8 #include <zephyr/drivers/can.h>
21  * @brief Standard (11-bit) CAN ID transmit callback 1.
31 	zassert_equal(dev, can_dev, "CAN device does not match");  in tx_std_callback_1()
36  * @brief Standard (11-bit) CAN ID transmit callback 2.
46 	zassert_equal(dev, can_dev, "CAN device does not match");  in tx_std_callback_2()
51  * @brief Extended (29-bit) CAN ID transmit callback 1.
61 	zassert_equal(dev, can_dev, "CAN device does not match");  in tx_ext_callback_1()
66  * @brief Extended (29-bit) CAN ID transmit callback 2.
76 	zassert_equal(dev, can_dev, "CAN device does not match");  in tx_ext_callback_2()
81  * @brief Standard (11-bit) CAN ID receive callback 1.
91 	zassert_equal(dev, can_dev, "CAN device does not match");  in rx_std_callback_1()
98  * @brief Standard (11-bit) CAN ID receive callback 2.
108 	zassert_equal(dev, can_dev, "CAN device does not match");  in rx_std_callback_2()
115  * @brief Standard (11-bit) masked CAN ID receive callback 1.
125 	zassert_equal(dev, can_dev, "CAN device does not match");  in rx_std_mask_callback_1()
132  * @brief Standard (11-bit) masked CAN ID receive callback 2.
142 	zassert_equal(dev, can_dev, "CAN device does not match");  in rx_std_mask_callback_2()
149  * @brief Extended (29-bit) CAN ID receive callback 1.
159 	zassert_equal(dev, can_dev, "CAN device does not match");  in rx_ext_callback_1()
166  * @brief Extended (29-bit) CAN ID receive callback 2.
176 	zassert_equal(dev, can_dev, "CAN device does not match");  in rx_ext_callback_2()
183  * @brief Extended (29-bit) masked CAN ID receive callback 1.
193 	zassert_equal(dev, can_dev, "CAN device does not match");  in rx_ext_mask_callback_1()
200  * @brief Extended (29-bit) masked CAN ID receive callback 2.
210 	zassert_equal(dev, can_dev, "CAN device does not match");  in rx_ext_mask_callback_2()
217  * @brief Send a CAN test frame with asserts.
223  * @param frame Pointer to the CAN frame to send.
235  * @brief Send a CAN test frame with asserts.
241  * @param frame    Pointer to the CAN frame to send.
255  * @brief Add a CAN message queue with asserts.
258  * @param filter CAN filter for the CAN message queue.
260  * @return CAN filter ID.
274  * @brief Add a CAN filter with asserts.
277  * @param filter   CAN filter.
280  * @return CAN filter ID.
298  * @brief Perform a send/receive test with a set of CAN ID filters and CAN frames.
300  * @param filter1 CAN filter 1
301  * @param filter2 CAN filter 2
302  * @param frame1  CAN frame 1
303  * @param frame2  CAN frame 2
388  * @brief Perform a send/receive test with a set of CAN ID filters and CAN frames, RTR and data
391  * @param data_filter CAN data filter
392  * @param rtr_filter  CAN RTR filter
393  * @param data_frame  CAN data frame
394  * @param rtr_frame   CAN RTR frame
431  * @brief Test getting the CAN core clock rate.
439 	zassert_equal(err, 0, "failed to get CAN core clock rate (err %d)", err);  in ZTEST_USER()
440 	zassert_not_equal(rate, 0, "CAN core clock rate is 0");  in ZTEST_USER()
444  * @brief Test getting the CAN controller capabilities.
452 	zassert_equal(err, 0, "failed to get CAN capabilities (err %d)", err);  in ZTEST_USER()
453 	zassert_not_equal(cap & CAN_MODE_LOOPBACK, 0, "CAN loopback mode not supported");  in ZTEST_USER()
457  * @brief CAN state change callback.
469  * @brief Test setting the CAN state change callback.
502 	zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
511 	zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()
523 	zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
529 	zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()
552 	zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
561 	zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()
565  * @brief Test that the minimum timing values can be set.
572 	zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
581 	zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()
585  * @brief Test that the maximum timing values can be set.
592 	zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
601 	zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()
607  * This basic test work since the CAN controller is in loopback mode and
657  * @brief Test adding an invalid CAN RX filter.
660  * @param frame Pointer to the CAN RX filter.
719  * @param ide standard (11-bit) CAN ID filters if false, or extended (29-bit) CAN ID filters if
763  * @brief Test max standard (11-bit) CAN RX filters.
771  * @brief Test max extended (29-bit) CAN RX filters.
811  * @brief Test sending an invalid CAN frame.
814  * @param frame Pointer to the CAN frame to send.
835  * @brief Test sending frame with standard (11-bit) CAN ID out-of-range.
847  * @brief Test sending frame with extended (29-bit) CAN ID out-of-range.
860  * @brief Test sending standard (11-bit ID) CAN frame with too big payload.
873  * @brief Test sending extended (29-bit ID) CAN frame with too big payload.
887  * @brief Test send/receive with standard (11-bit) CAN IDs.
896  * @brief Test send/receive with standard (11-bit) CAN IDs without no data.
923  * @brief Test send/receive with extended (29-bit) CAN IDs.
932  * @brief Test send/receive with standard (11-bit) masked CAN IDs.
941  * @brief Test send/receive with extended (29-bit) masked CAN IDs.
950  * @brief Test send/receive with messages buffered in a CAN message queue.
990  * @brief Test send/receive with standard (11-bit) CAN IDs and remote transmission request (RTR).
1000  * @brief Test send/receive with extended (29-bit) CAN IDs and remote transmission request (RTR).
1010  * @brief Test rejection of standard (11-bit) CAN IDs and remote transmission request (RTR).
1037  * @brief Test rejection of extended (29-bit) CAN IDs and remote transmission request (RTR).
1064  * @brief Test that non-matching CAN frames do not pass a filter.
1098  * @brief Test that CAN FD format frames are rejected in non-FD mode.
1110 	zassert_equal(err, -ENOTSUP, "sent a CAN FD format frame in non-FD mode");  in ZTEST_USER()
1114  * @brief Test CAN controller bus recovery.
1126 	zassert_equal(err, 0, "failed to get CAN capabilities (err %d)", err);  in ZTEST_USER()
1134 		zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
1142 		zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()
1151 		zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
1159 		zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()
1167  * @brief Test retrieving the state of the CAN controller.
1176 	zassert_equal(err, 0, "failed to get CAN state without destinations (err %d)", err);  in ZTEST_USER()
1179 	zassert_equal(err, 0, "failed to get CAN state (err %d)", err);  in ZTEST_USER()
1182 	zassert_equal(err, 0, "failed to get CAN error counters (err %d)", err);  in ZTEST_USER()
1185 	zassert_equal(err, 0, "failed to get CAN state + error counters (err %d)", err);  in ZTEST_USER()
1189  * @brief Test that CAN RX filters are preserved through CAN controller mode changes.
1206 	zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
1209 	zassert_equal(err, 0, "failed to get CAN state (err %d)", err);  in ZTEST_USER()
1210 	zassert_equal(state, CAN_STATE_STOPPED, "CAN controller not stopped");  in ZTEST_USER()
1221 	zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()
1233  * @brief Test that CAN RX filters are preserved through CAN controller bitrate changes.
1250 	zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
1253 	zassert_equal(err, 0, "failed to get CAN state (err %d)", err);  in ZTEST_USER()
1254 	zassert_equal(state, CAN_STATE_STOPPED, "CAN controller not stopped");  in ZTEST_USER()
1266 	zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()
1278  * @brief Test that CAN RX filters can be added while CAN controller is stopped.
1287 	zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
1292 	zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()
1311 	zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
1314 	zassert_not_equal(err, 0, "stopped CAN controller while stopped");  in ZTEST_USER()
1318 	zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()
1329 	zassert_not_equal(err, 0, "started CAN controller while started");  in ZTEST_USER()
1344 	zassert_equal(err, 0, "failed to get CAN capabilities (err %d)", err);  in ZTEST_USER()
1351 	zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
1358 	zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()
1369 	zassert_equal(err, 0, "failed to stop CAN controller (err %d)", err);  in ZTEST_USER()
1376 	zassert_equal(err, 0, "failed to start CAN controller (err %d)", err);  in ZTEST_USER()