test_can.c File Reference

Tests for the CAN driver. More...

#include "unity.h"
#include "MockHL_can.h"
#include "Mockcan_cfg.h"
#include "Mockdatabase.h"
#include "Mockdiag.h"
#include "Mockfoxmath.h"
#include "Mockftask.h"
#include "Mockimd.h"
#include "Mockio.h"
#include "Mockmcu.h"
#include "Mockos.h"
#include "Mockpex.h"
#include "Mockqueue.h"
#include "Mocktest_can_mpu_prototype_queue_create_stub.h"
#include "version_cfg.h"
#include "can.h"
#include "test_assert_helper.h"
#include <stdbool.h>
#include <stdint.h>

Include dependency graph for test_can.c:

Go to the source code of this file.

Macros
#define	CANRX_NOT_PERIODIC   (0u)
#define	TEST_CANTX_ID_DUMMY   (0x001)
#define	TEST_CANTX_DUMMY_PERIOD_ms   (100)
#define	TEST_CANTX_DUMMY_PHASE_ms   (0)
#define	TEST_CANTX_DUMMY_MESSAGE
#define	TEST_CANRX_ID_DUMMY   (0x002)
#define	TEST_CANRX_DUMMY_MESSAGE

Functions
static uint32_t	TEST_CANTX_DummyCallback (CAN_MESSAGE_PROPERTIES_s message, uint8_t *pCanData, uint8_t *pMuxId, const CAN_SHIM_s *const kpkCanShim)
static uint32_t	TEST_CANRX_DummyCallback (CAN_MESSAGE_PROPERTIES_s message, const uint8_t *const kpkCanData, const CAN_SHIM_s *const kpkCanShim)
void	setUp (void)
void	tearDown (void)
void	testDataSendNullPointerAsNode (void)
void	testDataSendNullPointerAsData (void)
void	testDataSendNoMessagePending (void)
void	testDataSendInvalidIdentifierType (void)
void	testDataSendMessagePending (void)
void	testEnablePeriodic (void)
void	testIsCurrentSensorPresent (void)
void	testIsCurrentSensorCcPresent (void)
void	testCAN_ValidateConfiguredTxMessagePeriod (void)
void	testCAN_ValidateConfiguredTxMessagePhase (void)
void	testCAN_CheckDatabaseNullPointer (void)
void	testCAN_PeriodicTransmitQueueFull (void)
void	testCAN_PeriodicTransmitQueueHasSpace (void)
void	testCAN_IsMessagePeriodElapsed (void)
void	testCAN_SendMessagesFromQueue (void)

Variables
const CAN_NODE_s	can_node1
const CAN_NODE_s	can_node2Isolated
static DATA_BLOCK_CELL_TEMPERATURE_s	can_tableTemperatures = {.header.uniqueId = DATA_BLOCK_ID_CELL_TEMPERATURE}
static DATA_BLOCK_CELL_VOLTAGE_s	can_tableCellVoltages = {.header.uniqueId = DATA_BLOCK_ID_CELL_VOLTAGE}
static DATA_BLOCK_CURRENT_SENSOR_s	can_tableCurrentSensor = {.header.uniqueId = DATA_BLOCK_ID_CURRENT_SENSOR}
static DATA_BLOCK_ERROR_STATE_s	can_tableErrorState = {.header.uniqueId = DATA_BLOCK_ID_ERROR_STATE}
static DATA_BLOCK_INSULATION_MONITORING_s	can_tableInsulation
static DATA_BLOCK_MIN_MAX_s	can_tableMinimumMaximumValues = {.header.uniqueId = DATA_BLOCK_ID_MIN_MAX}
static DATA_BLOCK_MOL_FLAG_s	can_tableMolFlags = {.header.uniqueId = DATA_BLOCK_ID_MOL_FLAG}
static DATA_BLOCK_MSL_FLAG_s	can_tableMslFlags = {.header.uniqueId = DATA_BLOCK_ID_MSL_FLAG}
static DATA_BLOCK_OPEN_WIRE_s	can_tableOpenWire = {.header.uniqueId = DATA_BLOCK_ID_OPEN_WIRE_BASE}
static DATA_BLOCK_PACK_VALUES_s	can_tablePackValues = {.header.uniqueId = DATA_BLOCK_ID_PACK_VALUES}
static DATA_BLOCK_RSL_FLAG_s	can_tableRslFlags = {.header.uniqueId = DATA_BLOCK_ID_RSL_FLAG}
static DATA_BLOCK_SOC_s	can_tableSoc = {.header.uniqueId = DATA_BLOCK_ID_SOC}
static DATA_BLOCK_SOE_s	can_tableSoe = {.header.uniqueId = DATA_BLOCK_ID_SOE}
static DATA_BLOCK_SOH_s	can_tableSoh = {.header.uniqueId = DATA_BLOCK_ID_SOH}
static DATA_BLOCK_STATE_REQUEST_s	can_tableStateRequest = {.header.uniqueId = DATA_BLOCK_ID_STATE_REQUEST}
OS_QUEUE	imd_canDataQueue = NULL_PTR
const CAN_SHIM_s	can_kShim
const CAN_TX_MESSAGE_TYPE_s	can_txMessages []
const CAN_RX_MESSAGE_TYPE_s	can_rxMessages []
const uint8_t	can_txMessagesLength = sizeof(can_txMessages) / sizeof(can_txMessages[0])
const uint8_t	can_rxMessagesLength = sizeof(can_rxMessages) / sizeof(can_rxMessages[0])
CAN_BUFFER_ELEMENT_s	dummyMessageBuffer
const uint16_t	numberOfRepetitionsToReset = (TEST_CANTX_DUMMY_PERIOD_ms / CAN_TICK_ms) - 1
CAN_STATE_s *	canTestState = NULL_PTR
OS_QUEUE	ftsk_dataQueue = NULL_PTR
OS_QUEUE	ftsk_imdCanDataQueue = NULL_PTR
OS_QUEUE	ftsk_canRxQueue = NULL_PTR
OS_QUEUE	ftsk_canTxUnsentMessagesQueue = NULL_PTR
volatile bool	ftsk_allQueuesCreated = false

Detailed Description

Tests for the CAN driver.

Copyright

© 2010 - 2023, Fraunhofer-Gesellschaft zur Foerderung der angewandten Forschung e.V. All rights reserved.

SPDX-License-Identifier: BSD-3-Clause

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

We kindly request you to use one or more of the following phrases to refer to foxBMS in your hardware, software, documentation or advertising materials:

• ″This product uses parts of foxBMS®″
• ″This product includes parts of foxBMS®″
• ″This product is derived from foxBMS®″

Author

foxBMS Team

Date

2020-04-01 (date of creation)

Updated

2023-10-12 (date of last update)

Version

v1.6.0

Prefix

TEST

This file implements the test of the validation functions for tx message configuration with correct configuration for message period and phase. Both functions are tested to not assert an error with valid configuration. Invalid configurations are tested in test_can_1 and test_can_2.

Definition in file test_can.c.

Macro Definition Documentation

CANRX_NOT_PERIODIC

#define CANRX_NOT_PERIODIC   (0u)

Definition at line 99 of file test_can.c.

TEST_CANRX_DUMMY_MESSAGE

#define TEST_CANRX_DUMMY_MESSAGE

Value:

    {                                                 \
        .id         = TEST_CANRX_ID_DUMMY,            \
        .dlc        = CAN_DEFAULT_DLC,                \
        .endianness = CAN_LITTLE_ENDIAN,              \
        .idType     = CAN_STANDARD_IDENTIFIER_11_BIT, \
    },                                                \
    {                                                 \
        .period = CANRX_NOT_PERIODIC                  \
    }

Definition at line 120 of file test_can.c.

TEST_CANRX_ID_DUMMY

#define TEST_CANRX_ID_DUMMY   (0x002)

Definition at line 118 of file test_can.c.

TEST_CANTX_DUMMY_MESSAGE

#define TEST_CANTX_DUMMY_MESSAGE

Value:

    {                                                                            \
        .id         = TEST_CANTX_ID_DUMMY,                                       \
        .dlc        = CAN_DEFAULT_DLC,                                           \
        .endianness = CAN_LITTLE_ENDIAN,                                         \
        .idType     = CAN_STANDARD_IDENTIFIER_11_BIT,                            \
    },                                                                           \
    {                                                                            \
        .period = TEST_CANTX_DUMMY_PERIOD_ms, .phase = TEST_CANTX_DUMMY_PHASE_ms \
    }

Definition at line 106 of file test_can.c.

TEST_CANTX_DUMMY_PERIOD_ms

#define TEST_CANTX_DUMMY_PERIOD_ms   (100)

Definition at line 103 of file test_can.c.

TEST_CANTX_DUMMY_PHASE_ms

#define TEST_CANTX_DUMMY_PHASE_ms   (0)

Definition at line 104 of file test_can.c.

TEST_CANTX_ID_DUMMY

#define TEST_CANTX_ID_DUMMY   (0x001)

Definition at line 102 of file test_can.c.

Function Documentation

setUp()

void setUp

(

void

)

Definition at line 221 of file test_can.c.

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tearDown()

void tearDown

(

void

)

Definition at line 232 of file test_can.c.

TEST_CANRX_DummyCallback()

static uint32_t TEST_CANRX_DummyCallback ( CAN_MESSAGE_PROPERTIES_s  message, const uint8_t *const  kpkCanData, const CAN_SHIM_s *const  kpkCanShim  )

static

Definition at line 186 of file test_can.c.

TEST_CANTX_DummyCallback()

static uint32_t TEST_CANTX_DummyCallback ( CAN_MESSAGE_PROPERTIES_s  message, uint8_t *  pCanData, uint8_t *  pMuxId, const CAN_SHIM_s *const  kpkCanShim  )

static

Definition at line 178 of file test_can.c.

testCAN_CheckDatabaseNullPointer()

void testCAN_CheckDatabaseNullPointer

(

void

)

Definition at line 341 of file test_can.c.

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testCAN_IsMessagePeriodElapsed()

void testCAN_IsMessagePeriodElapsed

(

void

)

Definition at line 410 of file test_can.c.

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testCAN_PeriodicTransmitQueueFull()

void testCAN_PeriodicTransmitQueueFull

(

void

)

Definition at line 366 of file test_can.c.

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testCAN_PeriodicTransmitQueueHasSpace()

void testCAN_PeriodicTransmitQueueHasSpace

(

void

)

Definition at line 388 of file test_can.c.

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testCAN_SendMessagesFromQueue()

void testCAN_SendMessagesFromQueue

(

void

)

only test the case of failing, because the case of successful call would require actual (not mocked) call of OS_ReceiveFromQueue to write to message buffer

Definition at line 421 of file test_can.c.

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testCAN_ValidateConfiguredTxMessagePeriod()

void testCAN_ValidateConfiguredTxMessagePeriod

(

void

)

Definition at line 333 of file test_can.c.

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testCAN_ValidateConfiguredTxMessagePhase()

void testCAN_ValidateConfiguredTxMessagePhase

(

void

)

Definition at line 337 of file test_can.c.

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testDataSendInvalidIdentifierType()

void testDataSendInvalidIdentifierType

(

void

)

Definition at line 263 of file test_can.c.

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testDataSendMessagePending()

void testDataSendMessagePending

(

void

)

Definition at line 272 of file test_can.c.

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testDataSendNoMessagePending()

void testDataSendNoMessagePending

(

void

)

Definition at line 252 of file test_can.c.

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testDataSendNullPointerAsData()

void testDataSendNullPointerAsData

(

void

)

Definition at line 244 of file test_can.c.

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testDataSendNullPointerAsNode()

void testDataSendNullPointerAsNode

(

void

)

Definition at line 236 of file test_can.c.

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testEnablePeriodic()

void testEnablePeriodic

(

void

)

Definition at line 293 of file test_can.c.

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testIsCurrentSensorCcPresent()

void testIsCurrentSensorCcPresent

(

void

)

Definition at line 319 of file test_can.c.

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testIsCurrentSensorPresent()

void testIsCurrentSensorPresent

(

void

)

Definition at line 304 of file test_can.c.

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Variable Documentation

can_kShim

const CAN_SHIM_s can_kShim

Initial value:

= {
    .pQueueImd             = &ftsk_imdCanDataQueue,
    .pTableCellTemperature = &can_tableTemperatures,
    .pTableCellVoltage     = &can_tableCellVoltages,
    .pTableCurrentSensor   = &can_tableCurrentSensor,
    .pTableErrorState      = &can_tableErrorState,
    .pTableInsulation      = &can_tableInsulation,
    .pTableMinMax          = &can_tableMinimumMaximumValues,
    .pTableMol             = &can_tableMolFlags,
    .pTableMsl             = &can_tableMslFlags,
    .pTableOpenWire        = &can_tableOpenWire,
    .pTablePackValues      = &can_tablePackValues,
    .pTableRsl             = &can_tableRslFlags,
    .pTableSoc             = &can_tableSoc,
    .pTableSoe             = &can_tableSoe,
    .pTableSof             = NULL_PTR,
    .pTableSoh             = &can_tableSoh,
    .pTableStateRequest    = &can_tableStateRequest,
}

variable for storing and passing on the local database table handles

Definition at line 158 of file test_can.c.

can_node1

const CAN_NODE_s can_node1

Initial value:

= {
    .canNodeRegister = canREG1,
}

CAN node configurations for CAN1 and CAN2 (isolated)

Definition at line 131 of file test_can.c.

can_node2Isolated

const CAN_NODE_s can_node2Isolated

Initial value:

= {
    .canNodeRegister = canREG2,
}

Definition at line 135 of file test_can.c.

can_rxMessages

const CAN_RX_MESSAGE_TYPE_s can_rxMessages[]

Initial value:

= {
    {CAN_NODE_1, TEST_CANRX_DUMMY_MESSAGE, &TEST_CANRX_DummyCallback},
}

registry of CAN RX messages

Definition at line 197 of file test_can.c.

can_rxMessagesLength

const uint8_t can_rxMessagesLength = sizeof(can_rxMessages) / sizeof(can_rxMessages[0])

length of CAN message arrays

Definition at line 202 of file test_can.c.

can_tableCellVoltages

DATA_BLOCK_CELL_VOLTAGE_s can_tableCellVoltages = {.header.uniqueId = DATA_BLOCK_ID_CELL_VOLTAGE}

static

Definition at line 140 of file test_can.c.

can_tableCurrentSensor

DATA_BLOCK_CURRENT_SENSOR_s can_tableCurrentSensor = {.header.uniqueId = DATA_BLOCK_ID_CURRENT_SENSOR}

static

Definition at line 141 of file test_can.c.

can_tableErrorState

DATA_BLOCK_ERROR_STATE_s can_tableErrorState = {.header.uniqueId = DATA_BLOCK_ID_ERROR_STATE}

static

Definition at line 142 of file test_can.c.

can_tableInsulation

DATA_BLOCK_INSULATION_MONITORING_s can_tableInsulation

static

Initial value:

= {
    .header.uniqueId = DATA_BLOCK_ID_INSULATION_MONITORING}

Definition at line 143 of file test_can.c.

can_tableMinimumMaximumValues

DATA_BLOCK_MIN_MAX_s can_tableMinimumMaximumValues = {.header.uniqueId = DATA_BLOCK_ID_MIN_MAX}

static

Definition at line 145 of file test_can.c.

can_tableMolFlags

DATA_BLOCK_MOL_FLAG_s can_tableMolFlags = {.header.uniqueId = DATA_BLOCK_ID_MOL_FLAG}

static

Definition at line 146 of file test_can.c.

can_tableMslFlags

DATA_BLOCK_MSL_FLAG_s can_tableMslFlags = {.header.uniqueId = DATA_BLOCK_ID_MSL_FLAG}

static

Definition at line 147 of file test_can.c.

can_tableOpenWire

DATA_BLOCK_OPEN_WIRE_s can_tableOpenWire = {.header.uniqueId = DATA_BLOCK_ID_OPEN_WIRE_BASE}

static

Definition at line 148 of file test_can.c.

can_tablePackValues

DATA_BLOCK_PACK_VALUES_s can_tablePackValues = {.header.uniqueId = DATA_BLOCK_ID_PACK_VALUES}

static

Definition at line 149 of file test_can.c.

can_tableRslFlags

DATA_BLOCK_RSL_FLAG_s can_tableRslFlags = {.header.uniqueId = DATA_BLOCK_ID_RSL_FLAG}

static

Definition at line 150 of file test_can.c.

can_tableSoc

DATA_BLOCK_SOC_s can_tableSoc = {.header.uniqueId = DATA_BLOCK_ID_SOC}

static

Definition at line 151 of file test_can.c.

can_tableSoe

DATA_BLOCK_SOE_s can_tableSoe = {.header.uniqueId = DATA_BLOCK_ID_SOE}

static

Definition at line 152 of file test_can.c.

can_tableSoh

DATA_BLOCK_SOH_s can_tableSoh = {.header.uniqueId = DATA_BLOCK_ID_SOH}

static

Definition at line 153 of file test_can.c.

can_tableStateRequest

DATA_BLOCK_STATE_REQUEST_s can_tableStateRequest = {.header.uniqueId = DATA_BLOCK_ID_STATE_REQUEST}

static

Definition at line 154 of file test_can.c.

can_tableTemperatures

DATA_BLOCK_CELL_TEMPERATURE_s can_tableTemperatures = {.header.uniqueId = DATA_BLOCK_ID_CELL_TEMPERATURE}

static

Definition at line 139 of file test_can.c.

can_txMessages

const CAN_TX_MESSAGE_TYPE_s can_txMessages[]

Initial value:

= {
    {CAN_NODE_1, TEST_CANTX_DUMMY_MESSAGE, &TEST_CANTX_DummyCallback, NULL_PTR},
}

CAN RX and TX message configuration structs

registry of CAN TX messages

Definition at line 193 of file test_can.c.

can_txMessagesLength

const uint8_t can_txMessagesLength = sizeof(can_txMessages) / sizeof(can_txMessages[0])

array length for transmission CAN0 message definition

length of CAN message arrays

Definition at line 201 of file test_can.c.

canTestState

CAN_STATE_s* canTestState = NULL_PTR

Definition at line 212 of file test_can.c.

dummyMessageBuffer

CAN_BUFFER_ELEMENT_s dummyMessageBuffer

Initial value:

= {
    .canNode = CAN_NODE_1,
    .id      = TEST_CANTX_ID_DUMMY,
    .idType  = CAN_STANDARD_IDENTIFIER_11_BIT,
    .data    = {0u, 0u, 0u, 0u, 0u, 0u, 0u, 0u}}

Definition at line 204 of file test_can.c.

ftsk_allQueuesCreated

volatile bool ftsk_allQueuesCreated = false

indicator whether the queues have successfully been initialized to be used in other parts of the software

Definition at line 218 of file test_can.c.

ftsk_canRxQueue

OS_QUEUE ftsk_canRxQueue = NULL_PTR

CAN driver data queue for RX messages

Definition at line 216 of file test_can.c.

ftsk_canTxUnsentMessagesQueue

OS_QUEUE ftsk_canTxUnsentMessagesQueue = NULL_PTR

CAN driver data queue for unsent TX messages

Definition at line 217 of file test_can.c.

ftsk_dataQueue

OS_QUEUE ftsk_dataQueue = NULL_PTR

Definition at line 214 of file test_can.c.

ftsk_imdCanDataQueue

OS_QUEUE ftsk_imdCanDataQueue = NULL_PTR

queue for CAN based IMD devices

Definition at line 215 of file test_can.c.

imd_canDataQueue

OS_QUEUE imd_canDataQueue = NULL_PTR

Definition at line 156 of file test_can.c.

numberOfRepetitionsToReset

const uint16_t numberOfRepetitionsToReset = (TEST_CANTX_DUMMY_PERIOD_ms / CAN_TICK_ms) - 1

Definition at line 210 of file test_can.c.