151 lines
5.5 KiB
C++
151 lines
5.5 KiB
C++
/**
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* @file tests/can_bitops.cpp
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* @brief brief
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* @date 19 July, 2016
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* @author jjacobs
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* @copyright 2016 Dual Inventive Technology Centre B.V.
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*
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* Test can bit operation macros for manipulating the extend CAN frame ID
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*/
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#include <di/can.h>
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#include <gtest/gtest.h>
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/**
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* Check all specification values
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*/
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TEST(can_bitops, check_spec_values) {
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/* Msg Type */
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EXPECT_EQ(0U, DI_CAN_MSGTYPE_RAW);
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EXPECT_EQ(1U, DI_CAN_MSGTYPE_RPC);
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EXPECT_EQ(2U, DI_CAN_MSGTYPE_NET);
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/* Transfer type ID */
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EXPECT_EQ(0U, DI_CAN_TRANSFERTYPE_REPLY_ERR);
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EXPECT_EQ(1U, DI_CAN_TRANSFERTYPE_REPLY);
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EXPECT_EQ(2U, DI_CAN_TRANSFERTYPE_REQUEST);
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EXPECT_EQ(3U, DI_CAN_TRANSFERTYPE_PUBLISH);
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/* Frame Index */
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EXPECT_EQ(0U, DI_CAN_FRAME_ID_FIRST);
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EXPECT_EQ(511U, DI_CAN_FRAME_ID_MAX);
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EXPECT_EQ(512U, DI_CAN_FRAME_ID_MAX_COUNT);
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/* Transaction ID */
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EXPECT_EQ(0U, DI_CAN_TRANSACTION_FIRST);
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EXPECT_EQ(15U, DI_CAN_TRANSACTION_LAST);
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/* Node ID */
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EXPECT_EQ(0x00000000, DI_CAN_NODEID_UNSET);
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EXPECT_EQ(0xffffffff, DI_CAN_NODEID_BROADCAST);
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/* Maximum payload framing size (512 frames * 8 bytes) - (SFT + MFT metadata frame) */
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EXPECT_EQ(4080U, DI_CAN_FRAMING_SIZE_MAX);
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}
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/**
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* Test proper functioning of DI_CAN macros which creates the canid bitfields
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*/
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TEST(can_bitops, DI_CAN_SET__DI_CAN_GET) {
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uint32_t canid;
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uint32_t canid_generated;
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struct {
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uint32_t canid;
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uint8_t msgtype;
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uint16_t datatype;
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uint8_t transfertype;
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uint16_t frame_index;
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uint8_t transaction_id;
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uint8_t last;
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} expect[] = {
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/* Check Msg Type */
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{ 0x00000000, DI_CAN_MSGTYPE_RAW, 0, 0, 0, 0, 0 },
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{ 0x08000000, DI_CAN_MSGTYPE_RPC, 0, 0, 0, 0, 0 },
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{ 0x10000000, DI_CAN_MSGTYPE_NET, 0, 0, 0, 0, 0 },
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{ 0x10000001, DI_CAN_MSGTYPE_NET, 0, 0, 0, 0, DI_CAN_LAST_FRAME_TRUE },
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/* Check Data Type ID */
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{ 0x07ff0000, DI_CAN_MSGTYPE_RAW, 0x7ff, 0, 0, 0, 0 },
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{ 0x0fff0000, DI_CAN_MSGTYPE_RPC, 0x7ff, 0, 0, 0, 0 },
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{ 0x17ff0000, DI_CAN_MSGTYPE_NET, 0x7ff, 0, 0, 0, 0 },
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/* Transfer Type ID */
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{ 0x00000000, 0, 0, DI_CAN_TRANSFERTYPE_REPLY_ERR, 0, 0, 0 },
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{ 0x00004000, 0, 0, DI_CAN_TRANSFERTYPE_REPLY, 0, 0, 0 },
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{ 0x00008000, 0, 0, DI_CAN_TRANSFERTYPE_REQUEST, 0, 0, 0 },
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{ 0x0000c000, 0, 0, DI_CAN_TRANSFERTYPE_PUBLISH, 0, 0, 0 },
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{ 0x07ff0000, DI_CAN_MSGTYPE_RAW, 0x7ff, DI_CAN_TRANSFERTYPE_REPLY_ERR, 0, 0, 0 },
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{ 0x07ff4000, DI_CAN_MSGTYPE_RAW, 0x7ff, DI_CAN_TRANSFERTYPE_REPLY, 0, 0, 0 },
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{ 0x07ff8000, DI_CAN_MSGTYPE_RAW, 0x7ff, DI_CAN_TRANSFERTYPE_REQUEST, 0, 0, 0 },
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{ 0x07ffc000, DI_CAN_MSGTYPE_RAW, 0x7ff, DI_CAN_TRANSFERTYPE_PUBLISH, 0, 0, 0 },
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{ 0x0fff0000, DI_CAN_MSGTYPE_RPC, 0x7ff, DI_CAN_TRANSFERTYPE_REPLY_ERR, 0, 0, 0 },
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{ 0x17ff0000, DI_CAN_MSGTYPE_NET, 0x7ff, DI_CAN_TRANSFERTYPE_REPLY_ERR, 0, 0, 0 },
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/* Frame Index */
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{ 0x00000020, 0, 0, 0, 0x001, 0, 0 },
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{ 0x00002000, 0, 0, 0, 0x100, 0, 0 },
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{ 0x00002020, 0, 0, 0, 0x101, 0, 0 },
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{ 0x00003fe0, 0, 0, 0, 0x1ff, 0, 0 },
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{ 0x08003fe0, DI_CAN_MSGTYPE_RPC, 0, 0, 0x1ff, 0, 0 },
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{ 0x10003fe0, DI_CAN_MSGTYPE_NET, 0, 0, 0x1ff, 0, 0 },
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/* Transaction ID */
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{ 0x00000000, 0, 0, 0, 0, DI_CAN_TRANSACTION_FIRST, 0 },
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{ 0x00000004, 0, 0, 0, 0, 0x2, 0 },
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{ 0x00000012, 0, 0, 0, 0, 0x9, 0 },
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{ 0x0000001e, 0, 0, 0, 0, DI_CAN_TRANSACTION_LAST, 0 },
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{ 0x00000000, DI_CAN_MSGTYPE_RAW, 0, 0, 0, DI_CAN_TRANSACTION_FIRST, 0 },
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{ 0x08000000, DI_CAN_MSGTYPE_RPC, 0, 0, 0, DI_CAN_TRANSACTION_FIRST, 0 },
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{ 0x10000000, DI_CAN_MSGTYPE_NET, 0, 0, 0, DI_CAN_TRANSACTION_FIRST, 0 },
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{ 0x1000001f, DI_CAN_MSGTYPE_NET, 0, 0, 0, DI_CAN_TRANSACTION_LAST, DI_CAN_LAST_FRAME_TRUE },
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/* Last frame */
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{ 0x00000000, 0, 0, 0, 0, 0, DI_CAN_LAST_FRAME_FALSE },
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{ 0x0000000D, 0, 0, 0, 0, 6, DI_CAN_LAST_FRAME_TRUE }
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};
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// Check expected canid against all fields
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for (size_t n = 0; n < sizeof(expect)/sizeof(expect[0]); n++) {
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canid = expect[n].canid;
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// Generate the expected canid, so we can catch errors and print a usefull message
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canid_generated = 0;
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DI_CAN_SET_MSGTYPE(canid_generated, expect[n].msgtype);
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DI_CAN_SET_DATATYPE(canid_generated, expect[n].datatype);
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DI_CAN_SET_TRANSFERTYPE(canid_generated, expect[n].transfertype);
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DI_CAN_SET_FRAME(canid_generated, expect[n].frame_index);
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DI_CAN_SET_TRANSACTION(canid_generated, expect[n].transaction_id);
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DI_CAN_SET_LAST_FRAME(canid_generated, expect[n].last);
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if (canid != canid_generated) {
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EXPECT_TRUE(false) << "=== Error in canid test vector ===" << std::endl << "index: " << n << std::endl
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<< std::setfill('0')
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<< " got canid: 0x" << std::hex << std::setw(8) << canid << std::endl
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<< "expect canid: 0x" << std::hex << std::setw(8) << canid_generated << std::endl;
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continue;
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}
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ASSERT_EQ(expect[n].msgtype, DI_CAN_GET_MSGTYPE(canid));
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ASSERT_EQ(expect[n].datatype, DI_CAN_GET_DATATYPE(canid));
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ASSERT_EQ(expect[n].transfertype, DI_CAN_GET_TRANSFERTYPE(canid));
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ASSERT_EQ(expect[n].frame_index, DI_CAN_GET_FRAME(canid));
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ASSERT_EQ(expect[n].transaction_id, DI_CAN_GET_TRANSACTION(canid));
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ASSERT_EQ(expect[n].last, DI_CAN_GET_LAST_FRAME(canid));
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}
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}
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/**
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* Test if the DI_CAN_SET_FRAME_NEXT increments the correct bits in the
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* canid Frame Index field.
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*/
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TEST(can_bitops, DI_CAN_SET_FRAME_NEXT) {
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uint32_t canid = 0;
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DI_CAN_SET_FRAME(canid, 1);
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EXPECT_EQ(0x00000020, canid);
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EXPECT_EQ(1U, DI_CAN_GET_FRAME(canid));
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DI_CAN_SET_FRAME_NEXT(canid);
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EXPECT_EQ(0x00000040, canid);
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EXPECT_EQ(2U, DI_CAN_GET_FRAME(canid));
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DI_CAN_SET_FRAME(canid, DI_CAN_FRAME_ID_MAX);
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EXPECT_EQ(0x00003fe0, canid);
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EXPECT_EQ(511U, DI_CAN_GET_FRAME(canid));
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}
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