag definitions
for the can_frame and can_filter structures. This API allows for future
extensions without having to revisit existing users of the two
structures. Furthermore, this allows driver to easily check for unsupported
flags in the respective API calls.
As this change leads to the "id_mask" field of the can_filter to be the
only mask present in that structure, rename it to "mask" for simplicity.
Fixes: #50776
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
The TWAI peripheral needs a connected CAN transceiver also for testing
in loopback mode.
As there is no board available with this configuration, at least make
sure the CAN API test is built in CI for esp32c3_devkitm.
Signed-off-by: Martin Jäger <martin@libre.solar>
The .yaml file states that CAN is supported, but the basic sample
application samples/drivers/can/counter cannot be compiled without
additional configuration.
The loopback driver does not require any additional steps like the
linux SocketCAN driver, so it is safe to enable it by default and
get rid of the many overlay files in the tests.
ISO-TP tests and the counter sample are excluded via .yaml from
twister tests because of timing issues.
Signed-off-by: Martin Jäger <martin@libre.solar>
Skip the Remote Transmission Request (RTR) frame tests if the CAN
controller driver does not support RTR filters.
Fixes: #50218
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Up until now, the Zephyr CAN controller drivers set a default bitrate (or
timing) specified via devicetree and start the CAN controller in their
respective driver initialization functions.
This is fine for CAN nodes using only one fixed bitrate, but if the bitrate
is set by the user (e.g. via a DIP-switch or other HMI which is very
common), the CAN driver will still initialise with the default
bitrate/timing at boot and use this until the application has determined
the requested bitrate/timing and set it using
can_set_bitrate()/can_set_timing().
During this period, the CAN node will potentially destroy valid CAN frames
on the CAN bus (which is using the soon-to-be-set-by-the-application
bitrate) by sending error frames. This causes interruptions to the ongoing
CAN bus traffic when a Zephyr-based CAN node connected to the bus is
(re-)booted.
Instead, require all configuration (setting bitrate, timing, or mode) to
take place when the CAN controller is stopped. This maps nicely to entering
"reset mode" (called "configuration mode" or "freeze mode" for some CAN
controller implementations) when stopping and exiting this mode when
starting the CAN controller.
Fixes: #45304
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Many device pointers are initialized at compile and never changed. This
means that the device pointer can be constified (immutable).
Automated using:
```
perl -i -pe 's/const struct device \*(?!const)(.*)= DEVICE/const struct
device *const $1= DEVICE/g' **/*.c
```
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Remove the "z" prefix from the public CAN controller API types as this
makes them appear as internal APIs.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Add a bunch of missing "zephyr/" prefixes to #include statements in
various test and test framework files.
Signed-off-by: Fabio Baltieri <fabiobaltieri@google.com>
Convert the can_mode enum to a bit field to prepare for future extensions
(CAN-FD mode, transmitter delay compensation, one-shot mode, 3-samples
mode, ...).
Rename the existing modes:
- CAN_NORMAL_MODE -> CAN_MODE_NORMAL
- CAN_SILENT_MODE -> CAN_MODE_LISTENONLY
- CAN_LOOPBACK_MODE -> CAN_MODE_LOOPBACK
These mode names align with the Linux naming for CAN control modes.
The old CAN_SILENT_LOOPBACK_MODE can be set with the bitmask
(CAN_MODE_LISTENONLY | CAN_MODE_LOOPBACK).
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
