1 /* 2 * Copyright (c) 2022 Vestas Wind Systems A/S 3 * Copyright (c) 2019 Alexander Wachter 4 * 5 * SPDX-License-Identifier: Apache-2.0 6 */ 7 8 #include <zephyr/device.h> 9 #include <zephyr/drivers/can.h> 10 #include <zephyr/kernel.h> 11 12 /** 13 * Test bitrates in bits/second. 14 */ 15 #define TEST_BITRATE_1 125000 16 #define TEST_BITRATE_2 250000 17 #define TEST_BITRATE_3 1000000 18 19 /** 20 * Test sample points in per mille. 21 */ 22 #define TEST_SAMPLE_POINT 875 23 #define TEST_SAMPLE_POINT_2 750 24 25 /** 26 * @brief Test timeouts. 27 */ 28 #define TEST_SEND_TIMEOUT K_MSEC(100) 29 #define TEST_RECEIVE_TIMEOUT K_MSEC(100) 30 #define TEST_RECOVER_TIMEOUT K_MSEC(100) 31 32 /** 33 * @brief Standard (11-bit) CAN IDs and masks used for testing. 34 */ 35 #define TEST_CAN_STD_ID_1 0x555 36 #define TEST_CAN_STD_ID_2 0x565 37 #define TEST_CAN_STD_MASK_ID_1 0x55A 38 #define TEST_CAN_STD_MASK_ID_2 0x56A 39 #define TEST_CAN_STD_MASK 0x7F0 40 #define TEST_CAN_SOME_STD_ID 0x123 41 42 /** 43 * @brief Extended (29-bit) CAN IDs and masks used for testing. 44 */ 45 #define TEST_CAN_EXT_ID_1 0x15555555 46 #define TEST_CAN_EXT_ID_2 0x15555565 47 #define TEST_CAN_EXT_MASK_ID_1 0x1555555A 48 #define TEST_CAN_EXT_MASK_ID_2 0x1555556A 49 #define TEST_CAN_EXT_MASK 0x1FFFFFF0 50 51 /** 52 * @brief Common variables. 53 */ 54 extern ZTEST_DMEM const struct device *const can_dev; 55 extern ZTEST_DMEM const struct device *const can_phy; 56 extern struct k_sem rx_callback_sem; 57 extern struct k_sem tx_callback_sem; 58 extern struct k_msgq can_msgq; 59 60 /** 61 * @brief Standard (11-bit) CAN ID frame 1. 62 */ 63 extern const struct can_frame test_std_frame_1; 64 65 /** 66 * @brief Standard (11-bit) CAN ID frame 2. 67 */ 68 extern const struct can_frame test_std_frame_2; 69 70 /** 71 * @brief Extended (29-bit) CAN ID frame 1. 72 */ 73 extern const struct can_frame test_ext_frame_1; 74 75 /** 76 * @brief Extended (29-bit) CAN ID frame 1. 77 */ 78 extern const struct can_frame test_ext_frame_2; 79 80 /** 81 * @brief Standard (11-bit) CAN ID RTR frame 1. 82 */ 83 extern const struct can_frame test_std_rtr_frame_1; 84 85 /** 86 * @brief Extended (29-bit) CAN ID RTR frame 1. 87 */ 88 extern const struct can_frame test_ext_rtr_frame_1; 89 90 #ifdef CONFIG_CAN_FD_MODE 91 /** 92 * @brief Standard (11-bit) CAN ID frame 1 with CAN FD payload. 93 */ 94 extern const struct can_frame test_std_fdf_frame_1; 95 96 /** 97 * @brief Standard (11-bit) CAN ID frame 2 with CAN FD payload. 98 */ 99 extern const struct can_frame test_std_fdf_frame_2; 100 #endif /* CONFIG_CAN_FD_MODE */ 101 102 /** 103 * @brief Standard (11-bit) CAN ID filter 1. This filter matches 104 * ``test_std_frame_1`` and ``test_std_fdf_frame_1``. 105 */ 106 extern const struct can_filter test_std_filter_1; 107 108 /** 109 * @brief Standard (11-bit) CAN ID filter 2. This filter matches 110 * ``test_std_frame_2`` and ``test_std_fdf_frame_2``. 111 */ 112 extern const struct can_filter test_std_filter_2; 113 114 /** 115 * @brief Standard (11-bit) CAN ID masked filter 1. This filter matches 116 * ``test_std_frame_1``. 117 */ 118 extern const struct can_filter test_std_masked_filter_1; 119 120 /** 121 * @brief Standard (11-bit) CAN ID masked filter 2. This filter matches 122 * ``test_std_frame_2``. 123 */ 124 extern const struct can_filter test_std_masked_filter_2; 125 126 /** 127 * @brief Extended (29-bit) CAN ID filter 1. This filter matches 128 * ``test_ext_frame_1``. 129 */ 130 extern const struct can_filter test_ext_filter_1; 131 132 /** 133 * @brief Extended (29-bit) CAN ID filter 2. This filter matches 134 * ``test_ext_frame_2``. 135 */ 136 extern const struct can_filter test_ext_filter_2; 137 138 /** 139 * @brief Extended (29-bit) CAN ID masked filter 1. This filter matches 140 * ``test_ext_frame_1``. 141 */ 142 extern const struct can_filter test_ext_masked_filter_1; 143 144 /** 145 * @brief Extended (29-bit) CAN ID masked filter 2. This filter matches 146 * ``test_ext_frame_2``. 147 */ 148 extern const struct can_filter test_ext_masked_filter_2; 149 150 /** 151 * @brief Standard (11-bit) CAN ID filter. This filter matches 152 * ``TEST_CAN_SOME_STD_ID``. 153 */ 154 extern const struct can_filter test_std_some_filter; 155 156 /** 157 * @brief Assert that two CAN frames are equal given a CAN ID mask. 158 * 159 * @param frame1 First CAN frame. 160 * @param frame2 Second CAN frame. 161 * @param id_mask CAN ID mask. 162 */ 163 void assert_frame_equal(const struct can_frame *frame1, 164 const struct can_frame *frame2, 165 uint32_t id_mask); 166 167 /** 168 * @brief Common setup function for the CAN controller device under test. 169 * 170 * @param initial_mode Initial CAN controller operational mode. 171 */ 172 void can_common_test_setup(can_mode_t initial_mode); 173
