test(twai): test with sleep retention

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

@@ -12,6 +12,9 @@
 #include "driver/twai.h"
 #include "soc/soc_caps.h"
 #include "esp_attr.h"
+#include "esp_private/sleep_cpu.h"
+#include "esp_private/esp_sleep_internal.h"
+#include "esp_private/esp_pmu.h"
 
 TEST_CASE("driver_life_cycle", "[twai-loop-back]")
 {
@@ -130,3 +133,90 @@ TEST_CASE("twai_mode_ext_no_ack_250kbps", "[twai-loop-back]")
         TEST_ESP_OK(twai_driver_uninstall_v2(twai_buses[i]));
     }
 }
+
+static void s_test_sleep_retention(bool allow_pd)
+{
+    // Prepare a TOP PD sleep
+    TEST_ESP_OK(esp_sleep_enable_timer_wakeup(1 * 1000 * 1000));
+#if ESP_SLEEP_POWER_DOWN_CPU
+    TEST_ESP_OK(sleep_cpu_configure(true));
+#endif
+    esp_sleep_context_t sleep_ctx;
+    esp_sleep_set_sleep_context(&sleep_ctx);
+
+    twai_handle_t twai_buses[SOC_TWAI_CONTROLLER_NUM] = {0};
+    twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS();
+    twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
+    // bind the TX and RX to the same GPIO to act like a loopback
+    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(0, 0, TWAI_MODE_NO_ACK);
+    g_config.general_flags.sleep_allow_pd = allow_pd;
+    twai_message_t tx_msg = {
+        .identifier = 0x12345,
+        .data_length_code = 6,
+        .data = {0x11, 0x22, 0x33, 0x44, 0x55, 0x66},
+        .self = true, // Transmitted message will also received by the same node
+        .extd = true, // Extended Frame Format (29bit ID)
+    };
+
+    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]));
+    }
+
+    printf("Going into sleep...\n");
+    TEST_ESP_OK(esp_light_sleep_start());
+    printf("Waked up!\n");
+
+    // check if the sleep happened as expected
+    TEST_ASSERT_EQUAL(0, sleep_ctx.sleep_request_result);
+#if SOC_TWAI_SUPPORT_SLEEP_RETENTION
+    // check if the power domain also is powered down
+    TEST_ASSERT_EQUAL(allow_pd ? PMU_SLEEP_PD_TOP : 0, (sleep_ctx.sleep_flags) & PMU_SLEEP_PD_TOP);
+#endif
+
+    for (int i = 0; i < SOC_TWAI_CONTROLLER_NUM; i++) {
+        TEST_ESP_OK(twai_start_v2(twai_buses[i]));
+    }
+
+    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)));
+    }
+
+    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]);
+        }
+    }
+
+    for (int i = 0; i < SOC_TWAI_CONTROLLER_NUM; i++) {
+        TEST_ESP_OK(twai_stop_v2(twai_buses[i]));
+        TEST_ESP_OK(twai_driver_uninstall_v2(twai_buses[i]));
+    }
+
+    esp_sleep_set_sleep_context(NULL);
+#if ESP_SLEEP_POWER_DOWN_CPU
+    TEST_ESP_OK(sleep_cpu_configure(false));
+#endif
+}
+
+#if SOC_TWAI_SUPPORT_SLEEP_RETENTION
+TEST_CASE("twai_mode_ext_no_ack_250kbps with sleep retention (allow pd)", "[twai-loop-back]")
+{
+    s_test_sleep_retention(true);
+}
+#endif
+
+TEST_CASE("twai_mode_ext_no_ack_250kbps with sleep retention (no pd)", "[twai-loop-back]")
+{
+    s_test_sleep_retention(false);
+}

components/driver/test_apps/twai/sdkconfig.ci.release

@@ -3,3 +3,5 @@ CONFIG_FREERTOS_USE_TICKLESS_IDLE=y
 CONFIG_COMPILER_OPTIMIZATION_SIZE=y
 CONFIG_BOOTLOADER_COMPILER_OPTIMIZATION_SIZE=y
 CONFIG_COMPILER_OPTIMIZATION_ASSERTIONS_SILENT=y
+
+CONFIG_PM_POWER_DOWN_PERIPHERAL_IN_LIGHT_SLEEP=y

components/driver/test_apps/twai/sdkconfig.defaults

@@ -1,2 +1,4 @@
 CONFIG_FREERTOS_HZ=1000
 CONFIG_ESP_TASK_WDT=n
+# primitives for checking sleep internal state
+CONFIG_ESP_SLEEP_DEBUG=y