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henrikbrixandersencarlescufi
henrikbrixandersen
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carlescufi
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tests: drivers: can: add test for the CAN shell module
Add test for the CAN shell module. The tests execute a set of CAN shell module commands against a CAN controller driver mock, verifies that the expected CAN controller driver API functions are called, and that their arguments are as expected. Signed-off-by: Henrik Brix Andersen <[email protected]>
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‎tests/drivers/can/shell/CMakeLists.txt

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# SPDX-License-Identifier: Apache-2.0
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(can_shell)
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FILE(GLOB app_sources src/*.c)
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target_sources(app PRIVATE ${app_sources})

‎tests/drivers/can/shell/Kconfig

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# Copyright (c) 2022 Vestas Wind Systems A/S
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# SPDX-License-Identifier: Apache-2.0
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config TEST_FAKE_CAN
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bool
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default y
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depends on DT_HAS_TEST_FAKE_CAN_ENABLED
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select CAN_HAS_RX_TIMESTAMP
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select CAN_HAS_CANFD
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help
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Enable support for the fake CAN driver.
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source "Kconfig.zephyr"

‎tests/drivers/can/shell/app.overlay

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/*
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* Copyright (c) 2022 Vestas Wind Systems A/S
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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/{
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fake_can: fake_can {
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compatible = "test-fake-can";
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status = "okay";
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sjw = <1>;
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sample-point = <875>;
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bus-speed = <125000>;
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sample-point = <875>;
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sjw-data = <1>;
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bus-speed-data = <1000000>;
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sample-point-data = <750>;
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};
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};

‎tests/drivers/can/shell/dts/bindings/test-fake-can.yaml

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# Copyright (c) 2022 Vestas Wind Systems A/S
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# SPDX-License-Identifier: Apache-2.0
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description: |
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This binding provides resources required to build and run the
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tests/drivers/can/shell test in Zephyr.
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compatible: "test-fake-can"
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include: can-fd-controller.yaml

‎tests/drivers/can/shell/prj.conf

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CONFIG_SHELL=y
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CONFIG_SHELL_BACKEND_SERIAL=n
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CONFIG_SHELL_BACKEND_DUMMY=y
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CONFIG_CAN=y
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CONFIG_CAN_AUTO_BUS_OFF_RECOVERY=n
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CONFIG_CAN_FD_MODE=y
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CONFIG_CAN_SHELL=y
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CONFIG_ZTEST=y
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CONFIG_ZTEST_NEW_API=y

‎tests/drivers/can/shell/src/fake_can.c

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/*
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* Copyright (c) 2022 Vestas Wind Systems A/S
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <zephyr/device.h>
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#include <zephyr/drivers/can.h>
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#include <zephyr/fff.h>
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#ifdef CONFIG_ZTEST_NEW_API
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#include <zephyr/ztest.h>
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#endif /* CONFIG_ZTEST_NEW_API */
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#include "fake_can.h"
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#define DT_DRV_COMPAT test_fake_can
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DEFINE_FAKE_VALUE_FUNC(int, fake_can_set_timing, const struct device *, const struct can_timing *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_can_set_timing_data, const struct device *,
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const struct can_timing *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_can_get_capabilities, const struct device *, can_mode_t *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_can_set_mode, const struct device *, can_mode_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_can_send, const struct device *, const struct can_frame *,
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k_timeout_t, can_tx_callback_t, void *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_can_add_rx_filter, const struct device *, can_rx_callback_t,
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void *, const struct can_filter *);
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DEFINE_FAKE_VOID_FUNC(fake_can_remove_rx_filter, const struct device *, int);
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DEFINE_FAKE_VALUE_FUNC(int, fake_can_recover, const struct device *, k_timeout_t);
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DEFINE_FAKE_VALUE_FUNC(int, fake_can_get_state, const struct device *, enum can_state *,
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struct can_bus_err_cnt *);
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DEFINE_FAKE_VOID_FUNC(fake_can_set_state_change_callback, const struct device *,
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can_state_change_callback_t, void *);
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DEFINE_FAKE_VALUE_FUNC(int, fake_can_get_max_filters, const struct device *, enum can_ide);
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#ifdef CONFIG_ZTEST_NEW_API
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static void fake_can_reset_rule_before(const struct ztest_unit_test *test, void *fixture)
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{
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ARG_UNUSED(test);
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ARG_UNUSED(fixture);
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RESET_FAKE(fake_can_get_capabilities);
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RESET_FAKE(fake_can_set_mode);
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RESET_FAKE(fake_can_set_timing);
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RESET_FAKE(fake_can_set_timing_data);
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RESET_FAKE(fake_can_send);
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RESET_FAKE(fake_can_add_rx_filter);
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RESET_FAKE(fake_can_remove_rx_filter);
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RESET_FAKE(fake_can_get_state);
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RESET_FAKE(fake_can_recover);
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RESET_FAKE(fake_can_set_state_change_callback);
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RESET_FAKE(fake_can_get_max_filters);
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}
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ZTEST_RULE(fake_can_reset_rule, fake_can_reset_rule_before, NULL);
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#endif /* CONFIG_ZTEST_NEW_API */
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static int fake_can_get_core_clock(const struct device *dev, uint32_t *rate)
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{
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ARG_UNUSED(dev);
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*rate = 16000000;
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return 0;
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}
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static int fake_can_get_max_bitrate(const struct device *dev, uint32_t *max_bitrate)
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{
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ARG_UNUSED(dev);
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*max_bitrate = 5000000;
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return 0;
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}
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static const struct can_driver_api fake_can_driver_api = {
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.get_capabilities = fake_can_get_capabilities,
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.set_mode = fake_can_set_mode,
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.set_timing = fake_can_set_timing,
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.send = fake_can_send,
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.add_rx_filter = fake_can_add_rx_filter,
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.remove_rx_filter = fake_can_remove_rx_filter,
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.get_state = fake_can_get_state,
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#ifndef CONFIG_CAN_AUTO_BUS_OFF_RECOVERY
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.recover = fake_can_recover,
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#endif /* CONFIG_CAN_AUTO_BUS_OFF_RECOVERY */
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.set_state_change_callback = fake_can_set_state_change_callback,
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.get_core_clock = fake_can_get_core_clock,
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.get_max_filters = fake_can_get_max_filters,
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.get_max_bitrate = fake_can_get_max_bitrate,
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.timing_min = {
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.sjw = 0x01,
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.prop_seg = 0x01,
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.phase_seg1 = 0x01,
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.phase_seg2 = 0x01,
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.prescaler = 0x01
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},
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.timing_max = {
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.sjw = 0x0f,
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.prop_seg = 0x0f,
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.phase_seg1 = 0x0f,
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.phase_seg2 = 0x0f,
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.prescaler = 0xffff
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},
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#ifdef CONFIG_CAN_FD_MODE
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.set_timing_data = fake_can_set_timing_data,
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.timing_data_min = {
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.sjw = 0x01,
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.prop_seg = 0x01,
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.phase_seg1 = 0x01,
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.phase_seg2 = 0x01,
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.prescaler = 0x01
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},
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.timing_data_max = {
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.sjw = 0x0f,
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.prop_seg = 0x0f,
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.phase_seg1 = 0x0f,
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.phase_seg2 = 0x0f,
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.prescaler = 0xffff
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},
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#endif /* CONFIG_CAN_FD_MODE */
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};
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static int fake_can_init(const struct device *dev)
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{
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ARG_UNUSED(dev);
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return 0;
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}
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#define FAKE_CAN_INIT(inst) \
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DEVICE_DT_INST_DEFINE(inst, &fake_can_init, NULL, NULL, NULL, \
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POST_KERNEL, CONFIG_CAN_INIT_PRIORITY, \
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&fake_can_driver_api);
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DT_INST_FOREACH_STATUS_OKAY(FAKE_CAN_INIT)

‎tests/drivers/can/shell/src/fake_can.h

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/*
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* Copyright (c) 2022 Vestas Wind Systems A/S
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#ifndef ZEPHYR_TESTS_DRIVERS_CAN_SHELL_FAKE_CAN_H_
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#define ZEPHYR_TESTS_DRIVERS_CAN_SHELL_FAKE_CAN_H_
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#include <zephyr/drivers/can.h>
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#include <zephyr/fff.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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DECLARE_FAKE_VALUE_FUNC(int, fake_can_set_timing, const struct device *, const struct can_timing *);
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DECLARE_FAKE_VALUE_FUNC(int, fake_can_set_timing_data, const struct device *,
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const struct can_timing *);
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DECLARE_FAKE_VALUE_FUNC(int, fake_can_get_capabilities, const struct device *, can_mode_t *);
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DECLARE_FAKE_VALUE_FUNC(int, fake_can_set_mode, const struct device *, can_mode_t);
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DECLARE_FAKE_VALUE_FUNC(int, fake_can_send, const struct device *, const struct can_frame *,
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k_timeout_t, can_tx_callback_t, void *);
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DECLARE_FAKE_VALUE_FUNC(int, fake_can_add_rx_filter, const struct device *, can_rx_callback_t,
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void *, const struct can_filter *);
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DECLARE_FAKE_VOID_FUNC(fake_can_remove_rx_filter, const struct device *, int);
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DECLARE_FAKE_VALUE_FUNC(int, fake_can_recover, const struct device *, k_timeout_t);
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DECLARE_FAKE_VALUE_FUNC(int, fake_can_get_state, const struct device *, enum can_state *,
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struct can_bus_err_cnt *);
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DECLARE_FAKE_VOID_FUNC(fake_can_set_state_change_callback, const struct device *,
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can_state_change_callback_t, void *);
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DECLARE_FAKE_VALUE_FUNC(int, fake_can_get_max_filters, const struct device *, enum can_ide);
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#ifdef __cplusplus
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}
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#endif
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#endif /* ZEPHYR_TESTS_DRIVERS_CAN_SHELL_FAKE_CAN_H_ */

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