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test(driver_twai): new driver add test case
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‎components/esp_driver_twai/test_apps/.build-test-rules.yml‎

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components/esp_driver_twai/test_apps/twaifd_test:
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disable:
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- if: SOC_TWAI_SUPPORTED != 1 or SOC_TWAI_SUPPORT_FD != 1
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reason: Only support FD targets now
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depends_components:
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- esp_driver_twai

‎components/esp_driver_twai/test_apps/twaifd_test/CMakeLists.txt‎

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# This is the project CMakeLists.txt file for the test subproject
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cmake_minimum_required(VERSION 3.16)
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# "Trim" the build. Include the minimal set of components, main, and anything it depends on.
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set(COMPONENTS main)
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include($ENV{IDF_PATH}/tools/cmake/project.cmake)
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project(twaifd_test)

‎components/esp_driver_twai/test_apps/twaifd_test/README.md‎

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| Supported Targets | ESP32-C5 |
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| ----------------- | -------- |

‎components/esp_driver_twai/test_apps/twaifd_test/main/CMakeLists.txt‎

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set(srcs
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"test_app_main.c"
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"test_twaifd.c"
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)
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idf_component_register(
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SRCS ${srcs}
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PRIV_REQUIRES esp_driver_twai
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WHOLE_ARCHIVE
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)

‎components/esp_driver_twai/test_apps/twaifd_test/main/idf_component.yml‎

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dependencies:
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test_utils:
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path: ${IDF_PATH}/tools/unit-test-app/components/test_utils

‎components/esp_driver_twai/test_apps/twaifd_test/main/test_app_main.c‎

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/*
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* SPDX-FileCopyrightText: 2024 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 "unity_test_utils.h"
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#include "unity_test_runner.h"
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#include "unity_test_utils_memory.h"
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#include "esp_heap_caps.h"
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#define LEAKS (200)
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void setUp(void)
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{
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unity_utils_record_free_mem();
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}
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void tearDown(void)
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{
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unity_utils_evaluate_leaks_direct(LEAKS);
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}
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void app_main(void)
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{
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unity_run_menu();
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}

‎components/esp_driver_twai/test_apps/twaifd_test/main/test_twaifd.c‎

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/*
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* SPDX-FileCopyrightText: 2025 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 <string.h>
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#include <sys/param.h>
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#include "unity.h"
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#include "esp_log.h"
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#include "esp_heap_caps.h"
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#include "freertos/FreeRTOS.h"
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#include "test_utils.h"
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#include "esp_twai.h"
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#include "esp_twai_onchip.h"
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#define TEST_TX_GPIO 4
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#define TEST_RX_GPIO 5
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#define TEST_TWAI_QUEUE_DEPTH 5
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#define TEST_TRANS_LEN 100
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#define TEST_FRAME_LEN 7
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#define TEST_FRAME_NUM howmany(TEST_TRANS_LEN, TEST_FRAME_LEN)
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static bool test_driver_install_rx_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
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{
26+
twai_frame_header_t rx_header;
27+
if (ESP_OK == twai_node_receive_from_isr(handle, &rx_header, NULL, 0, NULL)) {
28+
ESP_EARLY_LOGI("Recv ", "id 0x%lx rtr %d", rx_header.id, rx_header.rtr);
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}
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if (rx_header.id != 0x100) {
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TEST_FAIL(); //callback is unregistered, should not run here
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}
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return false;
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}
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TEST_CASE("twai install uninstall (loopback)", "[TWAI]")
37+
{
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esp_err_t ret;
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twai_node_handle_t node_hdl[SOC_TWAI_CONTROLLER_NUM + 1];
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twai_onchip_node_config_t node_config = {
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.io_cfg.tx = TEST_TX_GPIO,
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.io_cfg.rx = TEST_TX_GPIO, // Using same pin for test without transceiver
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.bit_timing.bitrate = 1000000,
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.data_timing.bitrate = 1000000,
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.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
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.flags.enable_loopback = true,
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.flags.enable_self_test = true,
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};
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// loop 10 times to check memory leak
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for (uint8_t loop = 0; loop < 10; loop ++) {
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for (uint8_t i = 0; i < SOC_TWAI_CONTROLLER_NUM + 1; i++) {
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ret = twai_new_node_onchip(&node_config, &node_hdl[i]);
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printf("Install TWAI%d return %s\n", i, esp_err_to_name(ret));
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TEST_ASSERT(ret == ((i < SOC_TWAI_CONTROLLER_NUM) ? ESP_OK : ESP_ERR_NOT_FOUND));
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}
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// can't disable before enable
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TEST_ESP_ERR(ESP_ERR_INVALID_STATE, twai_node_disable(node_hdl[0]));
59+
twai_event_callbacks_t user_cbs = {
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.on_rx_done = test_driver_install_rx_cb,
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};
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TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl[0], &user_cbs, NULL));
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printf("Test unregister callback\n");
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user_cbs.on_rx_done = NULL;
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TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl[0], &user_cbs, NULL));
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twai_frame_t tx_frame = {
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.header.id = 0x82,
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.header.rtr = true,
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};
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printf("Test transmit before enable\n");
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TEST_ESP_ERR(ESP_ERR_INVALID_STATE, twai_node_transmit(node_hdl[0], &tx_frame, 0));
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TEST_ESP_OK(twai_node_enable(node_hdl[0]));
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TEST_ESP_OK(twai_node_disable(node_hdl[0]));
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TEST_ESP_OK(twai_node_enable(node_hdl[0]));
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TEST_ESP_OK(twai_node_transmit(node_hdl[0], &tx_frame, 0));
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TEST_ESP_OK(twai_node_disable(node_hdl[0]));
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TEST_ESP_OK(twai_node_delete(node_hdl[0]));
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printf("Test install after delete\n");
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TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl[SOC_TWAI_CONTROLLER_NUM]));
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user_cbs.on_rx_done = test_driver_install_rx_cb,
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TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl[SOC_TWAI_CONTROLLER_NUM], &user_cbs, NULL));
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TEST_ESP_OK(twai_node_enable(node_hdl[SOC_TWAI_CONTROLLER_NUM]));
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tx_frame.header.id = 0x100;
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TEST_ESP_OK(twai_node_transmit(node_hdl[SOC_TWAI_CONTROLLER_NUM], &tx_frame, 0));
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twai_frame_t rx_frame;
90+
printf("Test receive from task\n");
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TEST_ESP_ERR(ESP_ERR_INVALID_STATE, twai_node_receive_from_isr(node_hdl[SOC_TWAI_CONTROLLER_NUM], &rx_frame.header, rx_frame.buffer, rx_frame.buffer_len, NULL));
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TEST_ESP_OK(twai_node_disable(node_hdl[SOC_TWAI_CONTROLLER_NUM]));
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for (uint8_t i = 1; i <= SOC_TWAI_CONTROLLER_NUM; i++) {
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printf("Uninstall TWAI%d\n", i - 1);
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TEST_ESP_OK(twai_node_delete(node_hdl[i]));
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}
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}
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}
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static bool test_enable_disable_rx_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
102+
{
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twai_frame_t *rx_frame = user_ctx;
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size_t ret_len;
105+
if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame->header, rx_frame->buffer, rx_frame->buffer_len, &ret_len)) {
106+
ESP_EARLY_LOGI("twai", "RX id 0x%x len %d ext %d fd %d brs %d esi %d", rx_frame->header.id, ret_len, rx_frame->header.ide, rx_frame->header.fdf, rx_frame->header.brs, rx_frame->header.esi);
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rx_frame->buffer += rx_frame->buffer_len;
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}
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return false;
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}
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TEST_CASE("twai transmit stop resume (loopback)", "[TWAI]")
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{
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// prepare test memory
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uint8_t *send_pkg_ptr = heap_caps_malloc(TEST_TRANS_LEN, MALLOC_CAP_8BIT);
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uint8_t *recv_pkg_ptr = heap_caps_malloc(TEST_TRANS_LEN, MALLOC_CAP_8BIT);
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TEST_ASSERT(send_pkg_ptr && recv_pkg_ptr);
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printf("Transmit %d bytes package in %d frames\n", TEST_TRANS_LEN, TEST_FRAME_NUM);
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120+
twai_node_handle_t node_hdl;
121+
twai_onchip_node_config_t node_config = {
122+
.io_cfg.tx = TEST_TX_GPIO,
123+
.io_cfg.rx = TEST_TX_GPIO, // Using same pin for test without transceiver
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.bit_timing.bitrate = 1000000,
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.data_timing.bitrate = 4000000,
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.data_timing.ssp_permill = 700, // ssp 70.0%
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.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
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.flags.enable_loopback = true,
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.flags.enable_self_test = true,
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};
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TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
132+
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// reconfig fd timing to 48M/(12+5+6+1)=2MHz, ssp=20/(12+5+6+1)=83%
134+
twai_timing_advanced_config_t timing_fd = {
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.brp = 1,
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.prop_seg = 12,
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.tseg_1 = 5,
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.tseg_2 = 6,
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.sjw = 3,
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.ssp_offset = 20,
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};
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TEST_ESP_OK(twai_node_reconfig_timing(node_hdl, NULL, &timing_fd));
143+
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twai_frame_t rx_frame = {
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.buffer = recv_pkg_ptr,
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.buffer_len = TEST_FRAME_LEN,
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};
148+
twai_event_callbacks_t user_cbs = {
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.on_rx_done = test_enable_disable_rx_cb,
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};
151+
TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, &rx_frame));
152+
TEST_ESP_OK(twai_node_enable(node_hdl));
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//create and enqueue all transfers
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twai_frame_t *tx_msgs = heap_caps_calloc(TEST_FRAME_NUM, sizeof(twai_frame_t), MALLOC_CAP_8BIT);
156+
TEST_ASSERT(tx_msgs);
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for (uint32_t tx_cnt = 0; tx_cnt < TEST_FRAME_NUM; tx_cnt++) {
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tx_msgs[tx_cnt].header.id = tx_cnt | 0x400;
159+
tx_msgs[tx_cnt].header.ide = !!(tx_cnt % 3);
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tx_msgs[tx_cnt].header.fdf = !!(tx_cnt % 4);
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tx_msgs[tx_cnt].header.brs = !!(tx_cnt % 2);
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tx_msgs[tx_cnt].buffer = send_pkg_ptr + tx_cnt * TEST_FRAME_LEN;
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tx_msgs[tx_cnt].buffer_len = ((tx_cnt + 1) == TEST_FRAME_NUM) ? (TEST_TRANS_LEN - tx_cnt * TEST_FRAME_LEN) : TEST_FRAME_LEN;
164+
TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_msgs[tx_cnt], 500));
165+
}
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TEST_ESP_OK(twai_node_disable(node_hdl));
168+
for (uint8_t i = 3; i > 0; i--) {
169+
printf("interrupted, %d sec\n", i);
170+
vTaskDelay(1000);
171+
}
172+
printf("continuing ...\n");
173+
TEST_ESP_OK(twai_node_enable(node_hdl));
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//waiting pkg receive finish
176+
while (rx_frame.buffer < recv_pkg_ptr + TEST_TRANS_LEN);
177+
free(tx_msgs);
178+
179+
// check if pkg receive correct
180+
printf("pkg check %s!!\n", memcmp(recv_pkg_ptr, send_pkg_ptr, TEST_TRANS_LEN) ? "failed" : "ok");
181+
TEST_ASSERT_EQUAL_HEX8_ARRAY(send_pkg_ptr, recv_pkg_ptr, TEST_TRANS_LEN);
182+
183+
free(send_pkg_ptr);
184+
free(recv_pkg_ptr);
185+
TEST_ESP_OK(twai_node_disable(node_hdl));
186+
TEST_ESP_OK(twai_node_delete(node_hdl));
187+
}
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static void test_random_trans_generator(twai_node_handle_t node_hdl, uint32_t trans_num)
190+
{
191+
uint8_t send_pkg_ptr[TWAIFD_FRAME_MAX_LEN];
192+
twai_frame_t tx_msg = {
193+
.buffer = send_pkg_ptr,
194+
};
195+
printf("Sending %ld random trans ...\n", trans_num);
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for (uint32_t tx_cnt = 0; tx_cnt < trans_num; tx_cnt++) {
197+
tx_msg.header.id = tx_cnt | 0xf000;
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tx_msg.header.ide = !!(tx_cnt % 2);
199+
tx_msg.header.rtr = !!(tx_cnt % 3);
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tx_msg.header.fdf = !!(tx_cnt % 5);
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tx_msg.buffer_len = tx_msg.header.fdf ? (tx_cnt % TWAIFD_FRAME_MAX_LEN) : (tx_cnt % TWAI_FRAME_MAX_LEN);
202+
TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_msg, 0));
203+
vTaskDelay(8); //as async transaction, waiting trans done
204+
}
205+
}
206+
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static bool test_filter_rx_done_cb(twai_node_handle_t handle, const twai_rx_done_event_data_t *edata, void *user_ctx)
208+
{
209+
uint8_t *test_ctrl = user_ctx;
210+
size_t ret_len;
211+
uint8_t recv_pkg_ptr[TWAIFD_FRAME_MAX_LEN];
212+
twai_frame_t rx_frame = {
213+
.buffer = recv_pkg_ptr,
214+
.buffer_len = TWAIFD_FRAME_MAX_LEN,
215+
};
216+
if (ESP_OK == twai_node_receive_from_isr(handle, &rx_frame.header, rx_frame.buffer, rx_frame.buffer_len, &ret_len)) {
217+
ESP_EARLY_LOGI("twai", "RX id 0x%4x len %2d ext %d rmt %d fd %d", rx_frame.header.id, ret_len, rx_frame.header.ide, rx_frame.header.rtr, rx_frame.header.fdf);
218+
switch (test_ctrl[0]) {
219+
case 0: //filter 0
220+
TEST_ASSERT(rx_frame.header.id >= 0x10);
221+
TEST_ASSERT(!rx_frame.header.ide);
222+
break;
223+
case 1:
224+
case 2: break;
225+
case 3: //filter 1
226+
TEST_ASSERT((rx_frame.header.id & 0xfff0) == 0xf000);
227+
TEST_ASSERT(rx_frame.header.ide && !rx_frame.header.fdf);
228+
break;
229+
case 4: //range filter 0
230+
TEST_ASSERT(!rx_frame.header.ide && rx_frame.header.fdf);
231+
break;
232+
default: TEST_ASSERT(false);
233+
}
234+
test_ctrl[1] ++;
235+
}
236+
return false;
237+
}
238+
239+
TEST_CASE("twai filter (loopback)", "[TWAI]")
240+
{
241+
uint8_t test_ctrl[2];
242+
twai_node_handle_t node_hdl;
243+
twai_onchip_node_config_t node_config = {
244+
.io_cfg.tx = TEST_TX_GPIO,
245+
.io_cfg.rx = TEST_TX_GPIO, // Using same pin for test without transceiver
246+
.bit_timing.bitrate = 1000000,
247+
.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH,
248+
.flags.enable_loopback = true,
249+
.flags.enable_self_test = true,
250+
};
251+
TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
252+
253+
twai_event_callbacks_t user_cbs = {
254+
.on_rx_done = test_filter_rx_done_cb,
255+
};
256+
TEST_ESP_OK(twai_node_register_event_callbacks(node_hdl, &user_cbs, test_ctrl));
257+
258+
//------------------ Filter 0 -------------------//
259+
test_ctrl[0] = 0;
260+
test_ctrl[1] = 0;
261+
printf("Testing mask filter 0\n");
262+
twai_mask_filter_config_t mfilter_cfg0 = {
263+
.id = 0x10,
264+
.mask = 0xf0,
265+
.is_ext = false,
266+
};
267+
TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 0, &mfilter_cfg0));
268+
TEST_ESP_OK(twai_node_enable(node_hdl));
269+
test_random_trans_generator(node_hdl, 30);
270+
TEST_ASSERT_UINT8_WITHIN(30 / 2 - 1, 30 / 2, test_ctrl[1]); //after filter, rx frame should less than tx num
271+
272+
printf("Change to receive ALL\n");
273+
test_ctrl[0] = 1;
274+
test_ctrl[1] = 0;
275+
// set to receive ALL
276+
mfilter_cfg0.id = 0;
277+
mfilter_cfg0.mask = 0;
278+
TEST_ESP_OK(twai_node_disable(node_hdl));
279+
TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 0, &mfilter_cfg0));
280+
TEST_ESP_OK(twai_node_enable(node_hdl));
281+
test_random_trans_generator(node_hdl, 30);
282+
TEST_ASSERT_EQUAL(30, test_ctrl[1]);
283+
284+
printf("Change to receive NONE\n");
285+
test_ctrl[0] = 2;
286+
test_ctrl[1] = 0;
287+
// set to receive NONE
288+
mfilter_cfg0.id = 0xFFFFFFFF;
289+
mfilter_cfg0.mask = 0xFFFFFFFF;
290+
TEST_ESP_OK(twai_node_disable(node_hdl));
291+
TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 0, &mfilter_cfg0));
292+
TEST_ESP_OK(twai_node_enable(node_hdl));
293+
test_random_trans_generator(node_hdl, 30);
294+
TEST_ASSERT_EQUAL(0, test_ctrl[1]);
295+
296+
//------------------ Filter 1 -------------------//
297+
test_ctrl[0] = 3;
298+
test_ctrl[1] = 0;
299+
printf("Testing mask filter 1\n");
300+
twai_mask_filter_config_t mfilter_cfg1 = {
301+
.id = 0xf000,
302+
.mask = 0xfff0,
303+
.is_ext = true,
304+
.no_fd = true,
305+
};
306+
TEST_ESP_OK(twai_node_disable(node_hdl));
307+
TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 1, &mfilter_cfg1));
308+
TEST_ESP_OK(twai_node_enable(node_hdl));
309+
test_random_trans_generator(node_hdl, 30);
310+
TEST_ASSERT_UINT8_WITHIN(30 / 2 - 1, 30 / 2, test_ctrl[1]);
311+
// set to receive NONE
312+
mfilter_cfg1.id = 0xFFFFFFFF;
313+
mfilter_cfg1.mask = 0xFFFFFFFF;
314+
TEST_ESP_OK(twai_node_disable(node_hdl));
315+
TEST_ESP_OK(twai_node_config_mask_filter(node_hdl, 1, &mfilter_cfg1));
316+
317+
//------------------ Range Filter 0 -------------------//
318+
test_ctrl[0] = 4;
319+
test_ctrl[1] = 0;
320+
printf("Testing range filter 0\n");
321+
twai_range_filter_config_t rfilter_cfg0 = {
322+
.range_low = 0,
323+
.range_high = 0xFFFFFFFF,
324+
.is_ext = false,
325+
.no_classic = true,
326+
};
327+
TEST_ESP_OK(twai_node_config_range_filter(node_hdl, 0, &rfilter_cfg0));
328+
TEST_ESP_OK(twai_node_enable(node_hdl));
329+
test_random_trans_generator(node_hdl, 30);
330+
TEST_ASSERT_UINT8_WITHIN(30 / 2 - 1, 30 / 2, test_ctrl[1]);
331+
332+
TEST_ESP_OK(twai_node_disable(node_hdl));
333+
TEST_ESP_OK(twai_node_delete(node_hdl));
334+
}

‎components/esp_driver_twai/test_apps/twaifd_test/sdkconfig.defaults‎

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CONFIG_FREERTOS_HZ=1000
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CONFIG_ESP_TASK_WDT_INIT=n

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