Commit 486b96ee authored by Henrik Brix Andersen's avatar Henrik Brix Andersen Committed by Anas Nashif
Browse files

tests: drivers: can: api: move test data to common files 



Move the test definitions, frames, and filters to common.h/common.c and
reuse them between the classic CAN and CAN-FD API tests.

Signed-off-by: default avatarHenrik Brix Andersen <hebad@vestas.com>
parent f312ab2d

tests/drivers/can/api/CMakeLists.txt

+1 −0
Original line number Diff line number Diff line
@@ -4,5 +4,6 @@ cmake_minimum_required(VERSION 3.20.0) 
find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})

project(integration)



target_sources(app PRIVATE src/common.c)

target_sources(app PRIVATE src/classic.c)

target_sources_ifdef(CONFIG_CAN_FD_MODE app PRIVATE src/canfd.c)

tests/drivers/can/api/src/canfd.c

+15 −111
Original line number Diff line number Diff line
@@ -8,6 +8,8 @@ 
#include <zephyr/drivers/can.h>

#include <zephyr/ztest.h>



#include "common.h"



/**

 * @addtogroup t_can_driver

 * @{
@@ -15,104 +17,6 @@ 
 * @}

 */



/**

 * Test bitrates in bits/second.

 */

#define TEST_BITRATE 1000000



/**

 * Test sample points in per mille.

 */

#define TEST_SAMPLE_POINT 750





/**

 * @brief Test timeouts.

 */

#define TEST_SEND_TIMEOUT    K_MSEC(100)

#define TEST_RECEIVE_TIMEOUT K_MSEC(100)



/**

 * @brief Standard (11-bit) CAN IDs used for testing.

 */

#define TEST_CAN_STD_ID_1      0x555

#define TEST_CAN_STD_ID_2      0x556



/**

 * @brief Global variables.

 */

static const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));

static struct k_sem rx_callback_sem;

static struct k_sem tx_callback_sem;



extern struct k_msgq can_msgq;



extern const struct can_frame test_std_frame_1;

extern const struct can_frame test_std_frame_2;

extern const struct can_filter test_std_filter_1;

extern const struct can_filter test_std_filter_2;



/**

 * @brief Standard (11-bit) CAN ID frame 1 with CAN-FD payload.

 */

const struct can_frame test_std_frame_fd_1 = {

	.flags   = CAN_FRAME_FDF | CAN_FRAME_BRS,

	.id      = TEST_CAN_STD_ID_1,

	.dlc     = 0xf,

	.data    = { 1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15,

		    16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30,

		    31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45,

		    46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60,

		    61, 62, 63, 64 }

};



/**

 * @brief Standard (11-bit) CAN ID frame 1 with CAN-FD payload.

 */

const struct can_frame test_std_frame_fd_2 = {

	.flags   = CAN_FRAME_FDF | CAN_FRAME_BRS,

	.id      = TEST_CAN_STD_ID_2,

	.dlc     = 0xf,

	.data    = { 1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15,

		    16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30,

		    31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45,

		    46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60,

		    61, 62, 63, 64 }

};



/**

 * @brief Standard (11-bit) CAN-FD ID filter 1.

 */

const struct can_filter test_std_filter_fd_1 = {

	.flags = CAN_FILTER_DATA | CAN_FILTER_FDF,

	.id = TEST_CAN_STD_ID_1,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Standard (11-bit) CAN-FD ID filter 2.

 */

const struct can_filter test_std_filter_fd_2 = {

	.flags = CAN_FILTER_DATA | CAN_FILTER_FDF,

	.id = TEST_CAN_STD_ID_2,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Assert that two CAN frames are equal.

 *

 * @param frame1  First CAN frame.

 * @param frame2  Second CAN frame.

 */

static inline void assert_frame_equal(const struct can_frame *frame1,

				      const struct can_frame *frame2)

{

	zassert_equal(frame1->flags, frame2->flags, "Flags do not match");

	zassert_equal(frame1->id, frame2->id, "ID does not match");

	zassert_equal(frame1->dlc, frame2->dlc, "DLC does not match");

	zassert_mem_equal(frame1->data, frame2->data, frame1->dlc, "Received data differ");

}



static void tx_std_callback_1(const struct device *dev, int error, void *user_data)

{

	const struct can_frame *frame = user_data;
@@ -137,7 +41,7 @@ static void rx_std_callback_1(const struct device *dev, struct can_frame *frame, 
{

	struct can_filter *filter = user_data;



	assert_frame_equal(frame, &test_std_frame_1);

	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");
@@ -148,7 +52,7 @@ static void rx_std_callback_2(const struct device *dev, struct can_frame *frame, 
{

	struct can_filter *filter = user_data;



	assert_frame_equal(frame, &test_std_frame_2);

	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");
@@ -160,9 +64,9 @@ static void rx_std_callback_fd_1(const struct device *dev, struct can_frame *fra 
{

	struct can_filter *filter = user_data;



	assert_frame_equal(frame, &test_std_frame_fd_1);

	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_fd_1, "filter does not match");

	zassert_equal_ptr(filter, &test_std_fdf_filter_1, "filter does not match");



	k_sem_give(&rx_callback_sem);

}
@@ -172,9 +76,9 @@ static void rx_std_callback_fd_2(const struct device *dev, struct can_frame *fra 
{

	struct can_filter *filter = user_data;



	assert_frame_equal(frame, &test_std_frame_fd_2);

	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_fd_2, "filter does not match");

	zassert_equal_ptr(filter, &test_std_fdf_filter_2, "filter does not match");



	k_sem_give(&rx_callback_sem);

}
@@ -284,7 +188,7 @@ static void send_receive(const struct can_filter *filter1, 
	err = k_msgq_get(&can_msgq, &frame_buffer, TEST_RECEIVE_TIMEOUT);

	zassert_equal(err, 0, "receive timeout");



	assert_frame_equal(&frame_buffer, frame1);

	assert_frame_equal(&frame_buffer, frame1, 0);

	can_remove_rx_filter(can_dev, filter_id_1);



	k_sem_reset(&tx_callback_sem);
@@ -348,8 +252,8 @@ ZTEST(canfd, test_send_receive_classic) 
 */

ZTEST(canfd, test_send_receive_fd)

{

	send_receive(&test_std_filter_fd_1, &test_std_filter_fd_2,

		     &test_std_frame_fd_1, &test_std_frame_fd_2);

	send_receive(&test_std_fdf_filter_1, &test_std_fdf_filter_2,

		     &test_std_fdf_frame_1, &test_std_fdf_frame_2);

}



/**
@@ -357,8 +261,8 @@ ZTEST(canfd, test_send_receive_fd) 
 */

ZTEST(canfd, test_send_receive_mixed)

{

	send_receive(&test_std_filter_fd_1, &test_std_filter_2,

		     &test_std_frame_fd_1, &test_std_frame_2);

	send_receive(&test_std_fdf_filter_1, &test_std_filter_2,

		     &test_std_fdf_frame_1, &test_std_frame_2);

}



/**
@@ -368,7 +272,7 @@ ZTEST_USER(canfd, test_set_bitrate_data_while_started) 
{

	int err;



	err = can_set_bitrate_data(can_dev, TEST_BITRATE);

	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);

}
@@ -383,7 +287,7 @@ ZTEST_USER(canfd, test_set_timing_data_while_started) 


	timing.sjw = CAN_SJW_NO_CHANGE;



	err = can_calc_timing_data(can_dev, &timing, TEST_BITRATE, TEST_SAMPLE_POINT);

	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(can_dev, &timing);

tests/drivers/can/api/src/classic.c

+8 −244
Original line number Diff line number Diff line
@@ -8,6 +8,8 @@ 
#include <zephyr/drivers/can.h>

#include <zephyr/ztest.h>



#include "common.h"



/**

 * @addtogroup t_can_driver

 * @{
@@ -15,249 +17,6 @@ 
 * @}

 */



/**

 * Test bitrates in bits/second.

 */

#define TEST_BITRATE_1 125000

#define TEST_BITRATE_2 250000



/**

 * Test sample points in per mille.

 */

#define TEST_SAMPLE_POINT 875



/**

 * @brief Test timeouts.

 */

#define TEST_SEND_TIMEOUT    K_MSEC(100)

#define TEST_RECEIVE_TIMEOUT K_MSEC(100)

#define TEST_RECOVER_TIMEOUT K_MSEC(100)



/**

 * @brief Standard (11-bit) CAN IDs and masks used for testing.

 */

#define TEST_CAN_STD_ID_1      0x555

#define TEST_CAN_STD_ID_2      0x556

#define TEST_CAN_STD_MASK_ID_1 0x55A

#define TEST_CAN_STD_MASK_ID_2 0x56A

#define TEST_CAN_STD_MASK      0x7F0

#define TEST_CAN_SOME_STD_ID   0x123



/**

 * @brief Extended (29-bit) CAN IDs and masks used for testing.

 */

#define TEST_CAN_EXT_ID_1      0x15555555

#define TEST_CAN_EXT_ID_2      0x15555556

#define TEST_CAN_EXT_MASK_ID_1 0x1555555A

#define TEST_CAN_EXT_MASK_ID_2 0x1555556A

#define TEST_CAN_EXT_MASK      0x1FFFFFF0



/**

 * @brief Global variables.

 */

static ZTEST_DMEM const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));

static struct k_sem rx_callback_sem;

static struct k_sem tx_callback_sem;



CAN_MSGQ_DEFINE(can_msgq, 5);



/**

 * @brief Standard (11-bit) CAN ID frame 1.

 */

const struct can_frame test_std_frame_1 = {

	.flags   = 0,

	.id      = TEST_CAN_STD_ID_1,

	.dlc     = 8,

	.data    = {1, 2, 3, 4, 5, 6, 7, 8}

};



/**

 * @brief Standard (11-bit) CAN ID frame 2.

 */

const struct can_frame test_std_frame_2 = {

	.flags   = 0,

	.id      = TEST_CAN_STD_ID_2,

	.dlc     = 8,

	.data    = {1, 2, 3, 4, 5, 6, 7, 8}

};



/**

 * @brief Extended (29-bit) CAN ID frame 1.

 */

const struct can_frame test_ext_frame_1 = {

	.flags   = CAN_FRAME_IDE,

	.id      = TEST_CAN_EXT_ID_1,

	.dlc     = 8,

	.data    = {1, 2, 3, 4, 5, 6, 7, 8}

};



/**

 * @brief Extended (29-bit) CAN ID frame 1.

 */

const struct can_frame test_ext_frame_2 = {

	.flags   = CAN_FRAME_IDE,

	.id      = TEST_CAN_EXT_ID_2,

	.dlc     = 8,

	.data    = {1, 2, 3, 4, 5, 6, 7, 8}

};



/**

 * @brief Standard (11-bit) CAN ID RTR frame 1.

 */

const struct can_frame test_std_rtr_frame_1 = {

	.flags   = CAN_FRAME_RTR,

	.id      = TEST_CAN_STD_ID_1,

	.dlc     = 0,

	.data    = {0}

};



/**

 * @brief Extended (29-bit) CAN ID RTR frame 1.

 */

const struct can_frame test_ext_rtr_frame_1 = {

	.flags   = CAN_FRAME_IDE | CAN_FILTER_RTR,

	.id      = TEST_CAN_EXT_ID_1,

	.dlc     = 0,

	.data    = {0}

};



/**

 * @brief Standard (11-bit) CAN ID FD format frame 1.

 */

const struct can_frame test_std_fdf_frame_1 = {

	.flags   = CAN_FRAME_FDF,

	.id      = TEST_CAN_STD_ID_1,

	.dlc     = 8,

	.data    = {1, 2, 3, 4, 5, 6, 7, 8}

};



/**

 * @brief Standard (11-bit) CAN ID filter 1. This filter matches

 * ``test_std_frame_1``.

 */

const struct can_filter test_std_filter_1 = {

	.flags = CAN_FILTER_DATA,

	.id = TEST_CAN_STD_ID_1,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Standard (11-bit) CAN ID filter 2. This filter matches

 * ``test_std_frame_2``.

 */

const struct can_filter test_std_filter_2 = {

	.flags = CAN_FILTER_DATA,

	.id = TEST_CAN_STD_ID_2,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Standard (11-bit) CAN ID masked filter 1. This filter matches

 * ``test_std_frame_1``.

 */

const struct can_filter test_std_masked_filter_1 = {

	.flags = CAN_FILTER_DATA,

	.id = TEST_CAN_STD_MASK_ID_1,

	.mask = TEST_CAN_STD_MASK

};



/**

 * @brief Standard (11-bit) CAN ID masked filter 2. This filter matches

 * ``test_std_frame_2``.

 */

const struct can_filter test_std_masked_filter_2 = {

	.flags = CAN_FILTER_DATA,

	.id = TEST_CAN_STD_MASK_ID_2,

	.mask = TEST_CAN_STD_MASK

};



/**

 * @brief Extended (29-bit) CAN ID filter 1. This filter matches

 * ``test_ext_frame_1``.

 */

const struct can_filter test_ext_filter_1 = {

	.flags = CAN_FILTER_DATA | CAN_FILTER_IDE,

	.id = TEST_CAN_EXT_ID_1,

	.mask = CAN_EXT_ID_MASK

};



/**

 * @brief Extended (29-bit) CAN ID filter 2. This filter matches

 * ``test_ext_frame_2``.

 */

const struct can_filter test_ext_filter_2 = {

	.flags = CAN_FILTER_DATA | CAN_FILTER_IDE,

	.id = TEST_CAN_EXT_ID_2,

	.mask = CAN_EXT_ID_MASK

};



/**

 * @brief Extended (29-bit) CAN ID masked filter 1. This filter matches

 * ``test_ext_frame_1``.

 */

const struct can_filter test_ext_masked_filter_1 = {

	.flags = CAN_FILTER_DATA | CAN_FILTER_IDE,

	.id = TEST_CAN_EXT_MASK_ID_1,

	.mask = TEST_CAN_EXT_MASK

};



/**

 * @brief Extended (29-bit) CAN ID masked filter 2. This filter matches

 * ``test_ext_frame_2``.

 */

const struct can_filter test_ext_masked_filter_2 = {

	.flags = CAN_FILTER_DATA | CAN_FILTER_IDE,

	.id = TEST_CAN_EXT_ID_1,

	.mask = TEST_CAN_EXT_MASK

};



/**

 * @brief Standard (11-bit) CAN ID RTR filter 1. This filter matches

 * ``test_std_rtr_frame_1``.

 */

const struct can_filter test_std_rtr_filter_1 = {

	.flags = CAN_FILTER_RTR,

	.id = TEST_CAN_STD_ID_1,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Extended (29-bit) CAN ID RTR filter 1. This filter matches

 * ``test_ext_rtr_frame_1``.

 */

const struct can_filter test_ext_rtr_filter_1 = {

	.flags = CAN_FILTER_RTR | CAN_FILTER_IDE,

	.id = TEST_CAN_EXT_ID_1,

	.mask = CAN_EXT_ID_MASK

};



/**

 * @brief Standard (11-bit) CAN ID filter. This filter matches

 * ``TEST_CAN_SOME_STD_ID``.

 */

const struct can_filter test_std_some_filter = {

	.flags = CAN_FILTER_DATA,

	.id = TEST_CAN_SOME_STD_ID,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Assert that two CAN frames are equal given a CAN ID mask.

 *

 * @param frame1  First CAN frame.

 * @param frame2  Second CAN frame.

 * @param id_mask CAN ID mask.

 */

static inline void assert_frame_equal(const struct can_frame *frame1,

				      const struct can_frame *frame2,

				      uint32_t id_mask)

{

	zassert_equal(frame1->flags, frame2->flags, "Flags do not match");

	zassert_equal(frame1->id | id_mask, frame2->id | id_mask, "ID does not match");

	zassert_equal(frame1->dlc, frame2->dlc, "DLC does not match");

	zassert_mem_equal(frame1->data, frame2->data, frame1->dlc, "Received data differ");

}



/**

 * @brief Standard (11-bit) CAN ID transmit callback 1.

 *
@@ -1030,9 +789,14 @@ ZTEST_USER(can_classic, test_send_invalid_dlc) 
 */

ZTEST_USER(can_classic, test_send_fd_format)

{

	struct can_frame frame = {0};

	int err;



	err = can_send(can_dev, &test_std_fdf_frame_1, TEST_SEND_TIMEOUT, NULL, NULL);

	frame.id = TEST_CAN_STD_ID_1;

	frame.dlc = 0;

	frame.flags = CAN_FRAME_FDF;



	err = can_send(can_dev, &frame, TEST_SEND_TIMEOUT, NULL, NULL);

	zassert_equal(err, -ENOTSUP, "sent a CAN-FD format frame in non-FD mode");

}

tests/drivers/can/api/src/common.c

0 → 100644
+256 −0
Original line number Diff line number Diff line 
/*

 * 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/kernel.h>

#include <zephyr/ztest.h>



#include "common.h"



/**

 * @brief Global variables.

 */

ZTEST_DMEM const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));

struct k_sem rx_callback_sem;

struct k_sem tx_callback_sem;



CAN_MSGQ_DEFINE(can_msgq, 5);



/**

 * @brief Standard (11-bit) CAN ID frame 1.

 */

const struct can_frame test_std_frame_1 = {

	.flags   = 0,

	.id      = TEST_CAN_STD_ID_1,

	.dlc     = 8,

	.data    = {1, 2, 3, 4, 5, 6, 7, 8}

};



/**

 * @brief Standard (11-bit) CAN ID frame 2.

 */

const struct can_frame test_std_frame_2 = {

	.flags   = 0,

	.id      = TEST_CAN_STD_ID_2,

	.dlc     = 8,

	.data    = {1, 2, 3, 4, 5, 6, 7, 8}

};



/**

 * @brief Extended (29-bit) CAN ID frame 1.

 */

const struct can_frame test_ext_frame_1 = {

	.flags   = CAN_FRAME_IDE,

	.id      = TEST_CAN_EXT_ID_1,

	.dlc     = 8,

	.data    = {1, 2, 3, 4, 5, 6, 7, 8}

};



/**

 * @brief Extended (29-bit) CAN ID frame 1.

 */

const struct can_frame test_ext_frame_2 = {

	.flags   = CAN_FRAME_IDE,

	.id      = TEST_CAN_EXT_ID_2,

	.dlc     = 8,

	.data    = {1, 2, 3, 4, 5, 6, 7, 8}

};



/**

 * @brief Standard (11-bit) CAN ID RTR frame 1.

 */

const struct can_frame test_std_rtr_frame_1 = {

	.flags   = CAN_FRAME_RTR,

	.id      = TEST_CAN_STD_ID_1,

	.dlc     = 0,

	.data    = {0}

};



/**

 * @brief Extended (29-bit) CAN ID RTR frame 1.

 */

const struct can_frame test_ext_rtr_frame_1 = {

	.flags   = CAN_FRAME_IDE | CAN_FILTER_RTR,

	.id      = TEST_CAN_EXT_ID_1,

	.dlc     = 0,

	.data    = {0}

};



/**

 * @brief Standard (11-bit) CAN ID frame 1 with CAN-FD payload.

 */

const struct can_frame test_std_fdf_frame_1 = {

	.flags   = CAN_FRAME_FDF | CAN_FRAME_BRS,

	.id      = TEST_CAN_STD_ID_1,

	.dlc     = 0xf,

	.data    = { 1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15,

		    16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30,

		    31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45,

		    46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60,

		    61, 62, 63, 64 }

};



/**

 * @brief Standard (11-bit) CAN ID frame 1 with CAN-FD payload.

 */

const struct can_frame test_std_fdf_frame_2 = {

	.flags   = CAN_FRAME_FDF | CAN_FRAME_BRS,

	.id      = TEST_CAN_STD_ID_2,

	.dlc     = 0xf,

	.data    = { 1,  2,  3,  4,  5,  6,  7,  8,  9, 10, 11, 12, 13, 14, 15,

		    16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30,

		    31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45,

		    46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60,

		    61, 62, 63, 64 }

};



/**

 * @brief Standard (11-bit) CAN ID filter 1. This filter matches

 * ``test_std_frame_1``.

 */

const struct can_filter test_std_filter_1 = {

	.flags = CAN_FILTER_DATA,

	.id = TEST_CAN_STD_ID_1,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Standard (11-bit) CAN ID filter 2. This filter matches

 * ``test_std_frame_2``.

 */

const struct can_filter test_std_filter_2 = {

	.flags = CAN_FILTER_DATA,

	.id = TEST_CAN_STD_ID_2,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Standard (11-bit) CAN ID masked filter 1. This filter matches

 * ``test_std_frame_1``.

 */

const struct can_filter test_std_masked_filter_1 = {

	.flags = CAN_FILTER_DATA,

	.id = TEST_CAN_STD_MASK_ID_1,

	.mask = TEST_CAN_STD_MASK

};



/**

 * @brief Standard (11-bit) CAN ID masked filter 2. This filter matches

 * ``test_std_frame_2``.

 */

const struct can_filter test_std_masked_filter_2 = {

	.flags = CAN_FILTER_DATA,

	.id = TEST_CAN_STD_MASK_ID_2,

	.mask = TEST_CAN_STD_MASK

};



/**

 * @brief Extended (29-bit) CAN ID filter 1. This filter matches

 * ``test_ext_frame_1``.

 */

const struct can_filter test_ext_filter_1 = {

	.flags = CAN_FILTER_DATA | CAN_FILTER_IDE,

	.id = TEST_CAN_EXT_ID_1,

	.mask = CAN_EXT_ID_MASK

};



/**

 * @brief Extended (29-bit) CAN ID filter 2. This filter matches

 * ``test_ext_frame_2``.

 */

const struct can_filter test_ext_filter_2 = {

	.flags = CAN_FILTER_DATA | CAN_FILTER_IDE,

	.id = TEST_CAN_EXT_ID_2,

	.mask = CAN_EXT_ID_MASK

};



/**

 * @brief Extended (29-bit) CAN ID masked filter 1. This filter matches

 * ``test_ext_frame_1``.

 */

const struct can_filter test_ext_masked_filter_1 = {

	.flags = CAN_FILTER_DATA | CAN_FILTER_IDE,

	.id = TEST_CAN_EXT_MASK_ID_1,

	.mask = TEST_CAN_EXT_MASK

};



/**

 * @brief Extended (29-bit) CAN ID masked filter 2. This filter matches

 * ``test_ext_frame_2``.

 */

const struct can_filter test_ext_masked_filter_2 = {

	.flags = CAN_FILTER_DATA | CAN_FILTER_IDE,

	.id = TEST_CAN_EXT_ID_1,

	.mask = TEST_CAN_EXT_MASK

};



/**

 * @brief Standard (11-bit) CAN ID RTR filter 1. This filter matches

 * ``test_std_rtr_frame_1``.

 */

const struct can_filter test_std_rtr_filter_1 = {

	.flags = CAN_FILTER_RTR,

	.id = TEST_CAN_STD_ID_1,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Extended (29-bit) CAN ID RTR filter 1. This filter matches

 * ``test_ext_rtr_frame_1``.

 */

const struct can_filter test_ext_rtr_filter_1 = {

	.flags = CAN_FILTER_RTR | CAN_FILTER_IDE,

	.id = TEST_CAN_EXT_ID_1,

	.mask = CAN_EXT_ID_MASK

};



/**

 * @brief Standard (11-bit) CAN ID filter. This filter matches

 * ``TEST_CAN_SOME_STD_ID``.

 */

const struct can_filter test_std_some_filter = {

	.flags = CAN_FILTER_DATA,

	.id = TEST_CAN_SOME_STD_ID,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Standard (11-bit) CAN-FD ID filter 1. This filter matches

 * ``test_std_fdf_frame_1``.

 */

const struct can_filter test_std_fdf_filter_1 = {

	.flags = CAN_FILTER_DATA | CAN_FILTER_FDF,

	.id = TEST_CAN_STD_ID_1,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Standard (11-bit) CAN-FD ID filter 2. This filter matches

 * ``test_std_fdf_frame_2``.

 */

const struct can_filter test_std_fdf_filter_2 = {

	.flags = CAN_FILTER_DATA | CAN_FILTER_FDF,

	.id = TEST_CAN_STD_ID_2,

	.mask = CAN_STD_ID_MASK

};



/**

 * @brief Assert that two CAN frames are equal given a CAN ID mask.

 *

 * @param frame1  First CAN frame.

 * @param frame2  Second CAN frame.

 * @param id_mask CAN ID mask.

 */

void assert_frame_equal(const struct can_frame *frame1,

			const struct can_frame *frame2,

			uint32_t id_mask)

{

	zassert_equal(frame1->flags, frame2->flags, "Flags do not match");

	zassert_equal(frame1->id | id_mask, frame2->id | id_mask, "ID does not match");

	zassert_equal(frame1->dlc, frame2->dlc, "DLC does not match");

	zassert_mem_equal(frame1->data, frame2->data, frame1->dlc, "Received data differ");

}

tests/drivers/can/api/src/common.h

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Original line number Diff line number Diff line 
/*

 * Copyright (c) 2022 Vestas Wind Systems A/S

 * Copyright (c) 2019 Alexander Wachter

 *

 * SPDX-License-Identifier: Apache-2.0

 */



#include <zephyr/device.h>

#include <zephyr/drivers/can.h>

#include <zephyr/kernel.h>



/**

 * Test bitrates in bits/second.

 */

#define TEST_BITRATE_1 125000

#define TEST_BITRATE_2 250000

#define TEST_BITRATE_3 1000000



/**

 * Test sample points in per mille.

 */

#define TEST_SAMPLE_POINT 875

#define TEST_SAMPLE_POINT_2 750



/**

 * @brief Test timeouts.

 */

#define TEST_SEND_TIMEOUT    K_MSEC(100)

#define TEST_RECEIVE_TIMEOUT K_MSEC(100)

#define TEST_RECOVER_TIMEOUT K_MSEC(100)



/**

 * @brief Standard (11-bit) CAN IDs and masks used for testing.

 */

#define TEST_CAN_STD_ID_1      0x555

#define TEST_CAN_STD_ID_2      0x556

#define TEST_CAN_STD_MASK_ID_1 0x55A

#define TEST_CAN_STD_MASK_ID_2 0x56A

#define TEST_CAN_STD_MASK      0x7F0

#define TEST_CAN_SOME_STD_ID   0x123



/**

 * @brief Extended (29-bit) CAN IDs and masks used for testing.

 */

#define TEST_CAN_EXT_ID_1      0x15555555

#define TEST_CAN_EXT_ID_2      0x15555556

#define TEST_CAN_EXT_MASK_ID_1 0x1555555A

#define TEST_CAN_EXT_MASK_ID_2 0x1555556A

#define TEST_CAN_EXT_MASK      0x1FFFFFF0



/**

 * @brief Common variables.

 */

extern ZTEST_DMEM const struct device *const can_dev;

extern struct k_sem rx_callback_sem;

extern struct k_sem tx_callback_sem;

extern struct k_msgq can_msgq;



/**

 * @brief Standard (11-bit) CAN ID frame 1.

 */

extern const struct can_frame test_std_frame_1;



/**

 * @brief Standard (11-bit) CAN ID frame 2.

 */

extern const struct can_frame test_std_frame_2;



/**

 * @brief Extended (29-bit) CAN ID frame 1.

 */

extern const struct can_frame test_ext_frame_1;



/**

 * @brief Extended (29-bit) CAN ID frame 1.

 */

extern const struct can_frame test_ext_frame_2;



/**

 * @brief Standard (11-bit) CAN ID RTR frame 1.

 */

extern const struct can_frame test_std_rtr_frame_1;



/**

 * @brief Extended (29-bit) CAN ID RTR frame 1.

 */

extern const struct can_frame test_ext_rtr_frame_1;



/**

 * @brief Standard (11-bit) CAN ID frame 1 with CAN-FD payload.

 */

extern const struct can_frame test_std_fdf_frame_1;



/**

 * @brief Standard (11-bit) CAN ID frame 1 with CAN-FD payload.

 */

extern const struct can_frame test_std_fdf_frame_2;



/**

 * @brief Standard (11-bit) CAN ID filter 1. This filter matches

 * ``test_std_frame_1``.

 */

extern const struct can_filter test_std_filter_1;



/**

 * @brief Standard (11-bit) CAN ID filter 2. This filter matches

 * ``test_std_frame_2``.

 */

extern const struct can_filter test_std_filter_2;



/**

 * @brief Standard (11-bit) CAN ID masked filter 1. This filter matches

 * ``test_std_frame_1``.

 */

extern const struct can_filter test_std_masked_filter_1;



/**

 * @brief Standard (11-bit) CAN ID masked filter 2. This filter matches

 * ``test_std_frame_2``.

 */

extern const struct can_filter test_std_masked_filter_2;



/**

 * @brief Extended (29-bit) CAN ID filter 1. This filter matches

 * ``test_ext_frame_1``.

 */

extern const struct can_filter test_ext_filter_1;



/**

 * @brief Extended (29-bit) CAN ID filter 2. This filter matches

 * ``test_ext_frame_2``.

 */

extern const struct can_filter test_ext_filter_2;



/**

 * @brief Extended (29-bit) CAN ID masked filter 1. This filter matches

 * ``test_ext_frame_1``.

 */

extern const struct can_filter test_ext_masked_filter_1;



/**

 * @brief Extended (29-bit) CAN ID masked filter 2. This filter matches

 * ``test_ext_frame_2``.

 */

extern const struct can_filter test_ext_masked_filter_2;



/**

 * @brief Standard (11-bit) CAN ID RTR filter 1. This filter matches

 * ``test_std_rtr_frame_1``.

 */

extern const struct can_filter test_std_rtr_filter_1;



/**

 * @brief Extended (29-bit) CAN ID RTR filter 1. This filter matches

 * ``test_ext_rtr_frame_1``.

 */

extern const struct can_filter test_ext_rtr_filter_1;



/**

 * @brief Standard (11-bit) CAN ID filter. This filter matches

 * ``TEST_CAN_SOME_STD_ID``.

 */

extern const struct can_filter test_std_some_filter;



/**

 * @brief Standard (11-bit) CAN-FD ID filter 1. This filter matches

 * ``test_std_fdf_frame_1``.

 */

extern const struct can_filter test_std_fdf_filter_1;



/**

 * @brief Standard (11-bit) CAN-FD ID filter 2. This filter matches

 * ``test_std_fdf_frame_2``.

 */

extern const struct can_filter test_std_fdf_filter_2;



/**

 * @brief Assert that two CAN frames are equal given a CAN ID mask.

 *

 * @param frame1  First CAN frame.

 * @param frame2  Second CAN frame.

 * @param id_mask CAN ID mask.

 */

void assert_frame_equal(const struct can_frame *frame1,

			const struct can_frame *frame2,

			uint32_t id_mask);

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