test(twai): p4 twai enable ci test

components/driver/test_apps/.build-test-rules.yml

@@ -86,10 +86,6 @@ components/driver/test_apps/touch_sensor_v2:
 components/driver/test_apps/twai:
   disable:
     - if: SOC_TWAI_SUPPORTED != 1
-  disable_test:
-    - if: IDF_TARGET == "esp32p4"
-      temporary: true
-      reason: test not pass, should be re-enable # TODO: IDF-8966
   depends_filepatterns:
     - components/driver/twai/**/*
   depends_components:

components/driver/test_apps/twai/main/test_twai_interactive.c

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -16,6 +16,9 @@
 #include "soc/soc_caps.h"
 #include "esp_log.h"
 
+#define TEST_TWAI_TX_PIN     4
+#define TEST_TWAI_RX_PIN     5
+
 #if CONFIG_TWAI_ISR_IN_IRAM
 static void IRAM_ATTR test_delay_post_cache_disable(void *args)
 {
@@ -27,7 +30,7 @@ TEST_CASE("twai_listen_only", "[twai]")
 {
     twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS();
     twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
-    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(4, 5, TWAI_MODE_LISTEN_ONLY);
+    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TEST_TWAI_TX_PIN, TEST_TWAI_RX_PIN, TWAI_MODE_LISTEN_ONLY);
 #if CONFIG_TWAI_ISR_IN_IRAM
     g_config.intr_flags |= ESP_INTR_FLAG_IRAM;
 #endif
@@ -60,8 +63,8 @@ TEST_CASE("twai_remote_request", "[twai]")
     twai_handle_t bus_handle;
     twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS();
     twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
-    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(4, 5, TWAI_MODE_NORMAL);
+    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(TEST_TWAI_TX_PIN, TEST_TWAI_RX_PIN, TWAI_MODE_NORMAL);
-#if CONFIG_IDF_TARGET_ESP32C6
+#if CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32P4
     g_config.controller_id = 1;
 #endif
     TEST_ESP_OK(twai_driver_install_v2(&g_config, &t_config, &f_config, &bus_handle));

components/driver/test_apps/twai/main/test_twai_loop_back.c

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2022-2024 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -99,25 +99,27 @@ TEST_CASE("twai_mode_ext_no_ack_250kbps", "[twai-loop-back]")
         .extd = true, // Extended Frame Format (29bit ID)
     };
 
-    printf("install twai driver\r\n");
     for (int i = 0; i < SOC_TWAI_CONTROLLER_NUM; i++) {
         g_config.controller_id = i;
         g_config.tx_io = i;
         g_config.rx_io = i;
+        printf("install twai driver %d\r\n", g_config.controller_id);
         TEST_ESP_OK(twai_driver_install_v2(&g_config, &t_config, &f_config, &twai_buses[i]));
         TEST_ESP_OK(twai_start_v2(twai_buses[i]));
     }
 
-    printf("transmit message\r\n");
     for (int i = 0; i < SOC_TWAI_CONTROLLER_NUM; i++) {
+        printf("transmit message from %d\r\n", i);
+        tx_msg.data[5] = SOC_TWAI_CONTROLLER_NUM - i;
         TEST_ESP_OK(twai_transmit_v2(twai_buses[i], &tx_msg, pdMS_TO_TICKS(1000)));
     }
 
-    printf("receive message\r\n");
     twai_message_t rx_msg;
     for (int i = 0; i < SOC_TWAI_CONTROLLER_NUM; i++) {
+        printf("receive message from %d\r\n", i);
         TEST_ESP_OK(twai_receive_v2(twai_buses[i], &rx_msg, pdMS_TO_TICKS(1000)));
         TEST_ASSERT_TRUE(rx_msg.data_length_code == 6);
+        tx_msg.data[5] = SOC_TWAI_CONTROLLER_NUM - i;
         for (int i = 0; i < 6; i++) {
             TEST_ASSERT_EQUAL(tx_msg.data[i], rx_msg.data[i]);
         }

components/driver/test_apps/twai/pytest_twai.py

@@ -1,12 +1,12 @@
 # SPDX-FileCopyrightText: 2021-2023 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
-
 import logging
 import subprocess
 from time import sleep
 
 import pytest
-from can import Bus, Message
+from can import Bus
+from can import Message
 from pytest_embedded import Dut
 
 
@@ -16,6 +16,7 @@ from pytest_embedded import Dut
 @pytest.mark.esp32h2
 @pytest.mark.esp32s2
 @pytest.mark.esp32s3
+@pytest.mark.esp32p4
 @pytest.mark.generic
 @pytest.mark.parametrize(
     'config',
@@ -46,6 +47,7 @@ def fixture_create_socket_can() -> Bus:
 @pytest.mark.esp32h2
 @pytest.mark.esp32s2
 @pytest.mark.esp32s3
+@pytest.mark.esp32p4
 @pytest.mark.twai_std
 @pytest.mark.parametrize(
     'config',
@@ -79,6 +81,7 @@ def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
 @pytest.mark.esp32h2
 @pytest.mark.esp32s2
 @pytest.mark.esp32s3
+@pytest.mark.esp32p4
 @pytest.mark.twai_std
 @pytest.mark.parametrize(
     'config',