tests: drivers: can: stm32: clean up and document the CAN STM32 tests
Clean up (naming, formatting) the CAN STM32-specific test cases and add proper doxygen documentation. No functional changes. Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
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Henrik Brix Andersen
Carles Cufí
parent
52843f7f9d
commit
47236fbaa5
1 changed files with 137 additions and 109 deletions
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@ -1,50 +1,47 @@
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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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/**
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* @addtogroup t_can_driver
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* @{
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* @defgroup t_can_stm32 test_stm32_can
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* @brief TestPurpose: verify correct filter handling of stm32 driver
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* @details
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* - Test Steps
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* -# Set driver to loopback mode
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* -# Add a extended and masked filter (1 bank/filter)
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* -# Add a standard none masked filter (1/4 bank/filter)
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* -# Remove the first filter (first bank gets free) and add
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* a different standard none masked filter (1/4 bank/filter).
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* Bank 0 is extended to 4 filters/bank which leads to a left shift
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* of the first filter by 3 and tests the corner case of the last filter
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* is used.
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* -# Test message sending and receiving
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* -# Remove first filter (gets free) and add an extended filter.
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* This shrinks bank 0 to 2 filters/bank which leads to a right shift
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* of the first buffer by two.
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* -# Test message sending and receiving.
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* -# Remove both filters.
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* - Expected Results
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* -# Message reception should work in any case
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* @defgroup t_can_stm32 test_can_stm32
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* @}
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*/
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/**
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* @brief Test timeouts.
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*/
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#define TEST_SEND_TIMEOUT K_MSEC(100)
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#define TEST_RECEIVE_TIMEOUT K_MSEC(100)
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/**
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* @brief Standard (11-bit) CAN IDs and masks used for testing.
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*/
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#define TEST_CAN_STD_ID 0x555
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#define TEST_CAN_SOME_STD_ID 0x123
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/**
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* @brief Extended (29-bit) CAN IDs and masks used for testing.
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*/
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#define TEST_CAN_EXT_ID 0x15555555
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#define TEST_CAN_EXT_MASK 0x1FFFFFF0
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/**
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* @brief Global variables.
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*/
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CAN_MSGQ_DEFINE(can_msgq, 5);
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struct zcan_frame test_std_msg = {
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/**
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* @brief Standard (11-bit) CAN ID test frame.
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*/
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struct zcan_frame test_std_frame = {
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.id_type = CAN_STANDARD_IDENTIFIER,
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.rtr = CAN_DATAFRAME,
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.id = TEST_CAN_STD_ID,
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@ -52,6 +49,9 @@ struct zcan_frame test_std_msg = {
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.data = { 1, 2, 3, 4, 5, 6, 7, 8 }
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};
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/**
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* @brief Standard (11-bit) CAN ID filter.
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*/
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const struct zcan_filter test_std_filter = {
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.id_type = CAN_STANDARD_IDENTIFIER,
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.rtr = CAN_DATAFRAME,
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@ -60,6 +60,9 @@ const struct zcan_filter test_std_filter = {
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.id_mask = CAN_STD_ID_MASK
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};
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/**
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* @brief Extended (29-bit) CAN ID filter.
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*/
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const struct zcan_filter test_ext_filter = {
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.id_type = CAN_EXTENDED_IDENTIFIER,
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.rtr = CAN_DATAFRAME,
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@ -68,6 +71,9 @@ const struct zcan_filter test_ext_filter = {
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.id_mask = CAN_EXT_ID_MASK
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};
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/**
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* @brief Extended (29-bit) CAN ID masked filter.
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*/
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const struct zcan_filter test_ext_masked_filter = {
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.id_type = CAN_EXTENDED_IDENTIFIER,
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.rtr = CAN_DATAFRAME,
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@ -76,6 +82,10 @@ const struct zcan_filter test_ext_masked_filter = {
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.id_mask = TEST_CAN_EXT_MASK
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};
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/**
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* @brief Standard (11-bit) CAN ID filter. This filter matches
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* ``TEST_CAN_SOME_STD_ID``.
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*/
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const struct zcan_filter test_std_some_filter = {
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.id_type = CAN_STANDARD_IDENTIFIER,
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.rtr = CAN_DATAFRAME,
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@ -84,96 +94,114 @@ const struct zcan_filter test_std_some_filter = {
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.id_mask = CAN_STD_ID_MASK
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};
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static inline void check_msg(struct zcan_frame *msg1, struct zcan_frame *msg2)
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/**
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* @brief Assert that two CAN frames are equal.
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*
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* @param frame1 First CAN frame.
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* @param frame2 Second CAN frame.
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*/
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static inline void assert_frame_equal(const struct zcan_frame *frame1,
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const struct zcan_frame *frame2)
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{
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int cmp_res;
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zassert_equal(msg1->id_type, msg2->id_type,
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"ID type does not match");
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zassert_equal(msg1->rtr, msg2->rtr,
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"RTR bit does not match");
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zassert_equal(msg1->id, msg2->id, "ID does not match");
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zassert_equal(msg1->dlc, msg2->dlc,
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"DLC does not match");
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cmp_res = memcmp(msg1->data, msg2->data, msg1->dlc);
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zassert_equal(cmp_res, 0, "Received data differ");
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zassert_equal(frame1->id_type, frame2->id_type, "ID type does not match");
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zassert_equal(frame1->rtr, frame2->rtr, "RTR bit does not match");
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zassert_equal(frame1->id, frame2->id, "ID does not match");
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zassert_equal(frame1->dlc, frame2->dlc, "DLC does not match");
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zassert_mem_equal(frame1->data, frame2->data, frame1->dlc, "Received data differ");
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}
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static void send_test_msg(const struct device *can_dev,
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struct zcan_frame *msg)
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/**
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* @brief Send a CAN test frame with asserts.
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*
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* This function will block until the frame is transmitted or a test timeout
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* occurs.
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*
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* @param dev Pointer to the device structure for the driver instance.
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* @param frame Pointer to the CAN frame to send.
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*/
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static void send_test_frame(const struct device *dev, const struct zcan_frame *frame)
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{
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int ret;
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int err;
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ret = can_send(can_dev, msg, TEST_SEND_TIMEOUT, NULL, NULL);
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zassert_not_equal(ret, -EBUSY,
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"Arbitration though in loopback mode");
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zassert_equal(ret, 0, "Can't send a message. Err: %d", ret);
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err = can_send(dev, frame, TEST_SEND_TIMEOUT, NULL, NULL);
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zassert_not_equal(err, -EBUSY, "arbitration lost in loopback mode");
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zassert_equal(err, 0, "failed to send frame (err %d)", err);
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}
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/*
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* Test a more advanced filter handling. Add more than one filter at
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* the same time, remove and change the filters before the message.
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* This tests the internals filter handling of the driver itself.
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/**
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* @brief Test a more advanced filter handling.
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*
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* Add more than one filter at the same time, remove and change the filters
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* before sending a frame. This tests the internal filter handling of the STM32
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* driver.
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*/
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static void test_filter_handling(void)
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{
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const struct device *can_dev;
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int ret, filter_id_1, filter_id_2;
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struct zcan_frame msg_buffer;
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const struct device *dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
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struct zcan_frame frame_buffer;
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int filter_id_1;
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int filter_id_2;
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int err;
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can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
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zassert_true(device_is_ready(can_dev), "CAN device ready");
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zassert_true(device_is_ready(dev), "CAN device not ready");
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ret = can_set_mode(can_dev, CAN_LOOPBACK_MODE);
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/* Set driver to loopback mode */
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err = can_set_mode(dev, CAN_LOOPBACK_MODE);
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zassert_equal(err, 0, "failed to set loopback mode");
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filter_id_1 = can_add_rx_filter_msgq(can_dev, &can_msgq, &test_ext_masked_filter);
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zassert_not_equal(filter_id_1, -ENOSPC,
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"Filter full even for a single one");
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zassert_true((filter_id_1 >= 0), "Negative filter number");
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/* Add a extended and masked filter (1 bank/filter) */
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filter_id_1 = can_add_rx_filter_msgq(dev, &can_msgq, &test_ext_masked_filter);
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zassert_not_equal(filter_id_1, -ENOSPC, "no filters available");
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zassert_true(filter_id_1 >= 0, "negative filter number");
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filter_id_2 = can_add_rx_filter_msgq(can_dev, &can_msgq, &test_std_filter);
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zassert_not_equal(filter_id_2, -ENOSPC,
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"Filter full when adding the second one");
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zassert_true((filter_id_2 >= 0), "Negative filter number");
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/* Add a standard non-masked filter (1/4 bank/filter) */
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filter_id_2 = can_add_rx_filter_msgq(dev, &can_msgq, &test_std_filter);
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zassert_not_equal(filter_id_2, -ENOSPC, "no filters available");
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zassert_true(filter_id_2 >= 0, "negative filter number");
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can_remove_rx_filter(can_dev, filter_id_1);
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filter_id_1 = can_add_rx_filter_msgq(can_dev, &can_msgq, &test_std_some_filter);
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zassert_not_equal(filter_id_1, -ENOSPC,
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"Filter full when overriding the first one");
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zassert_true((filter_id_1 >= 0), "Negative filter number");
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/*
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* Remove the first filter (first bank gets free) and add a different
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* standard none masked filter (1/4 bank/filter). Bank 0 is extended to
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* 4 filters/bank which leads to a left shift of the first filter by 3
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* and tests the corner case of the last filter is used.
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*/
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can_remove_rx_filter(dev, filter_id_1);
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filter_id_1 = can_add_rx_filter_msgq(dev, &can_msgq, &test_std_some_filter);
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zassert_not_equal(filter_id_1, -ENOSPC, "no filters available");
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zassert_true((filter_id_1 >= 0), "negative filter number");
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send_test_msg(can_dev, &test_std_msg);
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/* Test message sending and receiving */
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send_test_frame(dev, &test_std_frame);
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err = k_msgq_get(&can_msgq, &frame_buffer, TEST_RECEIVE_TIMEOUT);
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zassert_equal(err, 0, "receive timeout");
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assert_frame_equal(&test_std_frame, &frame_buffer);
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err = k_msgq_get(&can_msgq, &frame_buffer, TEST_RECEIVE_TIMEOUT);
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zassert_equal(err, -EAGAIN, "more than one frame in the queue");
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ret = k_msgq_get(&can_msgq, &msg_buffer, TEST_RECEIVE_TIMEOUT);
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zassert_equal(ret, 0, "Receiving timeout");
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check_msg(&test_std_msg, &msg_buffer);
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/*
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* Remove first filter (gets free) and add an extended filter. This
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* shrinks bank 0 to 2 filters/bank which leads to a right shift of the
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* first buffer by two.
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*/
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can_remove_rx_filter(dev, filter_id_1);
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filter_id_1 = can_add_rx_filter_msgq(dev, &can_msgq, &test_ext_filter);
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zassert_not_equal(filter_id_1, -ENOSPC, "no filters available");
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zassert_true((filter_id_1 >= 0), "negative filter number");
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ret = k_msgq_get(&can_msgq, &msg_buffer, TEST_RECEIVE_TIMEOUT);
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zassert_equal(ret, -EAGAIN, "There is more than one msg in the queue");
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/* Test message sending and receiving */
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send_test_frame(dev, &test_std_frame);
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err = k_msgq_get(&can_msgq, &frame_buffer, TEST_RECEIVE_TIMEOUT);
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zassert_equal(err, 0, "receive timeout");
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assert_frame_equal(&test_std_frame, &frame_buffer);
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can_remove_rx_filter(can_dev, filter_id_1);
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filter_id_1 = can_add_rx_filter_msgq(can_dev, &can_msgq, &test_ext_filter);
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zassert_not_equal(filter_id_1, -ENOSPC,
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"Filter full when overriding the first one");
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zassert_true((filter_id_1 >= 0), "Negative filter number");
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send_test_msg(can_dev, &test_std_msg);
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ret = k_msgq_get(&can_msgq, &msg_buffer, TEST_RECEIVE_TIMEOUT);
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zassert_equal(ret, 0, "Receiving timeout");
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check_msg(&test_std_msg, &msg_buffer);
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can_remove_rx_filter(can_dev, filter_id_1);
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can_remove_rx_filter(can_dev, filter_id_2);
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/* Remove both filters */
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can_remove_rx_filter(dev, filter_id_1);
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can_remove_rx_filter(dev, filter_id_2);
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}
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void test_main(void)
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{
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ztest_test_suite(can_driver,
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ztest_test_suite(can_stm32_tests,
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ztest_unit_test(test_filter_handling));
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ztest_run_test_suite(can_driver);
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ztest_run_test_suite(can_stm32_tests);
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}
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