#include #include "unity.h" #include "test_utils.h" // unity_send_signal #include "driver/uart.h" // for the uart driver access #include "esp_log.h" #include "esp_system.h" // for uint32_t esp_random() #define UART_TAG "Uart" #define UART_NUM1 (UART_NUM_1) #define BUF_SIZE (100) #define UART1_RX_PIN (22) #define UART1_TX_PIN (23) #define UART_BAUD_11520 (11520) #define UART_BAUD_115200 (115200) #define TOLERANCE (0.02) //baud rate error tolerance 2%. #define UART_TOLERANCE_CHECK(val, uper_limit, lower_limit) ( (val) <= (uper_limit) && (val) >= (lower_limit) ) // RTS for RS485 Half-Duplex Mode manages DE/~RE #define UART1_RTS_PIN (18) // Number of packets to be send during test #define PACKETS_NUMBER (10) // Wait timeout for uart driver #define PACKET_READ_TICS (1000 / portTICK_RATE_MS) // The table for fast CRC16 calculation static const uint8_t crc_hi[] = { 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40 }; static const uint8_t crc_low[] = { 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2, 0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD, 0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8, 0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F, 0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6, 0xD2, 0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1, 0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4, 0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB, 0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA, 0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5, 0x27, 0xE7, 0xE6, 0x26, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0, 0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67, 0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE, 0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79, 0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C, 0xB4, 0x74, 0x75, 0xB5, 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73, 0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92, 0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D, 0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98, 0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F, 0x8D, 0x4D, 0x4C, 0x8C, 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86, 0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80, 0x40 }; static void uart_config(uint32_t baud_rate, bool use_ref_tick) { uart_config_t uart_config = { .baud_rate = baud_rate, .data_bits = UART_DATA_8_BITS, .parity = UART_PARITY_DISABLE, .stop_bits = UART_STOP_BITS_1, .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, .use_ref_tick = use_ref_tick, }; uart_param_config(UART_NUM1, &uart_config); uart_set_pin(UART_NUM1, UART1_TX_PIN, UART1_RX_PIN, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE); uart_driver_install(UART_NUM1, BUF_SIZE * 2, BUF_SIZE * 2, 20, NULL, 0); } TEST_CASE("test uart get baud-rate","[uart]") { uint32_t baud_rate1 = 0; uint32_t baud_rate2 = 0; printf("init uart%d, use reftick, baud rate : %d\n", (int)UART_NUM1, (int)UART_BAUD_11520); uart_config(UART_BAUD_11520, true); uart_get_baudrate(UART_NUM1, &baud_rate1); printf("init uart%d, unuse reftick, baud rate : %d\n", (int)UART_NUM1, (int)UART_BAUD_115200); uart_config(UART_BAUD_115200, false); uart_get_baudrate(UART_NUM1, &baud_rate2); printf("get baud rate when use reftick: %d\n", (int)baud_rate1); printf("get baud rate when don't use reftick: %d\n", (int)baud_rate2); uart_driver_delete(UART_NUM1); TEST_ASSERT(UART_TOLERANCE_CHECK(baud_rate1, (1.0 + TOLERANCE)*UART_BAUD_11520, (1.0 - TOLERANCE)*UART_BAUD_11520)) TEST_ASSERT(UART_TOLERANCE_CHECK(baud_rate2, (1.0 + TOLERANCE)*UART_BAUD_115200, (1.0 - TOLERANCE)*UART_BAUD_115200)) ESP_LOGI(UART_TAG, "get baud-rate test passed ....\n"); } // Calculate buffer checksum using tables // The checksum CRC16 algorithm is specific // for Modbus standard and uses polynomial value = 0xA001 static uint16_t get_buffer_crc16( uint8_t * frame_ptr, uint16_t length ) { TEST_ASSERT( frame_ptr != NULL); uint8_t crc_hi_byte = 0xFF; uint8_t crc_low_byte = 0xFF; int index; while ( length-- ) { index = crc_low_byte ^ *(frame_ptr++); crc_low_byte = crc_hi_byte ^ crc_hi[index]; crc_hi_byte = crc_low[index]; } return ((crc_hi_byte << 8) | crc_low_byte); } // Fill the buffer with random numbers and apply CRC16 at the end static uint16_t buffer_fill_random(uint8_t *buffer, size_t length) { TEST_ASSERT( buffer != NULL); uint8_t *byte_buffer = (uint8_t *)buffer; uint32_t random; // Pcket is too short if (length < 4) { return 0; } for (int i = 0; i < length; i++) { if (i == 0 || i % 4 == 0) { // Generates random int32_t number random = esp_random(); } // Place each byte of the uint32_t random number into buffer byte_buffer[i] = random >> ((i % 4) * 8); } // Get checksum of the buffer uint16_t crc = get_buffer_crc16((uint8_t*)byte_buffer, (length - 2)); // Apply checksum bytes into packet byte_buffer[length - 2] = (uint8_t)(crc & 0xFF); // Set Low byte CRC byte_buffer[length - 1] = (uint8_t)(crc >> 8); // Set High byte CRC return crc; } static void rs485_init() { uart_config_t uart_config = { .baud_rate = UART_BAUD_115200, .data_bits = UART_DATA_8_BITS, .parity = UART_PARITY_DISABLE, .stop_bits = UART_STOP_BITS_1, .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, .rx_flow_ctrl_thresh = 122, }; printf("RS485 port initialization...\r\n"); // Configure UART1 parameters uart_param_config(UART_NUM1, &uart_config); // Set UART1 pins(TX: IO4, RX: I05, RTS: IO18, CTS: IO19) uart_set_pin(UART_NUM1, UART1_TX_PIN, UART1_RX_PIN, UART1_RTS_PIN, UART_PIN_NO_CHANGE); // Install UART driver (we don't need an event queue here) uart_driver_install(UART_NUM1, BUF_SIZE * 2, 0, 0, NULL, 0); // Setup rs485 half duplex mode //uart_set_rs485_hd_mode(uart_num, true); uart_set_mode(UART_NUM1, UART_MODE_RS485_HALF_DUPLEX); } static esp_err_t print_packet_data(const char *str, uint8_t *buffer, uint16_t buffer_size) { TEST_ASSERT( buffer != NULL); TEST_ASSERT( str != NULL); // Calculate the checksum of the buffer uint16_t crc16_calc = get_buffer_crc16(buffer, (buffer_size - 2)); uint16_t crc16_in = ((uint16_t)(buffer[buffer_size - 1]) << 8) | buffer[buffer_size - 2]; const char* state_str = (crc16_in != crc16_calc) ? "incorrect " : "correct "; // Print an array of data printf("%s%s RS485 packet = [ ", str, state_str); for (int i = 0; i < buffer_size; i++) { printf("0x%.2X ", (uint8_t)buffer[i]); } printf(" ]\r\n"); printf("crc_in = 0x%.4X\r\n", (uint16_t)crc16_in); printf("crc_calc = 0x%.4X\r\n", (uint16_t)crc16_calc); esp_err_t result = (crc16_in != crc16_calc) ? ESP_ERR_INVALID_CRC : ESP_OK; return result; } // Slave test case for multi device static void rs485_slave() { rs485_init(); uint8_t* slave_data = (uint8_t*) malloc(BUF_SIZE); uint16_t err_count = 0, good_count = 0; printf("Start recieve loop.\r\n"); unity_send_signal("Slave_ready"); unity_wait_for_signal("Master_started"); for(int pack_count = 0; pack_count < PACKETS_NUMBER; pack_count++) { //Read slave_data from UART int len = uart_read_bytes(UART_NUM1, slave_data, BUF_SIZE, (PACKET_READ_TICS * 2)); //Write slave_data back to UART if (len > 2) { esp_err_t status = print_packet_data("Received ", slave_data, len); // If recieved packet is correct then send it back if (status == ESP_OK) { uart_write_bytes(UART_NUM1, (char*)slave_data, len); good_count++; } else { printf("Incorrect packet received.\r\n"); err_count++; } } else { printf("Incorrect data packet[%d] received.\r\n", pack_count); err_count++; } } printf("Test completed. Received packets = %d, errors = %d\r\n", good_count, err_count); // Wait for packet to be sent uart_wait_tx_done(UART_NUM1, PACKET_READ_TICS); free(slave_data); uart_driver_delete(UART_NUM1); TEST_ASSERT(err_count < 2); } // Master test of multi device test case. // It forms packet with random data, apply generated CRC16 and sends to slave. // If response recieved correctly from slave means RS485 channel works. static void rs485_master() { uint16_t err_count = 0, good_count = 0; rs485_init(); uint8_t* master_buffer = (uint8_t*) malloc(BUF_SIZE); uint8_t* slave_buffer = (uint8_t*) malloc(BUF_SIZE); // The master test case should be synchronized with slave unity_wait_for_signal("Slave_ready"); unity_send_signal("Master_started"); printf("Start recieve loop.\r\n"); for(int i = 0; i < PACKETS_NUMBER; i++) { // Form random buffer with CRC16 buffer_fill_random(master_buffer, BUF_SIZE); // Print created packet for debugging esp_err_t status = print_packet_data("Send ", master_buffer, BUF_SIZE); TEST_ASSERT(status == ESP_OK); uart_write_bytes(UART_NUM1, (char*)master_buffer, BUF_SIZE); // Read translated packet from slave int len = uart_read_bytes(UART_NUM1, slave_buffer, BUF_SIZE, (PACKET_READ_TICS * 2)); // Check if the received packet is too short if (len > 2) { // Print received packet and check checksum esp_err_t status = print_packet_data("Received ", slave_buffer, len); if (status == ESP_OK) { good_count++; printf("Received: %d\r\n", good_count); } else { err_count++; printf("Errors: %d\r\n", err_count); } } else { printf("Incorrect answer from slave.\r\n"); err_count++; } } // Free the buffer and delete driver at the end free(master_buffer); uart_driver_delete(UART_NUM1); TEST_ASSERT(err_count <= 1); printf("Test completed. Received packets = %d, errors = %d\r\n", (uint16_t)good_count, (uint16_t)err_count); } /* * This multi devices test case verifies RS485 mode of the uart driver and checks * correctness of RS485 interface channel communication. It requires * RS485 bus driver hardware to be connected to boards. */ // The lines below are required to suppress GCC warnings about discarded const qualifiers // of function pointers in unity macro expansion. These warnings may be treated as errors during compilation. #pragma GCC diagnostic push // required for GCC #pragma GCC diagnostic ignored "-Wdiscarded-qualifiers" TEST_CASE_MULTIPLE_DEVICES("RS485 half duplex uart multiple devices test.", "[driver][ignore]", rs485_master, rs485_slave); #pragma GCC diagnostic pop // require GCC