/******************************************************************************
*
* Copyright (C) 2015 Xilinx, Inc. All rights reserved.
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* 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 Software.
*
* Use of the Software is limited solely to applications:
* (a) running on a Xilinx device, or
* (b) that interact with a Xilinx device through a bus or interconnect.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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*
* Except as contained in this notice, the name of the Xilinx shall not be used
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******************************************************************************/
/****************************************************************************/
/**
*
* @file XCanFd_polled_example.c
*
* Contains an example of how to use the XCan driver directly. The example here
* shows using the driver/device in polled mode.
*
* @note
*
*
* The Baud Rate Prescaler Register (BRPR) and Bit Timing Register (BTR)
* are setup such that CAN baud rate equals 40Kbps, assuming that the
* the CAN clock frequency is 24MHz. The user needs to modify these values
* based on the desired baud rate and the CAN clock frequency. For more
* information see the CAN 2.0A, CAN 2.0B, ISO 11898-1 specifications.
*
* <pre>
* MODIFICATION HISTORY:
*
* Ver Who Date Changes
* ----- ----- -------- -----------------------------------------------
* 1.0 nsk 06/04/15 First release
*
* </pre>
*
******************************************************************************/
/***************************** Include Files *********************************/
#include "xparameters.h"
#include "xcanfd.h"
#include "xstatus.h"
/************************** Constant Definitions *****************************/
/*
* The following constants map to the XPAR parameters created in the
* xparameters.h file. They are defined here such that a user can easily
* change all the needed parameters in one place.
*/
#define CANFD_DEVICE_ID XPAR_CANFD_0_DEVICE_ID
/* Maximum CAN frame length in Bytes */
#define XCANFD_MAX_FRAME_SIZE_IN_BYTES 72
#define FRAME_DATA_LENGTH 64
/* Message Id Constant */
#define TEST_MESSAGE_ID 2650
/*
* The Baud Rate Prescaler Register (BRPR) and Bit Timing Register (BTR)
* are setup such that CAN baud rate equals 40Kbps, assuming that the
* the CAN clock frequency is 24MHz. The user needs to modify these values
* based on the desired baud rate and the CAN clock frequency. For more
* information see the CAN 2.0A, CAN 2.0B, ISO 11898-1 specifications.
* both in DataPhase and Arbitration Phase.
*/
#define TEST_BRPR_BAUD_PRESCALAR 29
#define TEST_BTR_SYNCJUMPWIDTH 3
#define TEST_BTR_SECOND_TIMESEGMENT 2
#define TEST_BTR_FIRST_TIMESEGMENT 15
#define TEST_FBRPR_BAUD_PRESCALAR 29
#define TEST_FBTR_SYNCJUMPWIDTH 3
#define TEST_FBTR_SECOND_TIMESEGMENT 2
#define TEST_FBTR_FIRST_TIMESEGMENT 15
/* Mask for MailBox */
#define TEST_MAILBOX_MASK 0xFFFFFFFF
/* Test Message Dlc */
#define TESTMSG_DLC 15
/**************************** Type Definitions *******************************/
/***************** Macros (Inline Functions) Definitions *********************/
/************************** Function Prototypes ******************************/
int XCanFdPolledExample(u16 DeviceId);
static int SendFrame(XCanFd *InstancePtr);
static int RecvFrame(XCanFd *InstancePtr);
/************************** Variable Definitions *****************************/
/*
* Buffers to hold frames to send and receive. These are declared as global so
* that they are not on the stack.
* These buffers need to be 32-bit aligned
*/
static u32 TxFrame[XCANFD_MAX_FRAME_SIZE_IN_BYTES];
static u32 RxFrame[XCANFD_MAX_FRAME_SIZE_IN_BYTES];
/* Driver instance */
static XCanFd CanFd;
/*****************************************************************************/
/**
*
* Main function to call the example. This function is not included if the
* example is generated from the TestAppGen test tool.
*
* @param None
*
* @return - XST_SUCCESS if the example has completed successfully.
* - XST_FAILURE if the example has failed.
*
* @note None
*
******************************************************************************/
#ifndef TESTAPP_GEN
int main(void)
{
/*
* Run the Can Polled example, specify the Device ID that is generated
* in xparameters.h .
*/
if (XCanFdPolledExample(CANFD_DEVICE_ID)) {
xil_printf("XCanFd Polled Mode example Failed\n\r");
return XST_FAILURE;
}
xil_printf("XCanFd Polled Mode example Passed\n\r");
return XST_SUCCESS;
}
#endif
/*****************************************************************************/
/**
*
* The entry point for showing the XCan driver in polled mode. The example
* configures the device for internal loopback mode, then sends a Can
* frame, receives the same Can frame, and verifies the frame contents.
*
* @param DeviceId is the XPAR_CAN_<instance_num>_DEVICE_ID value from
* xparameters.h.
*
* @return
*
* XST_SUCCESS if successful, otherwise driver-specific error code.
*
* @note
*
* If the device is not working correctly, this function may enter an infinite
* loop and will never return to the caller.
*
******************************************************************************/
int XCanFdPolledExample(u16 DeviceId)
{
int Status;
XCanFd *CanFdInstPtr = &CanFd;
XCanFd_Config *ConfigPtr;
u32 IdValue;
u32 BuffNr;
u8 RxBuffers;
/* Initialize the Can device */
ConfigPtr = XCanFd_LookupConfig(DeviceId);
if (CanFdInstPtr == NULL) {
return XST_FAILURE;
}
Status = XCanFd_CfgInitialize(CanFdInstPtr,
ConfigPtr,
ConfigPtr->BaseAddress);
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
/*
* Run self-test on the device, which verifies basic sanity of the
* device and the driver.
*/
Status = XCanFd_SelfTest(CanFdInstPtr);
if (Status != XST_SUCCESS) {
return Status;
}
/*
* Enter Configuration Mode so we can setup Baud Rate Prescaler
* Register (BRPR) and Bit Timing Register (BTR)
*/
XCanFd_EnterMode(CanFdInstPtr, XCANFD_MODE_CONFIG);
while (XCanFd_GetMode(CanFdInstPtr) != XCANFD_MODE_CONFIG);
/*
* Configure the Baud Rate Prescalar in
* Arbitration Phase
*/
XCanFd_SetBaudRatePrescaler(CanFdInstPtr, TEST_BRPR_BAUD_PRESCALAR);
/*
* Configure the Bit Timing Values in
* Arbitration Phase.
*/
XCanFd_SetBitTiming(CanFdInstPtr, TEST_BTR_SYNCJUMPWIDTH,
TEST_BTR_SECOND_TIMESEGMENT,TEST_BTR_FIRST_TIMESEGMENT);
/* Configure the Baud Rate Prescalar in Data Phase */
XCanFd_SetFBaudRatePrescaler(CanFdInstPtr, TEST_FBRPR_BAUD_PRESCALAR);
/* Configure the Bit Timing Values in Data Phase */
XCanFd_SetFBitTiming(CanFdInstPtr,TEST_FBTR_SYNCJUMPWIDTH,
TEST_FBTR_SECOND_TIMESEGMENT,TEST_FBTR_FIRST_TIMESEGMENT);
/*
* Disable the Global BRS Disable so that
* at the time of sending the can frame
* we will choose whether we need Bit
* Rate Switch or not.
*/
XCanFd_SetBitRateSwitch_DisableNominal(CanFdInstPtr);
/*
* Check for the design
* 0 - Sequential Mode
* 1 - MailBox Mode.
*/
if (XCANFD_GET_RX_MODE(CanFdInstPtr) == 0) {
XCanFd_AcceptFilterDisable(CanFdInstPtr,
XCANFD_AFR_UAF_ALL_MASK);
XCanFd_AcceptFilterEnable(CanFdInstPtr,
XCANFD_AFR_UAF_ALL_MASK);
}
else {
RxBuffers = XCanFd_Get_RxBuffers(CanFdInstPtr);
IdValue = XCanFd_CreateIdValue(TEST_MESSAGE_ID, 0, 0, 0, 0);
for (BuffNr = 0;BuffNr < RxBuffers;BuffNr++) {
XCanFd_RxBuff_MailBox_DeActive(CanFdInstPtr,BuffNr);
XCanFd_Set_MailBox_IdMask(CanFdInstPtr,BuffNr,
TEST_MAILBOX_MASK,IdValue);
XCanFd_RxBuff_MailBox_Active(CanFdInstPtr,BuffNr);
}
}
/* Configure CAN Device to enter to Loop Back Mode */
XCanFd_EnterMode(CanFdInstPtr, XCANFD_MODE_LOOPBACK);
while (XCanFd_GetMode(CanFdInstPtr) != XCANFD_MODE_LOOPBACK);
/* Send Frame */
Status = SendFrame(CanFdInstPtr);
if (Status != XST_SUCCESS) {
return Status;
}
/* Receive The Frame */
Status = RecvFrame(CanFdInstPtr);
return Status;
}
/*****************************************************************************/
/**
*
* Send a CAN frame.
*
* @param InstancePtr is a pointer to the driver instance
*
* @return XST_SUCCESS if successful, a driver-specific return code if not.
*
* @note This function waits until TX FIFO has room for at least one frame before
* sending a frame. So this function may block if the hardware is not built
* correctly.
*
******************************************************************************/
static int SendFrame(XCanFd *InstancePtr)
{
int Status;
u32 TxBufferNumber;
u8 *FramePtr;
u32 Index;
int NofBytes;
/* Create correct values for Identifier and Data Length Code Register */
TxFrame[0] = XCanFd_CreateIdValue(TEST_MESSAGE_ID, 0, 0, 0, 0);
TxFrame[1] = XCanFd_Create_CanFD_Dlc_BrsValue(TESTMSG_DLC);
/*
* Get the number of bytes to transmit so that we can buffer with those
* many bytes
*/
NofBytes = XCanFd_GetDlc2len(TxFrame[1] & XCANFD_DLCR_DLC_MASK);
/*
* Now fill in the data field with known values so we can verify them
* on receive.
*/
FramePtr = (u8 *)(&TxFrame[2]);
for (Index = 0; Index < NofBytes; Index++) {
*FramePtr++ = (u8)Index;
}
/* Now send the frame */
Status = XCanFd_Send(InstancePtr, TxFrame,&TxBufferNumber);
if (Status == XST_FIFO_NO_ROOM)
return Status;
/* Wait until Buffer is Transmitted */
while (XCanFd_IsBufferTransmitted(InstancePtr,TxBufferNumber)
== FALSE);
return Status;
}
/*****************************************************************************/
/**
*
* This function receives a frame and verifies its contents.
*
* @param InstancePtr is a pointer to the driver instance.
*
* @return XST_SUCCESS if successful, a driver-specific return code if not.
*
* @note This function waits until RX FIFO becomes not empty before
* reading a frame from it. So this function may block if the
* hardware is not built correctly.
*
******************************************************************************/
static int RecvFrame(XCanFd *InstancePtr)
{
int Status;
int Dlc;
u8 *FramePtr;
u32 Index;
/* Receive a frame and verify its contents */
if (XCANFD_GET_RX_MODE(InstancePtr) == 1) {
Status = XCanFd_Recv_Mailbox(InstancePtr, RxFrame);
}
else {
Status = XCanFd_Recv_Sequential(InstancePtr, RxFrame);
}
if (Status != XST_SUCCESS) {
return XST_FAILURE;
}
/* Get Dlc value */
Dlc = XCanFd_GetDlc2len(RxFrame[1] & XCANFD_DLCR_DLC_MASK);
/* Verify Identifier and Data Length Code */
if (RxFrame[0] != XCanFd_CreateIdValue(TEST_MESSAGE_ID, 0, 0, 0, 0)) {
return XST_FAILURE;
}
if (TESTMSG_DLC != XCanFd_GetLen2Dlc(Dlc)) {
return XST_FAILURE;
}
/* Verify Data field contents */
FramePtr = (u8 *)(&RxFrame[2]);
for (Index = 0; Index < Dlc; Index++) {
if (*FramePtr++ != (u8)Index) {
return XST_FAILURE;
}
}
return Status;
}