| # Based on MCAN.robot |
| |
| *** Variables *** |
| ${UART} sysbus.usart3 |
| ${CAN} sysbus.utcan |
| ${CAN_HUB} canHub |
| ${PROMPT} \#${SPACE} |
| ${UT32_CAN_REPL} SEPARATOR=\n |
| ... """ |
| ... utcan: CAN.UT32_CAN @ sysbus 0x40cccc00 |
| ... ${SPACE*4}-> nvic@19 |
| ... """ |
| # 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-ut32_can.elf-s_730196-c52d44ada96c6b31de3a0d158d015b73292b40da |
| ${TESTS_DRIVERS_CAN_API_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-tests-drivers-can-api-ut32_can.elf-s_1906268-a5504a6579baa2a4ec54631d64c9f21337b91379 |
| ${TESTS_DRIVERS_CAN_TIMING_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-tests-drivers-can-timing-ut32_can.elf-s_1734652-3eb1047cd81cc11f72613746aee01d5278d0bcc8 |
| ${TESTS_DRIVERS_CAN_SHELL_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-tests-drivers-can-shell-ut32_can.elf-s_1510120-b2056800cb2907c73a4bd42b49417e4a09db5b99 |
| # Zephyr samples can be configured to work in either normal or loopback mode |
| ${SAMPLES_NET_SOCKETS_CAN_LOOPBACK_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-samples-net-sockets-can--loopback-ut32_can.elf-s_2059904-50e9744c770ea67909a0951ab30650f0c0246f13 |
| ${SAMPLES_NET_SOCKETS_CAN_NO_LOOPBACK_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-samples-net-sockets-can-ut32_can.elf-s_2056976-efbc0327c5433fde0fa166ab3b652602c9c5ae0b |
| ${SAMPLES_DRIVERS_CAN_COUNTER_LOOPBACK_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-samples-drivers-can-counter--loopback-ut32_can.elf-s_1272296-cfc7a216ae8f087a89e79c211442a80347888017 |
| ${SAMPLES_DRIVERS_CAN_COUNTER_NO_LOOPBACK_BIN} @https://dl.antmicro.com/projects/renode/nucleo_h743zi--zephyr-samples-drivers-can-counter-ut32_can.elf-s_1271844-3366c77a9b0c4c7ca234a445644ae89ef8b73ad7 |
| |
| *** Keywords *** |
| Create CAN Hub |
| Execute Command emulation CreateCANHub "${CAN_HUB}" |
| |
| 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 |
| # The Zephyr binaries used here would not work on a real STM32H753 as they expect a UT32-compatible CAN controller |
| # to be present at 0x40cccc00. Add it to the platform |
| Execute Command machine LoadPlatformDescriptionFromString ${UT32_CAN_REPL} |
| Execute Command macro reset "sysbus LoadELF ${bin}" |
| Execute Command runMacro $reset |
| Execute Command connector Connect ${CAN} ${CAN_HUB} |
| Execute Command showAnalyzer ${UART} |
| |
| Set Emulation Parameters For Better Synchronization Between Machines |
| Execute Command emulation SetGlobalQuantum "0.000025" |
| Execute Command emulation SetGlobalSerialExecution True |
| |
| *** 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 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 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 |
| 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 |
| |
| Set Emulation Parameters For Better Synchronization Between Machines |
| |
| # 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 |
| 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 |
| |
| Set Emulation Parameters For Better Synchronization Between Machines |
| |
| # 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 |
