220 lines
4.7 KiB
Python
220 lines
4.7 KiB
Python
from pyb import CAN
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import pyb
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# test we can correctly create by id or name
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for bus in (-1, 0, 1, 2, 3, "YA", "YB", "YC"):
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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.initfilterbanks(14)
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can = CAN(1)
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print(can)
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can.init(CAN.LOOPBACK)
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print(can)
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print(can.any(0))
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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))
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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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del can
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# Testing extended IDs
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can = CAN(1, CAN.LOOPBACK, extframe = True)
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# Catch all filter
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can.setfilter(0, CAN.MASK32, 0, (0, 0))
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print(can)
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try:
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can.send('abcde', 0x7FF + 1, timeout=5000)
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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[3] == 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)
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can.setfilter(0, pyb.CAN.MASK32, 0, (filter_id, filter_mask))
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can.send('ok', id_ok, timeout=3)
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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[3]))
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can.send("fail", id_fail, timeout=3)
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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[3]))
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del can
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# Test RxCallbacks
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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 asyncronous 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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bus1 = CAN(1, CAN.LOOPBACK)
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bus2 = CAN(2, CAN.LOOPBACK, extframe = True)
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while bus1.any(0):
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bus1.recv(0)
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while bus2.any(0):
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bus2.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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bus2.setfilter(0, CAN.LIST32, 0, (1, 2), rtr=(True, True))
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bus2.setfilter(1, CAN.LIST32, 0, (3, 4), rtr=(True, False))
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bus2.setfilter(2, CAN.MASK32, 0, (16, 16), rtr=(False,))
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bus2.setfilter(2, CAN.MASK32, 0, (32, 32), rtr=(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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bus2.send('',1,rtr=True)
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print(bus2.recv(0))
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bus2.send('',2,rtr=True)
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print(bus2.recv(0))
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bus2.send('',3,rtr=True)
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print(bus2.recv(0))
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bus2.send('',4,rtr=True)
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print(bus2.any(0))
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