| /* |
| * 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/ztest.h> |
| |
| #include "common.h" |
| |
| /** |
| * @addtogroup t_can_driver |
| * @{ |
| * @defgroup t_can_canfd test_can_canfd |
| * @} |
| */ |
| |
| static void tx_std_callback_1(const struct device *dev, int error, void *user_data) |
| { |
| const struct can_frame *frame = user_data; |
| |
| k_sem_give(&tx_callback_sem); |
| |
| zassert_equal(dev, can_dev, "CAN device does not match"); |
| zassert_equal(frame->id, TEST_CAN_STD_ID_1, "ID does not match"); |
| } |
| |
| static void tx_std_callback_2(const struct device *dev, int error, void *user_data) |
| { |
| const struct can_frame *frame = user_data; |
| |
| k_sem_give(&tx_callback_sem); |
| |
| zassert_equal(dev, can_dev, "CAN device does not match"); |
| zassert_equal(frame->id, TEST_CAN_STD_ID_2, "ID does not match"); |
| } |
| |
| static void rx_std_callback_1(const struct device *dev, struct can_frame *frame, void *user_data) |
| { |
| struct can_filter *filter = user_data; |
| |
| assert_frame_equal(frame, &test_std_frame_1, 0); |
| zassert_equal(dev, can_dev, "CAN device does not match"); |
| zassert_equal_ptr(filter, &test_std_filter_1, "filter does not match"); |
| |
| k_sem_give(&rx_callback_sem); |
| } |
| |
| static void rx_std_callback_2(const struct device *dev, struct can_frame *frame, void *user_data) |
| { |
| struct can_filter *filter = user_data; |
| |
| assert_frame_equal(frame, &test_std_frame_2, 0); |
| zassert_equal(dev, can_dev, "CAN device does not match"); |
| zassert_equal_ptr(filter, &test_std_filter_2, "filter does not match"); |
| |
| k_sem_give(&rx_callback_sem); |
| } |
| |
| static void rx_std_callback_fd_1(const struct device *dev, struct can_frame *frame, |
| void *user_data) |
| { |
| struct can_filter *filter = user_data; |
| |
| assert_frame_equal(frame, &test_std_fdf_frame_1, 0); |
| zassert_equal(dev, can_dev, "CAN device does not match"); |
| zassert_equal_ptr(filter, &test_std_filter_1, "filter does not match"); |
| |
| k_sem_give(&rx_callback_sem); |
| } |
| |
| static void rx_std_callback_fd_2(const struct device *dev, struct can_frame *frame, |
| void *user_data) |
| { |
| struct can_filter *filter = user_data; |
| |
| assert_frame_equal(frame, &test_std_fdf_frame_2, 0); |
| zassert_equal(dev, can_dev, "CAN device does not match"); |
| zassert_equal_ptr(filter, &test_std_filter_2, "filter does not match"); |
| |
| k_sem_give(&rx_callback_sem); |
| } |
| |
| /** |
| * @brief Send a CAN test frame with asserts. |
| * |
| * This function will block until the frame is transmitted or a test timeout |
| * occurs. |
| * |
| * @param dev Pointer to the device structure for the driver instance. |
| * @param frame Pointer to the CAN frame to send. |
| */ |
| static void send_test_frame(const struct device *dev, const struct can_frame *frame) |
| { |
| int err; |
| |
| err = can_send(dev, frame, TEST_SEND_TIMEOUT, NULL, NULL); |
| zassert_not_equal(err, -EBUSY, "arbitration lost in loopback mode"); |
| zassert_equal(err, 0, "failed to send frame (err %d)", err); |
| } |
| |
| /** |
| * @brief Send a CAN test frame with asserts. |
| * |
| * This function will block until the frame is queued or a test timeout |
| * occurs. |
| * |
| * @param dev Pointer to the device structure for the driver instance. |
| * @param frame Pointer to the CAN frame to send. |
| * @param callback Transmit callback function. |
| */ |
| static void send_test_frame_nowait(const struct device *dev, const struct can_frame *frame, |
| can_tx_callback_t callback) |
| { |
| int err; |
| |
| err = can_send(dev, frame, TEST_SEND_TIMEOUT, callback, (void *)frame); |
| zassert_not_equal(err, -EBUSY, "arbitration lost in loopback mode"); |
| zassert_equal(err, 0, "failed to send frame (err %d)", err); |
| } |
| |
| /** |
| * @brief Add a CAN message queue with asserts. |
| * |
| * @param dev Pointer to the device structure for the driver instance. |
| * @param filter CAN filter for the CAN message queue. |
| * |
| * @return CAN filter ID. |
| */ |
| static inline int add_rx_msgq(const struct device *dev, const struct can_filter *filter) |
| { |
| int filter_id; |
| |
| filter_id = can_add_rx_filter_msgq(dev, &can_msgq, filter); |
| zassert_not_equal(filter_id, -ENOSPC, "no filters available"); |
| zassert_true(filter_id >= 0, "negative filter number"); |
| |
| return filter_id; |
| } |
| |
| /** |
| * @brief Add a CAN filter with asserts. |
| * |
| * @param dev Pointer to the device structure for the driver instance. |
| * @param filter CAN filter. |
| * @param callback Receive callback function. |
| * |
| * @return CAN filter ID. |
| */ |
| static inline int add_rx_filter(const struct device *dev, |
| const struct can_filter *filter, |
| can_rx_callback_t callback) |
| { |
| int filter_id; |
| |
| k_sem_reset(&rx_callback_sem); |
| |
| filter_id = can_add_rx_filter(dev, callback, (void *)filter, filter); |
| zassert_not_equal(filter_id, -ENOSPC, "no filters available"); |
| zassert_true(filter_id >= 0, "negative filter number"); |
| |
| return filter_id; |
| } |
| |
| /** |
| * @brief Perform a send/receive test with a set of CAN ID filters and CAN frames. |
| * |
| * @param filter1 CAN filter 1 |
| * @param filter2 CAN filter 2 |
| * @param frame1 CAN frame 1 |
| * @param frame2 CAN frame 2 |
| */ |
| static void send_receive(const struct can_filter *filter1, |
| const struct can_filter *filter2, |
| const struct can_frame *frame1, |
| const struct can_frame *frame2) |
| { |
| struct can_frame frame_buffer; |
| int filter_id_1; |
| int filter_id_2; |
| int err; |
| |
| filter_id_1 = add_rx_msgq(can_dev, filter1); |
| send_test_frame(can_dev, frame1); |
| |
| err = k_msgq_get(&can_msgq, &frame_buffer, TEST_RECEIVE_TIMEOUT); |
| zassert_equal(err, 0, "receive timeout"); |
| |
| assert_frame_equal(&frame_buffer, frame1, 0); |
| can_remove_rx_filter(can_dev, filter_id_1); |
| |
| k_sem_reset(&tx_callback_sem); |
| |
| if ((frame1->flags & CAN_FRAME_FDF) != 0) { |
| filter_id_1 = add_rx_filter(can_dev, filter1, rx_std_callback_fd_1); |
| } else { |
| filter_id_1 = add_rx_filter(can_dev, filter1, rx_std_callback_1); |
| } |
| |
| if ((frame2->flags & CAN_FRAME_FDF) != 0) { |
| filter_id_2 = add_rx_filter(can_dev, filter2, rx_std_callback_fd_2); |
| } else { |
| filter_id_2 = add_rx_filter(can_dev, filter2, rx_std_callback_2); |
| } |
| |
| send_test_frame_nowait(can_dev, frame1, tx_std_callback_1); |
| send_test_frame_nowait(can_dev, frame2, tx_std_callback_2); |
| |
| err = k_sem_take(&rx_callback_sem, TEST_RECEIVE_TIMEOUT); |
| zassert_equal(err, 0, "receive timeout"); |
| |
| err = k_sem_take(&rx_callback_sem, TEST_RECEIVE_TIMEOUT); |
| zassert_equal(err, 0, "receive timeout"); |
| |
| err = k_sem_take(&tx_callback_sem, TEST_SEND_TIMEOUT); |
| zassert_equal(err, 0, "missing TX callback"); |
| |
| err = k_sem_take(&tx_callback_sem, TEST_SEND_TIMEOUT); |
| zassert_equal(err, 0, "missing TX callback"); |
| |
| can_remove_rx_filter(can_dev, filter_id_1); |
| can_remove_rx_filter(can_dev, filter_id_2); |
| } |
| |
| /** |
| * @brief Test getting the CAN controller capabilities. |
| */ |
| ZTEST(canfd, test_canfd_get_capabilities) |
| { |
| can_mode_t cap; |
| int err; |
| |
| err = can_get_capabilities(can_dev, &cap); |
| zassert_equal(err, 0, "failed to get CAN capabilities (err %d)", err); |
| zassert_not_equal(cap & (CAN_MODE_LOOPBACK | CAN_MODE_FD), 0, |
| "CAN FD loopback mode not supported"); |
| } |
| |
| /** |
| * @brief Test send/receive with standard (11-bit) CAN IDs and classic CAN frames. |
| */ |
| ZTEST(canfd, test_send_receive_classic) |
| { |
| send_receive(&test_std_filter_1, &test_std_filter_2, |
| &test_std_frame_1, &test_std_frame_2); |
| } |
| |
| /** |
| * @brief Test send/receive with standard (11-bit) CAN IDs and CAN FD frames. |
| */ |
| ZTEST(canfd, test_send_receive_fd) |
| { |
| send_receive(&test_std_filter_1, &test_std_filter_2, |
| &test_std_fdf_frame_1, &test_std_fdf_frame_2); |
| } |
| |
| /** |
| * @brief Test send/receive with (11-bit) CAN IDs, mixed classic and CAN FD frames. |
| */ |
| ZTEST(canfd, test_send_receive_mixed) |
| { |
| send_receive(&test_std_filter_1, &test_std_filter_2, |
| &test_std_fdf_frame_1, &test_std_frame_2); |
| } |
| |
| /** |
| * @brief Test that CAN RX filters are preserved through CAN controller mode changes. |
| */ |
| static void check_filters_preserved_between_modes(can_mode_t first, can_mode_t second) |
| { |
| struct can_frame frame; |
| enum can_state state; |
| int filter_id_1; |
| int filter_id_2; |
| int err; |
| |
| /* Stop controller and set first mode */ |
| err = can_stop(can_dev); |
| zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err); |
| |
| err = can_get_state(can_dev, &state, NULL); |
| zassert_equal(err, 0, "failed to get CAN state (err %d)", err); |
| zassert_equal(state, CAN_STATE_STOPPED, "CAN controller not stopped"); |
| |
| err = can_set_mode(can_dev, first | CAN_MODE_LOOPBACK); |
| zassert_equal(err, 0, "failed to set first loopback mode (err %d)", err); |
| zassert_equal(first | CAN_MODE_LOOPBACK, can_get_mode(can_dev)); |
| |
| err = can_start(can_dev); |
| zassert_equal(err, 0, "failed to start CAN controller (err %d)", err); |
| |
| /* Add classic CAN and CAN FD filter */ |
| filter_id_1 = add_rx_msgq(can_dev, &test_std_filter_1); |
| filter_id_2 = add_rx_msgq(can_dev, &test_std_filter_2); |
| |
| /* Verify classic filter in first mode */ |
| send_test_frame(can_dev, &test_std_frame_1); |
| err = k_msgq_get(&can_msgq, &frame, TEST_RECEIVE_TIMEOUT); |
| zassert_equal(err, 0, "receive timeout"); |
| assert_frame_equal(&frame, &test_std_frame_1, 0); |
| |
| if ((first & CAN_MODE_FD) != 0) { |
| /* Verify CAN FD filter in first mode */ |
| send_test_frame(can_dev, &test_std_fdf_frame_2); |
| err = k_msgq_get(&can_msgq, &frame, TEST_RECEIVE_TIMEOUT); |
| zassert_equal(err, 0, "receive timeout"); |
| assert_frame_equal(&frame, &test_std_fdf_frame_2, 0); |
| } |
| |
| /* Stop controller and set second mode */ |
| err = can_stop(can_dev); |
| zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err); |
| |
| err = can_get_state(can_dev, &state, NULL); |
| zassert_equal(err, 0, "failed to get CAN state (err %d)", err); |
| zassert_equal(state, CAN_STATE_STOPPED, "CAN controller not stopped"); |
| |
| err = can_set_mode(can_dev, second | CAN_MODE_LOOPBACK); |
| zassert_equal(err, 0, "failed to set second loopback mode (err %d)", err); |
| zassert_equal(second | CAN_MODE_LOOPBACK, can_get_mode(can_dev)); |
| |
| err = can_start(can_dev); |
| zassert_equal(err, 0, "failed to start CAN controller (err %d)", err); |
| |
| /* Verify classic filter in second mode */ |
| send_test_frame(can_dev, &test_std_frame_1); |
| err = k_msgq_get(&can_msgq, &frame, TEST_RECEIVE_TIMEOUT); |
| zassert_equal(err, 0, "receive timeout"); |
| assert_frame_equal(&frame, &test_std_frame_1, 0); |
| |
| if ((second & CAN_MODE_FD) != 0) { |
| /* Verify CAN FD filter in second mode */ |
| send_test_frame(can_dev, &test_std_fdf_frame_2); |
| err = k_msgq_get(&can_msgq, &frame, TEST_RECEIVE_TIMEOUT); |
| zassert_equal(err, 0, "receive timeout"); |
| assert_frame_equal(&frame, &test_std_fdf_frame_2, 0); |
| } |
| |
| /* Stop controller and restore CAN FD loopback mode */ |
| err = can_stop(can_dev); |
| zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err); |
| |
| err = can_get_state(can_dev, &state, NULL); |
| zassert_equal(err, 0, "failed to get CAN state (err %d)", err); |
| zassert_equal(state, CAN_STATE_STOPPED, "CAN controller not stopped"); |
| |
| err = can_set_mode(can_dev, CAN_MODE_FD | CAN_MODE_LOOPBACK); |
| zassert_equal(err, 0, "failed to set loopback-mode (err %d)", err); |
| zassert_equal(CAN_MODE_FD | CAN_MODE_LOOPBACK, can_get_mode(can_dev)); |
| |
| err = can_start(can_dev); |
| zassert_equal(err, 0, "failed to start CAN controller (err %d)", err); |
| |
| can_remove_rx_filter(can_dev, filter_id_1); |
| can_remove_rx_filter(can_dev, filter_id_2); |
| } |
| |
| /** |
| * @brief Test that CAN RX filters are preserved through CAN controller mode changes between classic |
| * CAN and CAN FD. |
| */ |
| ZTEST_USER(canfd, test_filters_preserved_through_classic_to_fd_mode_change) |
| { |
| check_filters_preserved_between_modes(CAN_MODE_NORMAL, CAN_MODE_FD); |
| } |
| |
| /** |
| * @brief Test that CAN RX filters are preserved through CAN controller mode changes between CAN FD |
| * and classic CAN. |
| */ |
| ZTEST_USER(canfd, test_filters_preserved_through_fd_to_classic_mode_change) |
| { |
| check_filters_preserved_between_modes(CAN_MODE_FD, CAN_MODE_NORMAL); |
| } |
| |
| /** |
| * @brief Test that the minimum timing values for the data phase can be set. |
| */ |
| ZTEST_USER(canfd, test_set_timing_data_min) |
| { |
| int err; |
| |
| err = can_stop(can_dev); |
| zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err); |
| |
| err = can_set_timing_data(can_dev, can_get_timing_data_min(can_dev)); |
| zassert_equal(err, 0, "failed to set minimum timing data parameters (err %d)", err); |
| |
| err = can_start(can_dev); |
| zassert_equal(err, 0, "failed to start CAN controller (err %d)", err); |
| } |
| |
| /** |
| * @brief Test setting a too high data phase bitrate. |
| */ |
| ZTEST_USER(canfd, test_set_bitrate_too_high) |
| { |
| uint32_t max = can_get_bitrate_max(can_dev); |
| int err; |
| |
| err = can_stop(can_dev); |
| zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err); |
| |
| err = can_set_bitrate_data(can_dev, max + 1); |
| zassert_equal(err, -ENOTSUP, "too high data phase bitrate accepted"); |
| |
| err = can_start(can_dev); |
| zassert_equal(err, 0, "failed to start CAN controller (err %d)", err); |
| } |
| |
| /** |
| * @brief Test using an invalid sample point. |
| */ |
| ZTEST_USER(canfd, test_invalid_sample_point) |
| { |
| struct can_timing timing; |
| int err; |
| |
| err = can_calc_timing_data(can_dev, &timing, TEST_BITRATE_3, 1000); |
| zassert_equal(err, -EINVAL, "invalid sample point of 100.0% accepted (err %d)", err); |
| } |
| |
| /** |
| * @brief Test that the maximum timing values for the data phase can be set. |
| */ |
| ZTEST_USER(canfd, test_set_timing_data_max) |
| { |
| int err; |
| |
| err = can_stop(can_dev); |
| zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err); |
| |
| err = can_set_timing_data(can_dev, can_get_timing_data_max(can_dev)); |
| zassert_equal(err, 0, "failed to set maximum timing data parameters (err %d)", err); |
| |
| err = can_start(can_dev); |
| zassert_equal(err, 0, "failed to start CAN controller (err %d)", err); |
| } |
| |
| /** |
| * @brief Test setting data phase bitrate is not allowed while started. |
| */ |
| ZTEST_USER(canfd, test_set_bitrate_data_while_started) |
| { |
| int err; |
| |
| err = can_set_bitrate_data(can_dev, TEST_BITRATE_3); |
| zassert_not_equal(err, 0, "changed data bitrate while started"); |
| zassert_equal(err, -EBUSY, "wrong error return code (err %d)", err); |
| } |
| |
| /** |
| * @brief Test setting data phase timing is not allowed while started. |
| */ |
| ZTEST_USER(canfd, test_set_timing_data_while_started) |
| { |
| struct can_timing timing = { 0 }; |
| int err; |
| |
| err = can_calc_timing_data(can_dev, &timing, TEST_BITRATE_3, TEST_SAMPLE_POINT); |
| zassert_ok(err, "failed to calculate data timing (err %d)", err); |
| |
| err = can_set_timing_data(can_dev, &timing); |
| zassert_not_equal(err, 0, "changed data timing while started"); |
| zassert_equal(err, -EBUSY, "wrong error return code (err %d)", err); |
| } |
| |
| static bool canfd_predicate(const void *state) |
| { |
| can_mode_t cap; |
| int err; |
| |
| ARG_UNUSED(state); |
| |
| if (!device_is_ready(can_dev)) { |
| TC_PRINT("CAN device not ready"); |
| return false; |
| } |
| |
| err = can_get_capabilities(can_dev, &cap); |
| zassert_equal(err, 0, "failed to get CAN controller capabilities (err %d)", err); |
| |
| if ((cap & CAN_MODE_FD) == 0) { |
| return false; |
| } |
| |
| return true; |
| } |
| |
| void *canfd_setup(void) |
| { |
| int err; |
| |
| k_sem_init(&rx_callback_sem, 0, 2); |
| k_sem_init(&tx_callback_sem, 0, 2); |
| |
| (void)can_stop(can_dev); |
| |
| err = can_set_mode(can_dev, CAN_MODE_LOOPBACK | CAN_MODE_FD); |
| zassert_equal(err, 0, "failed to set CAN FD loopback mode (err %d)", err); |
| zassert_equal(CAN_MODE_LOOPBACK | CAN_MODE_FD, can_get_mode(can_dev)); |
| |
| err = can_start(can_dev); |
| zassert_equal(err, 0, "failed to start CAN controller (err %d)", err); |
| |
| return NULL; |
| } |
| |
| ZTEST_SUITE(canfd, canfd_predicate, canfd_setup, NULL, NULL, NULL); |