Add a bunch of missing "zephyr/" prefixes to #include statements in
various test and test framework files.
Signed-off-by: Fabio Baltieri <fabiobaltieri@google.com>
Exclude the 20kbit/s CAN timing test from running on the Espressif ESP32
TWAI driver. The TWAI does not support bitrates below 50kbit/s due to the
combination of CAN clock and prescaler range.
Signed-off-by: Henrik Brix Andersen <henrik@brixandersen.dk>
Add support for enabling/disabling CAN-FD frame transmission/reception at
run-time.
Fixes: #45303
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Convert the can_mode enum to a bit field to prepare for future extensions
(CAN-FD mode, transmitter delay compensation, one-shot mode, 3-samples
mode, ...).
Rename the existing modes:
- CAN_NORMAL_MODE -> CAN_MODE_NORMAL
- CAN_SILENT_MODE -> CAN_MODE_LISTENONLY
- CAN_LOOPBACK_MODE -> CAN_MODE_LOOPBACK
These mode names align with the Linux naming for CAN control modes.
The old CAN_SILENT_LOOPBACK_MODE can be set with the bitmask
(CAN_MODE_LISTENONLY | CAN_MODE_LOOPBACK).
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Rename the CAN data phase API functions to timing_data_* for consistency:
- can_get_timing_min_data() -> can_get_timing_data_min()
- can_get_timing_max_data() -> can_get_timing_data_max()
- .timing_min_data -> timing_data_min
- .timing_max_data -> timing_data_max
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
In order to bring consistency in-tree, migrate all tests to the new
prefix <zephyr/...>. Note that the conversion has been scripted, refer
to #45388 for more details.
Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
Print the CAN core clock frequency along with the device name to aid in
debugging CAN timing test case errors.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Tighten the sample point test acceptance criteria from +/- 10.0% to +/-
5.0%. This is in line with the CAN sample point criteria used by the
Linux kernel.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Do not overwrite the sample point error value as it is printed at the
very end of the test.
Fixes: 578454b78d
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Add simple test of the can_set_state_change_callback() API. It is not
possible to trigger a change of state, but at least test the API call
with and without a callback function.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Add a build-only test for the Microchip MCP2515 SPI CAN controller
driver since no in-tree boards have this chip.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
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>
Adjust the sample point locations for the higher bitrates to match those
used in the Linux kernel. These sample points are much more likely to be
met for a wider set of CAN controllers and their timing parameter
boundaries.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Limit the CAN utilities tests to run on the native_posix/native_posix_64
boards. There is no need to run this on 400+ boards.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Move the CAN utilities tests to the tests/drivers/can/ directory. The
tests/subsys/canbus directory is for tests related to code located in
subsys/canbus.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Extend the CAN driver timing tests to cover data phase timing on CAN-FD
capable CAN controllers.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Extend the CAN driver timing calculation test verification to cover the
sjw and prescaler values.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Include a pointer to the CAN controller device for the CAN
transmit, receive, and state change callback functions.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
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>
- Filter out the CAN controller driver tests if no zephyr,canbus chosen
node is enabled in the devicetree.
- Rename the tests to follow the general test naming scheme.
- Remove the dedicated test selection for native_posix boards
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Filter out boards without st,stm32-can compatibles enabled in their
devicetree in the stm32-specific CAN driver test.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Rename a few CAN API functions for clarity and consistency with other
Zephyr RTOS APIs.
CAN_DEFINE_MSGQ() becomes CAN_MSGQ_DEFINE() to match K_MSGQ_DEFINE().
can_attach_isr() becomes can_add_rx_filter() since a filter callback
function is not an interrupt service routine (although it is called in
isr context). The word "attach" is replaced with "add" since filters are
added, not attached. This matches the terminology used is other Zephyr
APIs better.
can_detach() becomes can_remove_rx_filter() to pair with
can_add_rx_filter().
can_attach_msgq() becomes can_add_rx_filter_msgq() and documentation is
updated to mention its relationship with can_add_rx_filter().
can_register_state_change_isr() becomes can_set_state_change_callback()
since a state change callback function is not an interrupt service
routine (although it is called in isr context). The word "register" is
replaced with "set" since only one state change callback can be in
place.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Convert the CAN loopback driver from being configured via Kconfig to
multi-instance configured via devicetree.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Change the can_tx_callback_t function signature to use an "int" (not an
uint32_t) for representing transmission errors.
The "error" callback function parameter is functionally equivalent to
the return value from can_send() and thus needs to use the same data
type and needs to be able to hold negative errno values.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Remove the tests for can_attach_workq() and convert the
test_send_receive_buffer() test case to using a message queue.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Deprecate the use of CAN-specific error return values and replace them
with standard errno values.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Remove the DT_CHOSEN_ZEPHYR_CANBUS_LABEL macro and replace it with
DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus)) were possible.
Where both devicetree CAN controllers and Kconfig specified CAN loopback
controllers are supported, the macro is replaced with
DT_LABEL(DT_CHOSEN(zephyr_canbus)) for now.
This is the first pass for removing the requirement for devicetree
labels for CAN controllers.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Rename the Zephyr chosen property for specifying the default CAN bus
controller from "zephyr,can-primary" to "zephyr,canbus".
The "zephyr,can-primary" property name was selected in antipation of
adding support for redundant CAN networks, which we have yet to
add. Meanwhile, the "primary" term causes confusion for non-redundant
CAN bus configurations (and the "can" term doesn't match the name of the
Zephyr CAN bus subsystem).
The CAN in Automation (CiA) 302-6, which deals with CANopen network
redundancy, uses the terms "default interface" and "redundant
interface". If/when we add support for redundant CAN networks, the
"zephyr,canbus" chosen property can be supplemented with a
"zephyr,canbus-redundant" chosen property.
Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>
Move to CMake 3.20.0.
At the Toolchain WG it was decided to move to CMake 3.20.0.
The main reason for increasing CMake version is better toolchain
support.
Better toolchain support is added in the following CMake versions:
- armclang, CMake 3.15
- Intel oneAPI, CMake 3.20
- IAR, CMake 3.15 and 3.20
Signed-off-by: Torsten Rasmussen <Torsten.Rasmussen@nordicsemi.no>
This commit enhances the CAN API test. In the send_receive tests,
we are using two filters and frames at the same time to check
if the frame gets dispatched to the correct filter.
Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
If the prescaler is zero in the test, a div by zero would happen.
Add an assert to check for zero prescaler.
Fix CID 216790
Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
Added tests for the timing algorithm.
The tests calculate timings for some bitrates with sample-points
and verify the results.
Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
Reordering of the struct elements to match the Linux format.
The __packed() is not necessary anymore.
std_id and ext_id is merged to id in the frame and filter.
Additionally, the frames are ready for CAN-FD.
Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
The previous API can't change the sampling-point and only allowed
bitrates that fit the time segments.
The new API allows for shifting the sampling-point and adjusts the
number of time quantum in a bit to all more possible bitrates.
The functions to calculate the timings are moved to the can_common file.
They can be used for all drivers.
Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
Now that device_api attribute is unmodified at runtime, as well as all
the other attributes, it is possible to switch all device driver
instance to be constant.
A coccinelle rule is used for this:
@r_const_dev_1
disable optional_qualifier
@
@@
-struct device *
+const struct device *
@r_const_dev_2
disable optional_qualifier
@
@@
-struct device * const
+const struct device *
Fixes#27399
Signed-off-by: Tomasz Bursztyka <tomasz.bursztyka@linux.intel.com>
... because it is (required).
This makes a difference when building with CMake and forgetting
ZEPHYR_BASE or not registering Zephyr in the CMake package registry.
In this particular case, REQUIRED turns this harmless looking log
statement:
-- Could NOT find Zephyr (missing: Zephyr_DIR)
-- The C compiler identification is GNU 9.3.0
-- The CXX compiler identification is GNU 9.3.0
-- Check for working C compiler: /usr/bin/cc
-- ...
-- ...
-- ...
-- Detecting CXX compile features
-- Detecting CXX compile features - done
CMake Error at CMakeLists.txt:8 (target_sources):
Cannot specify sources for target "app" which is not built by
this project.
... into this louder, clearer, faster and (last but not least) final
error:
CMake Error at CMakeLists.txt:5 (find_package):
Could not find a package configuration file provided by "Zephyr" with
any of the following names:
ZephyrConfig.cmake
zephyr-config.cmake
Add the installation prefix of "Zephyr" to CMAKE_PREFIX_PATH or set
"Zephyr_DIR" to a directory containing one of the above files. If
"Zephyr" provides a separate development package or SDK, be sure it
has been installed.
-- Configuring incomplete, errors occurred!
Signed-off-by: Marc Herbert <marc.herbert@intel.com>
Convert CAN to use a chosen node property that is similar to how we
handle zephyr,entroy or zephyr,flash-controller as the means to select a
specific peripheral instance utilized by a subsystem.
Replace references of the form:
alias {
can-primary = &can1;
};
with:
chosen {
zephyr,can-primary = &can1;
};
Replace various macro/define references with either
DT_CHOSEN(zephyr_can_primary) or replace DT_ALIAS_CAN_PRIMARY_LABEL
with DT_CHOSEN_ZEPHYR_CAN_PRIMARY_LABEL.
Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
Using find_package to locate Zephyr.
Old behavior was to use $ENV{ZEPHYR_BASE} for inclusion of boiler plate
code.
Whenever an automatic run of CMake happend by the build system / IDE
then it was required that ZEPHYR_BASE was defined.
Using ZEPHYR_BASE only to locate the Zephyr package allows CMake to
cache the base variable and thus allowing subsequent invocation even
if ZEPHYR_BASE is not set in the environment.
It also removes the risk of strange build results if a user switchs
between different Zephyr based project folders and forgetting to reset
ZEPHYR_BASE before running ninja / make.
Signed-off-by: Torsten Rasmussen <Torsten.Rasmussen@nordicsemi.no>
This commit introduces the can-primary alias to identify
the primary CAN interface.
This alias is used for all samples and tests, so they don't
need to probe the right interface.
Signed-off-by: Alexander Wachter <alexander@wachter.cloud>
The seasonal overhaul of test identifiers aligning the terms being used
and creating a structure. This is hopefully the last time we do this,
plan is to document the identifiers and enforce syntax.
The end-goal is to be able to generate a testsuite description from the
existing tests and sync it frequently with the testsuite in Testrail.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
This commit limits the data length code to eight.
DLC > 8 returns a newly introduced CAN_TX_EINVAL error code.
Signed-off-by: Alexander Wachter <alexander.wachter@student.tugraz.at>
According to the comment in #20008 I found out that some test cases
for different tests have same names.
To get rid of it, I decided to change test cases names.
Signed-off-by: Maksim Masalski <maksim.masalski@intel.com>
No test verifies a TX callback for successful transfers.
This commit adds a test for those callbacks.
Signed-off-by: Alexander Wachter <alexander.wachter@student.tugraz.at>
move can.h to drivers/can.h and
create a shim for backward-compatibility.
No functional changes to the headers.
A warning in the shim can be controlled with CONFIG_COMPAT_INCLUDES.
Related to #16539
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
Define DT_CAN_1_NAME as an empty string if it is not defined.
This is useful for buildtest where no HW is available.
Signed-off-by: Alexander Wachter <alexander.wachter@student.tugraz.at>
This commit extends the CAN api can_send function by an argument
that is passed to the isr callback.
With this extension it is possible to distinguish between sent masseges
when they use the same callback.
Signed-off-by: Alexander Wachter <alexander.wachter@student.tugraz.at>
This commit extends the CAN api attach_isr function by an argument
that is passed to the isr callback.
With this extension it is possible to distinguish between filter matches
when they use the same callback.
Signed-off-by: Alexander Wachter <alexander.wachter@student.tugraz.at>
Update the files which contain no license information with the
'Apache-2.0' SPDX license identifier. Many source files in the tree are
missing licensing information, which makes it harder for compliance
tools to determine the correct license.
By default all files without license information are under the default
license of Zephyr, which is Apache version 2.
Signed-off-by: Anas Nashif <anas.nashif@intel.com>
Follow the pattern we have for other peripherals in that if the driver
class (CAN) is enabled than enable the driver for that class
(CAN_STM32). Also have the STM32 CAN driver depend on being on a STM32
SoC.
Remove setting of CONFIG_CAN_STM32 in any .conf files as it will get set
of CONFIG_CAN is set/enabled.
Signed-off-by: Kumar Gala <kumar.gala@linaro.org>
The name of the CAN message and filter was changed so this
needs to be changed too here.
Fixes#13716
Signed-off-by: Jukka Rissanen <jukka.rissanen@linux.intel.com>
This commit adds specific stm32 CAN driver testing.
The test covers filter handling.
Signed-off-by: Alexander Wachter <alexander.wachter@student.tugraz.at>
