From 3347170db07d514e18d7a8f50705ae4f1da920a1 Mon Sep 17 00:00:00 2001 From: Gilles DOFFE Date: Fri, 26 Jan 2024 17:50:17 +0100 Subject: [PATCH] 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 --- tests/drivers/candev/Makefile | 14 ++++++++ tests/sys/conn_can/Makefile | 20 +++++++++++ tests/sys/conn_can/fdcan-ci.config | 2 ++ tests/sys/conn_can/main.c | 55 ++++++++++++++++++++++++++---- 4 files changed, 84 insertions(+), 7 deletions(-) create mode 100644 tests/sys/conn_can/fdcan-ci.config diff --git a/tests/drivers/candev/Makefile b/tests/drivers/candev/Makefile index 84888ad9e0c6..4b72e965938a 100644 --- a/tests/drivers/candev/Makefile +++ b/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 diff --git a/tests/sys/conn_can/Makefile b/tests/sys/conn_can/Makefile index 4cf3e05a190f..75f82e40a27a 100644 --- a/tests/sys/conn_can/Makefile +++ b/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 diff --git a/tests/sys/conn_can/fdcan-ci.config b/tests/sys/conn_can/fdcan-ci.config new file mode 100644 index 000000000000..8b646dafe787 --- /dev/null +++ b/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 diff --git a/tests/sys/conn_can/main.c b/tests/sys/conn_can/main.c index 83ae6187c2c5..ba833cb6d291 100644 --- a/tests/sys/conn_can/main.c +++ b/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; }