c7a2368845
* Print panic messages using semihosting * Don't use defmt's asserts * Make RA_OFFSET available without panic-handler * Re-add defmt imports where missing * Revert unintended test change * Initialise hal in critical-section test * Disable defmt in tests by default
66 lines
1.5 KiB
Rust
66 lines
1.5 KiB
Rust
//! TWAI test
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//% CHIPS: esp32 esp32c3 esp32c6 esp32h2 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 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 (loopback_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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loopback_pin.peripheral_input(),
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loopback_pin,
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twai::BaudRate::B1000K,
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TwaiMode::SelfTest,
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);
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config.set_filter(SingleStandardFilter::new(
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b"00000000000",
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b"x",
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[b"xxxxxxxx", b"xxxxxxxx"],
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));
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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, &[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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