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/*
* Copyright (c) 2006-2026, RT-Thread Development Team
*
* SPDX-License-Identifier: Apache-2.0
*
* Change Logs:
* Date Author Notes
* 2026-04-20 rcitach first version
*/
#include <rtdevice.h>
#include <utest.h>
/*
* S100 CAN utest 说明
*
* 1. 本测试面向当前 rdk/s100 BSP 的 RT-Thread CAN 设备驱动，覆盖设备发现、
* open、配置、模式切换、发送、接收、状态读取和 close 的基础路径。
* 2. 为避免依赖外部 CAN 对端，本测试使用驱动支持的 RT_CAN_MODE_LOOPBACK 内部回环模式。
* 因此测试默认不要求外部收发器回环或两节点组网。
* 3. 测试对象仅包含当前配置中启用的 can5/can6/can7/can8/can9。
* 4. 发送内容使用一帧标准数据帧（11-bit ID，8 字节 payload），接收后逐字段校验：
* - IDE/RTR
* - 标准 ID
* - DLC
* - data[0..7]
* 5. 若需要改成外部总线联调，请把 loopback 模式切回 normal，并去掉本用例的回环假设。
*/
static const struct rt_can_msg s100_can_test_msg =
{
.id = 0x123,
.ide = RT_CAN_STDID,
.rtr = RT_CAN_DTR,
.len = 8,
.priv = 0,
.hdr_index = -1,
.rxfifo = 0,
.reserved = 0,
.nonblocking = 0,
.data = {0x55, 0xAA, 0x00, 0xFF, 0x11, 0x22, 0x33, 0x44},
};
struct s100_can_test_port
{
const char *name;
};
#if defined(BSP_USING_CAN5) || defined(BSP_USING_CAN6) || defined(BSP_USING_CAN7) || defined(BSP_USING_CAN8) || defined(BSP_USING_CAN9)
static const struct s100_can_test_port s100_can_test_ports[] =
{
#ifdef BSP_USING_CAN5
{ "can5" },
#endif
#ifdef BSP_USING_CAN6
{ "can6" },
#endif
#ifdef BSP_USING_CAN7
{ "can7" },
#endif
#ifdef BSP_USING_CAN8
{ "can8" },
#endif
#ifdef BSP_USING_CAN9
{ "can9" },
#endif
};
#define S100_CAN_TEST_PORT_COUNT \
(sizeof(s100_can_test_ports) / sizeof(s100_can_test_ports[0]))
#else
static const struct s100_can_test_port s100_can_test_ports[] =
{
{ RT_NULL },
};
#define S100_CAN_TEST_PORT_COUNT 0u
#endif
static void s100_can_prepare_config(struct can_configure *cfg)
{
RT_ASSERT(cfg != RT_NULL);
cfg->baud_rate = CAN1MBaud;
cfg->mode = RT_CAN_MODE_LOOPBACK;
cfg->privmode = RT_CAN_MODE_NOPRIV;
}
static void s100_can_check_port_basic(const char *name)
{
rt_device_t can_dev;
struct can_configure cfg = CANDEFAULTCONFIG;
struct rt_can_status status;
rt_err_t ret;
can_dev = rt_device_find(name);
uassert_not_null(can_dev);
s100_can_prepare_config(&cfg);
ret = rt_device_control(can_dev, RT_DEVICE_CTRL_CONFIG, &cfg);
uassert_int_equal(ret, RT_EOK);
ret = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX);
uassert_int_equal(ret, RT_EOK);
ret = rt_device_control(can_dev, RT_CAN_CMD_SET_MODE, (void *)RT_CAN_MODE_LOOPBACK);
uassert_int_equal(ret, RT_EOK);
ret = rt_device_control(can_dev, RT_CAN_CMD_SET_BAUD, (void *)CAN1MBaud);
uassert_int_equal(ret, RT_EOK);
ret = rt_device_control(can_dev, RT_CAN_CMD_GET_STATUS, &status);
uassert_int_equal(ret, RT_EOK);
ret = rt_device_close(can_dev);
uassert_int_equal(ret, RT_EOK);
}
static void s100_can_check_port_loopback(const char *name)
{
rt_device_t can_dev;
struct can_configure cfg = CANDEFAULTCONFIG;
struct rt_can_msg rx_msg;
rt_err_t ret;
rt_ssize_t wr_len;
rt_ssize_t rd_len;
rt_size_t i;
can_dev = rt_device_find(name);
uassert_not_null(can_dev);
s100_can_prepare_config(&cfg);
ret = rt_device_control(can_dev, RT_DEVICE_CTRL_CONFIG, &cfg);
uassert_int_equal(ret, RT_EOK);
ret = rt_device_open(can_dev, RT_DEVICE_FLAG_INT_RX | RT_DEVICE_FLAG_INT_TX);
uassert_int_equal(ret, RT_EOK);
ret = rt_device_control(can_dev, RT_CAN_CMD_SET_MODE, (void *)RT_CAN_MODE_LOOPBACK);
uassert_int_equal(ret, RT_EOK);
ret = rt_device_control(can_dev, RT_CAN_CMD_SET_BAUD, (void *)CAN1MBaud);
uassert_int_equal(ret, RT_EOK);
rt_memset(&rx_msg, 0, sizeof(rx_msg));
rt_kprintf("%s tx can id=0x%03X len=%d\n", name, (unsigned int)s100_can_test_msg.id, (int)s100_can_test_msg.len);
LOG_HEX("can.tx", 16, s100_can_test_msg.data, s100_can_test_msg.len);
wr_len = rt_device_write(can_dev, 0, &s100_can_test_msg, sizeof(s100_can_test_msg));
uassert_int_equal((int)wr_len, (int)sizeof(s100_can_test_msg));
rd_len = rt_device_read(can_dev, 0, &rx_msg, sizeof(rx_msg));
uassert_int_equal((int)rd_len, (int)sizeof(rx_msg));
rt_kprintf("%s rx can id=0x%03X len=%d\n", name, (unsigned int)rx_msg.id, (int)rx_msg.len);
LOG_HEX("can.rx", 16, rx_msg.data, rx_msg.len);
uassert_int_equal((int)rx_msg.ide, (int)s100_can_test_msg.ide);
uassert_int_equal((int)rx_msg.rtr, (int)s100_can_test_msg.rtr);
uassert_int_equal((int)rx_msg.id, (int)s100_can_test_msg.id);
uassert_int_equal((int)rx_msg.len, (int)s100_can_test_msg.len);
for (i = 0; i < s100_can_test_msg.len; i++)
{
rt_kprintf("%s compare[%d]: tx=0x%02X rx=0x%02X\n",
name,
(int)i,
s100_can_test_msg.data[i],
rx_msg.data[i]);
uassert_int_equal((int)rx_msg.data[i], (int)s100_can_test_msg.data[i]);
}
ret = rt_device_close(can_dev);
uassert_int_equal(ret, RT_EOK);
}
static void can_basic_demo(void)
{
rt_size_t i;
if (S100_CAN_TEST_PORT_COUNT == 0)
{
return;
}
for (i = 0; i < S100_CAN_TEST_PORT_COUNT; i++)
{
s100_can_check_port_basic(s100_can_test_ports[i].name);
}
}
static void can_loopback_demo(void)
{
rt_size_t i;
if (S100_CAN_TEST_PORT_COUNT == 0)
{
return;
}
for (i = 0; i < S100_CAN_TEST_PORT_COUNT; i++)
{
s100_can_check_port_loopback(s100_can_test_ports[i].name);
}
}
static void can_testcase(void)
{
UTEST_UNIT_RUN(can_basic_demo);
UTEST_UNIT_RUN(can_loopback_demo);
}
static rt_err_t utest_tc_init(void)
{
return RT_EOK;
}
static rt_err_t utest_tc_cleanup(void)
{
return RT_EOK;
}
UTEST_TC_EXPORT(can_testcase, "rdk.s100.drivers.can", utest_tc_init, utest_tc_cleanup, 20);
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