test: Add COMMAND[ERCRST] feature test!

test/feature/command_ercrst_feature_tb.vhd

+--------------------------------------------------------------------------------
+-- 
+-- CTU CAN FD IP Core
+-- Copyright (C) 2015-2018
+-- 
+-- Authors:
+--     Ondrej Ille <ondrej.ille@gmail.com>
+--     Martin Jerabek <martin.jerabek01@gmail.com>
+-- 
+-- Project advisors: 
+-- 	Jiri Novak <jnovak@fel.cvut.cz>
+-- 	Pavel Pisa <pisa@cmp.felk.cvut.cz>
+-- 
+-- Department of Measurement         (http://meas.fel.cvut.cz/)
+-- Faculty of Electrical Engineering (http://www.fel.cvut.cz)
+-- Czech Technical University        (http://www.cvut.cz/)
+-- 
+-- Permission is hereby granted, free of charge, to any person obtaining a copy
+-- of this VHDL component and associated documentation files (the "Component"),
+-- to deal in the Component without restriction, including without limitation
+-- the rights to use, copy, modify, merge, publish, distribute, sublicense,
+-- and/or sell copies of the Component, and to permit persons to whom the
+-- Component is furnished to do so, subject to the following conditions:
+-- 
+-- The above copyright notice and this permission notice shall be included in
+-- all copies or substantial portions of the Component.
+-- 
+-- THE COMPONENT IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+-- IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+-- FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+-- AUTHORS OR COPYRIGHTHOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+-- LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+-- FROM, OUT OF OR IN CONNECTION WITH THE COMPONENT OR THE USE OR OTHER DEALINGS
+-- IN THE COMPONENT.
+-- 
+-- The CAN protocol is developed by Robert Bosch GmbH and protected by patents.
+-- Anybody who wants to implement this IP core on silicon has to obtain a CAN
+-- protocol license from Bosch.
+-- 
+--------------------------------------------------------------------------------
+
+--------------------------------------------------------------------------------
+-- @TestInfoStart
+--
+-- @Purpose:
+--  Error counters reset (reintegration request) command!
+--
+-- @Verifies:
+--  @1. Reintegration is started by COMMAND[ERCRST] when unit is bus-off.
+--  @2. Reintegration is not finished before 128 consecutive occurences of 11 con
+--      secutive recessive bits!
+--
+-- @Test sequence:
+--  @1. Set Node 1 TXC to 255 via test mode. Forbid CAN FD frames in Node 1.
+--      Generate CAN FD frame by Node 1 and send it. This should force Node 1
+--      to generate Error frame on its own transmitted frame. Poll on Node 1
+--      fault confinement state until it becomes bus-off.
+--  @2. When Node 1 becomes bus off, issue COMMAND[ERCRST] to Node 1. Wait until
+--      bus level is recessive (this should be in the start of Error delimiter).
+--      Now wait for 127 * 11 + 10 bits. Check that unit is still bus off!
+--      Wait for 20 more bits and check that Node 1 is now Error active!
+--
+-- @TestInfoEnd
+--------------------------------------------------------------------------------
+-- Revision History:
+--    18.01.2020   Created file
+--------------------------------------------------------------------------------
+
+context work.ctu_can_synth_context;
+context work.ctu_can_test_context;
+
+use lib.pkg_feature_exec_dispath.all;
+
+package command_ercrst_feature is
+    procedure command_ercrst_feature_exec(
+        signal      so              : out    feature_signal_outputs_t;
+        signal      rand_ctr        : inout  natural range 0 to RAND_POOL_SIZE;
+        signal      iout            : in     instance_outputs_arr_t;
+        signal      mem_bus         : inout  mem_bus_arr_t;
+        signal      bus_level       : in     std_logic
+    );
+end package;
+
+
+package body command_ercrst_feature is
+    procedure command_ercrst_feature_exec(
+        signal      so              : out    feature_signal_outputs_t;
+        signal      rand_ctr        : inout  natural range 0 to RAND_POOL_SIZE;
+        signal      iout            : in     instance_outputs_arr_t;
+        signal      mem_bus         : inout  mem_bus_arr_t;
+        signal      bus_level       : in     std_logic
+    ) is
+        variable ID_1               :     natural := 1;
+        variable ID_2               :     natural := 2;
+
+        -- Generated frames
+        variable frame_1            :     SW_CAN_frame_type;
+
+        variable command            :     SW_command := SW_command_rst_val;
+        
+        variable mode_1             :     SW_mode := SW_mode_rst_val;
+        variable err_ctrs           :     SW_error_counters := (0,0,0,0);
+        
+        variable fault_state        :     SW_fault_state;
+    begin
+
+        -----------------------------------------------------------------------
+        -- @1. Set Node 1 TXC to 255 via test mode. Forbid CAN FD frames in
+        --     Node 1. Generate CAN FD frame by Node 1 and send it. This should
+        --     force Node 1 to generate Error frame on its own transmitted
+        --     frame. Poll on Node 1 fault confinement state until it becomes
+        --     bus-off.
+        -----------------------------------------------------------------------
+        info("Step 1");
+
+        mode_1.flexible_data_rate := false;
+        mode_1.test := true; -- We need it to set error counters!
+        set_core_mode(mode_1, ID_1, mem_bus(1));
+
+        err_ctrs.tx_counter := 255;
+        set_error_counters(err_ctrs, ID_1, mem_bus(1));
+
+        CAN_generate_frame(rand_ctr, frame_1);
+        frame_1.frame_format := FD_CAN;
+        CAN_insert_TX_frame(frame_1, 1, ID_1, mem_bus(1));
+        send_TXT_buf_cmd(buf_set_ready, 1, ID_1, mem_bus(1));
+
+        get_fault_state(fault_state, ID_1, mem_bus(1));
+        while (fault_state /= fc_bus_off) loop
+            get_fault_state(fault_state, ID_1, mem_bus(1));
+            wait for 50 ns;
+        end loop;
+
+        -----------------------------------------------------------------------
+        -- @2. When Node 1 becomes bus off, issue COMMAND[ERCRST] to Node 1.
+        --     Wait until bus level is recessive (this should be in the start
+        --     of Error delimiter). Now wait for 127 * 11 + 10 bits. Check that
+        --     unit is still bus off! Wait for 10 more bits and check that Node
+        --     1 is now Error active!
+        -----------------------------------------------------------------------
+        info("Step 2");
+
+        -- Now issue Error counter reset!
+        command.err_ctrs_rst := true;
+        give_controller_command(command, ID_1, mem_bus(1));
+
+        if (bus_level /= RECESSIVE) then
+            wait until bus_level = RECESSIVE;
+        end if;
+
+        for i in 0 to 1406 loop
+            CAN_wait_sample_point(iout(1).stat_bus);
+        end loop;
+
+        get_fault_state(fault_state, ID_1, mem_bus(1));
+        check(fault_state = fc_bus_off, "Node still bus off!");
+
+        -- 20 bits is chosen just as upper bound. In fact, we would only need
+        -- to account for Error delimiter + Intermission
+        for i in 0 to 19 loop
+            CAN_wait_sample_point(iout(1).stat_bus);
+        end loop;
+        
+        get_fault_state(fault_state, ID_1, mem_bus(1));
+        check(fault_state = fc_error_active, "Node became error active!");
+
+        wait for 100 ns;
+
+  end procedure;
+
+end package body;
\ No newline at end of file

test/tests_fast.yml

@@ -60,6 +60,7 @@ feature:
         command_rrb:
         command_cdo:
         command_frcrst:
+        command_ercrst:
         device_id:
         dlc_can20_8_64_bytes:
         err_capt_ack_ack:

test/tests_nightly.yml

@@ -91,6 +91,7 @@ feature:
             iterations: 20
         command_cdo:
         command_frcrst:
+        command_ercrst:
         device_id:
         dlc_can20_8_64_bytes:
         err_capt_ack_ack: