diff options
Diffstat (limited to 'tests/pyb/can.py')
| -rw-r--r-- | tests/pyb/can.py | 51 |
1 files changed, 30 insertions, 21 deletions
diff --git a/tests/pyb/can.py b/tests/pyb/can.py index 4ea29b0f6..020efae05 100644 --- a/tests/pyb/can.py +++ b/tests/pyb/can.py @@ -17,14 +17,13 @@ for bus in (-1, 0, 1, 3): print("ValueError", bus) CAN(1).deinit() -CAN.initfilterbanks(14) can = CAN(1) print(can) # Test state when de-init'd print(can.state() == can.STOPPED) -can.init(CAN.LOOPBACK) +can.init(CAN.LOOPBACK, num_filter_banks=14) print(can) print(can.any(0)) @@ -61,7 +60,7 @@ else: # Test that recv can work without allocating memory on the heap buf = bytearray(10) -l = [0, 0, 0, memoryview(buf)] +l = [0, 0, 0, 0, memoryview(buf)] l2 = None micropython.heap_lock() @@ -69,30 +68,30 @@ micropython.heap_lock() can.send("", 42) l2 = can.recv(0, l) assert l is l2 -print(l, len(l[3]), buf) +print(l, len(l[4]), buf) can.send("1234", 42) l2 = can.recv(0, l) assert l is l2 -print(l, len(l[3]), buf) +print(l, len(l[4]), buf) can.send("01234567", 42) l2 = can.recv(0, l) assert l is l2 -print(l, len(l[3]), buf) +print(l, len(l[4]), buf) can.send("abc", 42) l2 = can.recv(0, l) assert l is l2 -print(l, len(l[3]), buf) +print(l, len(l[4]), buf) micropython.heap_unlock() # Test that recv can work with different arrays behind the memoryview can.send("abc", 1) -print(bytes(can.recv(0, [0, 0, 0, memoryview(array("B", range(8)))])[3])) +print(bytes(can.recv(0, [0, 0, 0, 0, memoryview(array("B", range(8)))])[4])) can.send("def", 1) -print(bytes(can.recv(0, [0, 0, 0, memoryview(array("b", range(8)))])[3])) +print(bytes(can.recv(0, [0, 0, 0, 0, memoryview(array("b", range(8)))])[4])) # Test for non-list passed as second arg to recv can.send("abc", 1) @@ -111,7 +110,7 @@ except ValueError: # Test for non-memoryview passed as 4th element to recv can.send("abc", 1) try: - can.recv(0, [0, 0, 0, 0]) + can.recv(0, [0, 0, 0, 0, 0]) except TypeError: print("TypeError") @@ -132,19 +131,21 @@ except ValueError: del can # Testing extended IDs -can = CAN(1, CAN.LOOPBACK, extframe=True) -# Catch all filter -can.setfilter(0, CAN.MASK32, 0, (0, 0)) +print("==== TEST extframe=True ====") + +can = CAN(1, CAN.LOOPBACK) +# Catch all filter, but only for extframe's +can.setfilter(0, CAN.MASK32, 0, (0, 0), extframe=True) print(can) try: - can.send("abcde", 0x7FF + 1, timeout=5000) + can.send("abcde", 0x7FF + 1, timeout=5000, extframe=True) except ValueError: print("failed") else: r = can.recv(0) - if r[0] == 0x7FF + 1 and r[3] == b"abcde": + if r[0] == 0x7FF + 1 and r[4] == b"abcde": print("passed") else: print("failed, wrong data received") @@ -156,22 +157,24 @@ for n in [0, 8, 16, 24]: id_ok = 0b00001010 << n id_fail = 0b00011010 << n - can.clearfilter(0) - can.setfilter(0, pyb.CAN.MASK32, 0, (filter_id, filter_mask)) + can.clearfilter(0, extframe=True) + can.setfilter(0, pyb.CAN.MASK32, 0, (filter_id, filter_mask), extframe=True) - can.send("ok", id_ok, timeout=3) + can.send("ok", id_ok, timeout=3, extframe=True) if can.any(0): msg = can.recv(0) - print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[3])) + print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[1], msg[4])) - can.send("fail", id_fail, timeout=3) + can.send("fail", id_fail, timeout=3, extframe=True) if can.any(0): msg = can.recv(0) - print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[3])) + print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[1], msg[4])) del can # Test RxCallbacks +print("==== TEST rx callbacks ====") + can = CAN(1, CAN.LOOPBACK) can.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4)) can.setfilter(1, CAN.LIST16, 1, (5, 6, 7, 8)) @@ -248,6 +251,8 @@ print(can.recv(1)) del can # Testing asynchronous send +print("==== TEST async send ====") + can = CAN(1, CAN.LOOPBACK) can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0)) @@ -277,6 +282,8 @@ while can.any(0): print(can.recv(0)) # Testing rtr messages +print("==== TEST rtr messages ====") + bus1 = CAN(1, CAN.LOOPBACK) while bus1.any(0): bus1.recv(0) @@ -298,6 +305,8 @@ bus1.send("", 32, rtr=True) print(bus1.recv(0)) # test HAL error, timeout +print("==== TEST errors ====") + can = pyb.CAN(1, pyb.CAN.NORMAL) try: can.send("1", 1, timeout=50) |