XilinxProcessorIPLib/drivers/canps/src/xcanps_selftest.c
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 = (s32)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 *)(&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 = (s32)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 = (s32)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 = (s32)XST_FAILURE;
		return Status;
	}

	if ((RxFrame[1] & ~XCANPS_DLCR_TIMESTAMP_MASK) != TxFrame[1]) {
		Status = (s32)XST_FAILURE;
		return Status;
	}


	for (Index = 2U; Index < (XCANPS_MAX_FRAME_SIZE_IN_WORDS); Index++) {
		if (RxFrame[Index] != TxFrame[Index]) {
			Status = (s32)XST_FAILURE;
			return Status;
		}
	}

	/*
	 * Reset device again before returning to the caller.
	 */
	XCanPs_Reset(InstancePtr);

	Status = (s32)XST_SUCCESS;
	return Status;
}
/*****************************************************************************/
/**
*
* 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.
*
******************************************************************************/
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.
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 .
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);
	if (XCanPs_GetMode(InstancePtr) != XCANPS_MODE_CONFIG) {
		Status = (s32)XST_FAILURE;
		return Status;
	}
	(void)XCanPs_SetBaudRatePrescaler(InstancePtr, (u8)29U);
	(void)XCanPs_SetBitTiming(InstancePtr, (u8)3U, (u8)2U, (u8)15U);
	XCanPs_EnterMode(InstancePtr, XCANPS_MODE_LOOPBACK);
	GetModeResult = XCanPs_GetMode(InstancePtr);
	while (GetModeResult != ((u8)XCANPS_MODE_LOOPBACK)) {
		GetModeResult = XCanPs_GetMode(InstancePtr);
	}
	TxFrame[0] = (u32)XCanPs_CreateIdValue((u32)2000U, (u32)0U, (u32)0U, (u32)0U, (u32)0U);
	TxFrame[1] = (u32)XCanPs_CreateDlcValue((u32)8U);
	FramePtr = (u8 *)(&TxFrame[2]);
	for (Index = 0U; Index < 8U; Index++) {
		if(*FramePtr != 0U) {
			*FramePtr = (u8)Index;
			FramePtr++;
		}
	}
	Status = XCanPs_Send(InstancePtr, TxFrame);
	if (Status != (s32)XST_SUCCESS) {
		Status = (s32)XST_FAILURE;
		return Status;
	}
	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;
	}
	Status = XCanPs_Recv(InstancePtr, RxFrame);
	if (Status != (s32)XST_SUCCESS) {
		Status = (s32)XST_FAILURE;
		return Status;
	}
	if (RxFrame[0] !=
		(u32)XCanPs_CreateIdValue((u32)2000U, (u32)0U, (u32)0U, (u32)0U, (u32)0U)) {
		Status = (s32)XST_FAILURE;
		return Status;
	}
	if ((RxFrame[1] & ~XCANPS_DLCR_TIMESTAMP_MASK) != TxFrame[1]) {
		Status = (s32)XST_FAILURE;
		return Status;
	}
	for (Index = 2U; Index < (XCANPS_MAX_FRAME_SIZE_IN_WORDS); Index++) {
		if (RxFrame[Index] != TxFrame[Index]) {
			Status = (s32)XST_FAILURE;
			return Status;
		}
	}
	XCanPs_Reset(InstancePtr);
	Status = (s32)XST_SUCCESS;
	return Status;
}
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 ) ; if ( XCanPs_GetMode ( InstancePtr ) != XCANPS_MODE_CONFIG ) { Status = ( s32 ) XST_FAILURE ; return Status ; } ( void ) XCanPs_SetBaudRatePrescaler ( InstancePtr , ( u8 ) 29U ) ; ( void ) XCanPs_SetBitTiming ( InstancePtr , ( u8 ) 3U , ( u8 ) 2U , ( u8 ) 15U ) ; XCanPs_EnterMode ( InstancePtr , XCANPS_MODE_LOOPBACK ) ; GetModeResult = XCanPs_GetMode ( InstancePtr ) ; while ( GetModeResult != ( ( u8 ) XCANPS_MODE_LOOPBACK ) ) { GetModeResult = XCanPs_GetMode ( InstancePtr ) ; } TxFrame [ 0 ] = ( u32 ) XCanPs_CreateIdValue ( ( u32 ) 2000U , ( u32 ) 0U , ( u32 ) 0U , ( u32 ) 0U , ( u32 ) 0U ) ; TxFrame [ 1 ] = ( u32 ) XCanPs_CreateDlcValue ( ( u32 ) 8U ) ; FramePtr = ( u8 * ) ( & TxFrame [ 2 ] ) ; for ( Index = 0U ; Index < 8U ; Index ++ ) { if ( * FramePtr != 0U ) { * FramePtr = ( u8 ) Index ; FramePtr ++ ; } } Status = XCanPs_Send ( InstancePtr , TxFrame ) ; if ( Status != ( s32 ) XST_SUCCESS ) { Status = ( s32 ) XST_FAILURE ; return Status ; } 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 ; } Status = XCanPs_Recv ( InstancePtr , RxFrame ) ; if ( Status != ( s32 ) XST_SUCCESS ) { Status = ( s32 ) XST_FAILURE ; return Status ; } if ( RxFrame [ 0 ] != ( u32 ) XCanPs_CreateIdValue ( ( u32 ) 2000U , ( u32 ) 0U , ( u32 ) 0U , ( u32 ) 0U , ( u32 ) 0U ) ) { Status = ( s32 ) XST_FAILURE ; return Status ; } if ( ( RxFrame [ 1 ] & ~ XCANPS_DLCR_TIMESTAMP_MASK ) != TxFrame [ 1 ] ) { Status = ( s32 ) XST_FAILURE ; return Status ; } for ( Index = 2U ; Index < ( XCANPS_MAX_FRAME_SIZE_IN_WORDS ) ; Index ++ ) { if ( RxFrame [ Index ] != TxFrame [ Index ] ) { Status = ( s32 ) XST_FAILURE ; return Status ; } } XCanPs_Reset ( InstancePtr ) ; Status = ( s32 ) XST_SUCCESS ; return Status ; }
This function runs a self-test on the CAN driver/device.
This function runs a self - test on the CAN driver / device .
/*
	 * 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.
	 */ /*
	 * 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.
	 */ /*
	 * Enter the loop back mode.
	 */ /*
	 * Create a frame to send with known values so we can verify them
	 * on receive.
	 */ /*
	 * Send the frame.
	 */ /*
	 * Wait until the frame arrives RX FIFO via internal loop back.
	 */ /*
	 * Receive the frame.
	 */ /*
	 * Verify Identifier and Data Length Code.
	 */ /*
	 * Reset device again before returning to the caller.
	 */