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 struct k_sem rx_callback_sem; 56 extern struct k_sem tx_callback_sem; 57 extern struct k_msgq can_msgq; 58 59 /** 60 * @brief Standard (11-bit) CAN ID frame 1. 61 */ 62 extern const struct can_frame test_std_frame_1; 63 64 /** 65 * @brief Standard (11-bit) CAN ID frame 2. 66 */ 67 extern const struct can_frame test_std_frame_2; 68 69 /** 70 * @brief Extended (29-bit) CAN ID frame 1. 71 */ 72 extern const struct can_frame test_ext_frame_1; 73 74 /** 75 * @brief Extended (29-bit) CAN ID frame 1. 76 */ 77 extern const struct can_frame test_ext_frame_2; 78 79 /** 80 * @brief Standard (11-bit) CAN ID RTR frame 1. 81 */ 82 extern const struct can_frame test_std_rtr_frame_1; 83 84 /** 85 * @brief Extended (29-bit) CAN ID RTR frame 1. 86 */ 87 extern const struct can_frame test_ext_rtr_frame_1; 88 89 /** 90 * @brief Standard (11-bit) CAN ID frame 1 with CAN-FD payload. 91 */ 92 extern const struct can_frame test_std_fdf_frame_1; 93 94 /** 95 * @brief Standard (11-bit) CAN ID frame 2 with CAN-FD payload. 96 */ 97 extern const struct can_frame test_std_fdf_frame_2; 98 99 /** 100 * @brief Standard (11-bit) CAN ID filter 1. This filter matches 101 * ``test_std_frame_1``. 102 */ 103 extern const struct can_filter test_std_filter_1; 104 105 /** 106 * @brief Standard (11-bit) CAN ID filter 2. This filter matches 107 * ``test_std_frame_2``. 108 */ 109 extern const struct can_filter test_std_filter_2; 110 111 /** 112 * @brief Standard (11-bit) CAN ID masked filter 1. This filter matches 113 * ``test_std_frame_1``. 114 */ 115 extern const struct can_filter test_std_masked_filter_1; 116 117 /** 118 * @brief Standard (11-bit) CAN ID masked filter 2. This filter matches 119 * ``test_std_frame_2``. 120 */ 121 extern const struct can_filter test_std_masked_filter_2; 122 123 /** 124 * @brief Extended (29-bit) CAN ID filter 1. This filter matches 125 * ``test_ext_frame_1``. 126 */ 127 extern const struct can_filter test_ext_filter_1; 128 129 /** 130 * @brief Extended (29-bit) CAN ID filter 2. This filter matches 131 * ``test_ext_frame_2``. 132 */ 133 extern const struct can_filter test_ext_filter_2; 134 135 /** 136 * @brief Extended (29-bit) CAN ID masked filter 1. This filter matches 137 * ``test_ext_frame_1``. 138 */ 139 extern const struct can_filter test_ext_masked_filter_1; 140 141 /** 142 * @brief Extended (29-bit) CAN ID masked filter 2. This filter matches 143 * ``test_ext_frame_2``. 144 */ 145 extern const struct can_filter test_ext_masked_filter_2; 146 147 /** 148 * @brief Standard (11-bit) CAN ID RTR filter 1. This filter matches 149 * ``test_std_rtr_frame_1``. 150 */ 151 extern const struct can_filter test_std_rtr_filter_1; 152 153 /** 154 * @brief Extended (29-bit) CAN ID RTR filter 1. This filter matches 155 * ``test_ext_rtr_frame_1``. 156 */ 157 extern const struct can_filter test_ext_rtr_filter_1; 158 159 /** 160 * @brief Standard (11-bit) CAN ID filter. This filter matches 161 * ``TEST_CAN_SOME_STD_ID``. 162 */ 163 extern const struct can_filter test_std_some_filter; 164 165 /** 166 * @brief Standard (11-bit) CAN-FD ID filter 1. This filter matches 167 * ``test_std_fdf_frame_1``. 168 */ 169 extern const struct can_filter test_std_fdf_filter_1; 170 171 /** 172 * @brief Standard (11-bit) CAN-FD ID filter 2. This filter matches 173 * ``test_std_fdf_frame_2``. 174 */ 175 extern const struct can_filter test_std_fdf_filter_2; 176 177 /** 178 * @brief Assert that two CAN frames are equal given a CAN ID mask. 179 * 180 * @param frame1 First CAN frame. 181 * @param frame2 Second CAN frame. 182 * @param id_mask CAN ID mask. 183 */ 184 void assert_frame_equal(const struct can_frame *frame1, 185 const struct can_frame *frame2, 186 uint32_t id_mask); 187
