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fix(driver_twai): enable ci test for h4

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This commit is contained in:
Wan Lei
2026-05-27 19:38:41 +08:00
committed by wanckl
parent 54195ee908
commit ea951b0ca6
7 changed files with 20 additions and 38 deletions
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4
components/esp_driver_twai/test_apps/.build-test-rules.yml
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@@ -1,10 +1,6 @@
components/esp_driver_twai/test_apps/test_twai:
disable:
- if: SOC_TWAI_SUPPORTED != 1
disable_test:
- if: IDF_TARGET in ["esp32h4"]
temporary: true
reason: cannot pass # TODO: IDF-15618
depends_components:
- esp_driver_twai
- esp_hal_twai

28
components/esp_driver_twai/test_apps/test_twai/main/test_twai_common.cpp
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@@ -23,13 +23,8 @@
#include "esp_private/gpio.h"
#include "driver/uart.h" // for baudrate detection
#if CONFIG_IDF_TARGET_ESP32H4
#define TEST_TX_GPIO GPIO_NUM_2
#define TEST_RX_GPIO GPIO_NUM_3
#else
#define TEST_TX_GPIO GPIO_NUM_4
#define TEST_RX_GPIO GPIO_NUM_5
#endif
#define TEST_TWAI_QUEUE_DEPTH 5
#define TEST_TRANS_LEN 100
#define TEST_FRAME_LEN 7
@@ -57,7 +52,7 @@ TEST_CASE("twai install uninstall (loopback)", "[twai]")
node_config.io_cfg.rx = TEST_TX_GPIO; // Using same pin for test without transceiver
node_config.io_cfg.quanta_clk_out = GPIO_NUM_NC;
node_config.io_cfg.bus_off_indicator = GPIO_NUM_NC;
node_config.bit_timing.bitrate = 500000;
node_config.bit_timing.bitrate = 100000;
node_config.tx_queue_depth = TEST_TWAI_QUEUE_DEPTH;
node_config.flags.enable_self_test = true;
node_config.flags.enable_loopback = true;
@@ -153,7 +148,7 @@ static void test_twai_baudrate_correctness(twai_clock_source_t clk_src, uint32_t
TEST_ESP_OK(uart_detect_bitrate_stop(UART_NUM_1, true, &measure_result));
uint32_t bitrate_measured = measure_result.clk_freq_hz * 4 / (measure_result.pos_period + measure_result.neg_period);
printf("TWAI bitrate measured: %" PRIu32 "\r\n", bitrate_measured);
TEST_ASSERT_INT_WITHIN(1000, test_bitrate, bitrate_measured); // 1k tolerance
TEST_ASSERT_INT_WITHIN((test_bitrate / 100), test_bitrate, bitrate_measured); // 1% tolerance
TEST_ESP_OK(twai_node_disable(twai_node));
TEST_ESP_OK(twai_node_delete(twai_node));
@@ -875,18 +870,17 @@ TEST_CASE("twai rx timestamp", "[twai]")
node_config.flags.enable_loopback = true;
node_config.flags.enable_self_test = true;
bool hw_timer = false;
#if TWAI_LL_SUPPORT(TIMESTAMP)
hw_timer = true;
#endif
for (uint32_t resolution = 1000; resolution <= 10000000; resolution *= 100) {
#if CONFIG_IDF_TARGET_ESP32H4
if (resolution > 1000000) {
continue; // h4 clk_src [32M, 96M] can't accurate support resolutions > 1MHz
}
#endif
node_config.timestamp_resolution_hz = resolution;
printf("\nTesting resolution %ld\n", resolution);
if (((resolution < 2000) && hw_timer) || ((resolution > 1000000) && !hw_timer)) {
TEST_ESP_ERR(twai_new_node_onchip(&node_config, &node_hdl), ESP_ERR_INVALID_ARG);
if (ESP_OK != twai_new_node_onchip(&node_config, &node_hdl)) {
continue;
}
TEST_ESP_OK(twai_new_node_onchip(&node_config, &node_hdl));
uint8_t rx_buffer[TWAI_FRAME_MAX_LEN] = {0};
twai_frame_t rx_frame = {};
@@ -911,8 +905,8 @@ TEST_CASE("twai rx timestamp", "[twai]")
time_now = MS_TO_TWAI_TICK(esp_timer_get_time() / 1000, resolution);
printf("esp tick now %llu, diff %u\n", time_now, abs(time_now - rx_frame.header.timestamp));
TEST_ASSERT_INT32_WITHIN(MAX(resolution / 100, 5), time_now, rx_frame.header.timestamp);
TEST_ASSERT_INT32_WITHIN(MAX(resolution / 100, 5), rx_frame.header.timestamp - time_last, MS_TO_TWAI_TICK(i * 100, resolution));
TEST_ASSERT_INT32_WITHIN(MAX(resolution / 100, 5), rx_frame.header.timestamp, time_now);
TEST_ASSERT_INT32_WITHIN(MAX(resolution / 100, 5), MS_TO_TWAI_TICK(i * 100, resolution), rx_frame.header.timestamp - time_last);
time_last = rx_frame.header.timestamp;
}
@@ -923,7 +917,7 @@ TEST_CASE("twai rx timestamp", "[twai]")
TEST_ESP_OK(twai_node_enable(node_hdl));
TEST_ESP_OK(twai_node_transmit(node_hdl, &tx_frame, 100));
TEST_ESP_OK(twai_node_transmit_wait_all_done(node_hdl, 100));
TEST_ASSERT_INT32_WITHIN(MAX(resolution / 100, 5), rx_frame.header.timestamp - time_last, MS_TO_TWAI_TICK(1000, resolution));
TEST_ASSERT_INT32_WITHIN(MAX(resolution / 100, 5), MS_TO_TWAI_TICK(1000, resolution), rx_frame.header.timestamp - time_last);
TEST_ESP_OK(twai_node_disable(node_hdl));
TEST_ESP_OK(twai_node_delete(node_hdl));

10
components/esp_driver_twai/test_apps/test_twai/main/test_twai_fd.cpp
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@@ -194,7 +194,13 @@ TEST_CASE("twai fd transmit time (loopback)", "[twai]")
}
uint64_t predict_time_ms = (uint64_t)trans_num * arb_bits * 1000 / node_config.bit_timing.bitrate;
predict_time_ms += (uint64_t)trans_num * data_bits * 1000 / node_config.data_timing.bitrate;
predict_time_ms += (trans_num * 10) / 1000; // add about 10 us interrupt overhead per frame
predict_time_ms += (trans_num * 20) / 1000; // add about 20 us interrupt overhead per frame
#if CONFIG_COMPILER_OPTIMIZATION_NONE
predict_time_ms += (trans_num * 10) / 1000; // non optimized slow code
#endif
#if CONFIG_PM_DFS_INIT_AUTO
predict_time_ms += (trans_num * 35) / 1000; // slow cpu
#endif
//waiting pkg receive finish
TEST_ESP_OK(twai_node_transmit_wait_all_done(node_hdl, -1));
@@ -211,7 +217,7 @@ TEST_CASE("twai fd transmit time (loopback)", "[twai]")
(unsigned long long)predict_time_ms,
memcmp(recv_pkg_ptr, send_pkg_ptr, TEST_TRANS_TIME_BUF_LEN) ? "failed" : "ok");
TEST_ASSERT_EQUAL_HEX8_ARRAY(send_pkg_ptr, recv_pkg_ptr, TEST_TRANS_TIME_BUF_LEN);
TEST_ASSERT_LESS_THAN((predict_time_ms / 10), abs((time2 - time1) / 1000 - predict_time_ms));
TEST_ASSERT_LESS_THAN((predict_time_ms * 15 / 100), abs((time2 - time1) / 1000 - predict_time_ms));
}
printf("-----------------------------------------------------------------------------------------\n");

1
components/esp_driver_twai/test_apps/test_twai/pytest_driver_twai.py
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@@ -20,7 +20,6 @@ from pytest_embedded_idf.utils import soc_filtered_targets
@idf_parametrize(
'target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1 and IDF_TARGET not in ["esp32c5"]'), indirect=['target']
)
@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='cannot pass') # TODO: IDF-15618
def test_driver_twai_loopbk(dut: Dut) -> None:
dut.run_all_single_board_cases(group='twai', reset=True)

4
examples/peripherals/.build-test-rules.yml
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@@ -765,10 +765,6 @@ examples/peripherals/twai/twai_network/twai_sender:
examples/peripherals/twai/twai_utils:
disable:
- if: SOC_TWAI_SUPPORTED != 1
disable_test:
- if: IDF_TARGET in ["esp32h4"]
temporary: true
reason: cannot pass # TODO: IDF-15618
depends_components:
- esp_driver_twai
- esp_hal_twai

10
examples/peripherals/twai/twai_utils/pytest_twai_utils.py
View File

@@ -310,7 +310,6 @@ def usb_can() -> CanBusManager:
@pytest.mark.generic
@idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='cannot pass') # TODO: IDF-15618
def test_twai_utils_basic_operations(twai: TwaiTestHelper) -> None:
with twai.session(start_dump=False):
# Test basic send operation
@@ -329,7 +328,6 @@ def test_twai_utils_basic_operations(twai: TwaiTestHelper) -> None:
@pytest.mark.generic
@idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='cannot pass') # TODO: IDF-15618
def test_twai_utils_bitrate_configuration(twai: TwaiTestHelper) -> None:
for bitrate in [125000, 250000, 500000, 1000000]:
with twai.session(mode='standard', bitrate=bitrate, tx_gpio=DEFAULT_TX_GPIO, rx_gpio=DEFAULT_RX_GPIO):
@@ -338,7 +336,6 @@ def test_twai_utils_bitrate_configuration(twai: TwaiTestHelper) -> None:
@pytest.mark.generic
@idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='cannot pass') # TODO: IDF-15618
def test_twai_utils_frame_formats(twai: TwaiTestHelper) -> None:
with twai.session():
BASIC_FRAMES = [
@@ -369,7 +366,6 @@ def test_twai_utils_frame_formats(twai: TwaiTestHelper) -> None:
@pytest.mark.generic
@idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='cannot pass') # TODO: IDF-15618
def test_twai_utils_info_and_recovery(twai: TwaiTestHelper) -> None:
with twai.session():
assert twai.info(), 'Info command failed'
@@ -390,7 +386,6 @@ def test_twai_utils_info_and_recovery(twai: TwaiTestHelper) -> None:
@pytest.mark.generic
@idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='cannot pass') # TODO: IDF-15618
def test_twai_utils_input_validation(twai: TwaiTestHelper) -> None:
with twai.session(start_dump=False):
INVALID_FRAMES = [
@@ -437,7 +432,6 @@ def test_twai_utils_input_validation(twai: TwaiTestHelper) -> None:
@pytest.mark.generic
@idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='cannot pass') # TODO: IDF-15618
def test_twai_utils_gpio_and_basic_send(twai: TwaiTestHelper) -> None:
with twai.session():
assert twai.info(), 'GPIO info failed'
@@ -465,7 +459,6 @@ def test_twai_utils_gpio_and_basic_send(twai: TwaiTestHelper) -> None:
@pytest.mark.generic
@idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='cannot pass') # TODO: IDF-15618
def test_twai_utils_send_various_frames(twai: TwaiTestHelper) -> None:
with twai.session():
# Boundary ID tests
@@ -485,7 +478,6 @@ def test_twai_utils_send_various_frames(twai: TwaiTestHelper) -> None:
@pytest.mark.generic
@idf_parametrize('target', soc_filtered_targets('SOC_TWAI_FD_SUPPORTED == 1'), indirect=['target'])
@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='cannot pass') # TODO: IDF-15618
def test_twai_utils_fd_frames(twai: TwaiTestHelper) -> None:
with twai.session():
FD_FRAMES = [
@@ -500,7 +492,6 @@ def test_twai_utils_fd_frames(twai: TwaiTestHelper) -> None:
@pytest.mark.generic
@idf_parametrize('target', soc_filtered_targets('SOC_TWAI_SUPPORTED == 1'), indirect=['target'])
@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='cannot pass') # TODO: IDF-15618
def test_twai_utils_mask_filters(twai: TwaiTestHelper) -> None:
"""Test TWAI filtering including automatic extended frame detection."""
MASK_FILTER_GROUPS = [
@@ -563,7 +554,6 @@ def test_twai_utils_mask_filters(twai: TwaiTestHelper) -> None:
soc_filtered_targets('SOC_TWAI_RANGE_FILTER_NUM > 0'),
indirect=['target'],
)
@pytest.mark.temp_skip_ci(targets=['esp32h4'], reason='cannot pass') # TODO: IDF-15618
def test_twai_utils_range_filters(twai: TwaiTestHelper) -> None:
"""Test TWAI range filters (available on chips with range filter support)."""
RANGE_FILTER_GROUPS = [

1
examples/peripherals/twai/twai_utils/sdkconfig.defaults.esp32h4 Normal file
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@@ -0,0 +1 @@
CONFIG_EXAMPLE_ENABLE_TWAI_FD=y