public void InitTest()
{
var stmcan = new STMCAN(new Machine());
stmcan.Reset();
// Registers can only be accessed by words (32 bits)
// --> check this
// #####################################
// ### Check reset values of CAN control and status registers
// --- CAN_MCR
Assert.AreEqual(stmcan.ReadDoubleWord(0x00), 0x00010002);
// --- CAN_MSR
Assert.AreEqual(stmcan.ReadDoubleWord(0x04), 0x00000C02);
// --- CAN_TSR
Assert.AreEqual(stmcan.ReadDoubleWord(0x08), 0x1C000000);
// --- CAN_RF0R
Assert.AreEqual(stmcan.ReadDoubleWord(0x0C), 0x00000000);
// --- CAN_RF1R
Assert.AreEqual(stmcan.ReadDoubleWord(0x10), 0x00000000);
// --- CAN_IER
Assert.AreEqual(stmcan.ReadDoubleWord(0x14), 0x00000000);
// --- CAN_ESR
Assert.AreEqual(stmcan.ReadDoubleWord(0x18), 0x00000000);
// --- CAN_BTR (Can only be accessed during Initialization mode)
Assert.AreEqual(stmcan.ReadDoubleWord(0x1C), 0x00000000); // Cannot read
// Change to Initialization mode by setting INRQ (bit0) in CAN_MCR register
stmcan.WriteDoubleWord(0x00, 0x00010001);
// Verify Initialization mode by checking INAK bit set in CAN_MSR
// and that SLAK bit is cleared
Assert.AreEqual(stmcan.ReadDoubleWord(0x04), 0x00000C01);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1C), 0x01230000);
// #####################################
// ### Check CAN mailbox registers
stmcan.Reset();
// --- CAN_TIxR - TXRQ reset value 0 (bit0)
Assert.AreEqual(stmcan.ReadDoubleWord(0x180) & 0x1, 0x0);
Assert.AreEqual(stmcan.ReadDoubleWord(0x190) & 0x1, 0x0);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1A0) & 0x1, 0x0);
// --- CAN_TDTxR - bits 15:9, 7:4 are reserved
Assert.AreEqual(stmcan.ReadDoubleWord(0x184), 0x0);
Assert.AreEqual(stmcan.ReadDoubleWord(0x194), 0x0);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1A4), 0x0);
// --- CAN_TDLxR - reset value undefined, model should reset to 0
Assert.AreEqual(stmcan.ReadDoubleWord(0x188), 0x0);
Assert.AreEqual(stmcan.ReadDoubleWord(0x198), 0x0);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1A8), 0x0);
// --- CAN_TDHxR - reset value undefined, model should reset to 0
Assert.AreEqual(stmcan.ReadDoubleWord(0x18C), 0x0);
Assert.AreEqual(stmcan.ReadDoubleWord(0x19C), 0x0);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1AC), 0x0);
// All RX registers are write protected
// --- CAN_RIxR - reset value undefined, bit0 reserved
stmcan.WriteDoubleWord(0x1B0, 0xFF0000FF);
stmcan.WriteDoubleWord(0x1C0, 0xFF0000FF);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1B0) & 0x1, 0x0);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1C0) & 0x1, 0x0);
// --- CAN_RDTxR - reset value undefined, bit7:4 reserved
stmcan.WriteDoubleWord(0x1B4, 0xFF0000FF);
stmcan.WriteDoubleWord(0x1C4, 0xFF0000FF);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1B4) & 0x10, 0x0);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1C4) & 0x10, 0x0);
// --- CAN_RDLxR - reset value undefined, model should reset to 0
stmcan.WriteDoubleWord(0x1B8, 0xFF0000FF);
stmcan.WriteDoubleWord(0x1C8, 0xFF0000FF);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1B8), 0x0);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1C8), 0x0);
// --- CAN_RDHxR - reset value undefined, model should reset to 0
stmcan.WriteDoubleWord(0x1BC, 0xFF0000FF);
stmcan.WriteDoubleWord(0x1CC, 0xFF0000FF);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1BC), 0x0);
Assert.AreEqual(stmcan.ReadDoubleWord(0x1CC), 0x0);
// #####################################
// ### Check CAN filter registers
stmcan.Reset();
// --- CAN_FMR
Assert.AreEqual(stmcan.ReadDoubleWord(0x200), 0x2A1C0E01);
// --- CAN_FM1R - can only be written in filter initialization mode
Assert.AreEqual(stmcan.ReadDoubleWord(0x204), 0x00000000);
stmcan.WriteDoubleWord(0x204, 0xFF0000FF);
Assert.AreEqual(stmcan.ReadDoubleWord(0x204), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E00);
Assert.AreEqual(stmcan.ReadDoubleWord(0x200), 0x2A1C0E00);
stmcan.WriteDoubleWord(0x204, 0x00FFFF00);
Assert.AreEqual(stmcan.ReadDoubleWord(0x204), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E01);
// --- CAN_FS1R
Assert.AreEqual(stmcan.ReadDoubleWord(0x20C), 0x00000000);
stmcan.WriteDoubleWord(0x20C, 0xFF0000FF);
Assert.AreEqual(stmcan.ReadDoubleWord(0x20C), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E00);
Assert.AreEqual(stmcan.ReadDoubleWord(0x200), 0x2A1C0E00);
stmcan.WriteDoubleWord(0x20C, 0x00FFFF00);
Assert.AreEqual(stmcan.ReadDoubleWord(0x20C), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E01);
// --- CAN_FFA1R
Assert.AreEqual(stmcan.ReadDoubleWord(0x214), 0x00000000);
stmcan.WriteDoubleWord(0x214, 0xFF0000FF);
Assert.AreEqual(stmcan.ReadDoubleWord(0x214), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E00);
Assert.AreEqual(stmcan.ReadDoubleWord(0x200), 0x2A1C0E00);
stmcan.WriteDoubleWord(0x214, 0x00FFFF00);
Assert.AreEqual(stmcan.ReadDoubleWord(0x214), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E01);
// --- CAN_FA1R - bit 31:28 reserved
Assert.AreEqual(stmcan.ReadDoubleWord(0x21C), 0x00000000);
stmcan.WriteDoubleWord(0x21C, 0xF0000000);
Assert.AreEqual(stmcan.ReadDoubleWord(0x21C), 0x00000000);
// --- CAN_FiRx - 28 filter banks: reset value undefined, model should reset to 0
// Filter bank registers can only be modified when FACTx bit of CAN_FAxR register is cleared
// or when FINIT bit in CAN_FMR is set
int filterIndex = 0;
do
{
Assert.AreEqual(stmcan.ReadDoubleWord(0x240 + filterIndex * 0x8), 0x00000000);
stmcan.WriteDoubleWord((0x240 + filterIndex * 0x8), 0xFF0000FF);
Assert.AreEqual(stmcan.ReadDoubleWord(0x240 + filterIndex * 0x8), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E00);
Assert.AreEqual(stmcan.ReadDoubleWord(0x200), 0x2A1C0E00);
stmcan.WriteDoubleWord((0x240 + filterIndex * 0x8), 0x00FFFF00);
Assert.AreEqual(stmcan.ReadDoubleWord(0x240 + filterIndex * 0x8), 0x00FFFF00);
filterIndex++;
}while(filterIndex < 28);
}
public void AnotherTest()
{
var stmcan = new STMCAN(new Machine());
stmcan.Reset();
}
public void LoopbackMessageTest()
{
// #####################################
// ### Declarations
// CAN TX mailbox identifier register
uint can_tixr = 0;
// CAN TX mailbox data length control and time stamp register
uint can_tdtxr = 0;
// CAN TX mailbox data low register
uint can_tdlxr = 0;
// CAN TX mailbox data high register
uint can_tdhxr = 0;
// Message components
uint stdid = 0x321;
uint ide = 0; // std = 0; ext = 4
uint rtr = 0; // data frame = 0 ; remote frame = 2
uint txrq = 1;
uint time = 0;
uint tgt = 0;
uint dlc = 8; // data length, default to 8 bytes
byte[] txData = new byte[8] {
0x1, 0x2, 0x3, 0x4, 0x5, 0x6, 0x7, 0x8
};
// #####################################
// ### Setup CAN device
var stmcan = new STMCAN(new Machine());
stmcan.Reset();
// Init mode
stmcan.WriteDoubleWord(0x00, 0x00010000);
Assert.AreEqual(stmcan.ReadDoubleWord(0x04), 0x00000C00);
// ### Set filter for message
// --- CAN_FMR - init mode
var can_fmr = stmcan.ReadDoubleWord(0x200);
can_fmr |= 0x1;
stmcan.WriteDoubleWord(0x200, can_fmr);
// --- CAN_FA1R - deactivate filter nr 1
var can_fa1r = stmcan.ReadDoubleWord(0x21C);
can_fa1r &= 0xFFFFFFFD;
stmcan.WriteDoubleWord(0x21C, can_fa1r);
// Filter scale: 32-bit filter 1 identifier
var can_fs1r = stmcan.ReadDoubleWord(0x20C);
can_fs1r |= 0x1;
stmcan.WriteDoubleWord(0x20C, can_fs1r);
// Filter 1 identifiers = 0x321, 0x123 : set 0,0 currently
var can_fxr1 = stmcan.ReadDoubleWord(0x248);
can_fxr1 |= 0x0;
stmcan.WriteDoubleWord(0x248, can_fxr1);
var can_fxr2 = stmcan.ReadDoubleWord(0x250);
can_fxr2 |= 0x0;
stmcan.WriteDoubleWord(0x250, can_fxr2);
// --- CAN_FM1R - filter 1 is two 32-bit id list
var can_fm1r = stmcan.ReadDoubleWord(0x204);
can_fm1r |= 0x1;
stmcan.WriteDoubleWord(0x204, can_fm1r);
// --- CAN_FFA1R - assign FIFO 0
var can_ffa1r = stmcan.ReadDoubleWord(0x214);
can_ffa1r &= 0xFFFFFFFD;
stmcan.WriteDoubleWord(0x214, can_ffa1r);
// --- CAN_FA1R - activate filter nr 1
can_fa1r = stmcan.ReadDoubleWord(0x21C);
can_fa1r |= 0x1;
stmcan.WriteDoubleWord(0x21C, can_fa1r);
// Enable loopback, set LBKM, bit30, in CAN_BTR
uint can_btr = stmcan.ReadDoubleWord(0x01C);
can_btr |= (1 << 30);
stmcan.WriteDoubleWord(0x01C, can_btr);
Assert.AreEqual(stmcan.ReadDoubleWord(0x01C), can_btr);
// Set Normal mode
stmcan.WriteDoubleWord(0x00, 0x00010000);
Assert.AreEqual(stmcan.ReadDoubleWord(0x04), 0x00000C00);
// #####################################
// ### Standard Identifier
// Setup message data registers and write to mailbox 0
can_tdtxr = (time << 16) | (tgt << 8) | dlc;
can_tdlxr = (uint)((txData[3] << 24) | (txData[2] << 16) | (txData[1] << 8) | txData[0]);
can_tdhxr = (uint)((txData[7] << 24) | (txData[6] << 16) | (txData[5] << 8) | txData[4]);
stmcan.WriteDoubleWord(0x184, can_tdtxr);
stmcan.WriteDoubleWord(0x188, can_tdlxr);
stmcan.WriteDoubleWord(0x18C, can_tdhxr);
// Setup id register and request transmission
can_tixr = (stdid << 21) | (ide << 2) | (rtr << 1) | txrq;
stmcan.WriteDoubleWord(0x180, can_tixr);
// Check RX FIFO 0, fetch message and release fifo
// CAN_RF0R bit 1:0 indicates pending RX messages
Assert.AreEqual(stmcan.ReadDoubleWord(0x0C) & 0x3, 0x1);
//Assert.AreEqual (stmcan.ReadDoubleWord(0x10) & 0x3, 0x1);
// read id from receive fifo 0 and verify 0x321 in bit 31:21
Assert.AreEqual(stmcan.ReadDoubleWord(0x1B0) & 0xFFE00000, (stdid << 21));
// read data from receive fifo 0 and verify 0x321 in bit 31:21
Assert.AreEqual(stmcan.ReadDoubleWord(0x1B8) & 0xFF, txData[0]);
// release RFOM0 fifo in CAN_RFR
// #####################################
// Extended Identifier
ide = 4;
// #####################################
// Remote Frame
rtr = 2;
// #####################################
// Error
}
public void AnotherTest()
{
var stmcan = new STMCAN();
stmcan.Reset();
}
public void AnotherTest()
{
var stmcan = new STMCAN (new Machine());
stmcan.Reset ();
}
public void InitTest()
{
var stmcan = new STMCAN (new Machine());
stmcan.Reset ();
// Registers can only be accessed by words (32 bits)
// --> check this
// #####################################
// ### Check reset values of CAN control and status registers
// --- CAN_MCR
Assert.AreEqual (stmcan.ReadDoubleWord (0x00), 0x00010002);
// --- CAN_MSR
Assert.AreEqual (stmcan.ReadDoubleWord (0x04), 0x00000C02);
// --- CAN_TSR
Assert.AreEqual (stmcan.ReadDoubleWord (0x08), 0x1C000000);
// --- CAN_RF0R
Assert.AreEqual (stmcan.ReadDoubleWord (0x0C), 0x00000000);
// --- CAN_RF1R
Assert.AreEqual (stmcan.ReadDoubleWord (0x10), 0x00000000);
// --- CAN_IER
Assert.AreEqual (stmcan.ReadDoubleWord (0x14), 0x00000000);
// --- CAN_ESR
Assert.AreEqual (stmcan.ReadDoubleWord (0x18), 0x00000000);
// --- CAN_BTR (Can only be accessed during Initialization mode)
Assert.AreEqual (stmcan.ReadDoubleWord (0x1C), 0x00000000); // Cannot read
// Change to Initialization mode by setting INRQ (bit0) in CAN_MCR register
stmcan.WriteDoubleWord(0x00, 0x00010001);
// Verify Initialization mode by checking INAK bit set in CAN_MSR
// and that SLAK bit is cleared
Assert.AreEqual (stmcan.ReadDoubleWord (0x04), 0x00000C01);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1C), 0x01230000);
// #####################################
// ### Check CAN mailbox registers
stmcan.Reset ();
// --- CAN_TIxR - TXRQ reset value 0 (bit0)
Assert.AreEqual (stmcan.ReadDoubleWord (0x180) & 0x1, 0x0);
Assert.AreEqual (stmcan.ReadDoubleWord (0x190) & 0x1, 0x0);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1A0) & 0x1, 0x0);
// --- CAN_TDTxR - bits 15:9, 7:4 are reserved
Assert.AreEqual (stmcan.ReadDoubleWord (0x184), 0x0);
Assert.AreEqual (stmcan.ReadDoubleWord (0x194), 0x0);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1A4), 0x0);
// --- CAN_TDLxR - reset value undefined, model should reset to 0
Assert.AreEqual (stmcan.ReadDoubleWord (0x188), 0x0);
Assert.AreEqual (stmcan.ReadDoubleWord (0x198), 0x0);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1A8), 0x0);
// --- CAN_TDHxR - reset value undefined, model should reset to 0
Assert.AreEqual (stmcan.ReadDoubleWord (0x18C), 0x0);
Assert.AreEqual (stmcan.ReadDoubleWord (0x19C), 0x0);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1AC), 0x0);
// All RX registers are write protected
// --- CAN_RIxR - reset value undefined, bit0 reserved
stmcan.WriteDoubleWord(0x1B0, 0xFF0000FF);
stmcan.WriteDoubleWord(0x1C0, 0xFF0000FF);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1B0) & 0x1, 0x0);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1C0) & 0x1, 0x0);
// --- CAN_RDTxR - reset value undefined, bit7:4 reserved
stmcan.WriteDoubleWord(0x1B4, 0xFF0000FF);
stmcan.WriteDoubleWord(0x1C4, 0xFF0000FF);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1B4) & 0x10, 0x0);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1C4) & 0x10, 0x0);
// --- CAN_RDLxR - reset value undefined, model should reset to 0
stmcan.WriteDoubleWord(0x1B8, 0xFF0000FF);
stmcan.WriteDoubleWord(0x1C8, 0xFF0000FF);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1B8), 0x0);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1C8), 0x0);
// --- CAN_RDHxR - reset value undefined, model should reset to 0
stmcan.WriteDoubleWord(0x1BC, 0xFF0000FF);
stmcan.WriteDoubleWord(0x1CC, 0xFF0000FF);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1BC), 0x0);
Assert.AreEqual (stmcan.ReadDoubleWord (0x1CC), 0x0);
// #####################################
// ### Check CAN filter registers
stmcan.Reset ();
// --- CAN_FMR
Assert.AreEqual (stmcan.ReadDoubleWord (0x200), 0x2A1C0E01);
// --- CAN_FM1R - can only be written in filter initialization mode
Assert.AreEqual (stmcan.ReadDoubleWord (0x204), 0x00000000);
stmcan.WriteDoubleWord(0x204, 0xFF0000FF);
Assert.AreEqual (stmcan.ReadDoubleWord (0x204), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E00);
Assert.AreEqual (stmcan.ReadDoubleWord (0x200), 0x2A1C0E00);
stmcan.WriteDoubleWord(0x204, 0x00FFFF00);
Assert.AreEqual (stmcan.ReadDoubleWord (0x204), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E01);
// --- CAN_FS1R
Assert.AreEqual (stmcan.ReadDoubleWord (0x20C), 0x00000000);
stmcan.WriteDoubleWord(0x20C, 0xFF0000FF);
Assert.AreEqual (stmcan.ReadDoubleWord (0x20C), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E00);
Assert.AreEqual (stmcan.ReadDoubleWord (0x200), 0x2A1C0E00);
stmcan.WriteDoubleWord(0x20C, 0x00FFFF00);
Assert.AreEqual (stmcan.ReadDoubleWord (0x20C), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E01);
// --- CAN_FFA1R
Assert.AreEqual (stmcan.ReadDoubleWord (0x214), 0x00000000);
stmcan.WriteDoubleWord(0x214, 0xFF0000FF);
Assert.AreEqual (stmcan.ReadDoubleWord (0x214), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E00);
Assert.AreEqual (stmcan.ReadDoubleWord (0x200), 0x2A1C0E00);
stmcan.WriteDoubleWord(0x214, 0x00FFFF00);
Assert.AreEqual (stmcan.ReadDoubleWord (0x214), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E01);
// --- CAN_FA1R - bit 31:28 reserved
Assert.AreEqual (stmcan.ReadDoubleWord (0x21C), 0x00000000);
stmcan.WriteDoubleWord(0x21C, 0xF0000000);
Assert.AreEqual (stmcan.ReadDoubleWord (0x21C), 0x00000000);
// --- CAN_FiRx - 28 filter banks: reset value undefined, model should reset to 0
// Filter bank registers can only be modified when FACTx bit of CAN_FAxR register is cleared
// or when FINIT bit in CAN_FMR is set
int filterIndex = 0;
do
{
Assert.AreEqual (stmcan.ReadDoubleWord (0x240 + filterIndex*0x8), 0x00000000);
stmcan.WriteDoubleWord((0x240 + filterIndex*0x8), 0xFF0000FF);
Assert.AreEqual (stmcan.ReadDoubleWord (0x240 + filterIndex*0x8), 0xFF0000FF);
stmcan.WriteDoubleWord(0x200, 0x2A1C0E00);
Assert.AreEqual (stmcan.ReadDoubleWord (0x200), 0x2A1C0E00);
stmcan.WriteDoubleWord((0x240 + filterIndex*0x8), 0x00FFFF00);
Assert.AreEqual (stmcan.ReadDoubleWord (0x240 + filterIndex*0x8), 0x00FFFF00);
filterIndex++;
}
while (filterIndex<28);
}
public void LoopbackMessageTest()
{
// #####################################
// ### Declarations
// CAN TX mailbox identifier register
uint can_tixr = 0;
// CAN TX mailbox data length control and time stamp register
uint can_tdtxr = 0;
// CAN TX mailbox data low register
uint can_tdlxr = 0;
// CAN TX mailbox data high register
uint can_tdhxr = 0;
// Message components
uint stdid = 0x321;
uint ide = 0; // std = 0; ext = 4
uint rtr = 0; // data frame = 0 ; remote frame = 2
uint txrq = 1;
uint time = 0;
uint tgt = 0;
uint dlc = 8; // data length, default to 8 bytes
byte[] txData = new byte[8] { 0x1, 0x2, 0x3, 0x4, 0x5, 0x6, 0x7, 0x8 };
// #####################################
// ### Setup CAN device
var stmcan = new STMCAN(new Machine());
stmcan.Reset();
// Init mode
stmcan.WriteDoubleWord(0x00, 0x00010000);
Assert.AreEqual (stmcan.ReadDoubleWord (0x04), 0x00000C00);
// ### Set filter for message
// --- CAN_FMR - init mode
var can_fmr = stmcan.ReadDoubleWord (0x200);
can_fmr |= 0x1;
stmcan.WriteDoubleWord(0x200, can_fmr);
// --- CAN_FA1R - deactivate filter nr 1
var can_fa1r = stmcan.ReadDoubleWord (0x21C);
can_fa1r &= 0xFFFFFFFD;
stmcan.WriteDoubleWord(0x21C, can_fa1r);
// Filter scale: 32-bit filter 1 identifier
var can_fs1r = stmcan.ReadDoubleWord (0x20C);
can_fs1r |= 0x1;
stmcan.WriteDoubleWord(0x20C, can_fs1r);
// Filter 1 identifiers = 0x321, 0x123 : set 0,0 currently
var can_fxr1 = stmcan.ReadDoubleWord (0x248);
can_fxr1 |= 0x0;
stmcan.WriteDoubleWord(0x248, can_fxr1);
var can_fxr2 = stmcan.ReadDoubleWord (0x250);
can_fxr2 |= 0x0;
stmcan.WriteDoubleWord(0x250, can_fxr2);
// --- CAN_FM1R - filter 1 is two 32-bit id list
var can_fm1r = stmcan.ReadDoubleWord (0x204);
can_fm1r |= 0x1;
stmcan.WriteDoubleWord(0x204, can_fm1r);
// --- CAN_FFA1R - assign FIFO 0
var can_ffa1r = stmcan.ReadDoubleWord (0x214);
can_ffa1r &= 0xFFFFFFFD;
stmcan.WriteDoubleWord(0x214, can_ffa1r);
// --- CAN_FA1R - activate filter nr 1
can_fa1r = stmcan.ReadDoubleWord (0x21C);
can_fa1r |= 0x1;
stmcan.WriteDoubleWord(0x21C, can_fa1r);
// Enable loopback, set LBKM, bit30, in CAN_BTR
uint can_btr = stmcan.ReadDoubleWord(0x01C);
can_btr |= (1 << 30);
stmcan.WriteDoubleWord(0x01C, can_btr);
Assert.AreEqual (stmcan.ReadDoubleWord (0x01C), can_btr);
// Set Normal mode
stmcan.WriteDoubleWord(0x00, 0x00010000);
Assert.AreEqual (stmcan.ReadDoubleWord (0x04), 0x00000C00);
// #####################################
// ### Standard Identifier
// Setup message data registers and write to mailbox 0
can_tdtxr = (time << 16) | (tgt << 8) | dlc;
can_tdlxr = (uint)((txData[3] << 24) | (txData[2] << 16) | (txData[1] << 8) | txData[0]);
can_tdhxr = (uint)((txData[7] << 24) | (txData[6] << 16) | (txData[5] << 8) | txData[4]);
stmcan.WriteDoubleWord(0x184, can_tdtxr);
stmcan.WriteDoubleWord(0x188, can_tdlxr);
stmcan.WriteDoubleWord(0x18C, can_tdhxr);
// Setup id register and request transmission
can_tixr = (stdid << 21) | (ide << 2) | (rtr << 1) | txrq;
stmcan.WriteDoubleWord(0x180, can_tixr);
// Check RX FIFO 0, fetch message and release fifo
// CAN_RF0R bit 1:0 indicates pending RX messages
Assert.AreEqual (stmcan.ReadDoubleWord(0x0C) & 0x3, 0x1);
//Assert.AreEqual (stmcan.ReadDoubleWord(0x10) & 0x3, 0x1);
// read id from receive fifo 0 and verify 0x321 in bit 31:21
Assert.AreEqual(stmcan.ReadDoubleWord(0x1B0) & 0xFFE00000, (stdid << 21));
// read data from receive fifo 0 and verify 0x321 in bit 31:21
Assert.AreEqual(stmcan.ReadDoubleWord(0x1B8) & 0xFF, txData[0]);
// release RFOM0 fifo in CAN_RFR
// #####################################
// Extended Identifier
ide = 4;
// #####################################
// Remote Frame
rtr = 2;
// #####################################
// Error
}