sam_e70b_xplained: failed to run test case tests/drivers/can/timing/drivers.can.timing

[shaoanxli]

Describe the bug
The test case failed after commit id: 5961ad2<Assertion failed at WEST_TOPDIR/zephyr/tests/drivers/can/timing/src/main.c:194: test_timing_values: (sp_err >= 0 is false)>.The root cause is not clear yet.

To Reproduce
Steps to reproduce the behavior:

1. source zephyr-env.sh
2. west build -p always -b sam_e70b_xplained tests/drivers/can/timing
3. Open another terminal and execute: picocom -b 115200 /dev/ttyACM0
4. west flash
5. See error
   or
6. twister --device-testing --hardware-map $HOME/sam_e70b_xplained.file -T tests/drivers/can/timing -vv
7. See error

Expected behavior
Test case should pass as expected.

Impact
The test case drivers.can.timing failed.

Logs and console output

DEBUG   - DEVICE: testing on device CAN_0
DEBUG   - DEVICE: Running test suite can_timing_tests
DEBUG   - DEVICE: ===================================================================
DEBUG   - DEVICE: START - test_set_timing_min
DEBUG   - DEVICE: PASS - test_set_timing_min in 0.1 seconds
DEBUG   - DEVICE: ===================================================================
DEBUG   - DEVICE: START - test_set_timing_max
DEBUG   - DEVICE: PASS - test_set_timing_max in 0.1 seconds
DEBUG   - DEVICE: ===================================================================
DEBUG   - DEVICE: START - test_timing
DEBUG   - DEVICE: testing bitrate 20000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 130, phase_seg2 = 19, prescaler = 50 OK, sample point error 0.2%
DEBUG   - DEVICE: testing bitrate 50000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 174, phase_seg2 = 25, prescaler = 15 OK, sample point error 0.0%
DEBUG   - DEVICE: testing bitrate 125000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 209, phase_seg2 = 30, prescaler = 5 OK, sample point error 0.0%
DEBUG   - DEVICE: testing bitrate 250000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 174, phase_seg2 = 25, prescaler = 3 OK, sample point error 0.0%
DEBUG   - DEVICE: testing bitrate 500000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 130, phase_seg2 = 19, prescaler = 2 OK, sample point error 0.2%
DEBUG   - DEVICE: testing bitrate 800000, sample point 80.0% (valid):
DEBUG   - DEVICE: Assertion failed at WEST_TOPDIR/zephyr/tests/drivers/can/timing/src/main.c:194: test_timing_values: (sp_err >= 0 is false)
DEBUG   - DEVICE: unknown error -22
DEBUG   - DEVICE: FAIL - test_timing in 0.80 seconds
DEBUG   - DEVICE: ===================================================================
DEBUG   - DEVICE: START - test_timing_data
DEBUG   - DEVICE: testing bitrate 500000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 25, phase_seg2 = 4, prescaler = 10 OK, sample point error 0.9%
DEBUG   - DEVICE: testing bitrate 1000000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 25, phase_seg2 = 4, prescaler = 5 OK, sample point error 0.9%
DEBUG   - DEVICE: testing bitrate 500000, sample point 90.0% (valid): prop_seg = 0, phase_seg1 = 26, phase_seg2 = 3, prescaler = 10 OK, sample point error 0.0%
DEBUG   - DEVICE: testing bitrate 500000, sample point 80.0% (valid): prop_seg = 0, phase_seg1 = 23, phase_seg2 = 6, prescaler = 10 OK, sample point error 0.0%
DEBUG   - DEVICE: testing bitrate 500000, sample point 100.0% (invalid): OK
DEBUG   - DEVICE: testing bitrate 8000001, sample point 75.0% (invalid): OK
DEBUG   - DEVICE: PASS - test_timing_data in 0.60 seconds
DEBUG   - DEVICE: ===================================================================
DEBUG   - DEVICE: Test suite can_timing_tests failed.
DEBUG   - DEVICE: ===================================================================
DEBUG   - DEVICE: RunID: 3388c175cce6eae39d7aabc0b45b2cfc
DEBUG   - DEVICE: PROJECT EXECUTION FAILED
DEBUG   - run status: sam_e70_xplained/tests/drivers/can/timing/drivers.can.timing failed
INFO    - 1/1 sam_e70_xplained          tests/drivers/can/timing/drivers.can.timing        FAILED Failed (device 4.982s)

Environment :
OS: Linux,
Toolchain Zephyr SDK 0.13.2
Commit SHA or Version: 5961ad2

[henrikbrixandersen]

Thank you for reporting this. Please rerun the test with an updated main branch (needs 7a5116a) and update the console output. I need to see the CAN core clock frequency.

[henrikbrixandersen]

I solved a similar issue on another platform recently: #44985

[shaoanxli]

Thank you for reporting this. Please rerun the test with an updated main branch (needs 7a5116a) and update the console output. I need to see the CAN core clock frequency.

I ran the can.timing on main branch(7a5116a) ,and the console output was as follow :

*** Booting Zephyr OS build zephyr-v3.0.0-2888-g7a5116acb25a  ***
testing on device CAN_0 @ 150000000 Hz
Running test suite can_timing_tests
===================================================================
START - test_set_timing_min
PASS - test_set_timing_min in 0.1 seconds
===================================================================
START - test_set_timing_max
PASS - test_set_timing_max in 0.1 seconds
===================================================================
START - test_timing
testing bitrate 20000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 130, phase_seg2 = 19, prescaler = 50 OK, sample point error 0.2%
testing bitrate 50000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 174, phase_seg2 = 25, prescaler = 15 OK, sample point error 0.0%
testing bitrate 125000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 209, phase_seg2 = 30, prescaler = 5 OK, sample point error 0.0%
testing bitrate 250000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 174, phase_seg2 = 25, prescaler = 3 OK, sample point error 0.0%
testing bitrate 500000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 130, phase_seg2 = 19, prescaler = 2 OK, sample point error 0.2%
testing bitrate 800000, sample point 80.0% (valid):
Assertion failed at WEST_TOPDIR/zephyr/tests/drivers/can/timing/src/main.c:194: test_timing_values: (sp_err >= 0 is false)
unknown error -22
FAIL - test_timing in 0.80 seconds
===================================================================
START - test_timing_data
testing bitrate 500000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 25, phase_seg2 = 4, prescaler = 10 OK, sample point error 0.9%
testing bitrate 1000000, sample point 87.5% (valid): prop_seg = 0, phase_seg1 = 25, phase_seg2 = 4, prescaler = 5 OK, sample point error 0.9%
testing bitrate 500000, sample point 90.0% (valid): prop_seg = 0, phase_seg1 = 26, phase_seg2 = 3, prescaler = 10 OK, sample point error 0.0%
testing bitrate 500000, sample point 80.0% (valid): prop_seg = 0, phase_seg1 = 23, phase_seg2 = 6, prescaler = 10 OK, sample point error 0.0%
testing bitrate 500000, sample point 100.0% (invalid): OK
testing bitrate 8000001, sample point 75.0% (invalid): OK
PASS - test_timing_data in 0.60 seconds
===================================================================
Test suite can_timing_tests failed.
===================================================================
RunID: 46030aa4049112676a30e8b6e761a9c1
PROJECT EXECUTION FAILED

[shaoanxli]

I have a question about can timing.I see that the datasheet of sam_e70b_xplained recommends that the can controller use PCKx. Why the driver here （006855df28a3ea2477f8c2e380b972aa3d063179） add other two clock sources ？Don't we just need to change the PCK1 divider factor?

[henrikbrixandersen]

From the SAM E70 data sheet, page 1362:

[henrikbrixandersen]

@shaoanxli I have created a partial, draft pull request for changing the CAN core clock source of the SAM CAN driver, but I do not have the hardware to test and finish it. See #45223

[shaoanxli]

I modified the code the same as #45223 ，but failed. The console output showed :

DEBUG   - DEVICE: E: Failed to leave init mode
DEBUG   - DEVICE: *** Booting Zephyr OS build zephyr-v3.0.0-3206-gf7171e20b33e  ***
DEBUG   - DEVICE:
DEBUG   - DEVICE: Assertion failed at WEST_TOPDIR/zephyr/tests/drivers/can/timing/src/main.c:291: test_main: (device_is_ready(dev) is false)
DEBUG   - DEVICE: CAN device not ready
DEBUG   - Timed out while monitoring serial output on sam_e70_xplained
DEBUG   - run status: sam_e70_xplained/tests/drivers/can/timing/drivers.can.timing timeout
INFO    - 1/1 sam_e70_xplained          tests/drivers/can/timing/drivers.can.timing        FAILED Timeout (device 64.775s)
ERROR   - see: /home/shaoanli/zephyrproject/zephyr/twister-out/sam_e70_xplained/tests/drivers/can/timing/drivers.can.timing/handler.log

And the log "Failed to leave init mode" is on drivers/can/can_mcan.c:483 .