test/drivers/candev: update test application

tests/drivers/candev/Makefile.board.dep

@@ -7,6 +7,10 @@ CAN_DRIVER ?= MCP2515
 
 ifeq ($(CAN_DRIVER), PERIPH_CAN)
   FEATURES_REQUIRED += periph_can
+  ifeq ($(BOARD), same54-xpro)
+    CFLAGS += "-DCANDEV_SAMD5X_DEFAULT_STD_FILTER_NUM=5"
+    CFLAGS += "-DCANDEV_SAMD5X_DEFAULT_EXT_FILTER_NUM=5"
+  endif
 else ifeq ($(CAN_DRIVER), MCP2515)
   USEMODULE += mcp2515
   # Uncomment to enable MCP2515 reception filtering

tests/drivers/candev/main.c

@@ -30,7 +30,9 @@
 #include "can/device.h"
 
 #if IS_USED(MODULE_PERIPH_CAN)
-
+#if defined(MCU_SAMD5X)
+#include "periph/gpio.h"
+#endif
 #include "periph/can.h"
 #include "can_params.h"
 
@@ -196,6 +198,10 @@ int main(void)
     isrpipe_init(&rxbuf, (uint8_t *)rx_ringbuf, sizeof(rx_ringbuf));
 #if IS_USED(MODULE_PERIPH_CAN)
     puts("Initializing CAN periph device");
+#if defined(MCU_SAMD5X)
+    /* Standby pin of the CAN transceiver. Must be low */
+    gpio_init(GPIO_PIN(PC, 13), GPIO_IN);
+#endif
     can_init(&periph_dev, &(candev_conf[0]));    /* vcan0 on native */
     candev = (candev_t *)&periph_dev;
 #elif  defined(MODULE_MCP2515)
@@ -220,36 +226,67 @@ if (IS_ACTIVE(CONFIG_USE_LOOPBACK_MODE)) {
     canopt_state_t mode = CANOPT_STATE_LOOPBACK;
     candev->driver->set(candev, CANOPT_STATE, &mode, sizeof(mode));
 }
-
+#if defined(MODULE_MCP2515)
     if (IS_ACTIVE(MCP2515_RECV_FILTER_EN)) {
+#endif
         /* CAN filters examples */
         struct can_filter filter[4];
         filter[0].can_mask = 0x7FF;
         filter[0].can_id = 0x001;
 #if defined(MODULE_MCP2515)
         filter[0].target_mailbox = 0;   /* messages with CAN ID 0x001 will be received in mailbox 0 */
+#elif defined(MCU_SAMD5X)
+        filter[0].can_filter_type = CAN_FILTER_TYPE_CLASSIC;
+        filter[0].can_filter_conf = CAN_FILTER_RX_FIFO_0; /* meassages with CAN ID 0x001 will be received in Rx FIFO 0 */
 #endif
         filter[1].can_mask = 0x7FF;
         filter[1].can_id = 0x002;
 #if defined(MODULE_MCP2515)
         filter[1].target_mailbox = 1;   /* messages with CAN ID 0x002 will be received in mailbox 1 */
+#elif defined(MCU_SAMD5X)
+        filter[1].can_filter_type = CAN_FILTER_TYPE_CLASSIC;
+        filter[1].can_filter_conf = CAN_FILTER_RX_FIFO_1;   /* messages with CAN ID 0x002 will be received in Rx FIFO 1 */
 #endif
         filter[2].can_mask = 0x7FF;
         filter[2].can_id = 0x003;
 #if defined(MODULE_MCP2515)
         filter[2].target_mailbox = 0;   /* messages with CAN ID 0x003 will be received in mailbox 0 */
+#elif defined(MCU_SAMD5X)
+        filter[2].can_filter_type = CAN_FILTER_TYPE_CLASSIC;
+        filter[2].can_filter_conf = CAN_FILTER_RX_REJECT;   /* messages with CAN ID 0x003 will be rejected */
 #endif
         filter[3].can_mask = 0x7FF;
         filter[3].can_id = 0x004;
 #if defined(MODULE_MCP2515)
         filter[3].target_mailbox = 0;   /* this filter won't be applied. Reason is no space found in the first mailbox as it supports only two filters */
+#elif defined(MCU_SAMD5X)
+        filter[3].can_filter_type = CAN_FILTER_TYPE_CLASSIC;
+        filter[3].can_filter_conf = CAN_FILTER_RX_FIFO_1;   /* messages with CAN ID 0x004 will be received in Rx FIFO 1 */
 #endif
         for (uint8_t i = 0; i < 4; i++) {
             candev->driver->set_filter(candev, &filter[i]);
         }
+#if defined(MCU_SAMD5X)
+        struct can_filter range_filter = {
+            .can_filter_type = CAN_FILTER_TYPE_RANGE,
+            .can_filter_conf = CAN_FILTER_RX_FIFO_0,
+            .can_id = 0x8C000000,
+            .can_mask = 0x8C000006,
+        };
+        candev->driver->set_filter(candev, &range_filter);  /* messages with CAN ID from 0C000000 to 0C000006 will be received in Rx FIFO 0 */
+
+        struct can_filter dual_filter = {
+            .can_filter_type = CAN_FILTER_TYPE_DUAL,
+            .can_filter_conf = CAN_FILTER_RX_FIFO_1,
+            .can_id = 0x0A0,
+            .can_mask = 0x0B0,
+        };
+        candev->driver->set_filter(candev, &dual_filter);   /* messages with CAN ID 0x0A0 or 0X0B0 will be received in Rx FIFO 1 */
+#endif
         /* All other messages won't be received */
+#if defined(MODULE_MCP2515)
     }
-
+#endif
     char line_buf[SHELL_DEFAULT_BUFSIZE];
     shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);