tests/conn_can: make test support CAN FD

Increase Shell buffer size for 64 bytes payload length of CAN FD frame.
This also implies to increase main thread stack size and especially for
native architectures.
Add two new sub-commands to test_can command:
* fdsend: to send a CAN FD frame
* fdsendrtr: to send a CAN FD RTR frame (payload length = 0).

Signed-off-by: Gilles DOFFE <[email protected]>

tests/drivers/candev/Makefile

@@ -5,3 +5,17 @@ USEMODULE += can
 USEMODULE += isrpipe
 
 include $(RIOTBASE)/Makefile.include
+
+# Loop delay
+ifneq (,$(filter fdcan,$(USEMODULE)))
+	ifneq (1,$(RIOT_CI_BUILD))
+		# Check your CAN transceiver datasheet to apply the good loop delay in nanoseconds.
+		# This configuration is mandatory if you are using CAN FD with bitrate switching.
+		# Can be configured here or through Kconfig
+		#CFLAGS += -DCONFIG_FDCAN_DEVICE_TRANSCEIVER_LOOP_DELAY=0
+
+	# Allow only a default value for CI
+	else
+		CFLAGS += -DCONFIG_FDCAN_DEVICE_TRANSCEIVER_LOOP_DELAY=0
+	endif
+endif

tests/sys/conn_can/Makefile

@@ -41,3 +41,23 @@ include $(RIOTBASE)/Makefile.include
 ifndef CONFIG_GNRC_PKTBUF_SIZE
   CFLAGS += -DCONFIG_GNRC_PKTBUF_SIZE=4096
 endif
+
+ifneq (,$(filter native native64,$(BOARD)))
+	CFLAGS += -DTHREAD_STACKSIZE_MAIN=8192
+else
+	CFLAGS += -DTHREAD_STACKSIZE_MAIN=2048
+endif
+
+# Loop delay
+ifneq (,$(filter fdcan,$(USEMODULE)))
+	ifneq (1,$(RIOT_CI_BUILD))
+		# Check your CAN transceiver datasheet to apply the good loop delay in nanoseconds.
+		# This configuration is mandatory if you are using CAN FD with bitrate switching.
+		# Can be configured here or through Kconfig
+		#CFLAGS += -DCONFIG_FDCAN_DEVICE_TRANSCEIVER_LOOP_DELAY=0
+
+	# Allow only a default value for CI
+	else
+		CFLAGS += -DCONFIG_FDCAN_DEVICE_TRANSCEIVER_LOOP_DELAY=0
+	endif
+endif

tests/sys/conn_can/fdcan-ci.config

@@ -0,0 +1,2 @@
+CONFIG_FDCAN_DEVICE_SET_TRANSCEIVER_LOOP_DELAY=y
+CONFIG_FDCAN_DEVICE_TRANSCEIVER_LOOP_DELAY=0

tests/sys/conn_can/main.c

@@ -34,6 +34,8 @@
 
 #include "can/can_trx.h"
 
+#define SHELL_BUFSIZE   512 /* Needed for CAN FD frame */
+
 #ifdef MODULE_TJA1042
 #include "tja1042.h"
 tja1042_trx_t tja1042 = { .trx.driver = &tja1042_driver,
@@ -95,6 +97,10 @@ static void print_usage(void)
     puts("test_can list");
     puts("test_can send ifnum can_id [B1 [B2 [B3 [B4 [B5 [B6 [B7 [B8]]]]]]]]");
     puts("test_can sendrtr ifnum can_id length(0..8)");
+#ifdef MODULE_FDCAN
+    puts("test_can fdsend ifnum can_id [B1 [B2 [B3 [B4 [B5 [B6 [B7 ... [B64]]]]]]]]");
+    puts("test_can fdsendrtr ifnum can_id length(0..64)");
+#endif
     printf("test_can recv ifnum user_id timeout can_id1 [can_id2..can_id%d]\n",
         MAX_FILTER);
     puts("test_can close user_id");
@@ -130,7 +136,7 @@ static int _list(int argc, char **argv) {
     return 0;
 }
 
-static int _send(int argc, char **argv, bool rtr)
+static int _send(int argc, char **argv, bool rtr, bool is_fd)
 {
     if (argc < 5) {
         print_usage();
@@ -150,10 +156,27 @@ static int _send(int argc, char **argv, bool rtr)
         frame.can_id = strtoul(argv[3], NULL, 16);
         frame.len = argc - 4;
     }
-    if (frame.len > 8) {
+
+#ifdef MODULE_FDCAN
+    if (is_fd) {
+        frame.flags |= CANFD_FDF;
+        if (frame.len > DEFAULT_CAN_MAX_DLEN) {
+            puts("Invalid length");
+            return 1;
+        }
+    }
+    else if (frame.len > CAN_MAX_DLEN) {
         puts("Invalid length");
         return 1;
     }
+#else
+    (void) is_fd;
+
+    if (frame.len > DEFAULT_CAN_MAX_DLEN) {
+        puts("Invalid length");
+        return 1;
+    }
+#endif
 
     if (rtr) {
         for (int i = 0; i < frame.len; i++) {
@@ -203,7 +226,17 @@ static int _receive(int argc, char **argv)
     }
     for (int i = 0; i < filt_num; i++) {
         filters[thread_nb][i].can_id = strtoul(argv[5 + i], NULL, 16);
-        filters[thread_nb][i].can_mask = 0xffffffff;
+        if (filters[thread_nb][i].can_id > CAN_SFF_MASK) {
+            filters[thread_nb][i].can_mask = CAN_EFF_MASK;
+        }
+        else {
+            filters[thread_nb][i].can_mask = CAN_SFF_MASK;
+        }
+    }
+    if (filt_num <= 0) {
+        filt_num = 1;
+        filters[thread_nb][0].can_id = 0;
+        filters[thread_nb][0].can_mask = 0;
     }
     uint32_t timeout = strtoul(argv[4], NULL, 0);
     msg_t msg;
@@ -541,11 +574,19 @@ static int _can_handler(int argc, char **argv)
         return _list(argc, argv);
     }
     else if (strncmp(argv[1], "send", 5) == 0) {
-        return _send(argc, argv, false);
+        return _send(argc, argv, false, false);
     }
     else if (strncmp(argv[1], "sendrtr", 8) == 0) {
-        return _send(argc, argv, true);
+        return _send(argc, argv, true, false);
+    }
+#ifdef MODULE_FDCAN
+    else if (strncmp(argv[1], "fdsend", 5) == 0) {
+        return _send(argc, argv, false, true);
     }
+    else if (strncmp(argv[1], "fdsendrtr", 8) == 0) {
+        return _send(argc, argv, true, true);
+    }
+#endif
     else if (strncmp(argv[1], "recv", 5) == 0) {
         return _receive(argc, argv);
     }
@@ -736,8 +777,8 @@ int main(void)
                                        (void*)i, "receive_thread");
     }
 
-    char line_buf[SHELL_DEFAULT_BUFSIZE];
-    shell_run(_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
+    char line_buf[SHELL_BUFSIZE];
+    shell_run(_commands, line_buf, SHELL_BUFSIZE);
 
     return 0;
 }