mirror of
https://github.com/espressif/esp-idf.git
synced 2024-10-05 20:47:46 -04:00
90 lines
3.0 KiB
C
90 lines
3.0 KiB
C
/*
|
|
* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
|
|
*
|
|
* SPDX-License-Identifier: Apache-2.0
|
|
*/
|
|
|
|
#include <stdio.h>
|
|
#include <inttypes.h>
|
|
#include "sdkconfig.h"
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "esp_attr.h"
|
|
#include "unity.h"
|
|
#include "unity_test_utils.h"
|
|
#include "driver/twai.h"
|
|
#include "soc/soc_caps.h"
|
|
#include "esp_log.h"
|
|
|
|
#if CONFIG_TWAI_ISR_IN_IRAM
|
|
static void IRAM_ATTR test_delay_post_cache_disable(void *args)
|
|
{
|
|
esp_rom_delay_us(1000);
|
|
}
|
|
#endif
|
|
|
|
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);
|
|
#if CONFIG_TWAI_ISR_IN_IRAM
|
|
g_config.intr_flags |= ESP_INTR_FLAG_IRAM;
|
|
#endif
|
|
// listen only mode doesn't need a tx queue
|
|
g_config.tx_queue_len = 0;
|
|
TEST_ESP_OK(twai_driver_install(&g_config, &t_config, &f_config));
|
|
TEST_ESP_OK(twai_start());
|
|
|
|
#if CONFIG_TWAI_ISR_IN_IRAM
|
|
printf("disable flash cache and check if we can still receive the frame\n");
|
|
for (int i = 0; i < 100; i++) {
|
|
unity_utils_run_cache_disable_stub(test_delay_post_cache_disable, NULL);
|
|
}
|
|
#endif
|
|
|
|
uint8_t expected_data[8] = {0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88};
|
|
twai_message_t rx_msg;
|
|
TEST_ESP_OK(twai_receive(&rx_msg, portMAX_DELAY));
|
|
|
|
TEST_ASSERT_EQUAL(0x123, rx_msg.identifier);
|
|
ESP_LOG_BUFFER_HEX("rx", rx_msg.data, rx_msg.data_length_code);
|
|
TEST_ASSERT_EQUAL_HEX8_ARRAY(expected_data, rx_msg.data, rx_msg.data_length_code);
|
|
|
|
TEST_ESP_OK(twai_stop());
|
|
TEST_ESP_OK(twai_driver_uninstall());
|
|
}
|
|
|
|
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);
|
|
#if CONFIG_IDF_TARGET_ESP32C6
|
|
g_config.controller_id = 1;
|
|
#endif
|
|
TEST_ESP_OK(twai_driver_install_v2(&g_config, &t_config, &f_config, &bus_handle));
|
|
TEST_ESP_OK(twai_start_v2(bus_handle));
|
|
|
|
twai_message_t req_msg = {
|
|
.identifier = 0x6688,
|
|
.data_length_code = 8,
|
|
.rtr = true, // remote request
|
|
.extd = true,// extended ID
|
|
};
|
|
TEST_ESP_OK(twai_transmit_v2(bus_handle, &req_msg, portMAX_DELAY));
|
|
ESP_LOGI("TWAI", "send remote frame");
|
|
|
|
uint8_t expected_data[8] = {0x10, 0x20, 0x30, 0x40, 0x50, 0x60, 0x70, 0x80};
|
|
twai_message_t res_msg;
|
|
TEST_ESP_OK(twai_receive_v2(bus_handle, &res_msg, portMAX_DELAY));
|
|
ESP_LOGI("TWAI", "receive with id %lx\n", res_msg.identifier);
|
|
TEST_ASSERT_EQUAL(0x6688, res_msg.identifier);
|
|
ESP_LOG_BUFFER_HEX("rx", res_msg.data, res_msg.data_length_code);
|
|
TEST_ASSERT_EQUAL_HEX8_ARRAY(expected_data, res_msg.data, res_msg.data_length_code);
|
|
|
|
TEST_ESP_OK(twai_stop_v2(bus_handle));
|
|
TEST_ESP_OK(twai_driver_uninstall_v2(bus_handle));
|
|
}
|