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added handling of CanData To Tasks

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This commit is contained in:
Oliver Walter
2024-02-04 23:38:22 +01:00
parent 0a72c8b553
commit bfc28e6c94
16 changed files with 2658 additions and 148 deletions
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5
Application/Tasks/CMakeLists.txt
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@@ -7,9 +7,14 @@ add_library(${PROJECT_NAME} STATIC "")
target_sources(${PROJECT_NAME} target_sources(${PROJECT_NAME}
PRIVATE PRIVATE
${CMAKE_CURRENT_LIST_DIR}/UsbDataHandler.c ${CMAKE_CURRENT_LIST_DIR}/UsbDataHandler.c
${CMAKE_CURRENT_LIST_DIR}/CanDataHandler.c
${CMAKE_CURRENT_LIST_DIR}/CanDataTask.c
${CMAKE_CURRENT_LIST_DIR}/FirmwareHandler.c ${CMAKE_CURRENT_LIST_DIR}/FirmwareHandler.c
INTERFACE INTERFACE
${CMAKE_CURRENT_LIST_DIR}/UsbDataHandler.h ${CMAKE_CURRENT_LIST_DIR}/UsbDataHandler.h
${CMAKE_CURRENT_LIST_DIR}/CanDataHandler.h
${CMAKE_CURRENT_LIST_DIR}/CanDataTask.h
) )
target_include_directories(${PROJECT_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR}) target_include_directories(${PROJECT_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})

299
Application/Tasks/CanDataHandler.c Normal file
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@@ -0,0 +1,299 @@
#include "CanDataHandler.h"
#include "fdcan.h"
#include "string.h"
#define MAX_DATA_STORAGE 100
#define MAX_EVENT_STORAGE 100
#define MAX_FILTER_SLOTS 100
// storage for upto MAX_DATA_STORAGE diffrent messages
static CanDataMessageSlot CanDataStore[MAX_DATA_STORAGE] = {0};
// storage for upto MAX_EVENT_STORAGE diffrent event handlers
static CanDataEventSlot CanEventStore[MAX_DATA_STORAGE] = {0};
// storage for upto MAX_FILTER_SLOTS diffrent can filters
static CanDataFilterSlot CanFilterSlots[MAX_FILTER_SLOTS] = {0};
// this will setup the canfilter accoridng to the settings
void setup_StmFdCanFilter(const CanDataFilterSlot* filterSetting ) {
size_t f_index = filterSetting - CanFilterSlots;// index of the filter in CanFilterSlots
FDCAN_FilterTypeDef sFilterConfig;
sFilterConfig.IdType = FDCAN_STANDARD_ID;
sFilterConfig.FilterIndex = f_index;
sFilterConfig.FilterType = FDCAN_FILTER_DUAL;
sFilterConfig.FilterConfig = filterSetting->fifo;
sFilterConfig.FilterID1 = filterSetting->id[0];
sFilterConfig.FilterID2 = filterSetting->id[1];
HAL_FDCAN_ConfigFilter(&hfdcan1, &sFilterConfig);
}
void CanDataHandler_init(void) {
// Reset all data message slots
for (int i = 0; i < MAX_DATA_STORAGE; i++) {
CanDataStore[i].msg.canid = 0;
CanDataStore[i].msg.data_length = 0;
memset(CanDataStore[i].msg.data, 0, MAX_DATA_LENGTH);
CanDataStore[i].filter.ref = NULL;
CanDataStore[i].filter.index = 0;
}
// Reset all event message slots
for (int i = 0; i < MAX_EVENT_STORAGE; i++) {
CanEventStore[i].canid = 0;
CanEventStore[i].eventCall = NULL;
CanEventStore[i].filter.ref = NULL;
CanEventStore[i].filter.index = 0;
}
// Reset all filter slots
for (int i = 0; i < MAX_FILTER_SLOTS; i++) {
CanFilterSlots[i].free = CANDATA_ALLFREE;
CanFilterSlots[i].fifo = CANDATA_FIFOX_UNDEFIEND;
CanFilterSlots[i].id[0] = 0;
CanFilterSlots[i].id[1] = 0;
}
}
/**
* Finds and returns an unused filter slot. If no unused slot is found, returns NULL.
*/
CanDataFilterRef CanData_unusedFilterSlot(CanDataSlotFifo reqest_fifo) {
CanDataFilterRef filterRef = {NULL, 0};
for (size_t i = 0; i < MAX_FILTER_SLOTS; i++) {
// find a slot with free some id
if (CanFilterSlots[i].free != CANDATA_FULL) {
// either the fifo settig matches or is undefined
if(CanFilterSlots[i].fifo == reqest_fifo || CanFilterSlots[i].fifo == CANDATA_FIFOX_UNDEFIEND)
filterRef.ref = &CanFilterSlots[i];
// Determine the index based on the 'free' field
switch (CanFilterSlots[i].free) {
case CANDATA_ALLFREE:
filterRef.index = 0;
CanFilterSlots[i].free = CANDATA_FREE1;
break;
case CANDATA_FREE1:
filterRef.index = 1;
CanFilterSlots[i].free = CANDATA_FULL;
break;
case CANDATA_FREE0:
filterRef.index = 0;
CanFilterSlots[i].free = CANDATA_FULL;
break;
default:
break;
}
break;
}
}
return filterRef;
}
void CanData_clearFilterSlot(CanDataFilterRef filter) {
// reset the filter can id
filter.ref->id[filter.index] = 0;
// set the slot as free
if(filter.index == 0) {
filter.ref->free = filter.ref->free & CANDATA_FREE0;
} else if( filter.index == 1) {
filter.ref->free = filter.ref->free & CANDATA_FREE1;
}
// if the filterslot is now fully free reset the fifo settings
if(filter.ref->free == CANDATA_ALLFREE) {
filter.ref->fifo = CANDATA_FIFOX_UNDEFIEND;
}
// finaly write new HW config
setup_StmFdCanFilter(filter.ref);
}
/**
* Finds and returns an unused data message slot. If no unused slot is found, returns NULL.
*/
CanDataMessageSlot * CanData_unusedDataSlot() {
for (size_t i = 0; i < MAX_DATA_STORAGE; i++) {
if (CanDataStore[i].msg.canid == 0) {
return &CanDataStore[i];
}
}
return NULL; // No unused slot found
}
/**
* Finds and returns an unused event slot. If no unused slot is found, returns NULL.
*/
CanDataEventSlot * CanData_unusedEventSlot() {
for (size_t i = 0; i < MAX_EVENT_STORAGE; i++) {
if (CanEventStore[i].canid == 0) {
return &CanEventStore[i];
}
}
return NULL; // No unused slot found
}
/**
* Registers a data message with given CanDataId. Returns true if registration is successful, false otherwise.
*/
bool CanData_regDataMsg(CanDataId canid) {
// check if we already have this canid to avoid duplicates
if(CanData_getDataMessage(canid) != NULL) {
return true; // but return true beause there is already a vaild entry for this canid
}
// Find an unused slot in the data store
CanDataMessageSlot *dataSlot = CanData_unusedDataSlot();
if (!dataSlot) {
return false; // No unused data slot available
}
// Find and configure an unused slot for the data message
CanDataFilterRef filter = CanData_unusedFilterSlot(CANDATA_FIFO0_DATA);
if (filter.ref == NULL) {
return false; // No unused filter slot available
}
// Configure the filter slot
filter.ref->id[filter.index] = canid;
// Set up the filter with the new settings
setup_StmFdCanFilter(filter.ref);
// Register the data message with the data slot
dataSlot->msg.canid = canid;
dataSlot->filter = filter; // Store the pointer to the filter slot
return true;
}
/**
* Registers a event message with given CanDataId. Returns true if registration is successful, false otherwise.
*/
bool CanData_regEventMsg(CanDataId canid, EventCallback event_callback) {
// Check for vaild callback
if(event_callback == NULL) {
return false;
}
// Check if the canid is already registered
for (int i = 0; i < MAX_EVENT_STORAGE; i++) {
if (CanEventStore[i].canid == canid) {
return false; // The canid is already registered
}
}
// Find an unused slot in the event store
CanDataEventSlot *eventSlot = CanData_unusedEventSlot();
if (eventSlot == NULL) {
return false; // No unused event slot available
}
// Find and configure an unused slot for the data message
CanDataFilterRef filter = CanData_unusedFilterSlot(CANDATA_FIFO0_DATA);
if (filter.ref == NULL) {
return false; // No unused filter slot available
}
// Configure the filter slot
filter.ref->id[filter.index] = canid;
// Set up the filter with the new settings
setup_StmFdCanFilter(filter.ref);
// Register the event message with the event slot
eventSlot->canid = canid;
eventSlot->eventCall = event_callback;
eventSlot->filter = filter; // Store the pointer to the filter slot
return true;
}
// Function to remove a CAN ID from Event Messages Register
bool CanData_removeEvent(CanDataId canid) {
// Search for the event slot with the given CanDataId
for (size_t i = 0; i < MAX_EVENT_STORAGE; i++) {
if (CanEventStore[i].canid == canid) {
CanDataEventSlot * eventSlot = &CanEventStore[i];
CanDataFilterRef filter = eventSlot->filter;
// reset the CanDataEventSlot
eventSlot->canid =0;
eventSlot->eventCall = NULL;
eventSlot->filter.index =0;
eventSlot->filter.ref = NULL;
// reset the filter
CanData_clearFilterSlot(filter);
return true;
}
}
return false;
}
// Function to insert a Data Message into the array
void CanData_insertDataMessage(CanDataId canid, uint8_t* data, uint8_t data_length) {
if(data == NULL || data_length == 0 ) {
return;
}
// Search for the data slot with the given CanDataId
for (size_t i = 0; i < MAX_DATA_STORAGE; i++) {
if (CanDataStore[i].msg.canid == canid) {
// If found, update the data message in the slot
CanDataStore[i].msg.data_length = data_length;
memcpy(CanDataStore[i].msg.data, data, data_length);
return;
}
}
}
// Function to read stored Data Message based on CAN ID
// Returns a const pointer to the stored data or NULL if not found
const CanDataMessage* CanData_getDataMessage(CanDataId canid) {
// Search for the data message with the given CanDataId
for (size_t i = 0; i < MAX_DATA_STORAGE; i++) {
if (CanDataStore[i].msg.canid == canid) {
return &CanDataStore[i].msg; // Return a pointer to the found data message
}
}
return NULL; // No data message with the given CanDataId found
}
// Function to handle reception of Data Messages from FIFO0
void CanData_canFifo0RxCallback(CanDataId canid, uint8_t* data, uint8_t len) {
// Insert the data message into the data store
CanData_insertDataMessage(canid, data, len);
}
// Function to handle reception of Event Messages from FIFO1
void CanData_canFifo1RxCallback(CanDataId canid, uint8_t* data, uint8_t len) {
// Search for the event slot with the given CanDataId
for (size_t i = 0; i < MAX_EVENT_STORAGE; i++) {
if (CanEventStore[i].canid == canid) {
// If found, call the event callback with the received data
CanEventStore[i].eventCall(canid ,data, len);
return;
}
}
}

114
Application/Tasks/CanDataHandler.h Normal file
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@@ -0,0 +1,114 @@
/**
* @file CanDataHandler.h
* @brief CanDataHandler Module
*
* The CanDataHandler module is responsible for managing CAN data messages and event messages.
* It provides functionality to register CAN IDs for data and event messages, handle reception
* of these messages from FIFO buffers, insert data messages into an array, and retrieve stored
* data messages based on their CAN ID.
*
* The module maintains an internal data structure for data and event message slots, each of which
* is associated with a filter reference that points to a filter slot. A filter slot stores the
* CAN IDs and indicates the type of FIFO buffer and the number of free IDs in the slot.
*
* For event messages, a callback function can be registered to handle specific events associated
* with a CAN ID.
*/
#ifndef CANDATAHANDLER_H
#define CANDATAHANDLER_H
#include <stdint.h>
#include <stdbool.h>
#include <stddef.h>
#include "fdcan.h"
// Define the maximum length of data for a Data Message
#define MAX_DATA_LENGTH 8
typedef uint16_t CanDataId;
// Typedef for the event callback function
typedef void (*EventCallback)(CanDataId canid, uint8_t* data, uint8_t len);
// type of fifo that this slot uses
typedef enum {
CANDATA_FIFOX_UNDEFIEND = FDCAN_FILTER_DISABLE,
CANDATA_FIFO0_DATA = FDCAN_FILTER_TO_RXFIFO0,
CANDATA_FIFO1_EVENT = FDCAN_FILTER_TO_RXFIFO1,
} CanDataSlotFifo;
// count of free ids in the slot
typedef enum {
CANDATA_ALLFREE = 0,
CANDATA_FREE1 = 1,
CANDATA_FREE0 = 2,
CANDATA_FULL = 3,
} CanDataSlotFree;
// Define s structer for a used filter slot
typedef struct {
CanDataSlotFree free; // Number of free IDs in the slot
CanDataSlotFifo fifo; // Type of FIFO that this slot uses
CanDataId id[2]; // Array to store the two CAN IDs associated with this filter slot
} CanDataFilterSlot;
// Define a structure for a Data Message
typedef struct {
CanDataId canid;
uint8_t data[MAX_DATA_LENGTH];
uint8_t data_length;
} CanDataMessage;
typedef struct
{
CanDataFilterSlot * ref; // Reference to the filter slot
uint8_t index; // Index of the used CAN ID in the filter slot's id array
} CanDataFilterRef;
typedef struct {
CanDataMessage msg;
CanDataFilterRef filter; // Filter reference
} CanDataMessageSlot;
// Define a structure for a Event Message
typedef struct {
CanDataId canid;
EventCallback eventCall;
CanDataFilterRef filter; // Filter reference
} CanDataEventSlot;
// reset all internal structures
// does not reset CAN HW
void CanDataHandler_init(void);
// Function to register a CAN ID for Data Messages
bool CanData_regDataMsg(CanDataId canid);
// Function to register a CAN ID for Event Messages and associate it with a callback function
bool CanData_regEventMsg(CanDataId canid, EventCallback event_callback);
// Function to remove a CAN ID from Event Messages Register
bool CanData_removeEvent(CanDataId canid);
// Function to handle reception of Data Messages from FIFO0
void CanData_canFifo0RxCallback(CanDataId canid, uint8_t* data, uint8_t len);
// Function to handle reception of Event Messages from FIFO1
void CanData_canFifo1RxCallback(CanDataId canid, uint8_t* data, uint8_t len);
// Function to insert a Data Message into the array
void CanData_insertDataMessage(CanDataId canid, uint8_t* data, uint8_t data_length);
// Function to read stored Data Message based on CAN ID
// Returns a const pointer to the stored data or NULL if not found
const CanDataMessage* CanData_getDataMessage(CanDataId canid);
#endif // CANDATAHANDLER_H

108
Application/Tasks/CanDataTask.c Normal file
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@@ -0,0 +1,108 @@
#include "cmsis_os2.h" // CMSIS-RTOS2 header file
#include "CanDataTask.h"
#include "fdcan.h"
#include "CanDataHandler.h"
#include "FreeRTOS.h"
// Define thread flags
#define FLAG_FDCAN_RX_FIFO0 (1<<0)
#define FLAG_FDCAN_RX_FIFO1 (1<<1)
// Memory for the task
StaticTask_t CanDataTask_cb;
uint32_t CanDataTask_stk[512];
// Attributes for the task
osThreadId_t CanDataTask_id;
const osThreadAttr_t CanDataTask_attr = {
.name = "CanDataTask",
.attr_bits = 0U,
.cb_mem = &CanDataTask_cb,
.cb_size = sizeof(CanDataTask_cb),
.stack_mem = CanDataTask_stk,
.stack_size = sizeof(CanDataTask_stk),
.priority = osPriorityNormal,
.tz_module = 0U,
.reserved = 0U
};
uint32_t dlcDecode(uint32_t dlcCode) {
switch(dlcCode) {
case FDCAN_DLC_BYTES_0: return 0;
case FDCAN_DLC_BYTES_1: return 1;
case FDCAN_DLC_BYTES_2: return 2;
case FDCAN_DLC_BYTES_3: return 3;
case FDCAN_DLC_BYTES_4: return 4;
case FDCAN_DLC_BYTES_5: return 5;
case FDCAN_DLC_BYTES_6: return 6;
case FDCAN_DLC_BYTES_7: return 7;
case FDCAN_DLC_BYTES_8: return 8;
case FDCAN_DLC_BYTES_12: return 12;
case FDCAN_DLC_BYTES_16: return 16;
case FDCAN_DLC_BYTES_20: return 20;
case FDCAN_DLC_BYTES_24: return 24;
case FDCAN_DLC_BYTES_32: return 32;
case FDCAN_DLC_BYTES_48: return 48;
case FDCAN_DLC_BYTES_64: return 64;
default: return 0; // Return 0 for unknown dlc
}
}
void CanDataTask_func(void *argument);
void CanDataTask_start() {
// Task functionality here
CanDataTask_id = osThreadNew(CanDataTask_func, NULL, &CanDataTask_attr);
}
static FDCAN_RxHeaderTypeDef RxHeader;
static uint8_t RxData[8];
void CanDataTask_HandleFifo(uint32_t fifo) {
while (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan1, FDCAN_RX_FIFO0) > 0 ) {
if (HAL_FDCAN_GetRxMessage(&hfdcan1, fifo, &RxHeader, RxData) != HAL_OK) {
Error_Handler();
} else {
CanData_canFifo0RxCallback(RxHeader.Identifier,RxData, dlcDecode(RxHeader.DataLength));
}
}
}
// Function for the task
void CanDataTask_func(void *argument) {
/* Configure global filter on FDCAN instanc:
Filter all remote frames with STD and EXT ID
Reject non matching frames with STD ID and EXT ID */
if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan1, FDCAN_REJECT, FDCAN_REJECT, FDCAN_FILTER_REMOTE, FDCAN_FILTER_REMOTE) != HAL_OK) {
Error_Handler();
}
/* Start the FDCAN module */
if (HAL_FDCAN_Start(&hfdcan1) != HAL_OK){
Error_Handler();
}
for(;;) {
// wait for interrupt event on any fifo
uint32_t flags = osThreadFlagsWait(FLAG_FDCAN_RX_FIFO0 | FLAG_FDCAN_RX_FIFO1, osFlagsWaitAny, osWaitForever);
// check the fifos for data and handle it if nessessay
CanDataTask_HandleFifo(FDCAN_RX_FIFO0);
CanDataTask_HandleFifo(FDCAN_RX_FIFO1);
}
}
void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) {
// Notify the thread
osThreadFlagsSet(CanDataTask_id, FLAG_FDCAN_RX_FIFO0);
}
void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs) {
// Notify the thread
osThreadFlagsSet(CanDataTask_id, FLAG_FDCAN_RX_FIFO1);
}

0
Application/Tasks/CanDataTask.h Normal file
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3
tests/native/CMakeLists.txt
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@@ -8,7 +8,10 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
add_executable(${CMAKE_PROJECT_NAME}) add_executable(${CMAKE_PROJECT_NAME})
target_sources(${CMAKE_PROJECT_NAME} PUBLIC target_sources(${CMAKE_PROJECT_NAME} PUBLIC
tests.c tests.c
usbdata_test.c
candata_test.c
mock_os/mock_os.c mock_os/mock_os.c
mock_os/mock_hal.c
../lib/Unity/src/unity.c ../lib/Unity/src/unity.c
) )

220
tests/native/candata_test.c Normal file
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@@ -0,0 +1,220 @@
#include "unity.h"
#include "CanDataHandler.h"
#define MAX_MESSAGE_SLOTS 100
#define MAX_EVENT_SLOTS 100
uint32_t hfdcan1 =0;
// Test when you register a new canid, it should return true.
void test_CanDataRegDataMsg_insert_valid() {
CanDataHandler_init(); // Reset the state of the module
CanDataId canid = 1; // Test with a valid canid
bool result = CanData_regDataMsg(canid);
TEST_ASSERT_TRUE(result); // Check that the function returned true
}
// Test when you register a canid when all slots are filled, it should return false.
void test_CanDataRegDataMsg_insert_full() {
CanDataHandler_init(); // Reset the state of the module
// Fill all the slots
for (int i = 1; i < MAX_MESSAGE_SLOTS+1; i++) {
bool result = CanData_regDataMsg(i);
TEST_ASSERT_TRUE(result);
}
// Try to register a new canid
CanDataId canid = MAX_MESSAGE_SLOTS + 2; // This canid should not fit in the slots
bool result = CanData_regDataMsg(canid);
TEST_ASSERT_FALSE(result); // Check that the function returned false
}
// Test when registering the same canid multible times there should be no error
void test_CanDataRegDataMsg_insert_duplicate() {
CanDataHandler_init(); // Reset the state of the module
CanDataId canid = 1; // Test with a valid canid
// Register the same canid multiple times
for (int i = 0; i < 5; i++) {
bool result = CanData_regDataMsg(canid);
TEST_ASSERT_TRUE(result); // Check that the function returned true each time
}
}
// A dummy event callback function for testing
void dummyEventCallback(CanDataId canid, uint8_t* data, uint8_t len) {
// This function doesn't need to do anything
}
// Test when you register a new event callback, it should return true.
void test_CanDataRegEventMsg_insert_valid() {
CanDataHandler_init(); // Reset the state of the module
CanDataId canid = 1; // Test with a valid canid
bool result = CanData_regEventMsg(canid, dummyEventCallback);
TEST_ASSERT_TRUE(result); // Check that the function returned true
}
// Test when you register an event callback when all slots are filled, it should return false.
void test_CanDataRegEventMsg_insert_full() {
CanDataHandler_init(); // Reset the state of the module
// Fill all the slots
for (int i = 1; i < MAX_EVENT_SLOTS+1; i++) {
bool result = CanData_regEventMsg(i, dummyEventCallback);
TEST_ASSERT_TRUE(result); // Check that the function returned true
}
// Try to register a new event callback
CanDataId canid = MAX_EVENT_SLOTS + 2; // This canid should not fit in the slots
bool result = CanData_regEventMsg(canid, dummyEventCallback);
TEST_ASSERT_FALSE(result); // Check that the function returned false
}
// Test when you register a canid with a NULL callback, it should return false.
void test_CanDataRegEventMsg_NullCallback() {
CanDataHandler_init(); // Reset the state of the module
CanDataId canid = 1; // Test with a valid canid
bool result = CanData_regEventMsg(canid, NULL);
TEST_ASSERT_FALSE(result); // Check that the function returned false
}
// Test when you register a canid that has already been registered, it should return false.
void test_CanDataRegEventMsg_insert_duplicate() {
CanDataHandler_init(); // Reset the state of the module
CanDataId canid = 1; // Test with a valid canid
// Register the canid once
bool result = CanData_regEventMsg(canid, dummyEventCallback);
TEST_ASSERT_TRUE(result); // Check that the function returned true
// Try to register the same canid again
result = CanData_regEventMsg(canid, dummyEventCallback);
TEST_ASSERT_FALSE(result); // Check that the function returned false
}
// Test for CanData_canFifo0RxCallback(CanDataId canid, uint8_t* data, uint8_t len) function
void test_CanData_canFifo0RxCallback_data_valid() {
CanDataHandler_init(); // Reset the state of the module
CanDataId canid = 1; // Test with a valid canid
uint8_t data[8] = {1, 2, 3, 4, 5, 6, 7, 8}; // Test with valid data
uint8_t len = 8; // Test with a valid length
// Register the canid
bool result = CanData_regDataMsg(canid);
TEST_ASSERT_TRUE(result); // Check that the function returned true
// Call the function with the test parameters
CanData_canFifo0RxCallback(canid, data, len);
// Get the message that was processed
const CanDataMessage* message = CanData_getDataMessage(canid);
// Check that the message was processed correctly
TEST_ASSERT_EQUAL_UINT8(len, message->data_length);
TEST_ASSERT_EQUAL_UINT8_ARRAY(data, message->data, len);
}
// Test for CanData_canFifo0RxCallback(CanDataId canid, uint8_t* data, uint8_t len) function
// Test with an invalid canid or NULL data, the function should handle the error correctly.
void test_CanData_canFifo0RxCallback_data_invalid() {
CanDataHandler_init(); // Reset the state of the module
CanDataId canid = 1; // Test with a valid canid
uint8_t* data = NULL; // Test with NULL data
uint8_t len = 8; // Test with a valid length
// Register the canid
bool result = CanData_regDataMsg(canid);
TEST_ASSERT_TRUE(result); // Check that the function returned true
// Call the function with the test parameters
CanData_canFifo0RxCallback(canid, data, len);
// Get the message that was processed
const CanDataMessage* message = CanData_getDataMessage(canid);
// Check that the message was not processed
TEST_ASSERT_EQUAL_UINT8(0, message->data_length);
}
bool test_CanData_canFifo1RxCallback_callbackCalled = false;
void test_CanData_canFifo1RxCallback_callback(CanDataId canid, uint8_t* data, uint8_t len) {
test_CanData_canFifo1RxCallback_callbackCalled = true;
TEST_ASSERT_EQUAL_UINT16(1,canid);
TEST_ASSERT_EQUAL_UINT8(8,len);
}
// Test for CanData_canFifo1RxCallback(CanDataId canid, uint8_t* data, uint8_t len) function
void test_CanData_canFifo1RxCallback_data_valid() {
CanDataHandler_init(); // Reset the state of the module
CanDataId canid = 1; // Test with a valid canid
uint8_t data[8] = {1, 2, 3, 4, 5, 6, 7, 8}; // Test with valid data
uint8_t len = 8; // Test with a valid length
// Register the canid with the callback
bool result = CanData_regEventMsg(canid, test_CanData_canFifo1RxCallback_callback);
TEST_ASSERT_TRUE(result); // Check that the function returned true
// Call the function with the test parameters
CanData_canFifo1RxCallback(canid, data, len);
// Check that the callback was called
TEST_ASSERT_TRUE(test_CanData_canFifo1RxCallback_callbackCalled);
}
bool test_CanData_removeEvent_callbackCalled = false;
void test_CanData_removeEvent_callback(CanDataId canid, uint8_t* data, uint8_t len) {
test_CanData_removeEvent_callbackCalled = true;
TEST_ASSERT_EQUAL_UINT16(1,canid);
TEST_ASSERT_EQUAL_UINT8(8,len);
}
// Test for CanData_removeEvent(CanDataId canid) function
void test_CanData_removeEvent() {
CanDataHandler_init(); // Reset the state of the module
CanDataId canid = 1; // Test with a valid canid
// Register the canid with the callback
bool result = CanData_regEventMsg(canid, test_CanData_removeEvent_callback);
TEST_ASSERT_TRUE(result); // Check that the function returned true
// Remove the canid
result = CanData_removeEvent(canid);
TEST_ASSERT_TRUE(result); // Check that the function returned true
// Call the function with the test parameters
uint8_t data[8] = {1, 2, 3, 4, 5, 6, 7, 8}; // Test with valid data
uint8_t len = 8; // Test with a valid length
CanData_canFifo1RxCallback(canid, data, len);
// Check that the callback was not called
TEST_ASSERT_FALSE(test_CanData_removeEvent_callbackCalled);
}
// Create a test runner function
void test_CanData(void) {
RUN_TEST(test_CanDataRegDataMsg_insert_valid);
RUN_TEST(test_CanDataRegDataMsg_insert_full);
RUN_TEST(test_CanDataRegDataMsg_insert_duplicate);
RUN_TEST(test_CanDataRegEventMsg_insert_valid);
RUN_TEST(test_CanDataRegEventMsg_insert_full);
RUN_TEST(test_CanDataRegEventMsg_NullCallback);
RUN_TEST(test_CanDataRegEventMsg_insert_duplicate);
RUN_TEST(test_CanData_canFifo0RxCallback_data_valid);
RUN_TEST(test_CanData_canFifo0RxCallback_data_invalid);
RUN_TEST(test_CanData_canFifo1RxCallback_data_valid);
RUN_TEST(test_CanData_removeEvent);
}

1
tests/native/mock_os/FreeRTOS.h Normal file
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@@ -0,0 +1 @@
typedef unsigned long int StaticTask_t;

7
tests/native/mock_os/cmsis_os2.h
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@@ -104,4 +104,9 @@ void Error_Handler();
osThreadId_t osThreadNew(osThreadFunc_t func, void *argument, const osThreadAttr_t *attr); osThreadId_t osThreadNew(osThreadFunc_t func, void *argument, const osThreadAttr_t *attr);
osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t timeout); osStatus_t osMessageQueueGet (osMessageQueueId_t mq_id, void *msg_ptr, uint8_t *msg_prio, uint32_t timeout);
osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout); osStatus_t osMessageQueuePut (osMessageQueueId_t mq_id, const void *msg_ptr, uint8_t msg_prio, uint32_t timeout);
osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr) ; osMessageQueueId_t osMessageQueueNew (uint32_t msg_count, uint32_t msg_size, const osMessageQueueAttr_t *attr) ;
osStatus_t osDelay (uint32_t ticks);
uint32_t osKernelGetSysTimerCount (void);

4
tests/native/mock_os/crc.h Normal file
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@@ -0,0 +1,4 @@
typedef uint32_t CRC_HandleTypeDef;
extern CRC_HandleTypeDef hcrc;
uint32_t HAL_CRC_Calculate(CRC_HandleTypeDef *hcrc, uint32_t pBuffer[], uint32_t BufferLength);

15
tests/native/mock_os/fatfs.h Normal file
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@@ -0,0 +1,15 @@
#include "stdint.h"
typedef unsigned int FRESULT;
typedef struct
{
void * ptr; /* data */
}FIL;
FRESULT f_open (FIL* fp, const char* path, uint8_t mode); /* Open or create a file */
FRESULT f_close (FIL* fp); /* Close an open file object */
FRESULT f_write (FIL* fp, const void* buff, uint32_t btw, uint32_t* bw); /* Write data to the file */
#define FA_CREATE_ALWAYS 0
#define FA_WRITE 0

1716
tests/native/mock_os/fdcan.h Normal file
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File diff suppressed because it is too large Load Diff

9
tests/native/mock_os/mock_hal.c Normal file
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@@ -0,0 +1,9 @@
#include "fdcan.h"
#include "crc.h"
HAL_StatusTypeDef HAL_FDCAN_ConfigFilter(FDCAN_HandleTypeDef *hfdcan, FDCAN_FilterTypeDef *sFilterConfig) {
return 0;
}

4
tests/native/mock_os/usbd_cdc_if.h Normal file
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@@ -0,0 +1,4 @@
uint8_t CDC_Transmit_HS(uint8_t* Buf, uint16_t Len);
#define USBD_BUSY 1
#define USBD_OK 0

151
tests/native/tests.c
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@@ -1,166 +1,23 @@
#include "unity.h" #include "unity.h"
#include "UsbDataHandler.h"
#include "pb_encode.h"
#include "firmware.pb.h"
void setUp() { void setUp() {
} }
#define START_PACKAES 10
#define START_SIZE 123456
#define START_CRC 0xffff
#define START_DEVICE 0x04
#define START_NAME "slave0x04.bin"
#define PACK_COUTNER 3
#define PACK_CRC 0xabcd
#define PACK_DEVICE 0x04
#define PACK_DATA_SIZE 50
#define ACK_COUTNER 43
#define ACK_CRC 0xabcdef
#define ACK_DEVICE 0x9
#define DONE_CRC 0xffffffff
#define DONE_DEVICE 0xf
#define DONE_SIZE 1024 * 65
uint16_t StartCounter = 0;
uint16_t PackageCounter = 0;
uint16_t AckCounter = 0;
uint16_t DoneCounter = 0;
void transmit_package(uint16_t id, const pb_msgdesc_t *fields , const void* msg){
UsbDataPacket buffer = {0};
buffer.head.type = id;
pb_ostream_t ostream = pb_ostream_from_buffer(buffer.data, sizeof(buffer.data));
pb_encode(&ostream, fields, msg);
buffer.head.length= ostream.bytes_written;
buffer.head.check = UsbDataPacket_head_sum(&buffer);
UsbDataHandler_RxCallback((uint8_t*)(&buffer), buffer.head.length+sizeof(UsbDataPacketHead));
}
void test_UsbDataHandler(void) {
// Set up the module
UsbDataHandler_Start();
// Call the runner with no messages this should do nothing
UsbDataHandler_Runner();
FirmwareStart start ={
.name=START_NAME,
.packages=START_PACKAES,
.size=START_SIZE,
.crc_fw=START_CRC,
.device_id=START_DEVICE,
};
transmit_package(UsbPackageType_FIRMWARESTART, FirmwareStart_fields, &start);
// Call the runner with start message in the queue
UsbDataHandler_Runner();
TEST_ASSERT_EQUAL(StartCounter,1);
//Put 2 packages in the buffer an parse them
transmit_package(UsbPackageType_FIRMWARESTART, FirmwareStart_fields, &start);
transmit_package(UsbPackageType_FIRMWARESTART, FirmwareStart_fields, &start);
UsbDataHandler_Runner();
UsbDataHandler_Runner();
TEST_ASSERT_EQUAL(StartCounter,3);
FirmwarePackage pack = {
.counter =PACK_COUTNER ,
.crc_pac = PACK_CRC,
.device_id= PACK_DEVICE,
.data={.size = PACK_DATA_SIZE,
.bytes={0}
},
};
transmit_package(UsbPackageType_FIRMWAREPACKAGE, FirmwarePackage_fields, &pack);
UsbDataHandler_Runner();
TEST_ASSERT_EQUAL(PackageCounter,1);
FirmwarePackageAck ack = {
.ack =true,
.counter = ACK_COUTNER,
.crc_pac = ACK_CRC,
.device_id = ACK_DEVICE,
};
transmit_package(UsbPackageType_FIRMWAREPACKAGEACK, FirmwarePackageAck_fields, &ack);
UsbDataHandler_Runner();
TEST_ASSERT_EQUAL(PackageCounter,1);
FirmwareDone done = {
.crc_fw = DONE_CRC,
.device_id = DONE_DEVICE,
.size = DONE_SIZE,
};
transmit_package(UsbPackageType_FIRMWAREDONE, FirmwareDone_fields, &done);
UsbDataHandler_Runner();
TEST_ASSERT_EQUAL(DoneCounter,1);
}
void tearDown() { void tearDown() {
} }
void test_UsbDataHandler(void);
void test_CanData(void);
int main(void) { int main(void) {
UNITY_BEGIN(); UNITY_BEGIN();
RUN_TEST(test_UsbDataHandler); RUN_TEST(test_UsbDataHandler);
RUN_TEST(test_CanData);
return UNITY_END(); return UNITY_END();
} }
void DataClbk_FirmwareStart(void * msg, uint32_t length) {
FirmwareStart start;
memcpy(&start,msg,sizeof(start));
TEST_ASSERT_EQUAL(START_SIZE, start.size);
TEST_ASSERT_EQUAL(START_PACKAES, start.packages);
TEST_ASSERT_EQUAL(START_CRC, start.crc_fw);
TEST_ASSERT_EQUAL(START_DEVICE, start.device_id);
TEST_ASSERT_EQUAL_STRING(START_NAME,start.name);
StartCounter++;
}
void DataClbk_FirmwarePackage(void * msg, uint32_t length) {
FirmwarePackage pack;
memcpy(&pack,msg,sizeof(pack));
TEST_ASSERT_EQUAL(FirmwarePackage_size, length);
TEST_ASSERT_EQUAL(PACK_COUTNER, pack.counter);
TEST_ASSERT_EQUAL(PACK_CRC, pack.crc_pac);
TEST_ASSERT_EQUAL(PACK_DEVICE, pack.device_id);
TEST_ASSERT_EQUAL(PACK_DATA_SIZE, pack.data.size);
PackageCounter++;
}
void DataClbk_FirmwarePackageAck(void * msg, uint32_t length) {
FirmwarePackageAck ack;
memcpy(&ack,msg,sizeof(ack));
TEST_ASSERT_EQUAL(FirmwarePackageAck_size, length);
TEST_ASSERT(ack.ack);
TEST_ASSERT_EQUAL(ACK_COUTNER, ack.counter);
TEST_ASSERT_EQUAL(ACK_CRC, ack.crc_pac);
TEST_ASSERT_EQUAL(ACK_DEVICE, ack.device_id);
AckCounter++;
}
void DataClbk_FirmwareDone(void * msg, uint32_t length) {
FirmwareDone done;
memcpy(&done,msg,sizeof(done));
TEST_ASSERT_EQUAL(FirmwareDone_size, length);
TEST_ASSERT_EQUAL(DONE_CRC,done.crc_fw);
TEST_ASSERT_EQUAL(DONE_DEVICE,done.device_id);
TEST_ASSERT_EQUAL(DONE_SIZE,done.size);
DoneCounter++;
}

150
tests/native/usbdata_test.c Normal file
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#include "unity.h"
#include "UsbDataHandler.h"
#include "pb_encode.h"
#include "firmware.pb.h"
#define START_PACKAES 10
#define START_SIZE 123456
#define START_CRC 0xffff
#define START_DEVICE 0x04
#define START_NAME "slave0x04.bin"
#define PACK_COUTNER 3
#define PACK_CRC 0xabcd
#define PACK_DEVICE 0x04
#define PACK_DATA_SIZE 50
#define ACK_COUTNER 43
#define ACK_CRC 0xabcdef
#define ACK_DEVICE 0x9
#define DONE_CRC 0xffffffff
#define DONE_DEVICE 0xf
#define DONE_SIZE 1024 * 65
uint16_t StartCounter = 0;
uint16_t PackageCounter = 0;
uint16_t AckCounter = 0;
uint16_t DoneCounter = 0;
void transmit_package(uint16_t id, const pb_msgdesc_t *fields , const void* msg){
UsbDataPacket buffer = {0};
buffer.head.type = id;
pb_ostream_t ostream = pb_ostream_from_buffer(buffer.data, sizeof(buffer.data));
pb_encode(&ostream, fields, msg);
buffer.head.length= ostream.bytes_written;
buffer.head.check = UsbDataPacket_head_sum(&buffer);
UsbDataHandler_RxCallback((uint8_t*)(&buffer), buffer.head.length+sizeof(UsbDataPacketHead));
}
void test_UsbDataHandler(void) {
// Set up the module
UsbDataHandler_Start();
// Call the runner with no messages this should do nothing
UsbDataHandler_Runner();
FirmwareStart start ={
.name=START_NAME,
.packages=START_PACKAES,
.size=START_SIZE,
.crc_fw=START_CRC,
.device_id=START_DEVICE,
};
transmit_package(UsbPackageType_FIRMWARESTART, FirmwareStart_fields, &start);
// Call the runner with start message in the queue
UsbDataHandler_Runner();
TEST_ASSERT_EQUAL(StartCounter,1);
//Put 2 packages in the buffer an parse them
transmit_package(UsbPackageType_FIRMWARESTART, FirmwareStart_fields, &start);
transmit_package(UsbPackageType_FIRMWARESTART, FirmwareStart_fields, &start);
UsbDataHandler_Runner();
UsbDataHandler_Runner();
TEST_ASSERT_EQUAL(StartCounter,3);
FirmwarePackage pack = {
.counter =PACK_COUTNER ,
.crc_pac = PACK_CRC,
.device_id= PACK_DEVICE,
.data={.size = PACK_DATA_SIZE,
.bytes={0}
},
};
transmit_package(UsbPackageType_FIRMWAREPACKAGE, FirmwarePackage_fields, &pack);
UsbDataHandler_Runner();
TEST_ASSERT_EQUAL(PackageCounter,1);
FirmwarePackageAck ack = {
.ack =true,
.counter = ACK_COUTNER,
.crc_pac = ACK_CRC,
.device_id = ACK_DEVICE,
};
transmit_package(UsbPackageType_FIRMWAREPACKAGEACK, FirmwarePackageAck_fields, &ack);
UsbDataHandler_Runner();
TEST_ASSERT_EQUAL(PackageCounter,1);
FirmwareDone done = {
.crc_fw = DONE_CRC,
.device_id = DONE_DEVICE,
.size = DONE_SIZE,
};
transmit_package(UsbPackageType_FIRMWAREDONE, FirmwareDone_fields, &done);
UsbDataHandler_Runner();
TEST_ASSERT_EQUAL(DoneCounter,1);
}
void DataClbk_FirmwareStart(void * msg, uint32_t length) {
FirmwareStart start;
memcpy(&start,msg,sizeof(start));
TEST_ASSERT_EQUAL(sizeof(FirmwareStart), length);
TEST_ASSERT_EQUAL(START_SIZE, start.size);
TEST_ASSERT_EQUAL(START_PACKAES, start.packages);
TEST_ASSERT_EQUAL(START_CRC, start.crc_fw);
TEST_ASSERT_EQUAL(START_DEVICE, start.device_id);
TEST_ASSERT_EQUAL_STRING(START_NAME,start.name);
StartCounter++;
}
void DataClbk_FirmwarePackage(void * msg, uint32_t length) {
FirmwarePackage pack;
memcpy(&pack,msg,sizeof(pack));
TEST_ASSERT_EQUAL(sizeof(FirmwarePackage), length);
TEST_ASSERT_EQUAL(PACK_COUTNER, pack.counter);
TEST_ASSERT_EQUAL(PACK_CRC, pack.crc_pac);
TEST_ASSERT_EQUAL(PACK_DEVICE, pack.device_id);
TEST_ASSERT_EQUAL(PACK_DATA_SIZE, pack.data.size);
PackageCounter++;
}
void DataClbk_FirmwarePackageAck(void * msg, uint32_t length) {
FirmwarePackageAck ack;
memcpy(&ack,msg,sizeof(ack));
TEST_ASSERT_EQUAL(sizeof(FirmwarePackageAck), length);
TEST_ASSERT(ack.ack);
TEST_ASSERT_EQUAL(ACK_COUTNER, ack.counter);
TEST_ASSERT_EQUAL(ACK_CRC, ack.crc_pac);
TEST_ASSERT_EQUAL(ACK_DEVICE, ack.device_id);
AckCounter++;
}
void DataClbk_FirmwareDone(void * msg, uint32_t length) {
FirmwareDone done;
memcpy(&done,msg,sizeof(done));
TEST_ASSERT_EQUAL(sizeof(FirmwareDone), length);
TEST_ASSERT_EQUAL(DONE_CRC,done.crc_fw);
TEST_ASSERT_EQUAL(DONE_DEVICE,done.device_id);
TEST_ASSERT_EQUAL(DONE_SIZE,done.size);
DoneCounter++;
}