--- /dev/null
+/******************************************************************************
+*
+* Copyright (C) 2010 - 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
+* copies of the Software, and to permit persons to whom the Software is
+* 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,
+* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+* XILINX BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
+* OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+* SOFTWARE.
+*
+* Except as contained in this notice, the name of the Xilinx shall not be used
+* in advertising or otherwise to promote the sale, use or other dealings in
+* this Software without prior written authorization from Xilinx.
+*
+******************************************************************************/
+/*****************************************************************************/
+/**
+*
+* @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;
+}
+
+
+/** @} */
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