1 /*
2 * Copyright (c) 2023 Libre Solar Technologies GmbH
3 *
4 * SPDX-License-Identifier: Apache-2.0
5 */
6
7 /*
8 * This test suite checks that correct errors are returned when trying to use the ISO-TP
9 * protocol with CAN FD mode even though the controller does not support CAN FD.
10 */
11
12 #include <zephyr/canbus/isotp.h>
13 #include <zephyr/ztest.h>
14
15 static const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
16 static struct isotp_recv_ctx recv_ctx;
17 static struct isotp_send_ctx send_ctx;
18 static bool canfd_capable;
19
20 static const struct isotp_fc_opts fc_opts = {
21 .bs = 0,
22 .stmin = 0
23 };
24
25 static const struct isotp_msg_id rx_addr = {
26 .std_id = 0x20,
27 #ifdef CONFIG_TEST_USE_CAN_FD_MODE
28 .dl = CONFIG_TEST_ISOTP_TX_DL,
29 .flags = ISOTP_MSG_FDF | ISOTP_MSG_BRS,
30 #endif
31 };
32
33 static const struct isotp_msg_id tx_addr = {
34 .std_id = 0x21,
35 #ifdef CONFIG_TEST_USE_CAN_FD_MODE
36 .dl = CONFIG_TEST_ISOTP_TX_DL,
37 .flags = ISOTP_MSG_FDF | ISOTP_MSG_BRS,
38 #endif
39 };
40
ZTEST(isotp_conformance_mode_check,test_bind)41 ZTEST(isotp_conformance_mode_check, test_bind)
42 {
43 int err;
44
45 err = isotp_bind(&recv_ctx, can_dev, &rx_addr, &tx_addr, &fc_opts, K_NO_WAIT);
46 if (IS_ENABLED(CONFIG_TEST_USE_CAN_FD_MODE) && !canfd_capable) {
47 zassert_equal(err, ISOTP_N_ERROR);
48 } else {
49 zassert_equal(err, ISOTP_N_OK);
50 }
51
52 isotp_unbind(&recv_ctx);
53 }
54
ZTEST(isotp_conformance_mode_check,test_send)55 ZTEST(isotp_conformance_mode_check, test_send)
56 {
57 uint8_t buf[] = { 1, 2, 3 };
58 int err;
59
60 err = isotp_send(&send_ctx, can_dev, buf, sizeof(buf), &rx_addr, &tx_addr, NULL, NULL);
61 if (IS_ENABLED(CONFIG_TEST_USE_CAN_FD_MODE) && !canfd_capable) {
62 zassert_equal(err, ISOTP_N_ERROR);
63 } else {
64 zassert_equal(err, ISOTP_N_OK);
65 }
66 }
67
isotp_conformance_mode_check_setup(void)68 static void *isotp_conformance_mode_check_setup(void)
69 {
70 can_mode_t cap;
71 int err;
72
73 zassert_true(device_is_ready(can_dev), "CAN device not ready");
74
75 err = can_get_capabilities(can_dev, &cap);
76 zassert_equal(err, 0, "failed to get CAN controller capabilities (err %d)", err);
77
78 canfd_capable = (cap & CAN_MODE_FD) != 0;
79
80 (void)can_stop(can_dev);
81
82 err = can_set_mode(can_dev, CAN_MODE_LOOPBACK | (canfd_capable ? CAN_MODE_FD : 0));
83 zassert_equal(err, 0, "Failed to set mode [%d]", err);
84
85 err = can_start(can_dev);
86 zassert_equal(err, 0, "Failed to start CAN controller [%d]", err);
87
88 return NULL;
89 }
90
91 ZTEST_SUITE(isotp_conformance_mode_check, NULL, isotp_conformance_mode_check_setup, NULL, NULL,
92 NULL);
93
