mirror of
https://github.com/espressif/esp-idf.git
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90 lines
3.0 KiB
C
90 lines
3.0 KiB
C
/*
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* SPDX-FileCopyrightText: 2022-2023 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <stdio.h>
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#include <inttypes.h>
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#include "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_attr.h"
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#include "unity.h"
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#include "unity_test_utils.h"
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#include "driver/twai.h"
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#include "soc/soc_caps.h"
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#include "esp_log.h"
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#if CONFIG_TWAI_ISR_IN_IRAM
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static void IRAM_ATTR test_delay_post_cache_disable(void *args)
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{
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esp_rom_delay_us(1000);
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}
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#endif
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TEST_CASE("twai_listen_only", "[twai]")
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{
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twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS();
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twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
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twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(4, 5, TWAI_MODE_LISTEN_ONLY);
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#if CONFIG_TWAI_ISR_IN_IRAM
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g_config.intr_flags |= ESP_INTR_FLAG_IRAM;
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#endif
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// listen only mode doesn't need a tx queue
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g_config.tx_queue_len = 0;
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TEST_ESP_OK(twai_driver_install(&g_config, &t_config, &f_config));
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TEST_ESP_OK(twai_start());
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#if CONFIG_TWAI_ISR_IN_IRAM
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printf("disable flash cache and check if we can still receive the frame\n");
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for (int i = 0; i < 100; i++) {
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unity_utils_run_cache_disable_stub(test_delay_post_cache_disable, NULL);
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}
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#endif
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uint8_t expected_data[8] = {0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88};
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twai_message_t rx_msg;
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TEST_ESP_OK(twai_receive(&rx_msg, portMAX_DELAY));
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TEST_ASSERT_EQUAL(0x123, rx_msg.identifier);
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ESP_LOG_BUFFER_HEX("rx", rx_msg.data, rx_msg.data_length_code);
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TEST_ASSERT_EQUAL_HEX8_ARRAY(expected_data, rx_msg.data, rx_msg.data_length_code);
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TEST_ESP_OK(twai_stop());
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TEST_ESP_OK(twai_driver_uninstall());
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}
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TEST_CASE("twai_remote_request", "[twai]")
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{
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twai_handle_t bus_handle;
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twai_timing_config_t t_config = TWAI_TIMING_CONFIG_250KBITS();
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twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
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twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(4, 5, TWAI_MODE_NORMAL);
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#if CONFIG_IDF_TARGET_ESP32C6
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g_config.controller_id = 1;
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#endif
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TEST_ESP_OK(twai_driver_install_v2(&g_config, &t_config, &f_config, &bus_handle));
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TEST_ESP_OK(twai_start_v2(bus_handle));
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twai_message_t req_msg = {
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.identifier = 0x6688,
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.data_length_code = 8,
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.rtr = true, // remote request
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.extd = true,// extended ID
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};
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TEST_ESP_OK(twai_transmit_v2(bus_handle, &req_msg, portMAX_DELAY));
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ESP_LOGI("TWAI", "send remote frame");
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uint8_t expected_data[8] = {0x10, 0x20, 0x30, 0x40, 0x50, 0x60, 0x70, 0x80};
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twai_message_t res_msg;
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TEST_ESP_OK(twai_receive_v2(bus_handle, &res_msg, portMAX_DELAY));
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ESP_LOGI("TWAI", "receive with id %lx\n", res_msg.identifier);
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TEST_ASSERT_EQUAL(0x6688, res_msg.identifier);
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ESP_LOG_BUFFER_HEX("rx", res_msg.data, res_msg.data_length_code);
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TEST_ASSERT_EQUAL_HEX8_ARRAY(expected_data, res_msg.data, res_msg.data_length_code);
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TEST_ESP_OK(twai_stop_v2(bus_handle));
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TEST_ESP_OK(twai_driver_uninstall_v2(bus_handle));
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}
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