2 files changed, 96 insertions, 0 deletions
diff --git a/tests/pyb/can.py b/tests/pyb/can.py
index f1cad860b9..132da23069 100644
--- a/tests/pyb/can.py
+++ b/tests/pyb/can.py
@@ -48,3 +48,75 @@ else:
         print('passed')
     else:
         print('failed, wrong data received')
+
+del can
+
+# Test RxCallbacks
+can = CAN(1, CAN.LOOPBACK)
+can.setfilter(0, CAN.LIST16, 0, (1, 2, 3, 4))
+can.setfilter(1, CAN.LIST16, 1, (5, 6, 7, 8))
+def cb0(bus, reason):
+    print('cb0')
+    if reason == 0:
+        print('pending')
+    if reason == 1:
+        print('full')
+    if reason == 2:
+        print('overflow')
+
+def cb1(bus, reason):
+    print('cb1')
+    if reason == 0:
+        print('pending')
+    if reason == 1:
+        print('full')
+    if reason == 2:
+        print('overflow')
+
+def cb0a(bus, reason):
+    print('cb0a')
+    if reason == 0:
+        print('pending')
+    if reason == 1:
+        print('full')
+    if reason == 2:
+        print('overflow')
+
+def cb1a(bus, reason):
+    print('cb1a')
+    if reason == 0:
+        print('pending')
+    if reason == 1:
+        print('full')
+    if reason == 2:
+        print('overflow')
+
+
+can.rxcallback(0, cb0)
+can.rxcallback(1, cb1)
+
+can.send('11111111',1)
+can.send('22222222',2)
+can.send('33333333',3)
+can.rxcallback(0, cb0a)
+can.send('44444444',4)
+
+can.send('55555555',5)
+can.send('66666666',6)
+can.send('77777777',7)
+can.rxcallback(1, cb1a)
+can.send('88888888',8)
+
+print(can.recv(0))
+print(can.recv(0))
+print(can.recv(0))
+print(can.recv(1))
+print(can.recv(1))
+print(can.recv(1))
+
+can.send('11111111',1)
+can.send('55555555',5)
+
+print(can.recv(0))
+print(can.recv(1))
+
diff --git a/tests/pyb/can.py.exp b/tests/pyb/can.py.exp
index 4058202046..b0ede7b9f4 100644
--- a/tests/pyb/can.py.exp
+++ b/tests/pyb/can.py.exp
@@ -8,3 +8,27 @@ True
 passed
 CAN(1, CAN.LOOPBACK, extframe=True)
 passed
+cb0
+pending
+cb0
+full
+cb0a
+overflow
+cb1
+pending
+cb1
+full
+cb1a
+overflow
+(1, 0, 0, b'11111111')
+(2, 0, 1, b'22222222')
+(4, 0, 3, b'44444444')
+(5, 0, 0, b'55555555')
+(6, 0, 1, b'66666666')
+(8, 0, 3, b'88888888')
+cb0a
+pending
+cb1a
+pending
+(1, 0, 0, b'11111111')
+(5, 0, 0, b'55555555')