Skip to content

Commit

Permalink
feat(can-manager): added tests
Browse files Browse the repository at this point in the history 
minor: clang format
  • Loading branch information
@conquat @gmazzucchi
conquat authored and gmazzucchi committed Dec 12, 2023
1 parent 9fb21fa commit 9e92b9a
Show file tree
Hide file tree
Showing 3 changed files with 110 additions and 11 deletions.
64 changes: 54 additions & 10 deletions can-manager/can_manager.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -82,15 +82,30 @@

#include "can_manager.h"

int _n_active_can = 0;
int can_manager_error_code = 0;
int _n_active_can = 0;
int can_manager_error_code = 0;
#ifndef TEST
HAL_StatusTypeDef can_manager_hal_status_retval = HAL_OK;
#endif
generic_queue_t _rx_queues[CAN_MGR_MAX_CAN_BUSES];
generic_queue_t _tx_queues[CAN_MGR_MAX_CAN_BUSES];
uint8_t _rx_queues_data[CAN_MGR_MAX_QUEUE_ELEMENTS * sizeof(can_manager_message_t) * CAN_MGR_MAX_CAN_BUSES];
uint8_t _tx_queues_data[CAN_MGR_MAX_QUEUE_ELEMENTS * sizeof(can_manager_message_t) * CAN_MGR_MAX_CAN_BUSES];
void (*can_rx_msg_handlers[CAN_MGR_MAX_CAN_BUSES])(can_manager_message_t *);

#ifdef TEST
void print_message(can_manager_message_t *msg) {
printf("id: %d, size: %d, data: [", msg->id, msg->size);
if (msg->size > 0) {
printf("%d", msg->data[0]);
for (int i = 1; i < msg->size && i < 8; ++i) {
printf(", %d", msg->data[i]);
}
}
printf("]\n");
}
#endif

#if FDCAN_MGR_ENABLED == 1

FDCAN_HandleTypeDef *fdcan_buses[MAX_CAN_BUSES];
Expand All @@ -106,14 +121,17 @@ int fdcan_init(
can_rx_msg_handlers[assigned_id] = can_rx_msg_handler;

GENQ_init(
&_rx_queues[assigned_id], sizeof(can_manager_message_t), CAN_MGR_MAX_QUEUE_ELEMENTS, &_rx_queues_data[assigned_id]);
&_rx_queues[assigned_id], sizeof(can_manager_message_t), CAN_MGR_MAX_QUEUE_ELEMENTS,
&_rx_queues_data[assigned_id]);
GENQ_init(
&_tx_queues[assigned_id], sizeof(can_manager_message_t), CAN_MGR_MAX_QUEUE_ELEMENTS, &_tx_queues_data[assigned_id]);
&_tx_queues[assigned_id], sizeof(can_manager_message_t), CAN_MGR_MAX_QUEUE_ELEMENTS,
&_tx_queues_data[assigned_id]);

fdcan_buses[assigned_id] = hcan;

_n_active_can++;

#ifndef TEST
if ((can_manager_hal_status_retval = HAL_FDCAN_ConfigFilter(hcan, filter)) != HAL_OK) {
can_manager_hal_status_retval = CAN_MGR_FILTER_ERROR_CODE;
return -1;
Expand All @@ -126,9 +144,11 @@ int fdcan_init(
can_manager_hal_status_retval = CAN_MGR_CAN_START_ERROR_CODE;
return -1;
}
#endif
return assigned_id;
}

#ifndef TEST
void _fdcan_wait(FDCAN_HandleTypeDef *hcan) {
uint32_t start_timestamp = HAL_GetTick();
while (HAL_FDCAN_GetTxFifoFreeLevel(hcan) == 0) {
Expand All @@ -137,11 +157,13 @@ void _fdcan_wait(FDCAN_HandleTypeDef *hcan) {
}
}
}
#endif

int _fdcan_send(int can_id, can_manager_message_t *msg) {
CAN_MGR_ID_CHECK(can_id);
FDCAN_HandleTypeDef *hcan = fdcan_buses[can_id];

#ifndef TEST
uint32_t dlc_len = 0;
switch (msg->size) {
case 0:
Expand Down Expand Up @@ -192,6 +214,10 @@ int _fdcan_send(int can_id, can_manager_message_t *msg) {
if ((can_manager_hal_status_retval = HAL_FDCAN_AddMessageToTxFifoQ(hcan, &header, msg->data)) != HAL_OK) {
return 0;
}
#else
printf("SENDING fdcan: %s, ", hcan->name);
print_message(msg);
#endif
return 1;
}

Expand All @@ -210,13 +236,16 @@ int can_init(
can_rx_msg_handlers[assigned_id] = can_rx_msg_handler;

GENQ_init(
&_rx_queues[assigned_id], CAN_MGR_MAX_QUEUE_ELEMENTS * sizeof(can_manager_message_t), sizeof(can_manager_message_t), &_rx_queues_data[assigned_id]);
&_rx_queues[assigned_id], CAN_MGR_MAX_QUEUE_ELEMENTS * sizeof(can_manager_message_t),
sizeof(can_manager_message_t), &_rx_queues_data[assigned_id]);
GENQ_init(
&_tx_queues[assigned_id], CAN_MGR_MAX_QUEUE_ELEMENTS * sizeof(can_manager_message_t), sizeof(can_manager_message_t), &_tx_queues_data[assigned_id]);
&_tx_queues[assigned_id], CAN_MGR_MAX_QUEUE_ELEMENTS * sizeof(can_manager_message_t),
sizeof(can_manager_message_t), &_tx_queues_data[assigned_id]);

can_buses[assigned_id] = hcan;
_n_active_can++;

#ifndef TEST
if ((can_manager_hal_status_retval = HAL_CAN_ConfigFilter(hcan, filter)) != HAL_OK) {
can_manager_error_code = CAN_MGR_FILTER_ERROR_CODE;
return -1;
Expand All @@ -229,29 +258,38 @@ int can_init(
can_manager_error_code = CAN_MGR_CAN_START_ERROR_CODE;
return -1;
}
#endif
return assigned_id;
}

#ifndef TEST
void _can_wait(CAN_HandleTypeDef *hcan) {
uint32_t start_timestamp = HAL_GetTick();
while (HAL_CAN_GetTxMailboxesFreeLevel(hcan) == 0)
if (HAL_GetTick() > start_timestamp + 5)
return;
}
#endif

int _can_send(int can_id, can_manager_message_t *msg) {
CAN_MGR_ID_CHECK(can_id);
CAN_HandleTypeDef *hcan = can_buses[can_id];
CAN_HandleTypeDef *hcan = can_buses[can_id];
#ifndef TEST
CAN_TxHeaderTypeDef header = {
.StdId = msg->id, .IDE = CAN_ID_STD, .RTR = CAN_RTR_DATA, .DLC = msg->size, .TransmitGlobalTime = DISABLE};

#if CAN_WAIT_ENABLED == 1
_can_wait(hcan);
#endif

uint32_t mlb = CAN_TX_MAILBOX0;
if (HAL_CAN_AddTxMessage(hcan, &header, msg->data, &mlb) != HAL_OK) {
return 0;
}
#else
printf("SENDING can: %s, ", hcan->name);
print_message(msg);
#endif
return 1;
}
#endif
Expand Down Expand Up @@ -279,12 +317,18 @@ int consume_rx_queue(int can_id) {
int flush_tx_queue(int can_id) {
CAN_MGR_ID_CHECK(can_id);
can_manager_message_t msg;
int sent_messages = 0;
while (GENQ_pop(&_tx_queues[can_id], (uint8_t *)&msg)) {
#ifdef FDCAN_MGR
return _fdcan_send(can_id, &msg);
if (!_fdcan_send(can_id, &msg)) {
return -1;
}
#else
return _can_send(can_id, &msg);
if (!_can_send(can_id, &msg)) {
return -1;
}
#endif
++sent_messages;
}
return 0;
return sent_messages;
}
14 changes: 13 additions & 1 deletion can-manager/can_manager.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3,9 +3,21 @@

#include "can_types.h"
#include "generic_queue.h"
#include "main.h"
#include "stdbool.h"

#ifndef TEST
#include "main.h"
#else
#include "stdio.h"
#include "string.h"
typedef struct {
char *name;
} CAN_HandleTypeDef;
typedef struct {
} CAN_FilterTypeDef;
void print_message(can_manager_message_t *msg);
#endif

#define CAN_MGR_MAX_CAN_BUSES 2
#define CAN_MGR_MAX_QUEUE_ELEMENTS 10
#define CAN_MGR_CAN_WAIT_ENABLED 1
Expand Down
43 changes: 43 additions & 0 deletions can-manager/test/test.c
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,43 @@
#include "../can_manager.h"

void consume_primary_rx_queue(can_manager_message_t *msg) {
printf("RECEIVED can: primary, ");
print_message(msg);
}

void consume_secondary_rx_queue(can_manager_message_t *msg) {
printf("RECEIVED can: secondary, ");
print_message(msg);
}

int main() {
CAN_HandleTypeDef primary_can_handle;
CAN_HandleTypeDef secondary_can_handle;
primary_can_handle.name = "primary";
secondary_can_handle.name = "secondary";

int can_primary_id = can_init(&primary_can_handle, consume_primary_rx_queue, 0, 0);
int can_secondary_id = can_init(&secondary_can_handle, consume_secondary_rx_queue, 0, 0);

can_manager_message_t msg1 = {.id = 1, .size = 8, .data = {4, 6, 2, 8, 2, 4, 8, 6}};
can_manager_message_t msg2 = {.id = 2, .size = 3, .data = {9, 1, 0, 0, 3, 2, 5, 4}};
can_manager_message_t msg3 = {.id = 3, .size = 7, .data = {8, 2, 3, 4, 5, 6, 7, 1}};
can_manager_message_t msg4 = {.id = 4, .size = 5, .data = {3, 7, 3, 6, 9, 5, 8, 5}};

add_to_tx_queue(can_primary_id, &msg1);
add_to_rx_queue(can_secondary_id, &msg2);
add_to_tx_queue(can_primary_id, &msg3);
add_to_rx_queue(can_secondary_id, &msg4);

while (consume_rx_queue(can_primary_id))
;

printf("sent %d messages primary\n", flush_tx_queue(can_primary_id));

while (consume_rx_queue(can_secondary_id))
;

printf("sent %d messages secondary\n", flush_tx_queue(can_secondary_id));

return 0;
}

0 comments on commit 9e92b9a

Please sign in to comment.