tests/subsys/canbus/isotp/conformance: failing on nucleo_f746zg

[erwango]

Describe the bug
tests/subsys/canbus/isotp/conformance: failing on nucleo_f746zg (and stm32f3_disco)

To Reproduce
1- twister --hardware-map ../map.yaml --device-testing -p nucleo_746zg -T tests/subsys/canbus/isotp/conformance
2- See error

Expected behavior
Test should pass

Impact
What impact does this issue have on your progress (e.g., annoyance, showstopper)

Logs and console output
$ cat /local/mcu/zephyrproject/zephyr/twister-out/nucleo_f746zg/tests/subsys/canbus/isotp/conformance/can.isotp.conformance/handler.log

I: Init of CAN_1 done
*** Booting Zephyr OS build zephyr-v2.4.0-2807-gb34d05592666  ***
Running test suite isotp_conformance
===================================================================
START - test_send_sf
PASS - test_send_sf
===================================================================
START - test_receive_sf
I: SF DL does not match. Ignore
I: SF DL does not match. Ignore
PASS - test_receive_sf
===================================================================
START - test_send_sf_ext
PASS - test_send_sf_ext
===================================================================
START - test_receive_sf_ext
I: SF DL does not match. Ignore
I: SF DL does not match. Ignore
PASS - test_receive_sf_ext
===================================================================
START - test_send_data
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
desired bytes:
2c 90 b6 e7 45 83 8d 71 
received (8 bytes):
26 0f 1e fa 17 cb 63 b9 
Assertion failed at WEST_TOPDIR/zephyr/tests/subsys/canbus/isotp/conformance/src/main.c:253: check_frame_series: (ret not equal to 0)
Data differ
FAIL - test_send_data
===================================================================
START - test_send_data_blocks
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
E: Msgq 0x2001029c overflowed. Frame ID: 0x10
desired bytes:
26 36 7d 91 d7 f5 c5 81 
received (8 bytes):
26 0f 1e fa 17 cb 63 b9 
Assertion failed at WEST_TOPDIR/zephyr/tests/subsys/canbus/isotp/conformance/src/main.c:253: check_frame_series: (ret not equal to 0)
Data differ
FAIL - test_send_data_blocks
===================================================================
START - test_receive_data
Assertion failed at WEST_TOPDIR/zephyr/tests/subsys/canbus/isotp/conformance/src/main.c:249: check_frame_series: (frame.dlc not equal to desired->length)
DLC of frame nr 0 differ. Desired: 3, Got: 8
FAIL - test_receive_data
===================================================================
START - test_receive_data_blocks
E: ***** MPU FAULT *****
E:   Data Access Violation
E:   MMFAR Address: 0x8004c55
E: r0/a1:  0x08004c55  r1/a2:  0x00000000  r2/a3:  0x20010b88
E: r3/a4:  0x20010680 r12/ip:  0x150b0000 r14/lr:  0x080067ad
E:  xpsr:  0x21000024
E: Faulting instruction address (r15/pc): 0x080088d4
E: >>> ZEPHYR FATAL ERROR 0: CPU exception on CPU 0
E: Fault during interrupt handling
E: Current thread: 0x20010680 (idle 00)
E: Halting system

Environment (please complete the following information):

• OS: Ubuntu 18.04
• Toolchain: Zephyr SDK 0.12
• Commit SHA: zephyr-v2.4.0-2807-gb34d055926

Additional context
No additional wire used with the board

[martinjaeger]

@erwango do you have a CAN transceiver added to the board? I guess not, as you say "no additional wire used with the board". But if that's the case, we should not receive any loopback data and the test_receive_sf test should already fail.

In any case the test should not end up in a hard fault...

[erwango]

@erwango do you have a CAN transceiver added to the board?

@martinjaeger I confirm there is no transceiver.

[martinjaeger]

Turns out that I was not aware that the loopback mode feeds back the tx signal to rx internally. So it does not require a transceiver and the test should work without external hardware. Sorry for the confusion.

FWIW: This test passes on my custom hardware based on STM32G431 (with the new WIP CAN-FD drivers). But I can also confirm it fails in the same way as described above on the nucleo_l452re (don't have a nucleo_f746). So it might be a driver issue and not ISO-TP. Certainly needs further investigation.

[martinjaeger]

git bisect shows that there are two separate issues that make this test fail:

• A failure because of no free filters. This was introduced in 8b6c1bd and will be fixed by drivers: can: stm32: fix bus-speed #31161
• The MPU fault above, which was introduced in 05275ec.

[carlescufi]

Single platform and subsystem, downgrading to low.

[github-actions]

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