229 lines
7.1 KiB
C
229 lines
7.1 KiB
C
/******************************************************************************
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*
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* Copyright (C) 2015 Xilinx, Inc. All rights reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy
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* of this software and associated documentation files (the "Software"), to deal
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* in the Software without restriction, including without limitation the rights
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* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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* copies of the Software, and to permit persons to whom the Software is
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* furnished to do so, subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in
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* all copies or substantial portions of the Software.
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*
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* Use of the Software is limited solely to applications:
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* (a) running on a Xilinx device, or
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* (b) that interact with a Xilinx device through a bus or interconnect.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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* XILINX BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
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* OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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* SOFTWARE.
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*
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* Except as contained in this notice, the name of the Xilinx shall not be used
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* in advertising or otherwise to promote the sale, use or other dealings in
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* this Software without prior written authorization from Xilinx.
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*
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******************************************************************************/
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/*****************************************************************************/
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/**
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*
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* @file xcanfd_selftest.c
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* @addtogroup canfd_v1_0
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* @{
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* @details
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*
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* This file contains a diagnostic self-test function for the XCanFd driver.
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*
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* Please see xcanfd.h for more information.
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*
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* <pre>
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* MODIFICATION HISTORY:
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*
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* Ver Who Date Changes
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* ----- ---- -------- ------------------------------------------------------
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* 1.0 nsk 06/04/15 First release
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*
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* </pre>
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*
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*****************************************************************************/
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/***************************** Include Files ********************************/
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#include "xstatus.h"
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#include "xcanfd.h"
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/************************** Constant Definitions ****************************/
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#define XCANFD_MAX_FRAME_SIZE_IN_BYTES 72
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/**************************** Type Definitions ******************************/
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/***************** Macros (Inline Functions) Definitions ********************/
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/************************** Variable Definitions ****************************/
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/* Buffers to hold frames to send and receive. */
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static u32 TxFrame[XCANFD_MAX_FRAME_SIZE_IN_BYTES];
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static u32 RxFrame[XCANFD_MAX_FRAME_SIZE_IN_BYTES];
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/************************** Function Prototypes *****************************/
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/* Message Id Constant. */
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#define TEST_MESSAGE_ID 2650
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/* CAN Dlc Value */
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#define TEST_CANFD_DLC 8
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/* CAN FD FilterIndex Value */
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#define TEST_FILTER_INDEX 1
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#define TEST_MAIL_BOX_MASK 0xFFFFFFFF
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/*****************************************************************************/
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/**
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*
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* This function runs a self-test on the CAN driver/device. The test resets
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* the device, sets up the Loop Back mode, sends a standard frame, receives the
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* frame, verifies the contents, and resets the device again.
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*
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* Note that this is a destructive test in that resets of the device are
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* performed. Refer to the device specification for the device status
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* after the reset operation.
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*
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*
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* @param InstancePtr is a pointer to the XCanFd instance to be worked on.
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*
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* @return - XST_SUCCESS if the self-test passed. i.e., the frame
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* received via the internal loop back has the same contents as the
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* sent frame.
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* - XST_FAILURE Otherwise.
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*
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* @note If the CAN device does not work properly, this function may enter an
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* infinite loop and will never return to the caller.
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* <br><br>
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* If XST_FAILURE is returned, the device is not reset so that the caller could
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* have a chance to check reason(s) causing the failure.
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*
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******************************************************************************/
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int XCanFd_SelfTest(XCanFd *InstancePtr)
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{
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u8 *FramePtr;
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u32 Result;
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u32 Index;
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u32 RxErrorCount;
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u32 TxErrorCount;
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u32 TxBuffer;
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u32 Dlc;
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u32 TransmittedDlc;
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u32 ReceivedDlc;
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u32 Status;
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u32 IdValue;
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u32 BuffNr;
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Xil_AssertNonvoid(InstancePtr != NULL);
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Xil_AssertNonvoid(InstancePtr->IsReady == XIL_COMPONENT_IS_READY);
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XCanFd_Reset(InstancePtr);
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/*
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* The device should enter Configuration Mode immediately after the
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* reset above is finished. Now check the mode and return error code if
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* it is not Configuration Mode.
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*/
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if (XCanFd_GetMode(InstancePtr) != XCANFD_MODE_CONFIG) {
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return XST_FAILURE;
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}
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/*
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* Setup Baud Rate Prescaler Register (BRPR) and Bit Timing Register
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* (BTR) such that CAN baud rate equals 40Kbps, given the CAN clock
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* equal to 24MHz.
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*/
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XCanFd_SetBaudRatePrescaler(InstancePtr, 29);
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XCanFd_SetBitTiming(InstancePtr, 3,2,15);
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XCanFd_SetFBaudRatePrescaler(InstancePtr, 29);
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XCanFd_SetFBitTiming(InstancePtr,3,2,15);
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XCanFd_EnterMode(InstancePtr, XCANFD_MODE_LOOPBACK);
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while (XCanFd_GetMode(InstancePtr) != XCANFD_MODE_LOOPBACK);
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/*
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* Create a frame to send with known values so we can verify them
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* on receive.
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*/
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TxFrame[0] = XCanFd_CreateIdValue(TEST_MESSAGE_ID, 0, 0, 0, 0);
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TxFrame[1] = XCanFd_Create_CanFD_Dlc_BrsValue(TEST_CANFD_DLC);
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Dlc = XCanFd_GetDlc2len(TxFrame[1] & XCANFD_DLCR_DLC_MASK);
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FramePtr = (u8 *) (&TxFrame[2]);
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for (Index = 0; Index < Dlc; Index++) {
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*FramePtr++ = (u8) Index;
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}
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/*Check the design, if it is in MailBox Mode */
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if (XCANFD_GET_RX_MODE(InstancePtr) == 1) {
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IdValue = XCanFd_CreateIdValue(TEST_MESSAGE_ID, 0, 0, 0, 0);
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for (BuffNr= 0;BuffNr < InstancePtr->CanFdConfig.NumofRxMbBuf;
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BuffNr++)
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{
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XCanFd_RxBuff_MailBox_DeActive(InstancePtr,BuffNr);
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XCanFd_Set_MailBox_IdMask(InstancePtr,BuffNr,
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TEST_MAIL_BOX_MASK,IdValue);
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XCanFd_RxBuff_MailBox_Active(InstancePtr,BuffNr);
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}
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}
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else {
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/*In Sequential Mode */
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XCanFd_AcceptFilterDisable(InstancePtr,XCANFD_AFR_UAF_ALL_MASK);
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XCanFd_AcceptFilterEnable(InstancePtr,XCANFD_AFR_UAF_ALL_MASK);
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}
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/* Send the frame. */
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Status = XCanFd_Send(InstancePtr,TxFrame,&TxBuffer);
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if (Status != XST_SUCCESS) {
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return Status;
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}
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/* Wait untill buffer is transmitted. */
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while (XCanFd_IsBufferTransmitted(InstancePtr,TxBuffer) == FALSE);
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if (XCANFD_GET_RX_MODE(InstancePtr) == 1) {
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Status = XCanFd_Recv_Mailbox(InstancePtr, RxFrame);
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}
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else{
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Status = XCanFd_Recv_Sequential(InstancePtr, RxFrame);
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}
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if (Status != XST_SUCCESS) {
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return Status;
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}
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Dlc = ReceivedDlc = XCanFd_GetDlc2len(RxFrame[1] & XCANFD_DLCR_DLC_MASK);
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/* Verify Identifier and Data Length Code. */
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if (RxFrame[0] != XCanFd_CreateIdValue(TEST_MESSAGE_ID, 0, 0, 0, 0)) {
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return XST_FAILURE;
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}
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if (TEST_CANFD_DLC != XCanFd_GetLen2Dlc(Dlc)) {
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return XST_FAILURE;
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}
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/* Verify Data field contents. */
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FramePtr = (u8 *)(&RxFrame[2]);
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for (Index = 0; Index < Dlc; Index++) {
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if (*FramePtr++ != (u8)Index) {
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return XST_FAILURE;
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}
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}
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XCanFd_Reset(InstancePtr);
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return XST_SUCCESS;
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}
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/** @} */
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