[canbus-dev] Created test canprotocol,need testing

src/shared/drivers/canbus/CanProtocol.h

@@ -20,8 +20,6 @@
  * THE SOFTWARE.
  */
 
-// this was written under the influence of redbull and ichnusa, pls do not judge
-
 #pragma once
 
 #include <ActiveObject.h>

src/tests/drivers/canbus/test-canprotocol.cpp

+
+
+#include <drivers/canbus/CanProtocol.h>
+#include <utils/Debug.h>
+
+#include "drivers/canbus/BusLoadEstimation.h"
+#include "drivers/canbus/Canbus.h"
+#include "utils/collections/CircularBuffer.h"
+
+constexpr uint32_t BAUD_RATE         = 500 * 1000;
+constexpr float SAMPLE_POINT         = 87.5f / 100.0f;
+constexpr uint32_t MSG_DEADLINE      = 100;  // ms
+constexpr uint32_t MSG_LOST_DEADLINE = 400;  // ms
+
+using std::string;
+using namespace Boardcore;
+using namespace Boardcore::Canbus;
+using namespace miosix;
+
+#ifdef _ARCH_CORTEXM3_STM32
+using CanRX = Gpio<GPIOA_BASE, 11>;
+using CanTX = Gpio<GPIOA_BASE, 12>;
+#else
+using CanRX = Gpio<GPIOA_BASE, 11>;
+using CanTX = Gpio<GPIOA_BASE, 12>;
+#endif
+
+int main()
+{
+
+    {
+        miosix::FastInterruptDisableLock dLock;
+
+#ifdef _ARCH_CORTEXM3_STM32
+        CanRX::mode(Mode::ALTERNATE);
+        CanTX::mode(Mode::ALTERNATE);
+#else
+        CanRX::mode(Mode::ALTERNATE);
+        CanTX::mode(Mode::ALTERNATE);
+
+        CanRX::alternateFunction(9);
+        CanTX::alternateFunction(9);
+#endif
+    }
+
+    CanbusDriver::CanbusConfig cfg{};
+    CanbusDriver::AutoBitTiming bt;
+    bt.baudRate    = BAUD_RATE;
+    bt.samplePoint = SAMPLE_POINT;
+
+    IRQCircularBuffer<CanData, NPACKET>* buffer;
+    CanbusDriver* c = new CanbusDriver(CAN1, cfg, bt);
+    CanProtocol protocol(c, buffer);
+
+    // Allow every message
+    Mask32FilterBank f2(0, 0, 0, 0, 0, 0, 0);
+
+    c->addFilter(f2);
+    c->init();
+
+    protocol.start();
+
+    const int slp = 500;
+    CanData toSend;
+    toSend.canId      = 0x01;
+    toSend.len        = 3;
+    toSend.payload[0] = 1;
+    toSend.payload[1] = 2;
+    toSend.payload[2] = 3;
+    for (;;)
+    {
+        protocol.sendCan(toSend);
+        (*buffer).waitUntilNotEmpty();
+        CanData temp = (*buffer).IRQpop();
+        if (temp.canId != toSend.canId || temp.len != toSend.len ||
+            temp.payload[0] != toSend.payload[0] ||
+            temp.payload[1] != toSend.payload[1] ||
+            temp.payload[2] != toSend.payload[2])
+        {
+            TRACE("Error\n");
+            TRACE("Expected id %d , received %d\n", toSend.canId, temp.canId);
+            TRACE("Expected len %d , received %d\n", toSend.len, temp.len);
+            TRACE("Expected payload 0 %d , received %d\n", toSend.payload[0],
+                  temp.payload[0]);
+            TRACE("Expected payload 1 %d , received %d\n", toSend.payload[1],
+                  temp.payload[1]);
+            TRACE("Expected payload 2 %d , received %d\n", toSend.payload[2],
+                  temp.payload[2]);
+        }
+        Thread::sleep(slp);
+    }
+}