315 lines
6.5 KiB
Python
315 lines
6.5 KiB
Python
try:
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from pyb import CAN
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except ImportError:
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print("SKIP")
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raise SystemExit
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from array import array
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import micropython
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import pyb
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# test we can correctly create by id (2 handled in can2.py test)
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for bus in (-1, 0, 1, 3):
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try:
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CAN(bus, CAN.LOOPBACK)
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print("CAN", bus)
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except ValueError:
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print("ValueError", bus)
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CAN(1).deinit()
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can = CAN(1)
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print(can)
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# Test state when de-init'd
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print(can.state() == can.STOPPED)
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can.init(CAN.LOOPBACK, num_filter_banks=14)
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print(can)
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print(can.any(0))
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# Test state when freshly created
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print(can.state() == can.ERROR_ACTIVE)
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# Test that restart can be called
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can.restart()
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# Test info returns a sensible value
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print(can.info())
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# Catch all filter
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can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))
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can.send("abcd", 123, timeout=5000)
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print(can.any(0), can.info())
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print(can.recv(0))
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can.send("abcd", -1, timeout=5000)
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print(can.recv(0))
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can.send("abcd", 0x7FF + 1, timeout=5000)
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print(can.recv(0))
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# Test too long message
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try:
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can.send("abcdefghi", 0x7FF, timeout=5000)
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except ValueError:
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print("passed")
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else:
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print("failed")
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# Test that recv can work without allocating memory on the heap
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buf = bytearray(10)
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l = [0, 0, 0, 0, memoryview(buf)]
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l2 = None
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micropython.heap_lock()
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can.send("", 42)
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l2 = can.recv(0, l)
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assert l is l2
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print(l, len(l[4]), buf)
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can.send("1234", 42)
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l2 = can.recv(0, l)
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assert l is l2
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print(l, len(l[4]), buf)
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can.send("01234567", 42)
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l2 = can.recv(0, l)
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assert l is l2
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print(l, len(l[4]), buf)
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can.send("abc", 42)
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l2 = can.recv(0, l)
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assert l is l2
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print(l, len(l[4]), buf)
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micropython.heap_unlock()
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# Test that recv can work with different arrays behind the memoryview
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can.send("abc", 1)
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print(bytes(can.recv(0, [0, 0, 0, 0, memoryview(array("B", range(8)))])[4]))
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can.send("def", 1)
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print(bytes(can.recv(0, [0, 0, 0, 0, memoryview(array("b", range(8)))])[4]))
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# Test for non-list passed as second arg to recv
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can.send("abc", 1)
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try:
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can.recv(0, 1)
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except TypeError:
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print("TypeError")
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# Test for too-short-list passed as second arg to recv
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can.send("abc", 1)
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try:
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can.recv(0, [0, 0, 0])
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except ValueError:
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print("ValueError")
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# Test for non-memoryview passed as 4th element to recv
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can.send("abc", 1)
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try:
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can.recv(0, [0, 0, 0, 0, 0])
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except TypeError:
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print("TypeError")
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# Test for read-only-memoryview passed as 4th element to recv
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can.send("abc", 1)
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try:
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can.recv(0, [0, 0, 0, memoryview(bytes(8))])
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except ValueError:
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print("ValueError")
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# Test for bad-typecode-memoryview passed as 4th element to recv
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can.send("abc", 1)
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try:
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can.recv(0, [0, 0, 0, memoryview(array("i", range(8)))])
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except ValueError:
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print("ValueError")
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del can
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# Testing extended IDs
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print("==== TEST extframe=True ====")
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can = CAN(1, CAN.LOOPBACK)
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# Catch all filter, but only for extframe's
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can.setfilter(0, CAN.MASK32, 0, (0, 0), extframe=True)
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print(can)
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try:
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can.send("abcde", 0x7FF + 1, timeout=5000, extframe=True)
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except ValueError:
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print("failed")
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else:
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r = can.recv(0)
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if r[0] == 0x7FF + 1 and r[4] == b"abcde":
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print("passed")
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else:
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print("failed, wrong data received")
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# Test filters
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for n in [0, 8, 16, 24]:
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filter_id = 0b00001000 << n
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filter_mask = 0b00011100 << n
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id_ok = 0b00001010 << n
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id_fail = 0b00011010 << n
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can.clearfilter(0, extframe=True)
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can.setfilter(0, pyb.CAN.MASK32, 0, (filter_id, filter_mask), extframe=True)
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can.send("ok", id_ok, timeout=3, extframe=True)
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if can.any(0):
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msg = can.recv(0)
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print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[1], msg[4]))
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can.send("fail", id_fail, timeout=3, extframe=True)
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if can.any(0):
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msg = can.recv(0)
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print((hex(filter_id), hex(filter_mask), hex(msg[0]), msg[1], msg[4]))
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del can
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# Test RxCallbacks
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print("==== TEST rx callbacks ====")
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can = CAN(1, CAN.LOOPBACK)
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can.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4))
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can.setfilter(1, CAN.LIST16, 1, (5, 6, 7, 8))
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def cb0(bus, reason):
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print("cb0")
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if reason == 0:
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print("pending")
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if reason == 1:
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print("full")
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if reason == 2:
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print("overflow")
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def cb1(bus, reason):
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print("cb1")
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if reason == 0:
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print("pending")
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if reason == 1:
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print("full")
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if reason == 2:
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print("overflow")
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def cb0a(bus, reason):
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print("cb0a")
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if reason == 0:
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print("pending")
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if reason == 1:
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print("full")
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if reason == 2:
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print("overflow")
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def cb1a(bus, reason):
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print("cb1a")
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if reason == 0:
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print("pending")
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if reason == 1:
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print("full")
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if reason == 2:
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print("overflow")
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can.rxcallback(0, cb0)
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can.rxcallback(1, cb1)
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can.send("11111111", 1, timeout=5000)
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can.send("22222222", 2, timeout=5000)
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can.send("33333333", 3, timeout=5000)
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can.rxcallback(0, cb0a)
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can.send("44444444", 4, timeout=5000)
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can.send("55555555", 5, timeout=5000)
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can.send("66666666", 6, timeout=5000)
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can.send("77777777", 7, timeout=5000)
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can.rxcallback(1, cb1a)
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can.send("88888888", 8, timeout=5000)
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print(can.recv(0))
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print(can.recv(0))
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print(can.recv(0))
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print(can.recv(1))
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print(can.recv(1))
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print(can.recv(1))
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can.send("11111111", 1, timeout=5000)
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can.send("55555555", 5, timeout=5000)
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print(can.recv(0))
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print(can.recv(1))
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del can
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# Testing asynchronous send
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print("==== TEST async send ====")
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can = CAN(1, CAN.LOOPBACK)
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can.setfilter(0, CAN.MASK16, 0, (0, 0, 0, 0))
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while can.any(0):
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can.recv(0)
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can.send("abcde", 1, timeout=0)
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print(can.any(0))
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while not can.any(0):
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pass
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print(can.recv(0))
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try:
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can.send("abcde", 2, timeout=0)
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can.send("abcde", 3, timeout=0)
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can.send("abcde", 4, timeout=0)
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can.send("abcde", 5, timeout=0)
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except OSError as e:
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if str(e) == "16":
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print("passed")
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else:
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print("failed")
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pyb.delay(500)
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while can.any(0):
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print(can.recv(0))
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# Testing rtr messages
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print("==== TEST rtr messages ====")
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bus1 = CAN(1, CAN.LOOPBACK)
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while bus1.any(0):
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bus1.recv(0)
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bus1.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4))
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bus1.setfilter(1, CAN.LIST16, 0, (5, 6, 7, 8), rtr=(True, True, True, True))
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bus1.setfilter(2, CAN.MASK16, 0, (64, 64, 32, 32), rtr=(False, True))
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bus1.send("", 1, rtr=True)
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print(bus1.any(0))
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bus1.send("", 5, rtr=True)
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print(bus1.recv(0))
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bus1.send("", 6, rtr=True)
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print(bus1.recv(0))
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bus1.send("", 7, rtr=True)
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print(bus1.recv(0))
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bus1.send("", 16, rtr=True)
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print(bus1.any(0))
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bus1.send("", 32, rtr=True)
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print(bus1.recv(0))
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# test HAL error, timeout
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print("==== TEST errors ====")
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can = pyb.CAN(1, pyb.CAN.NORMAL)
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try:
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can.send("1", 1, timeout=50)
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except OSError as e:
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print(repr(e))
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