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/*****************************************************************************/
/**
*
* @file xcanps_selftest.c
*
* This file contains a diagnostic self-test function for the XCanPs driver.
*
* Read xcanps.h file for more information.
*
* @note
* The Baud Rate Prescaler Register (BRPR) and Bit Timing Register(BTR)
* are setup such that CAN baud rate equals 40Kbps, given the CAN clock
* equal to 24MHz. These need to be changed based on the desired baudrate
* and CAN clock frequency.
*
*
* MODIFICATION HISTORY:
*
* Ver Who Date Changes
* ----- ----- -------- -----------------------------------------------
* 1.00a xd/sv 01/12/10 First release
* 2.1 adk 23/08/14 Fixed CR:798792 Peripheral test for CANPS IP in
* SDK claims a 40kbps baud rate but it's not.
*
*
*****************************************************************************/
/***************************** Include Files ********************************/
#include "xstatus.h"
#include "xcanps.h"
/************************** Constant Definitions ****************************/
#define XCANPS_MAX_FRAME_SIZE_IN_WORDS ((XCANPS_MAX_FRAME_SIZE) / (sizeof(u32)))
#define FRAME_DATA_LENGTH 8U /* Frame Data field length */
/**************************** Type Definitions ******************************/
/***************** Macros (Inline Functions) Definitions ********************/
/************************** Variable Definitions ****************************/
/*
* Buffers to hold frames to send and receive. These are declared as global so
* that they are not on the stack.
*/
static u32 TxFrame[XCANPS_MAX_FRAME_SIZE_IN_WORDS];
static u32 RxFrame[XCANPS_MAX_FRAME_SIZE_IN_WORDS];
/************************** Function Prototypes *****************************/
/*****************************************************************************/
/**
*
* This function runs a self-test on the CAN driver/device. The test resets
* the device, sets up the Loop Back mode, sends a standard frame, receives the
* frame, verifies the contents, and resets the device again.
*
* Note that this is a destructive test in that resets of the device are
* performed. Refer the device specification for the device status after
* the reset operation.
*
*
* @param InstancePtr is a pointer to the XCanPs instance.
*
* @return
* - XST_SUCCESS if the self-test passed. i.e., the frame
* received via the internal loop back has the same contents as
* the frame sent.
* - XST_FAILURE Otherwise.
*
* @note
*
* If the CAN device does not work properly, this function may enter an
* infinite loop and will never return to the caller.
*
* If XST_FAILURE is returned, the device is not reset so that the caller could
* have a chance to check reason(s) causing the failure.
*
******************************************************************************/
s32 XCanPs_SelfTest(XCanPs *InstancePtr)
{
u8 *FramePtr;
s32 Status;
u32 Index;
u8 GetModeResult;
u32 RxEmptyResult;
Xil_AssertNonvoid(InstancePtr != NULL);
Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
XCanPs_Reset(InstancePtr);
/*
* The device should enter Configuration Mode immediately after
* reset above is finished. Now check the mode and return error code if
* it is not Configuration Mode.
*/
if (XCanPs_GetMode(InstancePtr) != XCANPS_MODE_CONFIG) {
Status = XST_FAILURE;
return Status;
}
/*
* Setup Baud Rate Prescaler Register (BRPR) and Bit Timing Register
* (BTR) such that CAN baud rate equals 40Kbps, given the CAN clock
* equal to 24MHz. For more information see the CAN 2.0A, CAN 2.0B,
* ISO 11898-1 specifications.
*/
(void)XCanPs_SetBaudRatePrescaler(InstancePtr, (u8)29U);
(void)XCanPs_SetBitTiming(InstancePtr, (u8)3U, (u8)2U, (u8)15U);
/*
* Enter the loop back mode.
*/
XCanPs_EnterMode(InstancePtr, XCANPS_MODE_LOOPBACK);
GetModeResult = XCanPs_GetMode(InstancePtr);
while (GetModeResult != ((u8)XCANPS_MODE_LOOPBACK)) {
GetModeResult = XCanPs_GetMode(InstancePtr);
}
/*
* Create a frame to send with known values so we can verify them
* on receive.
*/
TxFrame[0] = (u32)XCanPs_CreateIdValue((u32)2000U, (u32)0U, (u32)0U, (u32)0U, (u32)0U);
TxFrame[1] = (u32)XCanPs_CreateDlcValue((u32)8U);
FramePtr = (u8 *)((void *)(&TxFrame[2]));
for (Index = 0U; Index < 8U; Index++) {
if(*FramePtr != 0U) {
*FramePtr = (u8)Index;
*FramePtr++;
}
}
/*
* Send the frame.
*/
Status = XCanPs_Send(InstancePtr, TxFrame);
if (Status != (s32)XST_SUCCESS) {
Status = XST_FAILURE;
return Status;
}
/*
* Wait until the frame arrives RX FIFO via internal loop back.
*/
RxEmptyResult = XCanPs_ReadReg(((InstancePtr)->CanConfig.BaseAddr),
XCANPS_ISR_OFFSET) & XCANPS_IXR_RXNEMP_MASK;
while (RxEmptyResult == (u32)0U) {
RxEmptyResult = XCanPs_ReadReg(((InstancePtr)->CanConfig.BaseAddr),
XCANPS_ISR_OFFSET) & XCANPS_IXR_RXNEMP_MASK;
}
/*
* Receive the frame.
*/
Status = XCanPs_Recv(InstancePtr, RxFrame);
if (Status != (s32)XST_SUCCESS) {
Status = XST_FAILURE;
return Status;
}
/*
* Verify Identifier and Data Length Code.
*/
if (RxFrame[0] !=
(u32)XCanPs_CreateIdValue((u32)2000U, (u32)0U, (u32)0U, (u32)0U, (u32)0U)) {
Status = XST_FAILURE;
return Status;
}
if ((RxFrame[1] & ~XCANPS_DLCR_TIMESTAMP_MASK) != TxFrame[1]) {
Status = XST_FAILURE;
return Status;
}
for (Index = 2U; Index < (XCANPS_MAX_FRAME_SIZE_IN_WORDS); Index++) {
if (RxFrame[Index] != TxFrame[Index]) {
Status = XST_FAILURE;
return Status;
}
}
/*
* Reset device again before returning to the caller.
*/
XCanPs_Reset(InstancePtr);
Status = XST_SUCCESS;
return Status;
}