1 files changed, 120 insertions, 0 deletions
diff --git a/fw/tests/system/eeprom_can_systest.c b/fw/tests/system/eeprom_can_systest.c
new file mode 100644
index 0000000..29c29e0
--- /dev/null
+++ b/fw/tests/system/eeprom_can_systest.c
@@ -0,0 +1,120 @@
+/* Listen for a standard frame with ID 123h; read or write address Ah of the EEPROM.
+ *
+ * If the frame is a DATA FRAME, D0 is written to address Ah of the EEPROM.
+ *
+ * If the frame is a REMOTE FRAME, address Ah of the EEPROM is read and the value
+ * is sent in the D0 field of a DATA FRAME with the same ID.
+ */
+
+#include <xc.h>
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "system.h"
+#include "types.h"
+#include "spi.h"
+#include "eeprom.h"
+#include "can.h"
+
+static const CanId id = {
+	.type = CAN_ID_STD,
+	.sid = {0x1, 0x23},
+};
+static const U16 addr = {0x00, 0x0A};
+
+void
+main(void) {
+	sysInit();
+	spiInit();
+	eepromInit();
+	canInit();
+
+	// Setup MCP2515 CAN controller
+	canSetBitTiming(CAN_TIMING_10K);
+	CanId mask = {
+		.type=CAN_ID_STD,
+		.sid = {0xFF, 0xFF},
+	};
+	canSetMask0(&mask); // set masks
+	canSetMask1(&mask);
+	canSetFilter1(&mask); // set unused filters
+	canSetFilter2(&mask);
+	canSetFilter3(&mask);
+	canSetFilter4(&mask);
+	canSetFilter5(&mask);
+	canSetFilter0(&id); // listen for message on filter 0
+	canIE(true); // enable interrupts on INT pin
+	canSetMode(CAN_MODE_NORMAL);
+	
+	// Enable interrupts
+	INTCON = 0x00; // clear flags
+	OPTION_REGbits.INTEDG = 0; // interrupt on falling edge
+	INTCONbits.INTE = 1; // enable INT pin
+	INTCONbits.PEIE = 1; // enable peripheral interrupts
+	INTCONbits.GIE = 1; // enable global interrupts
+
+	for (;;) {
+
+	}
+}
+
+// Read the EEPROM and transmit the value in a CAN frame.
+static Status
+readEeprom(const CanFrame *frame) {
+	U8 val;
+	Status status;
+
+	status = eepromRead(addr, &val, 1u);
+	if (status != OK) {
+		return FAIL;
+	}
+
+	CanFrame out = {
+		.id = id,
+		.rtr = false,
+		.dlc = 1u,
+		.data = {val},
+	};
+	return canTx(&out);
+}
+
+// Write a value to the EEPROM.
+static Status
+writeEeprom(const CanFrame *frame) {
+	U8 val;
+
+	if (frame->dlc < 1u) {
+		return FAIL; // malformed frame
+	}
+
+	val = frame->data[0u];
+	return eepromWrite(addr, &val, 1u);
+}
+
+void
+__interrupt() isr(void) {
+	U8 status;
+	CanFrame frame;
+
+	if (INTCONbits.INTF) {
+		status = canRxStatus();
+		switch (status & 0x7) { // check filter match
+		case 0u: // RXF0
+			canReadRxb0(&frame);
+			if (frame.rtr) {
+				(void)readEeprom(&frame);
+			} else {
+				(void)writeEeprom(&frame);
+			}
+			break;
+		case 1u: // RXF1
+			canReadRxb0(&frame); // clear interrupt flag
+			break;
+		default:
+			// Message in RXB1
+			canReadRxb1(&frame); // clear interrupt flag
+		}
+		INTCONbits.INTF = 0;
+	}
+}