kopia lustrzana https://github.com/espressif/esp-idf
118 wiersze
4.2 KiB
C
118 wiersze
4.2 KiB
C
/*
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* SPDX-FileCopyrightText: 2022 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 "sdkconfig.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "unity.h"
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#include "driver/twai.h"
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#include "soc/soc_caps.h"
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#include "esp_attr.h"
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TEST_CASE("driver_life_cycle", "[twai-loop-back]")
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{
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twai_timing_config_t t_config = TWAI_TIMING_CONFIG_100KBITS();
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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(0, 0, TWAI_MODE_NO_ACK);
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printf("install driver\r\n");
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TEST_ESP_OK(twai_driver_install(&g_config, &t_config, &f_config));
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// can't install the driver multiple times
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TEST_ESP_ERR(ESP_ERR_INVALID_STATE, twai_driver_install(&g_config, &t_config, &f_config));
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printf("start driver\r\n");
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TEST_ESP_OK(twai_start());
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// can't start the driver again if it's already in running state
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TEST_ESP_ERR(ESP_ERR_INVALID_STATE, twai_start());
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// can't uninstall the driver before stopping it
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TEST_ESP_ERR(ESP_ERR_INVALID_STATE, twai_driver_uninstall());
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printf("stop driver\r\n");
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TEST_ESP_OK(twai_stop());
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printf("uninstall driver\r\n");
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TEST_ESP_OK(twai_driver_uninstall());
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}
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TEST_CASE("twai_bit_timing", "[twai-loop-back]")
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{
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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(0, 0, TWAI_MODE_NO_ACK);
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twai_timing_config_t t_config = {
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.quanta_resolution_hz = 33333, // invalid resolution
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.tseg_1 = 15,
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.tseg_2 = 4,
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.sjw = 1,
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};
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TEST_ESP_ERR(ESP_ERR_INVALID_ARG, twai_driver_install(&g_config, &t_config, &f_config));
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t_config.quanta_resolution_hz = 2000000;
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TEST_ESP_OK(twai_driver_install(&g_config, &t_config, &f_config));
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TEST_ESP_OK(twai_driver_uninstall());
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}
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TEST_CASE("twai_mode_std_no_ack_25kbps", "[twai-loop-back]")
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{
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twai_timing_config_t t_config = TWAI_TIMING_CONFIG_25KBITS();
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twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
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// bind the TX and RX to the same GPIO to act like a loopback
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twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(0, 0, TWAI_MODE_NO_ACK);
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printf("install twai driver\r\n");
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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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twai_message_t tx_msg = {
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.identifier = 0x123,
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.data_length_code = 8,
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.data = {0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88},
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.self = true, // Transmitted message will also received by the same node
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};
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printf("transmit message\r\n");
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TEST_ESP_OK(twai_transmit(&tx_msg, pdMS_TO_TICKS(1000)));
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printf("receive message\r\n");
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twai_message_t rx_msg;
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TEST_ESP_OK(twai_receive(&rx_msg, pdMS_TO_TICKS(1000)));
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TEST_ASSERT_TRUE(rx_msg.data_length_code == 8);
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for (int i = 0; i < 8; i++) {
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TEST_ASSERT_EQUAL(tx_msg.data[i], rx_msg.data[i]);
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}
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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_mode_ext_no_ack_250kbps", "[twai-loop-back]")
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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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// bind the TX and RX to the same GPIO to act like a loopback
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twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(0, 0, TWAI_MODE_NO_ACK);
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printf("install twai driver\r\n");
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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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twai_message_t tx_msg = {
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.identifier = 0x12345,
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.data_length_code = 6,
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.data = {0x11, 0x22, 0x33, 0x44, 0x55, 0x66},
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.self = true, // Transmitted message will also received by the same node
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.extd = true, // Extended Frame Format (29bit ID)
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};
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printf("transmit message\r\n");
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TEST_ESP_OK(twai_transmit(&tx_msg, pdMS_TO_TICKS(1000)));
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printf("receive message\r\n");
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twai_message_t rx_msg;
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TEST_ESP_OK(twai_receive(&rx_msg, pdMS_TO_TICKS(1000)));
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TEST_ASSERT_TRUE(rx_msg.data_length_code == 6);
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for (int i = 0; i < 6; i++) {
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TEST_ASSERT_EQUAL(tx_msg.data[i], rx_msg.data[i]);
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}
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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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