Tests/candev: Initial version with native support by wosym · Pull Request #13360 · RIOT-OS/RIOT

wosym · 2020-02-13T09:50:30Z

Contribution description

Adds a candev test app that can be used to control can-devices through the candev-abstraction, but without using the can-DLL.

Currently, only native is supported (because we thought it made sense to make a PR with only native first, so the main concepts can be tested, reviewed and commented on), but code that adds the MCP2515 driver (see #6276) to this test-app has already been written and tested, and will be made into a PR soon, along with the driver-code of this old PR.

Testing procedure

Make sure libsocketcan and canutils are installed and running (see: https://github.com/RIOT-OS/RIOT/tree/master/tests/conn_can)
Start candump on vcan0
In the test-app shell: the send command will send a CAN message to vcan0. It should become visible in candump. Optionally you can pass some bytes (in decimal notation) as arguments (e.g. send 12 34 56). If no arguments are supplied, three default bytes will be sent.
To test the receive part, we can send data from Linux with cansend (e.g. cansend vcan0 001#AABB) or with cangen (e.g. cangen vcan0 -v -n 1).
In the test-app, the received bytes will be stored in a FIFO buffer and can be retrieved by calling receive. (an optional argument n can be passed to receive multiple can-messages). If there are no CAN-messages in the buffer when receive is called, it will block until a message is received.

Issues/PRs references

Depends on #13342 --> bugfix is required in order for this candev app to work.

wosym · 2020-02-24T13:02:18Z

Now that #13342 is merged, we can continue with this one.
I rebased on master so that we have the patch included, and can have this one working. (I hope I didn't screw up here)

I noticed that in the meantime some changes to Makefile.dep were made in #13089.
In our PR, we removed auto_init_can from the dependencies for can and added it to the Makefile for conn_can (because we can use can without having the auto_init enable a DLL). However it appears the method of fjolminas was a bit cleaner. For now, I simply removed the line again because I wasn't sure what the cleanest solution was, but feel free to make other suggestions!

For some reason, Github made a bunch of people code-owner for my new additions (did I cause this? Or is this normal?) It automatically assigned you all as reviewer now.

kaspar030 · 2020-02-24T13:27:20Z

Pausing for #13456

benpicco · 2020-02-25T20:36:48Z

Another rebase is needed.

wosym · 2020-02-26T15:02:58Z

@smlng Care to share your thoughts? This app should be something similar to what you tried to make a few years ago if I'm not mistaken.

JannesVolkens · 2020-03-06T13:28:37Z

I've tested this PR and was able to send and receive CAN frames through your test-app. Both standard and extended frame format with different dlc lengths are working as described.

tcschmidt · 2020-03-06T13:37:12Z

@wosym @vincent-d what are the plans for #6276? Should we take up testing or do you plan to obsolete in a new PR?

wosym · 2020-03-06T14:13:32Z

@tcschmidt the reason this PR is here, is because I wanted to get vincent-d's old PR finally merged.
I rebased those old commits, and did some minor fixes (because the way RIOT works has changed in the years since that PR was made).
After this candev-native PR is merged, I will open a PR with the mcp commits. (I'm waiting because I don't want to make too much of a mess. It will need some more rebasing to get everything in a clean and logical order.)
If you want a sneak peak to the MCP2515 PR, you can find it here: toonst#8
(But ignore the dependencies I mentioned there, because the way I'm PR'ing it to the RIOT repo is different than the PR's I made in toonst's repo for code-review)

JannesVolkens · 2020-03-06T14:15:44Z

I've tested this PR and was able to send and receive CAN frames through your test-app. Both standard and extended frame format with different dlc lengths are working as described.

I've encountered some problems when receiving extended CAN frames. When the ID is larger than a specific amount, the received ID differs for the _can_event_callback() and the _receive().
DEBUG was enabled in this screenshot.

JannesVolkens · 2020-03-07T18:11:53Z

@wosym I've tested again and now everything is working correctly. 👍

tests/candev/README.md

tests/candev/main.c

tests/conn_can/Makefile

tests/candev/main.c

tests/candev/Makefile.ci

benpicco · 2020-03-10T17:01:22Z

The comments have all been addressed, please squash.

in other apps we might not want to automatically select the auto_init

This test app bypasses candll and uses the candev abstraction directly. This has the limitation that you can only use one can driver and one can device, which is in most use cases sufficient.

wosym · 2020-03-10T17:16:04Z

@benpicco Done!

benpicco

Code looks good, tested by @JannesVolkens

wosym changed the title ~~Tests/candev native4~~ Tests/candev: Initial version with native support Feb 13, 2020

benpicco added Area: tests Area: tests and testing framework Type: new feature The issue requests / The PR implemements a new feature for RIOT labels Feb 13, 2020

leandrolanzieri added this to the Release 2020.04 milestone Feb 21, 2020

benpicco added the CI: ready for build If set, CI server will compile all applications for all available boards for the labeled PR label Feb 22, 2020

wosym force-pushed the tests/candev_native4 branch from aa2d271 to 909a52a Compare February 24, 2020 12:48

wosym requested review from DipSwitch, MichelRottleuthner, MrKevinWeiss, aabadie, fjmolinas, leandrolanzieri, smlng and vincent-d as code owners February 24, 2020 12:48

wosym force-pushed the tests/candev_native4 branch from 909a52a to eaef186 Compare February 24, 2020 12:52

kaspar030 removed the CI: ready for build If set, CI server will compile all applications for all available boards for the labeled PR label Feb 24, 2020

kaspar030 added the CI: ready for build If set, CI server will compile all applications for all available boards for the labeled PR label Feb 24, 2020

wosym force-pushed the tests/candev_native4 branch 3 times, most recently from fd8a076 to 154bab5 Compare February 25, 2020 13:04

wosym force-pushed the tests/candev_native4 branch from 154bab5 to c6c2723 Compare February 26, 2020 07:17

wosym mentioned this pull request Mar 3, 2020

Add CAN support for nucleo-l476rg #13534

Merged

benpicco reviewed Mar 9, 2020

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benpicco reviewed Mar 9, 2020

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