99bf346898
* Clean up passing clocks to drivers * Update changelog * Initialise Clocks in a critical section * Fix calling now() before init * Fix doc * Fix esp-wifi migration guide * Add safety comment * Update tests
72 lines
1.6 KiB
Rust
72 lines
1.6 KiB
Rust
//! TWAI test
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//!
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//! Folowing pins are used:
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//! TX GPIO2 / GPIO9 (esp32s2 and esp32s3)
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//! RX GPIO3 / GPIO10 (esp32s2 and esp32s3)
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//!
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//! Connect TX and RX pins.
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//% CHIPS: esp32c3 esp32c6 esp32s2 esp32s3
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#![no_std]
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#![no_main]
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use embedded_hal_02::can::Frame;
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use esp_hal::{
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gpio::Io,
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peripherals::TWAI0,
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prelude::*,
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twai::{self, filter::SingleStandardFilter, EspTwaiFrame, StandardId, TwaiMode},
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Blocking,
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};
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use hil_test as _;
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use nb::block;
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struct Context {
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twai: twai::Twai<'static, TWAI0, Blocking>,
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}
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#[cfg(test)]
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#[embedded_test::tests]
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mod tests {
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use defmt::assert_eq;
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use super::*;
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#[init]
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fn init() -> Context {
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let peripherals = esp_hal::init(esp_hal::Config::default());
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let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
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let (can_tx_pin, can_rx_pin) = hil_test::common_test_pins!(io);
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let mut config = twai::TwaiConfiguration::new(
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peripherals.TWAI0,
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can_tx_pin,
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can_rx_pin,
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twai::BaudRate::B1000K,
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TwaiMode::SelfTest,
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);
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const FILTER: SingleStandardFilter =
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SingleStandardFilter::new(b"00000000000", b"x", [b"xxxxxxxx", b"xxxxxxxx"]);
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config.set_filter(FILTER);
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let twai = config.start();
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Context { twai }
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}
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#[test]
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#[timeout(3)]
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fn test_send_receive(mut ctx: Context) {
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let frame = EspTwaiFrame::new_self_reception(StandardId::ZERO.into(), &[1, 2, 3]).unwrap();
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block!(ctx.twai.transmit(&frame)).unwrap();
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let frame = block!(ctx.twai.receive()).unwrap();
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assert_eq!(frame.data(), &[1, 2, 3])
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}
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}
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