1 | #define LED_DEVICE_ID XPAR_GPIO_DEVICE_ID
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2 | #define LED_CHANNEL 1
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3 |
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4 | #define CAN_DEVICE_ID XPAR_PS7_CAN_0_DEVICE_ID
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5 |
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6 | #define TEST_BTR_SYNCJUMPWIDTH 3
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7 | #define TEST_BTR_SECOND_TIMESEGMENT 2
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8 | #define TEST_BTR_FIRST_TIMESEGMENT 15
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9 |
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10 |
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11 | XGpio Gpio;
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12 |
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13 | static XCanPs Can0;
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14 |
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15 | uint32_t TxFrame[10];
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16 | uint8_t *FramePtr;
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17 | uint8_t Index;
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18 |
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19 |
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20 | volatile int i = 0;
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21 |
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22 | int main()
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23 | {
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24 | int status;
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25 | XCanPs *CanInstPtr = &Can0 ;
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26 | XCanPs_Config *ConfigPtr;
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27 |
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28 |
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29 | init_platform();
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30 | xil_printf("Platform Init done\n");
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31 |
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32 | // GPIO (Led) Init
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33 | status = XGpio_Initialize(&Gpio, LED_DEVICE_ID);
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34 | if (XST_SUCCESS != status) {
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35 | xil_printf("XGpio Init (LED) failed\n");
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36 | //return XST_FAILURE;
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37 | }
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38 |
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39 | XGpio_SetDataDirection(&Gpio, LED_CHANNEL, 0x00);
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40 | status = XGpio_SelfTest(&Gpio);
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41 | if (XST_SUCCESS != status) {
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42 | xil_printf("XGpio Selftest failed\n");
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43 | //return XST_FAILURE;
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44 | }
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45 |
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46 | // CAN0 Init
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47 | ConfigPtr = XCanPs_LookupConfig(CAN_DEVICE_ID);
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48 | if (NULL == ConfigPtr) {
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49 | xil_printf("CAN0 LookUpConfig failed\n");
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50 | //return XST_FAILURE;
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51 | }
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52 | else {
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53 | xil_printf("CAN0 LookUpConfig success\n");
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54 | xil_printf("ConfigPtr: %d\n", ConfigPtr);
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55 | }
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56 |
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57 | status = XCanPs_CfgInitialize(&Can0, ConfigPtr, ConfigPtr->BaseAddr);
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58 | if (status != XST_SUCCESS) {
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59 | xil_printf("CAN0 CfgInitialize failed\n");
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60 | //return XST_FAILURE;
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61 | }
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62 | else {
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63 | xil_printf("CAN0 CfgInitialize success\n");
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64 | }
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65 |
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66 | // Selftest
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67 | status = XCanPs_SelfTest(&Can0);
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68 | if (status != XST_SUCCESS) {
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69 | xil_printf("CAN0 SelfTest failed\n");
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70 | //return XST_FAILURE;
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71 | }
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72 |
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73 | //Enter Configuration Mode so we can setup Baud Rate Prescaler
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74 | // Register (BRPR) and Bit Timing Register (BTR).
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75 | XCanPs_EnterMode(CanInstPtr, XCANPS_MODE_CONFIG);
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76 | while(XCANPS_MODE_CONFIG != XCanPs_GetMode(CanInstPtr) );
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77 |
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78 | // Setup Baud Rate Prescaler Register (BRPR) and
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79 | // Bit Timing Register (BTR).
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80 | XCanPs_SetBaudRatePrescaler(CanInstPtr, 199);
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81 | XCanPs_SetBitTiming(CanInstPtr, TEST_BTR_SYNCJUMPWIDTH,
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82 | TEST_BTR_SECOND_TIMESEGMENT,
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83 | TEST_BTR_FIRST_TIMESEGMENT);
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84 |
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85 | // Enter Loop Back Mode
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86 | XCanPs_EnterMode(CanInstPtr, XCANPS_MODE_NORMAL);
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87 | while(XCANPS_MODE_NORMAL != XCanPs_GetMode(CanInstPtr) );
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88 |
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89 |
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90 | while(1)
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91 | {
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92 | print("Hello World 2\n\r");
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93 | for (i = 0; i < 10000000; i++) { ; }
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94 | XGpio_DiscreteWrite(&Gpio, LED_CHANNEL, 0x00);
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95 | for (i = 0; i < 10000000; i++) { ; }
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96 | XGpio_DiscreteWrite(&Gpio, LED_CHANNEL, 0x01);
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97 |
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98 | TxFrame[0] = (u32)XCanPs_CreateIdValue((uint32_t)1000, 0, 0, 0, 0);
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99 | TxFrame[1] = (u32)XCanPs_CreateDlcValue((uint8_t)8);
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100 |
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101 | FramePtr = (u8 *)(&TxFrame[2]);
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102 | for (Index = 0; Index < 8; Index++) {
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103 | *FramePtr++ = (u8)Index;
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104 | }
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105 |
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106 | status = XCanPs_Send(&Can0, TxFrame);
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107 | if (XST_SUCCESS != status) {
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108 | xil_printf("Can0 send failed\n");
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109 | }
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110 | else {
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111 | xil_printf("Can0 send succeeded\n");
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112 | }
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113 | }
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114 |
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115 |
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116 | cleanup_platform();
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117 | return 0;
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118 | }
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