Mirrors/esp-idf
1
0
Fork 0
mirror of https://github.com/espressif/esp-idf.git synced 2026-10-02 03:00:34 +03:00
Code Issues Packages Projects Releases Wiki Activity

test(twai): add regression test for prop_seg in legacy timing config

Browse Source 
Verify prop_seg is correctly included in the programmed TSEG1 hardware
register when using the legacy twai_driver_install() with prop_seg > 0.

Closes https://github.com/espressif/esp-idf/issues/18477
This commit is contained in:
Michael.B
2026-04-22 16:38:30 +08:00
parent 64324c442e
commit c6d9508227
1 changed files with 39 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
components/driver/test_apps/legacy_twai/main/test_twai_loop_back.cpp
+39
View File
@@ -11,6 +11,7 @@
#include "freertos/task.h"
#include "unity.h"
#include "driver/twai.h"
#include "hal/twai_ll.h"
#include "soc/soc_caps.h"
#include "esp_attr.h"
#include "esp_private/sleep_cpu.h"
@@ -57,6 +58,44 @@ TEST_CASE("twai_bit_timing", "[twai-loop-back]")
TEST_ESP_OK(twai_driver_uninstall());
}
TEST_CASE("twai_bit_timing_uses_prop_seg", "[twai-loop-back]")
{
twai_timing_config_t t_config = {
.clk_src = TWAI_CLK_SRC_DEFAULT,
.quanta_resolution_hz = 0,
.brp = 16,
.prop_seg = 8,
.tseg_1 = 7,
.tseg_2 = 4,
.sjw = 3,
.ssp_offset = 0,
.triple_sampling = false,
};
twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();
twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(GPIO_NUM_0, GPIO_NUM_0, TWAI_MODE_NO_ACK);
TEST_ESP_OK(twai_driver_install(&g_config, &t_config, &f_config));
const twai_dev_t *twai_dev = TWAI_LL_GET_HW(g_config.controller_id);
TEST_ASSERT_NOT_NULL(twai_dev);
// twai_dev_t uses different register struct names across chip families:
// - older (esp32/s2/s3/c3): bus_timing_1_reg.{tseg1, tseg2, sam}
// - newer (esp32p4/c6/h2/h21): bus_timing_1.{time_segment1, time_segment2, time_sampling}
#if defined(CONFIG_IDF_TARGET_ESP32) || defined(CONFIG_IDF_TARGET_ESP32S2) || \
defined(CONFIG_IDF_TARGET_ESP32S3) || defined(CONFIG_IDF_TARGET_ESP32C3)
TEST_ASSERT_EQUAL_UINT32(t_config.tseg_1 + t_config.prop_seg - 1, twai_dev->bus_timing_1_reg.tseg1);
TEST_ASSERT_EQUAL_UINT32(t_config.tseg_2 - 1, twai_dev->bus_timing_1_reg.tseg2);
TEST_ASSERT_EQUAL((int)t_config.triple_sampling, (int)twai_dev->bus_timing_1_reg.sam);
#else
TEST_ASSERT_EQUAL_UINT32(t_config.tseg_1 + t_config.prop_seg - 1, twai_dev->bus_timing_1.time_segment1);
TEST_ASSERT_EQUAL_UINT32(t_config.tseg_2 - 1, twai_dev->bus_timing_1.time_segment2);
TEST_ASSERT_EQUAL((int)t_config.triple_sampling, (int)twai_dev->bus_timing_1.time_sampling);
#endif
TEST_ESP_OK(twai_driver_uninstall());
}
TEST_CASE("twai_mode_std_no_ack_25kbps", "[twai-loop-back]")
{
twai_timing_config_t t_config = TWAI_TIMING_CONFIG_25KBITS();