6cac2d275d
Implemented according to API docs in a parent comment. Adds new multi_extmod/machine_can_* tests which pass when testing between NUCLEO_G474RE, NUCLEO_H723ZG and PYBDV11. This work was mostly funded through GitHub Sponsors. Signed-off-by: Angus Gratton <angus@redyak.com.au>
71 lines
1.7 KiB
Python
71 lines
1.7 KiB
Python
from machine import CAN
|
|
import time
|
|
|
|
# Test CAN remote transmission requests
|
|
|
|
ID = 0x750
|
|
|
|
FILTER_ID = 0x101
|
|
FILTER_MASK = 0x7FF
|
|
|
|
can = CAN(1, 500_000)
|
|
|
|
|
|
def receiver_irq_recv(can):
|
|
assert can.irq().flags() & can.IRQ_RX # the only enabled IRQ
|
|
can_id, data, flags, _errors = can.recv()
|
|
is_rtr = flags == CAN.FLAG_RTR
|
|
print(
|
|
"recv",
|
|
hex(can_id),
|
|
is_rtr,
|
|
len(data) if is_rtr else bytes(data),
|
|
)
|
|
if is_rtr:
|
|
# The 'data' response of a remote request should be all zeroes
|
|
assert bytes(data) == b"\x00" * len(data)
|
|
|
|
|
|
# Receiver
|
|
def instance0():
|
|
can.irq(receiver_irq_recv, trigger=can.IRQ_RX, hard=False)
|
|
can.set_filters(None) # receive all
|
|
|
|
multitest.next()
|
|
|
|
multitest.wait("enable filter")
|
|
can.set_filters([(FILTER_ID, FILTER_MASK, 0)])
|
|
multitest.broadcast("filter set")
|
|
|
|
multitest.wait("done")
|
|
|
|
|
|
# Sender
|
|
def instance1():
|
|
multitest.next()
|
|
|
|
can.send(ID, b"abc", CAN.FLAG_RTR) # length==3 remote request
|
|
time.sleep_ms(5)
|
|
can.send(ID, b"abc", 0) # regular message using the same ID
|
|
time.sleep_ms(5)
|
|
can.send(ID, b"abcde", CAN.FLAG_RTR) # length==5 remote request
|
|
time.sleep_ms(5)
|
|
|
|
multitest.broadcast("enable filter")
|
|
multitest.wait("filter set")
|
|
|
|
# these two messages should be filtered out
|
|
can.send(ID, b"abc", CAN.FLAG_RTR) # length==3 remote request
|
|
time.sleep_ms(5)
|
|
can.send(ID, b"abc", 0) # regular message using the same ID
|
|
time.sleep_ms(5)
|
|
|
|
# these messages should be filtered in
|
|
can.send(FILTER_ID, b"def", CAN.FLAG_RTR) # length==3 remote request
|
|
time.sleep_ms(5)
|
|
can.send(FILTER_ID, b"hij", 0) # regular message using the same ID
|
|
time.sleep_ms(5)
|
|
|
|
multitest.broadcast("done")
|
|
print("done")
|