CanComprehensiveTest.cpp File Reference

Comprehensive CAN testing suite for ESP32-C6 with ESP-IDF v5.5 TWAI API and SN65 transceiver. More...

#include "esp_log.h"
#include "esp_timer.h"
#include "freertos/FreeRTOS.h"
#include "freertos/event_groups.h"
#include "freertos/task.h"
#include "TestFramework.h"
#include "base/BaseCan.h"
#include "mcu/esp32/EspCan.h"
#include <atomic>
#include <memory>
#include <vector>

Include dependency graph for CanComprehensiveTest.cpp:

Functions
void	verify_can_pin_states ()
	Verify CAN pin states before testing.
void	test_receive_callback_enhanced (const hf_can_message_t &message, void *user_data)
	Test callback for received CAN messages (enhanced version with user data)
hf_can_message_t	create_test_message (uint32_t id, bool extended=false, uint8_t dlc=8)
	Create a test CAN message.
bool	wait_for_event (EventBits_t bits, uint32_t timeout_ms)
	Wait for events with timeout.
bool	test_basic_initialization () noexcept
	Test basic initialization and state management.
bool	test_message_transmission () noexcept
	Test message transmission and reception.
bool	test_acceptance_filtering () noexcept
	Test acceptance filtering.
bool	test_advanced_timing () noexcept
	Test advanced timing configuration.
bool	test_statistics_diagnostics () noexcept
	Test statistics and diagnostics.
bool	test_batch_transmission () noexcept
	Test batch message transmission.
bool	test_error_handling () noexcept
	Test error handling and recovery.
bool	test_espcan_comprehensive_functionality () noexcept
	Comprehensive test to validate ALL EspCan functionality This test systematically validates every aspect of the EspCan implementation.
bool	test_can_initialization () noexcept
bool	test_can_self_test_mode () noexcept
bool	test_can_message_transmission () noexcept
bool	test_can_acceptance_filtering () noexcept
bool	test_can_advanced_timing () noexcept
bool	test_can_error_handling () noexcept
bool	test_can_bus_recovery () noexcept
bool	test_can_batch_transmission () noexcept
bool	test_can_high_throughput () noexcept
bool	test_external_physical_loopback () noexcept
bool	test_loopback_comparison () noexcept
bool	test_sn65_transceiver_integration () noexcept
bool	test_can_signal_quality () noexcept
void	app_main (void)

Variables
static const char *	TAG = "CAN_Test"
static TestResults	g_test_results
static constexpr uint32_t	TEST_CAN_ID_STANDARD = 0x123
static constexpr uint32_t	TEST_CAN_ID_EXTENDED = 0x12345678
static constexpr uint32_t	TEST_BAUD_RATE = 500000
static constexpr uint32_t	TEST_TIMEOUT_MS = 5000
static constexpr hf_pin_num_t	TEST_TX_PIN = 4
static constexpr hf_pin_num_t	TEST_RX_PIN = 5
static constexpr int	MESSAGE_RECEIVED_BIT = BIT0
static constexpr int	ERROR_OCCURRED_BIT = BIT1
static constexpr int	STATE_CHANGED_BIT = BIT2
static EventGroupHandle_t	test_event_group = nullptr
static std::atomic< uint32_t >	messages_received {0}
static std::atomic< uint32_t >	errors_detected {0}
static hf_can_message_t	last_received_message {}
static constexpr bool	ENABLE_CORE_TESTS = true
static constexpr bool	ENABLE_ADVANCED_TESTS = true
static constexpr bool	ENABLE_ERROR_TESTS = true
static constexpr bool	ENABLE_PERFORMANCE_TESTS = true
static constexpr bool	ENABLE_TRANSCEIVER_TESTS

Detailed Description

Comprehensive CAN testing suite for ESP32-C6 with ESP-IDF v5.5 TWAI API and SN65 transceiver.

This comprehensive test suite validates all EspCan functionality including:

• ESP-IDF v5.5 TWAI node-based API compliance
• ESP32-C6 TWAI controller operation
• SN65 CAN transceiver integration
• Advanced filtering and timing configuration
• Event-driven callback systems
• Single-callback per event with user data pointer
• Error handling and bus recovery
• Performance and stress testing
• Self-test and loopback modes

Hardware Requirements:

• ESP32-C6 DevKit
• SN65HVD230/SN65HVD232 CAN transceiver
• CAN bus termination resistors (120Ω)
• Optional: Second CAN node for full bus testing

Wiring for ESP32-C6 + SN65:

• GPIO4 (TX) -> SN65 CTX pin
• GPIO5 (RX) -> SN65 CRX pin
• 3.3V -> SN65 VCC
• GND -> SN65 GND
• SN65 CANH/CANL -> CAN bus

For External Loopback Testing:

• Connect: SN65 CANH -> 120Ω resistor -> SN65 CANL
• DO NOT short TWAI TX/RX lines directly!

IMPORTANT: Two loopback modes are tested:

1. INTERNAL LOOPBACK (enable_loopback=true):
   • Uses ESP32's internal hardware loopback
   • TX and RX on same pin (GPIO4)
   • No external hardware required
   • Interrupt callbacks work correctly
   • Used for: message_transmission, acceptance_filtering, batch_transmission, high_throughput, bus_recovery, self_test_mode
2. EXTERNAL LOOPBACK (enable_loopback=false):
   • Requires proper CAN bus loopback AFTER the transceiver
   • Connect: SN65 CANH -> 120Ω termination resistor -> SN65 CANL
   • Uses real CAN transceiver hardware with proper CAN bus signaling
   • Tests actual CAN bus communication with differential signaling
   • Used for: external_physical_loopback (in SN65 transceiver section)
   • NOTE: Shorting TWAI TX/RX lines directly does NOT work!

Test Progression Indicator:

GPIO14 toggles HIGH/LOW after each test completion for visual feedback. Test sections are indicated by 5 blinks on GPIO14 (like SpiComprehensiveTest). This allows monitoring test progress without serial output.

Author

Nebiyu Tadesse

Date

2025

Copyright

HardFOC

Function Documentation

app_main()

void app_main

(

void

)

create_test_message()

hf_can_message_t create_test_message	(	uint32_t	id,
		bool	extended = false,
		uint8_t	dlc = 8 )

Create a test CAN message.

test_acceptance_filtering()

bool test_acceptance_filtering ( )

noexcept

Test acceptance filtering.

test_advanced_timing()

bool test_advanced_timing ( )

noexcept

Test advanced timing configuration.

test_basic_initialization()

bool test_basic_initialization ( )

noexcept

Test basic initialization and state management.

test_batch_transmission()

bool test_batch_transmission ( )

noexcept

Test batch message transmission.

test_can_acceptance_filtering()

bool test_can_acceptance_filtering ( )

noexcept

test_can_advanced_timing()

bool test_can_advanced_timing ( )

noexcept

test_can_batch_transmission()

bool test_can_batch_transmission ( )

noexcept

test_can_bus_recovery()

bool test_can_bus_recovery ( )

noexcept

test_can_error_handling()

bool test_can_error_handling ( )

noexcept

test_can_high_throughput()

bool test_can_high_throughput ( )

noexcept

test_can_initialization()

bool test_can_initialization ( )

noexcept

test_can_message_transmission()

bool test_can_message_transmission ( )

noexcept

test_can_self_test_mode()

bool test_can_self_test_mode ( )

noexcept

test_can_signal_quality()

bool test_can_signal_quality ( )

noexcept

test_error_handling()

bool test_error_handling ( )

noexcept

Test error handling and recovery.

test_espcan_comprehensive_functionality()

bool test_espcan_comprehensive_functionality ( )

noexcept

Comprehensive test to validate ALL EspCan functionality This test systematically validates every aspect of the EspCan implementation.

test_external_physical_loopback()

bool test_external_physical_loopback ( )

noexcept

test_loopback_comparison()

bool test_loopback_comparison ( )

noexcept

test_message_transmission()

bool test_message_transmission ( )

noexcept

Test message transmission and reception.

test_receive_callback_enhanced()

void test_receive_callback_enhanced	(	const hf_can_message_t &	message,
		void *	user_data )

Test callback for received CAN messages (enhanced version with user data)

test_sn65_transceiver_integration()

bool test_sn65_transceiver_integration ( )

noexcept

test_statistics_diagnostics()

bool test_statistics_diagnostics ( )

noexcept

Test statistics and diagnostics.

verify_can_pin_states()

void verify_can_pin_states

(

)

Verify CAN pin states before testing.

wait_for_event()

bool wait_for_event	(	EventBits_t	bits,
		uint32_t	timeout_ms )

Wait for events with timeout.

Variable Documentation

ENABLE_ADVANCED_TESTS

constexpr bool ENABLE_ADVANCED_TESTS = true

staticconstexpr

ENABLE_CORE_TESTS

constexpr bool ENABLE_CORE_TESTS = true

staticconstexpr

ENABLE_ERROR_TESTS

constexpr bool ENABLE_ERROR_TESTS = true

staticconstexpr

ENABLE_PERFORMANCE_TESTS

constexpr bool ENABLE_PERFORMANCE_TESTS = true

staticconstexpr

ENABLE_TRANSCEIVER_TESTS

constexpr bool ENABLE_TRANSCEIVER_TESTS

staticconstexpr

Initial value:

=
    true

ERROR_OCCURRED_BIT

constexpr int ERROR_OCCURRED_BIT = BIT1

staticconstexpr

errors_detected

std::atomic<uint32_t> errors_detected {0}

static

g_test_results

TestResults g_test_results

static

last_received_message

hf_can_message_t last_received_message {}

static

MESSAGE_RECEIVED_BIT

constexpr int MESSAGE_RECEIVED_BIT = BIT0

staticconstexpr

messages_received

std::atomic<uint32_t> messages_received {0}

static

STATE_CHANGED_BIT

constexpr int STATE_CHANGED_BIT = BIT2

staticconstexpr

TAG

const char* TAG = "CAN_Test"

static

TEST_BAUD_RATE

constexpr uint32_t TEST_BAUD_RATE = 500000

staticconstexpr

TEST_CAN_ID_EXTENDED

constexpr uint32_t TEST_CAN_ID_EXTENDED = 0x12345678

staticconstexpr

TEST_CAN_ID_STANDARD

constexpr uint32_t TEST_CAN_ID_STANDARD = 0x123

staticconstexpr

test_event_group

EventGroupHandle_t test_event_group = nullptr

static

TEST_RX_PIN

constexpr hf_pin_num_t TEST_RX_PIN = 5

staticconstexpr

TEST_TIMEOUT_MS

constexpr uint32_t TEST_TIMEOUT_MS = 5000

staticconstexpr

TEST_TX_PIN

constexpr hf_pin_num_t TEST_TX_PIN = 4

staticconstexpr