ci: twai runner setup

components/driver/test_apps/twai/pytest_twai.py

@@ -1,8 +1,9 @@
 # SPDX-FileCopyrightText: 2021-2026 Espressif Systems (Shanghai) CO LTD
 # SPDX-License-Identifier: CC0-1.0
 import logging
+import os
 import subprocess
-from time import sleep
+import time
 
 import pytest
 from can import Bus
@@ -26,19 +27,23 @@ def test_twai_self(dut: Dut) -> None:
     dut.run_all_single_board_cases(group='twai-loop-back')
 
 
+can_env = os.getenv('CAN_PORT', 'can0')
+print(f'CAN_PORT={can_env}')
+
+
 @pytest.fixture(name='socket_can')
 def fixture_create_socket_can() -> Bus:
     # Set up the socket CAN with the bitrate
-    start_command = 'sudo ip link set can0 up type can bitrate 250000'
+    start_command = f'sudo ip link set {can_env} up type can bitrate 250000'
-    stop_command = 'sudo ip link set can0 down'
+    stop_command = f'sudo ip link set {can_env} down'
     subprocess.run(start_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
-    bus = Bus(interface='socketcan', channel='can0', bitrate=250000)
+    bus = Bus(interface='socketcan', channel=f'{can_env}', bitrate=250000)
     yield bus  # test invoked here
     bus.shutdown()
     subprocess.run(stop_command, shell=True, stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True)
 
 
-@pytest.mark.twai_std
+@pytest.mark.twai_adapter
 @pytest.mark.parametrize(
     'config',
     [
@@ -56,7 +61,7 @@ def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
     dut.write('"twai_listen_only"')
 
     # wait the DUT to block at the receive API
-    sleep(0.03)
+    time.sleep(0.03)
 
     message = Message(
         arbitration_id=0x123,
@@ -67,7 +72,7 @@ def test_twai_listen_only(dut: Dut, socket_can: Bus) -> None:
     dut.expect_unity_test_output()
 
 
-@pytest.mark.twai_std
+@pytest.mark.twai_adapter
 @pytest.mark.parametrize(
     'config',
     [
@@ -84,11 +89,15 @@ def test_twai_remote_request(dut: Dut, socket_can: Bus) -> None:
     # TEST_CASE("twai_remote_request", "[twai]")
     dut.write('"twai_remote_request"')
 
-    while True:
+    deadline = time.time() + 2.0
+    req = None
+    while time.time() < deadline:
         req = socket_can.recv(timeout=0.2)
         # wait for the remote request frame
         if req is not None and req.is_remote_frame:
             break
+    if req is None:
+        raise Exception('Remote frame not received')
 
     logging.info(f'Received message: {req}')
 

examples/peripherals/twai/twai_alert_and_recovery/main/Kconfig.projbuild

@@ -5,8 +5,7 @@ menu "Example Configuration"
     config EXAMPLE_TX_GPIO_NUM
         int "TX GPIO number"
         range ENV_GPIO_RANGE_MIN ENV_GPIO_OUT_RANGE_MAX
-        default 21 if IDF_TARGET_ESP32
+        default 4
-        default 0
         help
             This option selects the GPIO pin used for the TX signal. Connect the
             TX signal to your transceiver.
@@ -14,8 +13,7 @@ menu "Example Configuration"
     config EXAMPLE_RX_GPIO_NUM
         int "RX GPIO number"
         range ENV_GPIO_RANGE_MIN ENV_GPIO_IN_RANGE_MAX
-        default 22 if IDF_TARGET_ESP32
+        default 5
-        default 2
         help
             This option selects the GPIO pin used for the RX signal. Connect the
             RX signal to your transceiver.

examples/peripherals/twai/twai_alert_and_recovery/pytest_twai_alert_recovery_example.py

@@ -5,7 +5,7 @@ from pytest_embedded import Dut
 from pytest_embedded_idf.utils import idf_parametrize
 
 
-@pytest.mark.twai_transceiver
+@pytest.mark.twai_adapter
 @idf_parametrize('target', ['esp32'], indirect=['target'])
 def test_twai_alert_recovery_example(dut: Dut) -> None:
     dut.expect_exact('TWAI Alert and Recovery: Driver installed')

examples/peripherals/twai/twai_self_test/main/Kconfig.projbuild

@@ -5,8 +5,7 @@ menu "Example Configuration"
     config EXAMPLE_TX_GPIO_NUM
         int "TX GPIO number"
         range ENV_GPIO_RANGE_MIN ENV_GPIO_OUT_RANGE_MAX
-        default 21 if IDF_TARGET_ESP32
+        default 4
-        default 0
         help
             This option selects the GPIO pin used for the TX signal. Connect the
             TX signal to your transceiver.
@@ -14,8 +13,7 @@ menu "Example Configuration"
     config EXAMPLE_RX_GPIO_NUM
         int "RX GPIO number"
         range ENV_GPIO_RANGE_MIN ENV_GPIO_IN_RANGE_MAX
-        default 22 if IDF_TARGET_ESP32
+        default 5
-        default 2
         help
             This option selects the GPIO pin used for the RX signal. Connect the
             RX signal to your transceiver.

examples/peripherals/twai/twai_self_test/pytest_twai_self_test_example.py

@@ -5,7 +5,7 @@ from pytest_embedded import Dut
 from pytest_embedded_idf.utils import idf_parametrize
 
 
-@pytest.mark.twai_transceiver
+@pytest.mark.twai_adapter
 @idf_parametrize('target', ['esp32'], indirect=['target'])
 def test_twai_self_test_example(dut: Dut) -> None:
     dut.expect_exact('TWAI Self Test: Driver installed')

tools/ci/dynamic_pipelines/templates/known_generate_test_child_pipeline_warnings.yml

@@ -34,7 +34,7 @@ no_runner_tags:
   - esp32p4,esp32p4_eco4,ram_app
   - esp32p4,esp32p4_eco4,sdcard
   - esp32p4,esp32p4_eco4,sdcard_spimode
-  - esp32p4,esp32p4_eco4,twai_std
+  - esp32p4,esp32p4_eco4,twai_adapter
   - esp32p4,esp32p4_eco4,usb_device
   - esp32p4,esp32p4_eco4,usb_host_flash_disk
   - esp32p4,jtag

tools/ci/idf_pytest/constants.py

@@ -72,7 +72,6 @@ ENV_MARKERS = {
     'flash_multi': 'Multiple flash chips tests',
     'psram': 'Chip has 4-line psram',
     'ir_transceiver': 'runners with a pair of IR transmitter and receiver',
-    'twai_transceiver': 'runners with a TWAI PHY transceiver',
     'flash_encryption_wifi_high_traffic': 'Flash Encryption runners with wifi high traffic support',
     'ethernet': 'ethernet runner',
     'ethernet_flash_8m': 'ethernet runner with 8mb flash',
@@ -122,7 +121,7 @@ ENV_MARKERS = {
     'sdio_master_slave': 'Test sdio multi board, esp32+esp32',
     'sdio_multidev_32_c6': 'Test sdio multi board, esp32+esp32c6',
     'usj_device': 'Test usb_serial_jtag and usb_serial_jtag is used as serial only (not console)',
-    'twai_std': 'twai runner with all twai supported targets connect to usb-can adapter',
+    'twai_adapter': 'runner with multiple twai_std',
     'lp_i2s': 'lp_i2s runner tested with hp_i2s',
     'ram_app': 'ram_app runners',
     'esp32c3eco7': 'esp32c3 major version(v1.1) chips',