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. Fix frame length test to allow the 64 bytes of payload. Activate CAN FD bitrate switching and CAN FD frame format by default when module fdcan is activated. Signed-off-by: Gilles DOFFE <[email protected]>
RIOT-OS · Feb 23, 2024 · 6dc15f5 · 6dc15f5
1 parent 1081e1c
commit 6dc15f5
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Showing 2 changed files with 10 additions and 3 deletions.
diff --git a/tests/sys/conn_can/Makefile b/tests/sys/conn_can/Makefile
@@ -41,3 +41,5 @@ include $(RIOTBASE)/Makefile.include
 ifndef CONFIG_GNRC_PKTBUF_SIZE
   CFLAGS += -DCONFIG_GNRC_PKTBUF_SIZE=4096
 endif
+
+CFLAGS += -DTHREAD_STACKSIZE_MAIN=2048
diff --git 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,
@@ -150,7 +152,7 @@ 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) {
+    if (frame.len > DEFAULT_CAN_MAX_DLEN) {
         puts("Invalid length");
         return 1;
     }
@@ -164,6 +166,9 @@ static int _send(int argc, char **argv, bool rtr)
             frame.data[i] = strtol(argv[4 + i], NULL, 16);
         }
     }
+#ifdef MODULE_FDCAN
+    frame.flags |= CANFD_BRS | CANFD_FDF;
+#endif
 
     conn_can_raw_t conn;
     conn_can_raw_create(&conn, NULL, 0, ifnum, 0);
@@ -736,8 +741,8 @@ 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;
 }