tests: drivers: can: timing: convert to the new ztest framework
Convert the CAN timing test to the new ztest framework. Restructure the tests a bit to improve code readability and add doxygen documentation. Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
This commit is contained in:
Henrik Brix Andersen
Carles Cufí
parent
8ef4832f81
commit
26e95fac28
2 changed files with 171 additions and 88 deletions
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@ -1,2 +1,3 @@
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CONFIG_CAN=y
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CONFIG_ZTEST=y
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CONFIG_ZTEST_NEW_API=y
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@ -1,130 +1,212 @@
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/*
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* Copyright (c) 2022 Vestas Wind Systems A/S
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* Copyright (c) 2019 Alexander Wachter
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <drivers/can.h>
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#include <ztest.h>
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#include <strings.h>
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/*
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* @addtogroup t_can_driver
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/**
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* @addtogroup t_driver_can
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* @{
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* @defgroup t_can_timing test_basic_can_timing
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* @brief TestPurpose: verify timing algorithm
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* @details
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* - Test Steps
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* -# Calculate timing for a sample
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* -# Verify sample point
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* -# verify bitrate
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* - Expected Results
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* -# All tests MUST pass
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* @defgroup t_can_timing test_can_timing
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* @}
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*/
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const struct device *can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
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struct timing_samples {
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uint32_t bitrate;
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uint16_t sp;
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bool inval;
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};
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const struct timing_samples samples[] = {
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{125000, 875, false},
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{500000, 875, false},
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{1000000, 875, false},
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{125000, 900, false},
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{125000, 800, false},
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#ifdef CONFIG_CAN_FD_MODE
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{1000000 + 1, 875, true},
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#else
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{8000000 + 1, 875, true},
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#endif
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{125000, 1000, true},
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};
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/*
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* Bitrate must match exactly
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/**
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* @brief Allowed sample point calculation margin in permille.
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*/
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static void verify_bitrate(struct can_timing *timing, uint32_t bitrate)
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#define SAMPLE_POINT_MARGIN 100
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/**
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* @brief Defines a set of CAN timing test values
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*/
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struct can_timing_test {
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/** Desired bitrate in bits/s */
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uint32_t bitrate;
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/** Desired sample point in permille */
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uint16_t sp;
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/** Do these values represent an invalid CAN timing? */
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bool invalid;
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};
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/**
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* @brief List of CAN timing values to test.
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*/
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static const struct can_timing_test can_timing_tests[] = {
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/** Standard bitrates. */
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{ 125000, 875, false },
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{ 500000, 875, false },
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{ 1000000, 875, false },
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/** Additional, valid sample points. */
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{ 125000, 900, false },
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{ 125000, 800, false },
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/** Valid bitrate, invalid sample point. */
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{ 125000, 1000, true },
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#ifdef CONFIG_CAN_FD_MODE
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/** Invalid CAN-FD bitrate, valid sample point. */
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{ 8000000 + 1, 875, true },
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#else /* CONFIG_CAN_FD_MODE */
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/** Invalid classical bitrate, valid sample point. */
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{ 1000000 + 1, 875, true },
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#endif /* CONFIG_CAN_FD_MODE */
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};
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/**
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* @brief CAN timing test fixture
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*/
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struct can_timing_tests_fixture {
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/** CAN device. */
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const struct device *dev;
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/** List of CAN timing test values. */
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const struct can_timing_test *tests;
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/** Number of CAN timing test list entries. */
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const size_t test_count;
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};
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/**
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* @brief CAN timing test fixture instance common to all test cases
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*/
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static struct can_timing_tests_fixture test_fixture = {
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.dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus)),
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.tests = can_timing_tests,
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.test_count = ARRAY_SIZE(can_timing_tests),
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};
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/**
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* @brief CAN timing test setup function
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*
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* Asserts that the CAN device is ready before starting tests.
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*
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* @return Pointer to CAN timing test fixture instance
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*/
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static void *can_timing_test_setup(void)
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{
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const uint32_t ts = 1 + timing->prop_seg + timing->phase_seg1 +
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timing->phase_seg2;
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zassert_true(device_is_ready(test_fixture.dev), "CAN device not ready");
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printk("testing on device %s\n", test_fixture.dev->name);
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return &test_fixture;
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}
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ZTEST_SUITE(can_timing_tests, NULL, can_timing_test_setup, NULL, NULL, NULL);
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/**
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* @brief Assert that a CAN timing struct matches the specified bitrate
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*
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* Assert that the values of a CAN timing struct matches the specified bitrate
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* for a given CAN controller device instance.
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*
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* @param dev pointer to the device structure for the driver instance
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* @param timing pointer to the CAN timing struct
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* @param bitrate the CAN bitrate in bits/s
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*/
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static void assert_bitrate_correct(const struct device *dev, struct can_timing *timing,
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uint32_t bitrate)
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{
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const uint32_t ts = 1 + timing->prop_seg + timing->phase_seg1 + timing->phase_seg2;
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uint32_t core_clock;
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uint32_t bitrate_calc;
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int ret;
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int err;
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zassert_not_equal(timing->prescaler, 0, "Prescaler is zero");
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zassert_not_equal(timing->prescaler, 0, "prescaler is zero");
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ret = can_get_core_clock(can_dev, &core_clock);
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zassert_equal(ret, 0, "Unable to get core clock");
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err = can_get_core_clock(dev, &core_clock);
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zassert_equal(err, 0, "failed to get core CAN clock");
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bitrate_calc = core_clock / timing->prescaler / ts;
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zassert_equal(bitrate, bitrate_calc, "Bitrate missmatch");
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zassert_equal(bitrate, bitrate_calc, "bitrate mismatch");
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}
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/*
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* SP must be withing the margin and in bound of the limits
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/**
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* @brief Assert that a CAN timing struct is within the bounds
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*
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* Assert that the values of a CAN timing struct are within the bounds for a
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* given CAN controller device instance.
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*
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* @param dev pointer to the device structure for the driver instance
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* @param timing pointer to the CAN timing struct
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*/
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static void verify_sp(struct can_timing *timing, uint16_t sp,
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uint16_t sp_margin)
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static void assert_timing_within_bounds(const struct device *dev, struct can_timing *timing)
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{
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const struct can_driver_api *api =
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(const struct can_driver_api *)can_dev->api;
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const struct can_driver_api *api = (const struct can_driver_api *)dev->api;
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const struct can_timing *max = &api->timing_max;
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const struct can_timing *min = &api->timing_min;
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uint32_t ts = 1 + timing->prop_seg + timing->phase_seg1 +
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timing->phase_seg2;
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uint16_t sp_calc =
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((1 + timing->prop_seg + timing->phase_seg1) * 1000) / ts;
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zassert_true(timing->prop_seg <= max->prop_seg, "prop_seg exceeds max");
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zassert_true(timing->phase_seg1 <= max->phase_seg1,
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"phase_seg1 exceeds max");
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zassert_true(timing->phase_seg2 <= max->phase_seg2,
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"phase_seg2 exceeds max");
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zassert_true(timing->prop_seg >= min->prop_seg,
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"prop_seg lower than min");
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zassert_true(timing->phase_seg1 >= min->phase_seg1,
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"phase_seg1 lower than min");
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zassert_true(timing->phase_seg2 >= min->phase_seg2,
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"phase_seg2 lower than min");
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zassert_true(timing->phase_seg1 <= max->phase_seg1, "phase_seg1 exceeds max");
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zassert_true(timing->phase_seg2 <= max->phase_seg2, "phase_seg2 exceeds max");
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zassert_within(sp, sp_calc, sp_margin, "SP error %d [%d] not within %d",
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sp_calc, sp, sp_margin);
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zassert_true(timing->prop_seg >= min->prop_seg, "prop_seg lower than min");
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zassert_true(timing->phase_seg1 >= min->phase_seg1, "phase_seg1 lower than min");
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zassert_true(timing->phase_seg2 >= min->phase_seg2, "phase_seg2 lower than min");
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}
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/*
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* Verify the result of the algorithm
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/**
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* @brief Assert that a sample point is within a specified margin
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*
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* Assert that values of a CAN timing struct results in a specified sample point
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* within a given margin.
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*
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* @param timing pointer to the CAN timing struct
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* @param sp sample point in permille
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* @param sp_margin sample point margin in permille
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*/
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static void test_verify_algo(void)
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static void assert_sp_within_margin(struct can_timing *timing, uint16_t sp, uint16_t sp_margin)
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{
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struct can_timing timing = {0};
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int ret;
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const uint32_t ts = 1 + timing->prop_seg + timing->phase_seg1 + timing->phase_seg2;
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const uint16_t sp_calc = ((1 + timing->prop_seg + timing->phase_seg1) * 1000) / ts;
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for (int i = 0; i < ARRAY_SIZE(samples); ++i) {
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ret = can_calc_timing(can_dev, &timing, samples[i].bitrate,
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samples[i].sp);
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if (samples[i].inval) {
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zassert_equal(ret, -EINVAL,
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"ret value %d not -EINVAL", ret);
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continue;
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}
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zassert_within(sp, sp_calc, sp_margin,
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"sample point %d not within calculated sample point %d +/- %d",
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sp, sp_calc, sp_margin);
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}
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zassert_true(ret >= 0, "Unknown error %d", ret);
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/* For the given values, we expect a sp error < 10% */
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zassert_true(ret < 100, "Huge sample point error %d", ret);
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verify_sp(&timing, samples[i].sp, ret);
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verify_bitrate(&timing, samples[i].bitrate);
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/**
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* @brief Test a set of CAN timing values
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*
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* Test a set of CAN timing values on a specified CAN controller device
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* instance.
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*
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* @param dev pointer to the device structure for the driver instance
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* @param test pointer to the set of CAN timing values
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*/
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static void test_timing_values(const struct device *dev, const struct can_timing_test *test)
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{
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struct can_timing timing = { 0 };
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int err;
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printk("testing bitrate %u, sample point %u.%u%% (%s): ",
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test->bitrate, test->sp / 10, test->sp % 10, test->invalid ? "invalid" : "valid");
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err = can_calc_timing(dev, &timing, test->bitrate, test->sp);
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if (test->invalid) {
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zassert_equal(err, -EINVAL, "err %d, expected -EINVAL", err);
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printk("OK\n");
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} else {
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zassert_true(err >= 0, "unknown error %d", err);
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zassert_true(err <= SAMPLE_POINT_MARGIN, "sample point error %d too large", err);
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assert_bitrate_correct(dev, &timing, test->bitrate);
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assert_timing_within_bounds(dev, &timing);
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assert_sp_within_margin(&timing, test->sp, SAMPLE_POINT_MARGIN);
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printk("OK, sample point error %d.%d%%\n", err / 10, err % 10);
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}
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}
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void test_main(void)
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/**
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* @brief Test all CAN timing values
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*
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* @param this Pointer to a CAN timing test fixture
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*/
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ZTEST_F(can_timing_tests, test_timing)
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{
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zassert_true(device_is_ready(can_dev), "CAN device not ready");
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int i;
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ztest_test_suite(can_timing,
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ztest_unit_test(test_verify_algo));
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ztest_run_test_suite(can_timing);
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for (i = 0; i < this->test_count; i++) {
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test_timing_values(this->dev, &this->tests[i]);
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}
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}
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