[test] Add FDCAN hardware unit test for Nucleo G474RE

Author: chris-durand

test/Makefile

@@ -63,6 +63,12 @@ run-nucleo-l432:
 	$(call run-test,nucleo-l432,size)
 
 
+compile-nucleo-g474:
+	$(call compile-test,nucleo-g474,size)
+run-nucleo-g474:
+	$(call run-test,nucleo-g474,size)
+
+
 compile-nucleo-f103_A:
 	$(call compile-test,nucleo-f103_A,size)
 run-nucleo-f103_A:

test/config/nucleo-g474.xml

@@ -0,0 +1,12 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<library>
+  <extends>modm:nucleo-g474re</extends>
+  <options>
+    <option name="modm:build:build.path">../../build/generated-unittest/nucleo-g474/</option>
+    <option name="modm:build:unittest.source">../../build/generated-unittest/nucleo-g474/modm-test</option>
+  </options>
+  <modules>
+    <module>modm:platform:heap</module>
+    <module>modm-test:test:**</module>
+  </modules>
+</library>

test/modm/platform/fdcan/fdcan_test.cpp

@@ -0,0 +1,101 @@
+/*
+ * Copyright (c) 2021, Christopher Durand
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include "fdcan_test.hpp"
+
+#include <modm/platform.hpp>
+#include <modm/board.hpp>
+
+using namespace modm::platform;
+
+void
+FdcanTest::setUp()
+{
+	Fdcan1::initialize<Board::SystemClock, 500_kbps, 1_pct>(9, Fdcan1::Mode::TestInternalLoopback);
+
+	// receive all extended messages
+	Fdcan1::setExtendedFilter(0, Fdcan1::FilterConfig::Fifo1,
+			modm::can::ExtendedIdentifier(0),
+			modm::can::ExtendedMask(0));
+}
+
+void
+FdcanTest::testSendReceive()
+{
+	modm::can::Message message{0x12345678, 7};
+	constexpr std::string_view data = "\xDE\xAD\xBE\xEF\x12\x34\x56";
+	std::copy(std::begin(data), std::begin(data) + 7, message.data);
+
+	TEST_ASSERT_FALSE(Fdcan1::isMessageAvailable());
+	TEST_ASSERT_TRUE(Fdcan1::sendMessage(message));
+
+	modm::delay_ms(1);
+
+	modm::can::Message receivedMessage;
+	TEST_ASSERT_TRUE(Fdcan1::getMessage(receivedMessage));
+	TEST_ASSERT_EQUALS(receivedMessage.getIdentifier(), 0x12345678u);
+	TEST_ASSERT_EQUALS(receivedMessage.getLength(), 7);
+	TEST_ASSERT_TRUE(receivedMessage.isExtended());
+	TEST_ASSERT_FALSE(receivedMessage.isRemoteTransmitRequest());
+	TEST_ASSERT_TRUE(std::equal(std::begin(data), std::begin(data) + 7, message.data));
+}
+
+void
+FdcanTest::testFilters()
+{
+	Fdcan1::setStandardFilter(27, Fdcan1::FilterConfig::Fifo0,
+			modm::can::StandardIdentifier(0x108),
+			modm::can::StandardMask(0x1F8));
+
+	modm::can::Message message{0x188, 0};
+	message.setExtended(false);
+	Fdcan1::sendMessage(message);
+	modm::delay_ms(1);
+	TEST_ASSERT_FALSE(Fdcan1::isMessageAvailable());
+
+	message.setIdentifier(0xF09);
+	Fdcan1::sendMessage(message);
+	modm::delay_ms(1);
+	TEST_ASSERT_TRUE(Fdcan1::isMessageAvailable());
+	TEST_ASSERT_TRUE(Fdcan1::getMessage(message));
+	TEST_ASSERT_FALSE(message.isExtended());
+}
+
+void
+FdcanTest::testBuffers()
+{
+	modm::can::Message message{0x4711, 0};
+	// send 8 messages, exceeds internal peripheral queue size
+	for (uint_fast8_t i = 0; i <= 8; ++i) {
+		message.setLength(i);
+		for (uint_fast8_t dataIndex = 0; dataIndex < i; ++dataIndex) {
+			message.data[dataIndex] = i;
+		}
+		Fdcan1::sendMessage(message);
+	}
+
+	modm::delay_ms(10);
+
+	// try to receive same messages
+	modm::can::Message receivedMessage;
+	for (uint_fast8_t i = 0; i <= 8; ++i) {
+		TEST_ASSERT_TRUE(Fdcan1::getMessage(receivedMessage));
+
+		TEST_ASSERT_EQUALS(receivedMessage.getIdentifier(), 0x4711u);
+		TEST_ASSERT_EQUALS(receivedMessage.getLength(), i);
+
+		for (uint_fast8_t dataIndex = 0; dataIndex < i; ++dataIndex) {
+			TEST_ASSERT_EQUALS(receivedMessage.data[dataIndex], i);
+		}
+	}
+	TEST_ASSERT_FALSE(Fdcan1::isMessageAvailable());
+	TEST_ASSERT_FALSE(Fdcan1::getMessage(message));
+}

test/modm/platform/fdcan/fdcan_test.hpp

@@ -0,0 +1,29 @@
+/*
+ * Copyright (c) 2021, Christopher Durand
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <unittest/testsuite.hpp>
+
+/// @ingroup modm_test_test_platform_fdcan
+class FdcanTest : public unittest::TestSuite
+{
+public:
+	void
+	setUp() override;
+
+	void
+	testSendReceive();
+
+	void
+	testFilters();
+
+	void
+	testBuffers();
+};

test/modm/platform/fdcan/module.lb

@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright (c) 2021, Christopher Durand
+#
+# This file is part of the modm project.
+#
+# This Source Code Form is subject to the terms of the Mozilla Public
+# License, v. 2.0. If a copy of the MPL was not distributed with this
+# file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+
+def init(module):
+    module.name = ":test:platform:fdcan"
+
+def prepare(module, options):
+    target = options[":target"]
+
+    identifier = target.identifier
+    if identifier.platform != "stm32" or identifier.family != "g4":
+        return False
+
+    module.depends(":architecture:delay", ":platform:can:1")
+    return True
+
+def build(env):
+#    env.substitutions = properties
+    env.outbasepath = "modm-test/src/modm-test/platform/fdcan_test"
+    env.copy("fdcan_test.hpp")
+    env.copy("fdcan_test.cpp")