tune via CAN #3361

CAN testability

firmware/controllers/can/can.h

@@ -7,7 +7,11 @@
 
 #pragma once
 
+#if EFI_UNIT_TEST
+#include "can_mocks.h"
+#else
 #include "hal.h"
+#endif // EFI_UNIT_TEST
 
 #include "periodic_thread_controller.h"
 

firmware/util/containers/fifo_buffer.h

@@ -15,6 +15,10 @@
 
 #include "cyclic_buffer.h"
 
+#if EFI_UNIT_TEST
+#include "global.h"
+#endif // EFI_UNIT_TEST
+
 // todo: this is not a thread-safe version!
 template<typename T, size_t maxSize = CB_MAX_SIZE>
 class fifo_buffer : public cyclic_buffer<T, maxSize> {
@@ -92,7 +96,9 @@ template<typename T, size_t maxSize = CB_MAX_SIZE>
 class fifo_buffer_sync : public fifo_buffer<T, maxSize> {
 public:
 	fifo_buffer_sync() {
+#if !EFI_UNIT_TEST
 		osalThreadQueueObjectInit(&q_waiting);
+#endif // EFI_UNIT_TEST
 	}
 
 	bool put(T item) override {
@@ -116,7 +122,8 @@ public:
 	}
 
 	bool get(T &item, int timeout) {
-    	chSysLock();
+#if !EFI_UNIT_TEST
+		chSysLock();
 		while (fifo_buffer<T, maxSize>::isEmpty()) {
 			msg_t msg = osalThreadEnqueueTimeoutS(&q_waiting, timeout);
 			if (msg != MSG_OK) {
@@ -127,17 +134,22 @@ public:
 		item = fifo_buffer<T, maxSize>::get();
 		chSysUnlock();
 		return true;
+#endif // EFI_UNIT_TEST
     }
 
 	void clear() {
 		chSysLock();
 		fifo_buffer<T, maxSize>::clear();
+#if !EFI_UNIT_TEST
 		osalThreadDequeueAllI(&q_waiting, MSG_RESET);
+#endif // EFI_UNIT_TEST
 		chSysUnlock();
 	}
 
 protected:
+#if !EFI_UNIT_TEST
 	threads_queue_t q_waiting;
+#endif // EFI_UNIT_TEST
 };
 
-#endif /* FIFO_BUFFER_H */
+#endif /* FIFO_BUFFER_H */

unit_tests/can_mocks.h

@@ -0,0 +1,68 @@
+#pragma once
+
+// This corresponds to ChibiOS/os/hal/ports/STM32/LLD/CANv1/hal_can_lld.h
+
+typedef uint32_t canmbx_t;
+typedef int32_t can_msg_t;
+typedef int32_t can_sysinterval_t;
+
+#define CAN_MSG_OK (can_msg_t)0
+#define CAN_MSG_TIMEOUT (can_msg_t)-1
+
+typedef struct {
+  struct {
+    uint8_t                 DLC:4;          /**< @brief Data length.        */
+    uint8_t                 RTR:1;          /**< @brief Frame type.         */
+    uint8_t                 IDE:1;          /**< @brief Identifier type.    */
+  };
+  union {
+    struct {
+      uint32_t              SID:11;         /**< @brief Standard identifier.*/
+    };
+    struct {
+      uint32_t              EID:29;         /**< @brief Extended identifier.*/
+    };
+  };
+  union {
+    uint8_t                 data8[8];       /**< @brief Frame data.         */
+    uint16_t                data16[4];      /**< @brief Frame data.         */
+    uint32_t                data32[2];      /**< @brief Frame data.         */
+    uint64_t                data64[1];      /**< @brief Frame data.         */
+  };
+} CANTxFrame;
+
+// Unfortunately we cannot utilize the common base class for CANTxFrame and CANRxFrame,
+// because FMI and TIME fields come first, and we don't want to affect the fields order.
+typedef struct {
+  struct {
+    uint8_t                 FMI;            /**< @brief Filter id.          */
+    uint16_t                TIME;           /**< @brief Time stamp.         */
+  };
+  struct {
+    uint8_t                 DLC:4;          /**< @brief Data length.        */
+    uint8_t                 RTR:1;          /**< @brief Frame type.         */
+    uint8_t                 IDE:1;          /**< @brief Identifier type.    */
+  };
+  union {
+    struct {
+      uint32_t              SID:11;         /**< @brief Standard identifier.*/
+    };
+    struct {
+      uint32_t              EID:29;         /**< @brief Extended identifier.*/
+    };
+  };
+  union {
+    uint8_t                 data8[8];       /**< @brief Frame data.         */
+    uint16_t                data16[4];      /**< @brief Frame data.         */
+    uint32_t                data32[2];      /**< @brief Frame data.         */
+    uint64_t                data64[1];      /**< @brief Frame data.         */
+  };
+} CANRxFrame;
+
+#define CAN_IDE_STD                 0           /**< @brief Standard id.    */
+#define CAN_IDE_EXT                 1           /**< @brief Extended id.    */
+
+#define CAN_RTR_DATA                0           /**< @brief Data frame.     */
+#define CAN_RTR_REMOTE              1           /**< @brief Remote frame.   */
+
+#define CAN_ANY_MAILBOX             0U

unit_tests/global.h

@@ -62,6 +62,10 @@ void chDbgAssert(int c, char *msg, void *arg);
 
 #define CCM_OPTIONAL
 
+#define chSysLock() {}
+#define chSysUnlock() {}
+#define osalThreadDequeueNextI(x, y) {}
+
 #ifdef __cplusplus
 namespace chibios_rt {
 	// Noop for unit tests - this does real lock in FW/sim