| *** Variables *** |
| ${UART} sysbus.usart3 |
| ${CAN} sysbus.fdcan1 |
| ${CAN_HUB} canHub |
| ${ZYNQ_UART} sysbus.uart0 |
| ${ZYNQ_CAN} sysbus.mcan |
| ${PROMPT} \#${SPACE} |
| ${ZYNQ_MCAN_PERIPHERALS} SEPARATOR=\n |
| ... """ |
| ... mcan: CAN.MCAN @ sysbus <0xe0104000, +0x4000> |
| ... ${SPACE*4}Line0 -> gic@30 |
| ... ${SPACE*4}Line1 -> gic@31 |
| ... ${SPACE*4}Calibration -> gic@32 |
| ... ${SPACE*4}messageRAM: canMessageRAM |
| ... |
| ... canMessageRAM: Memory.ArrayMemory @ sysbus <0xe0108000, +0x22000> |
| ... ${SPACE*4}size: 0x22000 |
| ... """ |
| # All Zephyr tests work in loopback mode |
| ${TESTS_NET_SOCKET_CAN_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-tests-net-socket-can.elf-s_724872-88ee55e384b5d68e4bd7a9a9a51faa47e9faa597 |
| ${TESTS_SUBSYS_CANBUS_ISOTP_IMPLEMENTATION_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-tests-subsys-canbus-isotp-implementation.elf-s_1402784-504c3c0fa0d5d111ed443954bbb2c86766153932 |
| ${TESTS_SUBSYS_CANBUS_ISOTP_CONFORMANCE_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-tests-subsys-canbus-isotp-conformance.elf-s_1466100-749f79deb1ce2d791b1794454b8afd977825b6eb |
| ${TESTS_DRIVERS_CAN_API_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-tests-drivers-can-api.elf-s_2039836-5cbc533cfc6334d3df2b0f8ef504c28093fa4dd8 |
| ${TESTS_DRIVERS_CAN_TIMING_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-tests-drivers-can-timing.elf-s_1873596-3a77a90c168202844bf70717b6a221b73e69926c |
| ${TESTS_DRIVERS_CAN_SHELL_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-tests-drivers-can-shell.elf-s_1642156-92afb142a6be519e6cf51ecb34023167bb66e1fd |
| # Zephyr samples can be configured to work in either normal or loopback mode |
| ${SAMPLES_SUBSYS_CANBUS_ISOTP_LOOPBACK_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-samples-subsys-canbus-isotp--loopback.elf-s_1554556-1a03849de5b83796ba0d541e279cc04ca1561106 |
| ${SAMPLES_SUBSYS_CANBUS_ISOTP_NO_LOOPBACK_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-samples-subsys-canbus-isotp.elf-s_1554512-549bcf52da77937f5c7a86dd407d3e9599e40938 |
| ${SAMPLES_NET_SOCKETS_CAN_LOOPBACK_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-samples-net-sockets-can--loopback.elf-s_2246072-12c8e04ba0a5f9ef2181cffb9bd0a38321c8e182 |
| ${SAMPLES_NET_SOCKETS_CAN_NO_LOOPBACK_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-samples-net-sockets-can.elf-s_2243040-d8ba11b258437935c3880cf3e162f448f55c6f17 |
| ${SAMPLES_DRIVERS_CAN_COUNTER_LOOPBACK_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-samples-drivers-can-counter--loopback.elf-s_1391916-0b17986e6f81b9d38be88cf70c6a5d616de19234 |
| ${SAMPLES_DRIVERS_CAN_COUNTER_NO_LOOPBACK_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-samples-drivers-can-counter.elf-s_1391464-17e71d5820ab718e5dc89f8480644c576306d24c |
| # Linux with support for MCAN |
| ${ZYNQ_MCAN_BIN} @https://dl.antmicro.com/projects/renode/zynq--linux-mcan.elf-s_14394628-0381324a8046cfb3f7a3f08364acd364588d2f03 |
| ${ZYNQ_MCAN_ROOTFS} @https://dl.antmicro.com/projects/renode/zynq--linux-mcan-rootfs.ext2-s_16777216-485d90cf2065794b6bbb68768315d1310387a0cc |
| ${ZYNQ_MCAN_DTB} @https://dl.antmicro.com/projects/renode/zynq--linux-mcan.dtb-s_12849-650fd5a9575fd9e2917e5f9dd2677014cbd7af11 |
| |
| *** Keywords *** |
| Create CAN Hub |
| [Arguments] ${loopback}=${True} |
| Execute Command emulation CreateCANHub "${CAN_HUB}" ${loopback} |
| |
| Create STM32H7 Machine |
| [Arguments] ${bin} ${name}=machine-0 |
| Execute Command $bin=${bin} |
| Execute Command mach create "${name}" |
| Execute Command machine LoadPlatformDescription @platforms/cpus/stm32h753.repl |
| Execute Command sysbus LoadELF ${bin} |
| Execute Command connector Connect ${CAN} ${CAN_HUB} |
| Execute Command showAnalyzer ${UART} |
| |
| Create Zynq Machine |
| [Arguments] ${name}=machine-0 |
| Execute Command $name="${name}" |
| Execute Command $bin=${ZYNQ_MCAN_BIN} |
| Execute Command $rootfs=${ZYNQ_MCAN_ROOTFS} |
| Execute Command $dtb=${ZYNQ_MCAN_DTB} |
| Execute Command include @scripts/single-node/zedboard.resc |
| Execute Command machine LoadPlatformDescriptionFromString ${ZYNQ_MCAN_PERIPHERALS} |
| Execute Command connector Connect ${ZYNQ_CAN} ${CAN_HUB} |
| |
| Check Exit Code |
| [Arguments] ${testerId} |
| Write Line To Uart echo $? testerId=${testerId} |
| Wait For Line On Uart 0 testerId=${testerId} |
| Wait For Prompt On Uart ${PROMPT} testerId=${testerId} |
| |
| Execute Linux Command |
| [Arguments] ${command} ${testerId} ${timeout}=5 |
| Write Line To Uart ${command} testerId=${testerId} |
| Wait For Prompt On Uart ${PROMPT} timeout=${timeout} testerId=${testerId} |
| Check Exit Code ${testerId} |
| |
| Boot And Login |
| [Arguments] ${testerId} |
| Wait For Line On Uart Booting Linux on physical CPU 0x0 testerId=${testerId} |
| Wait For Prompt On Uart buildroot login: timeout=25 testerId=${testerId} |
| Write Line To Uart root testerId=${testerId} |
| Wait For Prompt On Uart ${PROMPT} testerId=${testerId} |
| |
| *** Test Cases *** |
| Should Pass Zephyr CAN Net Socket Test |
| Create CAN Hub |
| Create STM32H7 Machine ${TESTS_NET_SOCKET_CAN_BIN} |
| Create Terminal Tester ${UART} |
| |
| Wait For Line On Uart PROJECT EXECUTION SUCCESSFUL |
| |
| Should Pass Zephyr CAN ISOTP Implementation Test |
| Create CAN Hub |
| Create STM32H7 Machine ${TESTS_SUBSYS_CANBUS_ISOTP_IMPLEMENTATION_BIN} |
| Create Terminal Tester ${UART} |
| |
| Wait For Line On Uart PROJECT EXECUTION SUCCESSFUL timeout=20 |
| |
| Should Pass Zephyr CAN ISOTP Conformance Test |
| Create CAN Hub |
| Create STM32H7 Machine ${TESTS_SUBSYS_CANBUS_ISOTP_CONFORMANCE_BIN} |
| Create Terminal Tester ${UART} |
| |
| Wait For Line On Uart PROJECT EXECUTION SUCCESSFUL timeout=12 |
| |
| Should Pass Zephyr CAN API Test |
| Create CAN Hub |
| Create STM32H7 Machine ${TESTS_DRIVERS_CAN_API_BIN} |
| Create Terminal Tester ${UART} |
| |
| Wait For Line On Uart PROJECT EXECUTION SUCCESSFUL |
| |
| Should Pass Zephyr CAN Timing Test |
| Create CAN Hub |
| Create STM32H7 Machine ${TESTS_DRIVERS_CAN_TIMING_BIN} |
| Create Terminal Tester ${UART} |
| |
| Wait For Line On Uart PROJECT EXECUTION SUCCESSFUL |
| |
| Should Pass Zephyr CAN Shell Test |
| Create CAN Hub |
| Create STM32H7 Machine ${TESTS_DRIVERS_CAN_SHELL_BIN} |
| Create Terminal Tester ${UART} |
| |
| Wait For Line On Uart PROJECT EXECUTION SUCCESSFUL |
| |
| Should Use CAN ISOTP Protocol To Exchange Messages In Loopback Mode |
| Create CAN Hub |
| Create STM32H7 Machine ${SAMPLES_SUBSYS_CANBUS_ISOTP_LOOPBACK_BIN} |
| Create Terminal Tester ${UART} |
| |
| # Wait for several successful transmissions |
| ${cnt}= Set Variable 40 |
| FOR ${i} IN RANGE 0 ${cnt} |
| Wait For Line On Uart Got 247 bytes in total |
| Wait For Line On Uart TX complete cb [0] |
| Wait For Line On Uart This is the sample test for the short payload |
| END |
| |
| Should Use CAN ISOTP Protocol To Exchange Messages Between Machines |
| Create CAN Hub loopback=${False} |
| Create STM32H7 Machine ${SAMPLES_SUBSYS_CANBUS_ISOTP_NO_LOOPBACK_BIN} machine-0 |
| ${tester-0}= Create Terminal Tester ${UART} machine=machine-0 |
| # Lower quantum to keep synchronization between machines |
| Execute Command emulation SetGlobalQuantum "0.000025" |
| Execute Command emulation SetGlobalSerialExecution True |
| |
| Create STM32H7 Machine ${SAMPLES_SUBSYS_CANBUS_ISOTP_NO_LOOPBACK_BIN} machine-1 |
| ${tester-1}= Create Terminal Tester ${UART} machine=machine-1 |
| |
| # Wait for several successful transmissions |
| ${cnt}= Set Variable 40 |
| FOR ${i} IN RANGE 0 ${cnt} |
| Wait For Line On Uart Got 247 bytes in total testerId=${tester-0} |
| Wait For Line On Uart Got 247 bytes in total testerId=${tester-1} |
| Wait For Line On Uart TX complete cb [0] testerId=${tester-0} |
| Wait For Line On Uart TX complete cb [0] testerId=${tester-1} |
| Wait For Line On Uart This is the sample test for the short payload testerId=${tester-0} |
| Wait For Line On Uart This is the sample test for the short payload testerId=${tester-1} |
| END |
| |
| Should Use CAN Socket API To Exchange Messages In Loopback Mode |
| Create CAN Hub |
| Create STM32H7 Machine ${SAMPLES_NET_SOCKETS_CAN_LOOPBACK_BIN} |
| Create Terminal Tester ${UART} |
| |
| # Wait for several successful transmissions |
| ${cnt}= Set Variable 40 |
| FOR ${i} IN RANGE 0 ${cnt} |
| Wait For Line On Uart net_socket_can_sample: [0] CAN frame: IDE 0x0 RTR 0x0 ID 0x1 DLC 0x8 |
| Wait For Line On Uart f0 f1 f2 f3 f4 f5 f6 f7 |
| END |
| |
| Should Use CAN Socket API To Exchange Messages Between Machines |
| Create CAN Hub loopback=${False} |
| Create STM32H7 Machine ${SAMPLES_NET_SOCKETS_CAN_NO_LOOPBACK_BIN} machine-0 |
| ${tester-0}= Create Terminal Tester ${UART} machine=machine-0 |
| |
| Create STM32H7 Machine ${SAMPLES_NET_SOCKETS_CAN_NO_LOOPBACK_BIN} machine-1 |
| ${tester-1}= Create Terminal Tester ${UART} machine=machine-1 |
| Execute Command emulation SetGlobalQuantum "0.000025" |
| Execute Command emulation SetGlobalSerialExecution True |
| |
| # Wait for several successful transmissions |
| ${cnt}= Set Variable 40 |
| FOR ${i} IN RANGE 0 ${cnt} |
| Wait For Line On Uart net_socket_can_sample: [0] CAN frame: IDE 0x0 RTR 0x0 ID 0x1 DLC 0x8 testerId=${tester-0} |
| Wait For Line On Uart net_socket_can_sample: [0] CAN frame: IDE 0x0 RTR 0x0 ID 0x1 DLC 0x8 testerId=${tester-1} |
| Wait For Line On Uart f0 f1 f2 f3 f4 f5 f6 f7 testerId=${tester-0} |
| Wait For Line On Uart f0 f1 f2 f3 f4 f5 f6 f7 testerId=${tester-1} |
| END |
| |
| Should Run Zephyr CAN Counter Sample In Loopback Mode |
| Create CAN Hub |
| Create STM32H7 Machine ${SAMPLES_DRIVERS_CAN_COUNTER_LOOPBACK_BIN} |
| Create Terminal Tester ${UART} |
| |
| # Wait for several successful transmissions |
| ${cnt}= Set Variable 40 |
| FOR ${i} IN RANGE 0 ${cnt} |
| Wait For Line On Uart Counter received: ${i} |
| END |
| |
| Should Run Zephyr CAN Counter Sample To Exchange Messages Between Machines |
| Create CAN Hub loopback=${False} |
| Create STM32H7 Machine ${SAMPLES_DRIVERS_CAN_COUNTER_NO_LOOPBACK_BIN} machine-0 |
| ${tester-0}= Create Terminal Tester ${UART} machine=machine-0 |
| |
| Create STM32H7 Machine ${SAMPLES_DRIVERS_CAN_COUNTER_NO_LOOPBACK_BIN} machine-1 |
| ${tester-1}= Create Terminal Tester ${UART} machine=machine-1 |
| # Lower quantum to keep synchronization between machines |
| Execute Command emulation SetGlobalQuantum "0.000025" |
| Execute Command emulation SetGlobalSerialExecution True |
| |
| # Wait for several successful transmissions |
| ${cnt}= Set Variable 40 |
| FOR ${i} IN RANGE 0 ${cnt} |
| Wait For Line On Uart Counter received: ${i} testerId=${tester-0} |
| Wait For Line On Uart Counter received: ${i} testerId=${tester-1} |
| END |
| |
| Should Boot Linux And Login With MCAN |
| Create CAN Hub loopback=${False} |
| Create Zynq Machine machine-0 |
| ${tester-0}= Create Terminal Tester ${ZYNQ_UART} machine=machine-0 |
| Create Zynq Machine machine-1 |
| ${tester-1}= Create Terminal Tester ${ZYNQ_UART} machine=machine-1 |
| # Lower quantum to keep synchronization between machines |
| Execute Command emulation SetGlobalQuantum "0.000025" |
| Execute Command emulation SetGlobalSerialExecution True |
| |
| Boot And Login ${tester-0} |
| Boot And Login ${tester-1} |
| # Suppress messages from the kernel space |
| Execute Linux Command echo 0 > /proc/sys/kernel/printk testerId=${tester-0} |
| Execute Linux Command echo 0 > /proc/sys/kernel/printk testerId=${tester-1} |
| |
| Provides mcan-logged-in |
| |
| Should Handle CAN Messages Issued Through CAN Utils Tools |
| Requires mcan-logged-in |
| |
| ${tester-0}= Create Terminal Tester ${ZYNQ_UART} machine=machine-0 |
| ${tester-1}= Create Terminal Tester ${ZYNQ_UART} machine=machine-1 |
| |
| Execute Linux Command ip link set can0 up type can bitrate 125000 dbitrate 125000 fd on testerId=${tester-0} |
| Execute Linux Command ip link set can0 up type can bitrate 125000 dbitrate 125000 fd on testerId=${tester-1} |
| |
| # Send CAN frames |
| Write Line To Uart candump can0 testerId=${tester-0} |
| Write Line To Uart cansend can0 099#11223344AABBCCDD testerId=${tester-1} # Send classical CAN 2.0 frame |
| Wait For Line On Uart .*11 22 33 44 AA BB CC DD treatAsRegex=true testerId=${tester-0} |
| Write Line To Uart cansend can0 013##311223344AABBCCDD11223344 testerId=${tester-1} # Send CAN FD frame |
| Wait For Line On Uart .*11 22 33 44 AA BB CC DD 11 22 33 44 treatAsRegex=true testerId=${tester-0} |
| # Send Control-C |
| Send Key To Uart 0x03 testerId=${tester-0} |
| |
| # Send random messages of different type |
| Write Line To Uart candump can0 testerId=${tester-0} |
| Write Line To Uart cangen can0 -m -v testerId=${tester-1} |
| # Send Control-C |
| Send Key To Uart 0x03 testerId=${tester-0} |
| Send Key To Uart 0x03 testerId=${tester-1} |
| |
| Write Line To Uart canfdtest -v can0 testerId=${tester-0} |
| Write Line To Uart canfdtest -g -v can0 testerId=${tester-1} |
| Should Not Be On Uart RX before TX! testerId=${tester-1} timeout=${10} |
