9312f2e987
Use a common test setup function between the classic and CAN FD test suites. Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
247 lines
6.1 KiB
C
247 lines
6.1 KiB
C
/*
|
|
* Copyright (c) 2022 Vestas Wind Systems A/S
|
|
* Copyright (c) 2019 Alexander Wachter
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
|
|
#include <zephyr/drivers/can.h>
|
|
#include <zephyr/kernel.h>
|
|
#include <zephyr/ztest.h>
|
|
|
|
#include "common.h"
|
|
|
|
/**
|
|
* @brief Global variables.
|
|
*/
|
|
ZTEST_DMEM const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
|
|
ZTEST_DMEM const struct device *const can_phy =
|
|
DEVICE_DT_GET_OR_NULL(DT_PHANDLE(DT_CHOSEN(zephyr_canbus), phys));
|
|
struct k_sem rx_callback_sem;
|
|
struct k_sem tx_callback_sem;
|
|
|
|
CAN_MSGQ_DEFINE(can_msgq, 5);
|
|
|
|
/**
|
|
* @brief Standard (11-bit) CAN ID frame 1.
|
|
*/
|
|
const struct can_frame test_std_frame_1 = {
|
|
.flags = 0,
|
|
.id = TEST_CAN_STD_ID_1,
|
|
.dlc = 8,
|
|
.data = {1, 2, 3, 4, 5, 6, 7, 8}
|
|
};
|
|
|
|
/**
|
|
* @brief Standard (11-bit) CAN ID frame 2.
|
|
*/
|
|
const struct can_frame test_std_frame_2 = {
|
|
.flags = 0,
|
|
.id = TEST_CAN_STD_ID_2,
|
|
.dlc = 8,
|
|
.data = {1, 2, 3, 4, 5, 6, 7, 8}
|
|
};
|
|
|
|
/**
|
|
* @brief Extended (29-bit) CAN ID frame 1.
|
|
*/
|
|
const struct can_frame test_ext_frame_1 = {
|
|
.flags = CAN_FRAME_IDE,
|
|
.id = TEST_CAN_EXT_ID_1,
|
|
.dlc = 8,
|
|
.data = {1, 2, 3, 4, 5, 6, 7, 8}
|
|
};
|
|
|
|
/**
|
|
* @brief Extended (29-bit) CAN ID frame 1.
|
|
*/
|
|
const struct can_frame test_ext_frame_2 = {
|
|
.flags = CAN_FRAME_IDE,
|
|
.id = TEST_CAN_EXT_ID_2,
|
|
.dlc = 8,
|
|
.data = {1, 2, 3, 4, 5, 6, 7, 8}
|
|
};
|
|
|
|
/**
|
|
* @brief Standard (11-bit) CAN ID RTR frame 1.
|
|
*/
|
|
const struct can_frame test_std_rtr_frame_1 = {
|
|
.flags = CAN_FRAME_RTR,
|
|
.id = TEST_CAN_STD_ID_1,
|
|
.dlc = 0,
|
|
.data = {0}
|
|
};
|
|
|
|
/**
|
|
* @brief Extended (29-bit) CAN ID RTR frame 1.
|
|
*/
|
|
const struct can_frame test_ext_rtr_frame_1 = {
|
|
.flags = CAN_FRAME_IDE | CAN_FRAME_RTR,
|
|
.id = TEST_CAN_EXT_ID_1,
|
|
.dlc = 0,
|
|
.data = {0}
|
|
};
|
|
|
|
#ifdef CONFIG_CAN_FD_MODE
|
|
/**
|
|
* @brief Standard (11-bit) CAN ID frame 1 with CAN FD payload.
|
|
*/
|
|
const struct can_frame test_std_fdf_frame_1 = {
|
|
.flags = CAN_FRAME_FDF | CAN_FRAME_BRS,
|
|
.id = TEST_CAN_STD_ID_1,
|
|
.dlc = 0xf,
|
|
.data = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15,
|
|
16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30,
|
|
31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45,
|
|
46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60,
|
|
61, 62, 63, 64 }
|
|
};
|
|
|
|
/**
|
|
* @brief Standard (11-bit) CAN ID frame 1 with CAN FD payload.
|
|
*/
|
|
const struct can_frame test_std_fdf_frame_2 = {
|
|
.flags = CAN_FRAME_FDF | CAN_FRAME_BRS,
|
|
.id = TEST_CAN_STD_ID_2,
|
|
.dlc = 0xf,
|
|
.data = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15,
|
|
16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30,
|
|
31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45,
|
|
46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60,
|
|
61, 62, 63, 64 }
|
|
};
|
|
#endif /* CONFIG_CAN_FD_MODE */
|
|
|
|
/**
|
|
* @brief Standard (11-bit) CAN ID filter 1. This filter matches
|
|
* ``test_std_frame_1``.
|
|
*/
|
|
const struct can_filter test_std_filter_1 = {
|
|
.flags = 0U,
|
|
.id = TEST_CAN_STD_ID_1,
|
|
.mask = CAN_STD_ID_MASK
|
|
};
|
|
|
|
/**
|
|
* @brief Standard (11-bit) CAN ID filter 2. This filter matches
|
|
* ``test_std_frame_2``.
|
|
*/
|
|
const struct can_filter test_std_filter_2 = {
|
|
.flags = 0U,
|
|
.id = TEST_CAN_STD_ID_2,
|
|
.mask = CAN_STD_ID_MASK
|
|
};
|
|
|
|
/**
|
|
* @brief Standard (11-bit) CAN ID masked filter 1. This filter matches
|
|
* ``test_std_frame_1``.
|
|
*/
|
|
const struct can_filter test_std_masked_filter_1 = {
|
|
.flags = 0U,
|
|
.id = TEST_CAN_STD_MASK_ID_1,
|
|
.mask = TEST_CAN_STD_MASK
|
|
};
|
|
|
|
/**
|
|
* @brief Standard (11-bit) CAN ID masked filter 2. This filter matches
|
|
* ``test_std_frame_2``.
|
|
*/
|
|
const struct can_filter test_std_masked_filter_2 = {
|
|
.flags = 0U,
|
|
.id = TEST_CAN_STD_MASK_ID_2,
|
|
.mask = TEST_CAN_STD_MASK
|
|
};
|
|
|
|
/**
|
|
* @brief Extended (29-bit) CAN ID filter 1. This filter matches
|
|
* ``test_ext_frame_1``.
|
|
*/
|
|
const struct can_filter test_ext_filter_1 = {
|
|
.flags = CAN_FILTER_IDE,
|
|
.id = TEST_CAN_EXT_ID_1,
|
|
.mask = CAN_EXT_ID_MASK
|
|
};
|
|
|
|
/**
|
|
* @brief Extended (29-bit) CAN ID filter 2. This filter matches
|
|
* ``test_ext_frame_2``.
|
|
*/
|
|
const struct can_filter test_ext_filter_2 = {
|
|
.flags = CAN_FILTER_IDE,
|
|
.id = TEST_CAN_EXT_ID_2,
|
|
.mask = CAN_EXT_ID_MASK
|
|
};
|
|
|
|
/**
|
|
* @brief Extended (29-bit) CAN ID masked filter 1. This filter matches
|
|
* ``test_ext_frame_1``.
|
|
*/
|
|
const struct can_filter test_ext_masked_filter_1 = {
|
|
.flags = CAN_FILTER_IDE,
|
|
.id = TEST_CAN_EXT_MASK_ID_1,
|
|
.mask = TEST_CAN_EXT_MASK
|
|
};
|
|
|
|
/**
|
|
* @brief Extended (29-bit) CAN ID masked filter 2. This filter matches
|
|
* ``test_ext_frame_2``.
|
|
*/
|
|
const struct can_filter test_ext_masked_filter_2 = {
|
|
.flags = CAN_FILTER_IDE,
|
|
.id = TEST_CAN_EXT_MASK_ID_2,
|
|
.mask = TEST_CAN_EXT_MASK
|
|
};
|
|
|
|
/**
|
|
* @brief Standard (11-bit) CAN ID filter. This filter matches
|
|
* ``TEST_CAN_SOME_STD_ID``.
|
|
*/
|
|
const struct can_filter test_std_some_filter = {
|
|
.flags = 0U,
|
|
.id = TEST_CAN_SOME_STD_ID,
|
|
.mask = CAN_STD_ID_MASK
|
|
};
|
|
|
|
/**
|
|
* @brief Assert that two CAN frames are equal given a CAN ID mask.
|
|
*
|
|
* @param frame1 First CAN frame.
|
|
* @param frame2 Second CAN frame.
|
|
* @param id_mask CAN ID mask.
|
|
*/
|
|
void assert_frame_equal(const struct can_frame *frame1,
|
|
const struct can_frame *frame2,
|
|
uint32_t id_mask)
|
|
{
|
|
zassert_equal(frame1->flags, frame2->flags, "Flags do not match");
|
|
zassert_equal(frame1->id | id_mask, frame2->id | id_mask, "ID does not match");
|
|
zassert_equal(frame1->dlc, frame2->dlc, "DLC does not match");
|
|
|
|
if ((frame1->flags & CAN_FRAME_RTR) == 0U) {
|
|
zassert_mem_equal(frame1->data, frame2->data, can_dlc_to_bytes(frame1->dlc),
|
|
"Received data differ");
|
|
}
|
|
}
|
|
|
|
void can_common_test_setup(can_mode_t initial_mode)
|
|
{
|
|
int err;
|
|
|
|
k_sem_init(&rx_callback_sem, 0, 2);
|
|
k_sem_init(&tx_callback_sem, 0, 2);
|
|
|
|
k_object_access_grant(&can_msgq, k_current_get());
|
|
k_object_access_grant(can_dev, k_current_get());
|
|
|
|
zassert_true(device_is_ready(can_dev), "CAN device not ready");
|
|
|
|
(void)can_stop(can_dev);
|
|
|
|
err = can_set_mode(can_dev, initial_mode);
|
|
zassert_equal(err, 0, "failed to set initial mode (err %d)", err);
|
|
zassert_equal(initial_mode, can_get_mode(can_dev));
|
|
|
|
err = can_start(can_dev);
|
|
zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);
|
|
}
|