void Test_NormalMode_Rx()
{
if(CAN_SetRxMsgObj(MSG(0),CAN_STD_ID, 0x7FF,TRUE) < 0)
{
printf("Set Rx Msg Object failed\n");
return;
}
if(CAN_SetRxMsgObj(MSG(5),CAN_EXT_ID, 0x12345,TRUE) < 0)
{
printf("Set Rx Msg Object failed\n");
return;
}
if(CAN_SetRxMsgObj(MSG(31),CAN_EXT_ID, 0x7FF01,TRUE) < 0)
{
printf("Set Rx Msg Object failed\n");
return;
}
/*Choose one mode to test*/
#if 1
/* Polling Mode */
while(1)
{
while(CAN->IIDR ==0); /* Wait IDR is changed */
printf("IDR = %x\n",CAN->IIDR);
CAN_ReadMsgObj(CAN->IIDR -1,TRUE,&rrMsg);
CAN_ShowMsg(&rrMsg);
}
#else
/* INT Mode */
CAN_EnableInt(CAN_CON_IE);
CAN_InstallCallback(CALLBACK_MSG, (CAN_CALLBACK)CAN_CallbackFn);
printf("Wait Msg\n");
printf("Enter any key to exit\n");
GetChar();
#endif
}
void CAN_Com_LoopBack_IRQ(void)
{
/* initialize the interrupt controller */
VIC_Config(CAN_ITLine, VIC_IRQ, Priority_1);
/* initialize the CAN at a standard bitrate, interrupts enabled */
CAN_InitStructure.CAN_ConfigParameters=CAN_CR_IE;
CAN_InitStructure.CAN_Bitrate=CAN_BITRATE_100K;
CAN_Init(&CAN_InitStructure);
/* switch into Loopback+Silent mode (self-test) */
CAN_EnterTestMode(CAN_TESTR_LBACK | CAN_TESTR_SILENT);
/* configure the message objects */
CAN_InvalidateAllMsgObj();
CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_EXT_ID);
CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_EXT_ID, 0, CAN_LAST_EXT_ID, TRUE);
/* enable global interrupt */
VIC_ITCmd(CAN_ITLine, ENABLE);
/* Send the pre-defined frame */
CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[2]);
/* wait until end of transmission */
CAN_WaitEndOfTx();
/* reception and release are done in the interrupt handler */
/* delay to add when the reception occurs */
delay(0x7FF);
/* Test Received Msg */
if((RxCanMsg.IdType == CAN_EXT_ID)&&(RxCanMsg.Id == 0x12345678)&&(RxCanMsg.Dlc == 8)
&&(RxCanMsg.Data[0]==0x10)&&(RxCanMsg.Data[1]==0x11)&&(RxCanMsg.Data[2]==0x12)&&(RxCanMsg.Data[3]==0x13)
&&(RxCanMsg.Data[4]==0x14)&&(RxCanMsg.Data[5]==0x15)&&(RxCanMsg.Data[6]==0x16)&&(RxCanMsg.Data[7]==0x17)){
/*Received Msg OK*/
LED_ON(LD3);
} else {
/*Received Msg KO*/
LED_ON(LD4);
}
/* switch back into Normal mode */
CAN_LeaveTestMode();
/* disable interrupts globally */
VIC_ITCmd(CAN_ITLine, DISABLE);
}
void CAN_Com_LoopBack(void)
{
/* initialize the CAN at a standard bitrate, interrupts disabled */
CAN_InitStructure.CAN_ConfigParameters=0x0;
CAN_InitStructure.CAN_Bitrate=CAN_BITRATE_1M;
CAN_Init(&CAN_InitStructure);
/* switch into Loopback+Silent mode (self-test) */
CAN_EnterTestMode(CAN_TESTR_LBACK | CAN_TESTR_SILENT);
/* configure the message objects */
CAN_InvalidateAllMsgObj();
CAN_SetTxMsgObj(CAN_TX_MSGOBJ, CAN_STD_ID);
CAN_SetRxMsgObj(CAN_RX_MSGOBJ, CAN_STD_ID, 0, CAN_LAST_STD_ID, TRUE);
/* Send the pre-defined answer */
CAN_SendMessage(CAN_TX_MSGOBJ, &TxCanMsg[1]);
/* wait until end of transmission */
CAN_WaitEndOfTx();
/* wait for reception of a data frame */
while (!CAN_ReceiveMessage(CAN_RX_MSGOBJ, FALSE, &RxCanMsg))
{
/*Add Timer*/
}
/* Test Received Msg */
if((RxCanMsg.IdType == CAN_STD_ID)&&(RxCanMsg.Id == 0x321)&&(RxCanMsg.Dlc == 4)
&&(RxCanMsg.Data[0]==0xAA)&&(RxCanMsg.Data[1]==0x55)&&(RxCanMsg.Data[2]==0xAA)&&(RxCanMsg.Data[3]==0x55)){
/*Received Msg OK*/
LED_ON(LD2);
} else {
/*Received Msg KO*/
LED_ON(LD4);
}
/* release the message objects */
CAN_ReleaseTxMessage(CAN_TX_MSGOBJ);
CAN_ReleaseRxMessage(CAN_RX_MSGOBJ);
/* switch back into Normal mode */
CAN_LeaveTestMode();
}
void Test_SetMaskFilter()
{
STR_CANMASK_T MaskMsg;
CAN_EnableInt(CAN_CON_IE);
CAN_InstallCallback(CALLBACK_MSG, (CAN_CALLBACK)CAN_CallbackFn);
/* Set b'0' means don't care*/
/* Set Messge Object No.0 mask ID */
MaskMsg.u8Xtd = 1;
MaskMsg.u8Dir = 1;
MaskMsg.u8IdType = 0; /* 1:EXT or 0:STD */
MaskMsg.u32Id = 0x707;
CAN_SetMsgObjMask(MSG(0),&MaskMsg);
CAN_SetRxMsgObj(MSG(0), CAN_STD_ID, 0x7FF , TRUE);
printf("The sample code should be with Item[4]\n\n");
printf("Set Receive Message Object Contect\n");
printf("===================================\n");
printf("Message Object No.0 :Receive STD_ID:0x7FF\n\n\n");
printf("Set Mask Content\n");
printf("==========================\n");
printf("Compare Xtd: %s\n",MaskMsg.u8Xtd?"YES":"NO");
printf("Compare Dir: %s\n",MaskMsg.u8Dir?"YES":"NO");
printf("Compare MaskID:%s 0x%x\n\n\n",MaskMsg.u8IdType? "EXT":"STD",MaskMsg.u32Id);
printf("If there is a message-ID 0x700~0x70F,\n ONLY 0x707/0x70F can pass acceptance filter.\n");
printf("Waiting Message\n");
SYS_SysTickDelay(100000);
GetChar();
CAN_UninstallCallback(CALLBACK_MSG);
CAN_DisableInt(CAN_CON_IE);
}