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tests/drivers/candev: minor cleanup #21175

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tests/drivers/candev: minor cleanup #21175

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5 changes: 5 additions & 0 deletions tests/drivers/candev/Makefile
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Original file line number Diff line number Diff line change
Expand Up @@ -6,4 +6,9 @@ USEMODULE += shell
USEMODULE += can
USEMODULE += isrpipe

# The number of the CAN bus to use can be controlled via environment
# variable CAN_DEV:
CAN_DEV ?= 0
CFLAGS += -DCONFIG_CAN_DEV=$(CAN_DEV)

include $(RIOTBASE)/Makefile.include
89 changes: 53 additions & 36 deletions tests/drivers/candev/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -19,42 +19,38 @@
* @}
*/

#include <assert.h>
#include <errno.h>
#include <isrpipe.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "shell.h"
#include "test_utils/expect.h"
#include "can/device.h"

#if IS_USED(MODULE_PERIPH_CAN)

#include "periph/can.h"
#include "can_params.h"
#include "board.h"
#include "periph_conf.h"
#include "periph/gpio.h"

static can_t periph_dev;

#elif defined(MODULE_MCP2515)
#include "can_params.h"
#include "candev_mcp2515.h"
#include "mcp2515_params.h"
#include "periph/can.h"
#include "periph_conf.h"
#include "shell.h"
#include "test_utils/expect.h"

static candev_mcp2515_t mcp2515_dev;
/* The params header is only in the include path when the module is used */
#if MODULE_MCP2515
# include "mcp2515_params.h"
#endif

#else
/* add includes for other candev drivers here */
#ifdef BOARD_SAME54_XPRO
# include "periph/gpio.h"
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Why only for this board?

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That is annoying, isn't it?

I'll add a __attribute__((weak)) board_enable_can_transceiver(can_t *dev); and a __attribute__((weak)) board_disable_can_transceiver(can_t *dev); into the periph_can driver, so that we do not need to have magic stuff at application level, but rather let the board hook into can_init().

But that is not independent of this PR and will be a follow up.

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We already have a CAN transceiver interface, it's just not integrated with candev 😩

#endif

#define ENABLE_DEBUG 0
#include <debug.h>
#include "debug.h"

/* Default is not using loopback test mode */
#ifndef CONFIG_USE_LOOPBACK_MODE
#define CONFIG_USE_LOOPBACK_MODE 0
# define CONFIG_USE_LOOPBACK_MODE 0
#endif

#ifndef CONFIG_CAN_DEV
# define CONFIG_CAN_DEV 0
#endif

#define RX_RINGBUFFER_SIZE 128 /* Needs to be a power of 2! */
Expand All @@ -63,6 +59,20 @@

static candev_t *candev = NULL;

/* Only one of them is actually used, depending on the driver selected.
* We rely on the compiler to garbage collect the unused */
static can_t periph_dev;
static candev_mcp2515_t mcp2515_dev;

/* The params header is only in the include path when the module is used,
* so we fall back to a NULL ptr if not */
#if MODULE_MCP2515
static candev_mcp2515_conf_t *mcp2515_conf = &candev_mcp2515_conf[CONFIG_CAN_DEV];
#else
static candev_mcp2515_conf_t *mcp2515_conf = NULL;
#endif


Check warning on line 75 in tests/drivers/candev/main.c

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GitHub Actions / static-tests 

too many consecutive empty lines
static int _send(int argc, char **argv)
{
int ret = 0;
Expand Down Expand Up @@ -275,26 +285,33 @@

int main(void)
{

puts("candev test application\n");

isrpipe_init(&rxbuf, (uint8_t *)rx_ringbuf, sizeof(rx_ringbuf));
#if IS_USED(MODULE_PERIPH_CAN)
puts("Initializing CAN periph device");
can_init(&periph_dev, &(candev_conf[0]));
candev = &(periph_dev.candev);
if (IS_USED(MODULE_PERIPH_CAN)) {
puts("Initializing CAN periph device");
can_init(&periph_dev, &(candev_conf[CONFIG_CAN_DEV]));
candev = &(periph_dev.candev);
#if defined(BOARD_SAME54_XPRO)
gpio_init(AT6561_STBY_PIN, GPIO_OUT);
gpio_clear(AT6561_STBY_PIN);
#endif
#elif defined(MODULE_MCP2515)
puts("Initializing MCP2515");
candev_mcp2515_init(&mcp2515_dev, &candev_mcp2515_conf[0]);
candev = (candev_t *)&mcp2515_dev;

#else
/* add initialization for other candev drivers here */
gpio_init(AT6561_STBY_PIN, GPIO_OUT);
gpio_clear(AT6561_STBY_PIN);
#endif
}
else if (IS_USED(MODULE_MCP2515)) {
puts("Initializing MCP2515");
candev_mcp2515_init(&mcp2515_dev, mcp2515_conf);
candev = &mcp2515_dev.candev;
}
else {
/* No CAN driver is used or used CAN driver is not integrated in this
* test yet. We use an undefined function name to let this fail at
* compile time. The conditions above are all compile time constants
* and the compiler will eliminate the dead branches. So if any of them
* matched, this function call will not be part of the compiled object
* file and linking will work. */
extern void the_can_test_apps_depends_on_a_supported_can_driver_but_none_is_used(void);
the_can_test_apps_depends_on_a_supported_can_driver_but_none_is_used();
}

expect(candev);

Expand Down