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tests: canbus: isotp: conformance: add mode_check test

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Add a test to check error codes if attempting to use ISO-TP with CAN FD
mode even though the controller supports classical CAN only.

Signed-off-by: Martin Jäger <martin@libre.solar>
This commit is contained in:
Martin Jäger 2023-08-23 19:04:13 +02:00 committed by Carles Cufí
parent 9e9cbd8ce4
commit a816180b16
1 changed files with 92 additions and 0 deletions
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tests/subsys/canbus/isotp/conformance/src/mode_check.c Normal file
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/*
* Copyright (c) 2023 Libre Solar Technologies GmbH
*
* SPDX-License-Identifier: Apache-2.0
*/
/*
* This test suite checks that correct errors are returned when trying to use the ISO-TP
* protocol with CAN-FD mode even though the controller does not support CAN-FD.
*/
#include <zephyr/canbus/isotp.h>
#include <zephyr/ztest.h>
static const struct device *const can_dev = DEVICE_DT_GET(DT_CHOSEN(zephyr_canbus));
static struct isotp_recv_ctx recv_ctx;
static struct isotp_send_ctx send_ctx;
static bool canfd_capable;
static const struct isotp_fc_opts fc_opts = {
.bs = 0,
.stmin = 0
};
static const struct isotp_msg_id rx_addr = {
.std_id = 0x20,
#ifdef CONFIG_TEST_USE_CAN_FD_MODE
.dl = CONFIG_TEST_ISOTP_TX_DL,
.flags = ISOTP_MSG_FDF | ISOTP_MSG_BRS,
#endif
};
static const struct isotp_msg_id tx_addr = {
.std_id = 0x21,
#ifdef CONFIG_TEST_USE_CAN_FD_MODE
.dl = CONFIG_TEST_ISOTP_TX_DL,
.flags = ISOTP_MSG_FDF | ISOTP_MSG_BRS,
#endif
};
ZTEST(isotp_conformance_mode_check, test_bind)
{
int err;
err = isotp_bind(&recv_ctx, can_dev, &rx_addr, &tx_addr, &fc_opts, K_NO_WAIT);
if (IS_ENABLED(CONFIG_TEST_USE_CAN_FD_MODE) && !canfd_capable) {
zassert_equal(err, ISOTP_N_ERROR);
} else {
zassert_equal(err, ISOTP_N_OK);
}
isotp_unbind(&recv_ctx);
}
ZTEST(isotp_conformance_mode_check, test_send)
{
uint8_t buf[] = { 1, 2, 3 };
int err;
err = isotp_send(&send_ctx, can_dev, buf, sizeof(buf), &rx_addr, &tx_addr, NULL, NULL);
if (IS_ENABLED(CONFIG_TEST_USE_CAN_FD_MODE) && !canfd_capable) {
zassert_equal(err, ISOTP_N_ERROR);
} else {
zassert_equal(err, ISOTP_N_OK);
}
}
static void *isotp_conformance_mode_check_setup(void)
{
can_mode_t cap;
int err;
zassert_true(device_is_ready(can_dev), "CAN device not ready");
err = can_get_capabilities(can_dev, &cap);
zassert_equal(err, 0, "failed to get CAN controller capabilities (err %d)", err);
canfd_capable = (cap & CAN_MODE_FD) != 0;
(void)can_stop(can_dev);
err = can_set_mode(can_dev, CAN_MODE_LOOPBACK | (canfd_capable ? CAN_MODE_FD : 0));
zassert_equal(err, 0, "Failed to set mode [%d]", err);
err = can_start(can_dev);
zassert_equal(err, 0, "Failed to start CAN controller [%d]", err);
return NULL;
}
ZTEST_SUITE(isotp_conformance_mode_check, NULL, isotp_conformance_mode_check_setup, NULL, NULL,
NULL);