/**
*
* Send a CAN frame.
*
* @param InstancePtr is a pointer to the driver instance
*
* @return XST_SUCCESS if successful, a driver-specific return code if not.
*
* @note
*
* This function waits until TX FIFO has room for at least one frame before
* sending a frame. So this function may block if the hardware is not built
* correctly.
*
******************************************************************************/
static int SendFrame(XCanPs *InstancePtr)
{
u8 *FramePtr;
int Index;
int Status;
/*
* Create correct values for Identifier and Data Length Code Register.
*/
TxFrame[0] = (u32)XCanPs_CreateIdValue((u32)TEST_MESSAGE_ID, 0, 0, 0, 0);
TxFrame[1] = (u32)XCanPs_CreateDlcValue((u32)FRAME_DATA_LENGTH);
/*
* Now fill in the data field with known values so we can verify them
* on receive.
*/
FramePtr = (u8 *)(&TxFrame[2]);
for (Index = 0; Index < FRAME_DATA_LENGTH; Index++) {
*FramePtr++ = (u8)Index;
}
/*
* Wait until TX FIFO has room.
*/
while (XCanPs_IsTxFifoFull(InstancePtr) == TRUE);
/*
* Now send the frame.
*
* Another way to send a frame is keep calling XCanPs_Send() until it
* returns XST_SUCCESS. No check on if TX FIFO is full is needed anymore
* in that case.
*/
Status = XCanPs_Send(InstancePtr, TxFrame);
return Status;
}
/**
*
* Send a CAN frame.
*
* @param InstancePtr is a pointer to the driver instance.
*
* @return None.
*
* @note None.
*
******************************************************************************/
static void SendFrame(XCanPs *InstancePtr)
{
u8 *FramePtr;
int Index;
int Status;
/*
* Create correct values for Identifier and Data Length Code Register.
*/
TxFrame[0] = (u32)XCanPs_CreateIdValue((u32)TEST_MESSAGE_ID, 0, 0, 0, 0);
TxFrame[1] = (u32)XCanPs_CreateDlcValue((u32)FRAME_DATA_LENGTH);
/*
* Now fill in the data field with known values so we can verify them
* on receive.
*/
FramePtr = (u8 *)(&TxFrame[2]);
for (Index = 0; Index < FRAME_DATA_LENGTH; Index++) {
*FramePtr++ = (u8)Index;
}
/*
* Now wait until the TX FIFO is not full and send the frame.
*/
while (XCanPs_IsTxFifoFull(InstancePtr) == TRUE);
Status = XCanPs_Send(InstancePtr, TxFrame);
if (Status != XST_SUCCESS) {
/*
* The frame could not be sent successfully.
*/
LoopbackError = TRUE;
SendDone = TRUE;
RecvDone = TRUE;
}
}
