| /****************************************************************************** |
| * |
| * Copyright (C) 2010 - 2015 Xilinx, Inc. All rights reserved. |
| * |
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| * Use of the Software is limited solely to applications: |
| * (a) running on a Xilinx device, or |
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| ******************************************************************************/ |
| /*****************************************************************************/ |
| /** |
| * |
| * @file xcanps_selftest.c |
| * @addtogroup canps_v3_2 |
| * @{ |
| * |
| * 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. |
| * |
| * <pre> |
| * 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. |
| * 3.00 kvn 02/13/15 Modified code for MISRA_C:2012 compliance. |
| * </pre> |
| * |
| *****************************************************************************/ |
| |
| /***************************** 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. |
| * <br><br> |
| * 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; |
| } |
| |
| |
| /** @} */ |
