mirror of
https://github.com/espressif/esp-idf.git
synced 2025-11-03 22:08:28 +00:00
106 lines
2.9 KiB
Python
106 lines
2.9 KiB
Python
# SPDX-FileCopyrightText: 2021-2025 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
|
|
from can import Message
|
|
from pytest_embedded import Dut
|
|
from pytest_embedded_idf.utils import idf_parametrize
|
|
|
|
|
|
@pytest.mark.generic
|
|
@pytest.mark.parametrize(
|
|
'config',
|
|
[
|
|
'release',
|
|
],
|
|
indirect=True,
|
|
)
|
|
@idf_parametrize(
|
|
'target', ['esp32', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32s2', 'esp32s3', 'esp32p4'], indirect=['target']
|
|
)
|
|
def test_twai_self(dut: Dut) -> None:
|
|
dut.run_all_single_board_cases(group='twai-loop-back')
|
|
|
|
|
|
@pytest.fixture(name='socket_can')
|
|
def fixture_create_socket_can() -> Bus:
|
|
# Set up the socket CAN with the bitrate
|
|
start_command = 'sudo ip link set can0 up type can bitrate 250000 restart-ms 100'
|
|
stop_command = 'sudo ip link set can0 down'
|
|
subprocess.run(start_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
|
|
bus = Bus(interface='socketcan', channel='can0', bitrate=250000)
|
|
yield bus # test invoked here
|
|
bus.shutdown()
|
|
subprocess.run(stop_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
|
|
|
|
|
|
@pytest.mark.twai_std
|
|
@pytest.mark.parametrize(
|
|
'config',
|
|
[
|
|
'iram_safe',
|
|
],
|
|
indirect=True,
|
|
)
|
|
@idf_parametrize(
|
|
'target', ['esp32', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32s2', 'esp32s3', 'esp32p4'], indirect=['target']
|
|
)
|
|
def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
|
|
dut.serial.hard_reset()
|
|
dut.expect_exact('Press ENTER to see the list of tests')
|
|
|
|
# TEST_CASE("twai_listen_only", "[twai]")
|
|
dut.write('"twai_listen_only"')
|
|
|
|
# wait the DUT to block at the receive API
|
|
sleep(0.03)
|
|
|
|
message = Message(
|
|
arbitration_id=0x123,
|
|
is_extended_id=False,
|
|
data=[0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88],
|
|
)
|
|
socket_can.send(message, timeout=0.2)
|
|
dut.expect_unity_test_output()
|
|
|
|
|
|
@pytest.mark.twai_std
|
|
@pytest.mark.parametrize(
|
|
'config',
|
|
[
|
|
'release',
|
|
],
|
|
indirect=True,
|
|
)
|
|
@idf_parametrize(
|
|
'target', ['esp32', 'esp32c3', 'esp32c6', 'esp32h2', 'esp32s2', 'esp32s3', 'esp32p4'], indirect=['target']
|
|
)
|
|
def test_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
|
|
dut.serial.hard_reset()
|
|
dut.expect_exact('Press ENTER to see the list of tests')
|
|
|
|
# TEST_CASE("twai_remote_request", "[twai]")
|
|
dut.write('"twai_remote_request"')
|
|
|
|
while True:
|
|
req = socket_can.recv(timeout=0.2)
|
|
# wait for the remote request frame
|
|
if req is not None and req.is_remote_frame:
|
|
break
|
|
|
|
logging.info(f'Received message: {req}')
|
|
|
|
reply = Message(
|
|
arbitration_id=req.arbitration_id,
|
|
is_extended_id=req.is_extended_id,
|
|
data=[0x10, 0x20, 0x30, 0x40, 0x50, 0x60, 0x70, 0x80],
|
|
)
|
|
socket_can.send(reply, timeout=0.2)
|
|
print('send', reply)
|
|
|
|
dut.expect_unity_test_output()
|