67 lines
1.4 KiB
Rust
67 lines
1.4 KiB
Rust
//! TWAI test
|
|
|
|
//% CHIPS: esp32 esp32c3 esp32c6 esp32h2 esp32s2 esp32s3
|
|
|
|
#![no_std]
|
|
#![no_main]
|
|
|
|
use embedded_hal_02::can::Frame;
|
|
use esp_hal::{
|
|
gpio::Io,
|
|
prelude::*,
|
|
twai::{self, filter::SingleStandardFilter, EspTwaiFrame, StandardId, TwaiMode},
|
|
Blocking,
|
|
};
|
|
use hil_test as _;
|
|
use nb::block;
|
|
|
|
struct Context {
|
|
twai: twai::Twai<'static, Blocking>,
|
|
}
|
|
|
|
#[cfg(test)]
|
|
#[embedded_test::tests]
|
|
mod tests {
|
|
use super::*;
|
|
|
|
#[init]
|
|
fn init() -> Context {
|
|
let peripherals = esp_hal::init(esp_hal::Config::default());
|
|
|
|
let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
|
|
|
|
let (loopback_pin, _) = hil_test::common_test_pins!(io);
|
|
|
|
let (rx, tx) = loopback_pin.split();
|
|
|
|
let mut config = twai::TwaiConfiguration::new(
|
|
peripherals.TWAI0,
|
|
rx,
|
|
tx,
|
|
twai::BaudRate::B1000K,
|
|
TwaiMode::SelfTest,
|
|
);
|
|
|
|
config.set_filter(SingleStandardFilter::new(
|
|
b"00000000000",
|
|
b"x",
|
|
[b"xxxxxxxx", b"xxxxxxxx"],
|
|
));
|
|
|
|
let twai = config.start();
|
|
|
|
Context { twai }
|
|
}
|
|
|
|
#[test]
|
|
#[timeout(3)]
|
|
fn test_send_receive(mut ctx: Context) {
|
|
let frame = EspTwaiFrame::new_self_reception(StandardId::ZERO, &[1, 2, 3]).unwrap();
|
|
block!(ctx.twai.transmit(&frame)).unwrap();
|
|
|
|
let frame = block!(ctx.twai.receive()).unwrap();
|
|
|
|
assert_eq!(frame.data(), &[1, 2, 3])
|
|
}
|
|
}
|