amiro-blt / Target / Source / ARMCM4_STM32 / can.c @ 01c0bf56
History | View | Annotate | Download (28.617 KB)
| 1 |
/************************************************************************************//** |
|---|---|
| 2 |
* \file Source\ARMCM4_STM32\can.c
|
| 3 |
* \brief Bootloader CAN communication interface source file.
|
| 4 |
* \ingroup Target_ARMCM4_STM32
|
| 5 |
* \internal
|
| 6 |
*----------------------------------------------------------------------------------------
|
| 7 |
* C O P Y R I G H T
|
| 8 |
*----------------------------------------------------------------------------------------
|
| 9 |
* Copyright (c) 2013 by Feaser http://www.feaser.com All rights reserved
|
| 10 |
*
|
| 11 |
*----------------------------------------------------------------------------------------
|
| 12 |
* L I C E N S E
|
| 13 |
*----------------------------------------------------------------------------------------
|
| 14 |
* This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or
|
| 15 |
* modify it under the terms of the GNU General Public License as published by the Free
|
| 16 |
* Software Foundation, either version 3 of the License, or (at your option) any later
|
| 17 |
* version.
|
| 18 |
*
|
| 19 |
* OpenBLT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
|
| 20 |
* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
| 21 |
* PURPOSE. See the GNU General Public License for more details.
|
| 22 |
*
|
| 23 |
* You should have received a copy of the GNU General Public License along with OpenBLT.
|
| 24 |
* If not, see <http://www.gnu.org/licenses/>.
|
| 25 |
*
|
| 26 |
* A special exception to the GPL is included to allow you to distribute a combined work
|
| 27 |
* that includes OpenBLT without being obliged to provide the source code for any
|
| 28 |
* proprietary components. The exception text is included at the bottom of the license
|
| 29 |
* file <license.html>.
|
| 30 |
*
|
| 31 |
* \endinternal
|
| 32 |
****************************************************************************************/
|
| 33 |
|
| 34 |
#define CAN_DEBUG (0) |
| 35 |
|
| 36 |
/****************************************************************************************
|
| 37 |
* Include files
|
| 38 |
****************************************************************************************/
|
| 39 |
#include "boot.h" /* bootloader generic header */ |
| 40 |
|
| 41 |
#if (CAN_DEBUG > 0) |
| 42 |
#include <helper.h> |
| 43 |
#endif
|
| 44 |
|
| 45 |
|
| 46 |
#if (BOOT_COM_CAN_ENABLE > 0 || BOOT_GATE_CAN_ENABLE > 0) |
| 47 |
/****************************************************************************************
|
| 48 |
* Type definitions
|
| 49 |
****************************************************************************************/
|
| 50 |
/** \brief CAN transmission mailbox layout. */
|
| 51 |
typedef struct |
| 52 |
{
|
| 53 |
volatile blt_int32u TIR;
|
| 54 |
volatile blt_int32u TDTR;
|
| 55 |
volatile blt_int32u TDLR;
|
| 56 |
volatile blt_int32u TDHR;
|
| 57 |
} tCanTxMailBox; |
| 58 |
|
| 59 |
/** \brief CAN reception FIFO mailbox layout. */
|
| 60 |
typedef struct |
| 61 |
{
|
| 62 |
volatile blt_int32u RIR;
|
| 63 |
volatile blt_int32u RDTR;
|
| 64 |
volatile blt_int32u RDLR;
|
| 65 |
volatile blt_int32u RDHR;
|
| 66 |
} tCanRxFIFOMailBox; |
| 67 |
|
| 68 |
/** \brief CAN filter register layout. */
|
| 69 |
typedef struct |
| 70 |
{
|
| 71 |
volatile blt_int32u FR1;
|
| 72 |
volatile blt_int32u FR2;
|
| 73 |
} tCanFilter; |
| 74 |
|
| 75 |
/** \brief CAN controller register layout. */
|
| 76 |
typedef struct |
| 77 |
{
|
| 78 |
volatile blt_int32u MCR;
|
| 79 |
volatile blt_int32u MSR;
|
| 80 |
volatile blt_int32u TSR;
|
| 81 |
volatile blt_int32u RF0R;
|
| 82 |
volatile blt_int32u RF1R;
|
| 83 |
volatile blt_int32u IER;
|
| 84 |
volatile blt_int32u ESR;
|
| 85 |
volatile blt_int32u BTR;
|
| 86 |
blt_int32u RESERVED0[88];
|
| 87 |
tCanTxMailBox sTxMailBox[3];
|
| 88 |
tCanRxFIFOMailBox sFIFOMailBox[2];
|
| 89 |
blt_int32u RESERVED1[12];
|
| 90 |
volatile blt_int32u FMR;
|
| 91 |
volatile blt_int32u FM1R;
|
| 92 |
blt_int32u RESERVED2; |
| 93 |
volatile blt_int32u FS1R;
|
| 94 |
blt_int32u RESERVED3; |
| 95 |
volatile blt_int32u FFA1R;
|
| 96 |
blt_int32u RESERVED4; |
| 97 |
volatile blt_int32u FA1R;
|
| 98 |
blt_int32u RESERVED5[8];
|
| 99 |
tCanFilter sFilterRegister[28];
|
| 100 |
} tCanRegs; |
| 101 |
|
| 102 |
|
| 103 |
/****************************************************************************************
|
| 104 |
* Macro definitions
|
| 105 |
****************************************************************************************/
|
| 106 |
/** \brief Reset request bit. */
|
| 107 |
#define CAN_BIT_RESET ((blt_int32u)0x00008000) |
| 108 |
/** \brief Initialization request bit. */
|
| 109 |
#define CAN_BIT_INRQ ((blt_int32u)0x00000001) |
| 110 |
/** \brief Initialization acknowledge bit. */
|
| 111 |
#define CAN_BIT_INAK ((blt_int32u)0x00000001) |
| 112 |
/** \brief Sleep mode request bit. */
|
| 113 |
#define CAN_BIT_SLEEP ((blt_int32u)0x00000002) |
| 114 |
/** \brief Filter 0 selection bit. */
|
| 115 |
#define CAN_BIT_FILTER0 ((blt_int32u)0x00000001) |
| 116 |
/** \brief Filter 14 selection bit. */
|
| 117 |
#define CAN_BIT_FILTER14 ((blt_int32u)0x00004000) |
| 118 |
/** \brief Filter init mode bit. */
|
| 119 |
#define CAN_BIT_FINIT ((blt_int32u)0x00000001) |
| 120 |
/** \brief Transmit mailbox 0 empty bit. */
|
| 121 |
#define CAN_BIT_TME0 ((blt_int32u)0x04000000) |
| 122 |
/** \brief Transmit mailbox request bit. */
|
| 123 |
#define CAN_BIT_TXRQ ((blt_int32u)0x00000001) |
| 124 |
/** \brief Release FIFO 0 mailbox bit. */
|
| 125 |
#define CAN_BIT_RFOM0 ((blt_int32u)0x00000020) |
| 126 |
|
| 127 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 128 |
blt_bool commandSend; |
| 129 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 130 |
|
| 131 |
|
| 132 |
/****************************************************************************************
|
| 133 |
* Register definitions
|
| 134 |
****************************************************************************************/
|
| 135 |
#if (BOOT_COM_CAN_CHANNEL_INDEX == 0) |
| 136 |
/** \brief Macro for accessing CAN1 controller registers. */
|
| 137 |
#define CANx ((tCanRegs *) (blt_int32u)0x40006400) |
| 138 |
#else
|
| 139 |
/** \brief Macro for accessing CAN2 controller registers. */
|
| 140 |
#define CANx ((tCanRegs *) (blt_int32u)0x40006800) |
| 141 |
#endif
|
| 142 |
/** \brief Macro for accessing CAN1 controller registers. */
|
| 143 |
#define CAN1 ((tCanRegs *) (blt_int32u)0x40006400) |
| 144 |
|
| 145 |
|
| 146 |
/****************************************************************************************
|
| 147 |
* Type definitions
|
| 148 |
****************************************************************************************/
|
| 149 |
/** \brief Structure type for grouping CAN bus timing related information. */
|
| 150 |
typedef struct t_can_bus_timing |
| 151 |
{
|
| 152 |
blt_int8u tseg1; /**< CAN time segment 1 */
|
| 153 |
blt_int8u tseg2; /**< CAN time segment 2 */
|
| 154 |
} tCanBusTiming; |
| 155 |
|
| 156 |
|
| 157 |
/****************************************************************************************
|
| 158 |
* Local constant declarations
|
| 159 |
****************************************************************************************/
|
| 160 |
/** \brief CAN bittiming table for dynamically calculating the bittiming settings.
|
| 161 |
* \details According to the CAN protocol 1 bit-time can be made up of between 8..25
|
| 162 |
* time quanta (TQ). The total TQ in a bit is SYNC + TSEG1 + TSEG2 with SYNC
|
| 163 |
* always being 1. The sample point is (SYNC + TSEG1) / (SYNC + TSEG1 + SEG2) *
|
| 164 |
* 100%. This array contains possible and valid time quanta configurations with
|
| 165 |
* a sample point between 68..78%.
|
| 166 |
*/
|
| 167 |
static const tCanBusTiming canTiming[] = |
| 168 |
{ /* TQ | TSEG1 | TSEG2 | SP */
|
| 169 |
/* ------------------------- */
|
| 170 |
{ 5, 2 }, /* 8 | 5 | 2 | 75% */
|
| 171 |
{ 6, 2 }, /* 9 | 6 | 2 | 78% */
|
| 172 |
{ 6, 3 }, /* 10 | 6 | 3 | 70% */
|
| 173 |
{ 7, 3 }, /* 11 | 7 | 3 | 73% */
|
| 174 |
{ 8, 3 }, /* 12 | 8 | 3 | 75% */
|
| 175 |
{ 9, 3 }, /* 13 | 9 | 3 | 77% */
|
| 176 |
{ 9, 4 }, /* 14 | 9 | 4 | 71% */
|
| 177 |
{ 10, 4 }, /* 15 | 10 | 4 | 73% */
|
| 178 |
{ 11, 4 }, /* 16 | 11 | 4 | 75% */
|
| 179 |
{ 12, 4 }, /* 17 | 12 | 4 | 76% */
|
| 180 |
{ 12, 5 }, /* 18 | 12 | 5 | 72% */
|
| 181 |
{ 13, 5 }, /* 19 | 13 | 5 | 74% */
|
| 182 |
{ 14, 5 }, /* 20 | 14 | 5 | 75% */
|
| 183 |
{ 15, 5 }, /* 21 | 15 | 5 | 76% */
|
| 184 |
{ 15, 6 }, /* 22 | 15 | 6 | 73% */
|
| 185 |
{ 16, 6 }, /* 23 | 16 | 6 | 74% */
|
| 186 |
{ 16, 7 }, /* 24 | 16 | 7 | 71% */
|
| 187 |
{ 16, 8 } /* 25 | 16 | 8 | 68% */
|
| 188 |
}; |
| 189 |
|
| 190 |
int counter = 0; |
| 191 |
/************************************************************************************//** |
| 192 |
** \brief Search algorithm to match the desired baudrate to a possible bus
|
| 193 |
** timing configuration.
|
| 194 |
** \param baud The desired baudrate in kbps. Valid values are 10..1000.
|
| 195 |
** \param prescaler Pointer to where the value for the prescaler will be stored.
|
| 196 |
** \param tseg1 Pointer to where the value for TSEG2 will be stored.
|
| 197 |
** \param tseg2 Pointer to where the value for TSEG2 will be stored.
|
| 198 |
** \return BLT_TRUE if the CAN bustiming register values were found, BLT_FALSE
|
| 199 |
** otherwise.
|
| 200 |
**
|
| 201 |
****************************************************************************************/
|
| 202 |
static blt_bool CanGetSpeedConfig(blt_int16u baud, blt_int16u *prescaler,
|
| 203 |
blt_int8u *tseg1, blt_int8u *tseg2) |
| 204 |
{
|
| 205 |
blt_int8u cnt; |
| 206 |
|
| 207 |
/* loop through all possible time quanta configurations to find a match */
|
| 208 |
for (cnt=0; cnt < sizeof(canTiming)/sizeof(canTiming[0]); cnt++) |
| 209 |
{
|
| 210 |
if (((BOOT_CPU_SYSTEM_SPEED_KHZ/4) % (baud*(canTiming[cnt].tseg1+canTiming[cnt].tseg2+1))) == 0) |
| 211 |
{
|
| 212 |
/* compute the prescaler that goes with this TQ configuration */
|
| 213 |
*prescaler = (BOOT_CPU_SYSTEM_SPEED_KHZ/4)/(baud*(canTiming[cnt].tseg1+canTiming[cnt].tseg2+1)); |
| 214 |
|
| 215 |
/* make sure the prescaler is valid */
|
| 216 |
if ( (*prescaler > 0) && (*prescaler <= 1024) ) |
| 217 |
{
|
| 218 |
/* store the bustiming configuration */
|
| 219 |
*tseg1 = canTiming[cnt].tseg1; |
| 220 |
*tseg2 = canTiming[cnt].tseg2; |
| 221 |
/* found a good bus timing configuration */
|
| 222 |
return BLT_TRUE;
|
| 223 |
} |
| 224 |
} |
| 225 |
} |
| 226 |
/* could not find a good bus timing configuration */
|
| 227 |
return BLT_FALSE;
|
| 228 |
} /*** end of CanGetSpeedConfig ***/
|
| 229 |
|
| 230 |
|
| 231 |
/************************************************************************************//** |
| 232 |
** \brief Initializes the CAN controller and synchronizes it to the CAN bus.
|
| 233 |
** \return none.
|
| 234 |
**
|
| 235 |
****************************************************************************************/
|
| 236 |
void CanInit(void) |
| 237 |
{
|
| 238 |
blt_int16u prescaler; |
| 239 |
blt_int8u tseg1, tseg2; |
| 240 |
blt_bool result; |
| 241 |
|
| 242 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 243 |
commandSend = BLT_FALSE; |
| 244 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 245 |
|
| 246 |
/* the current implementation supports CAN1 and 2. throw an assertion error in case a
|
| 247 |
* different CAN channel is configured.
|
| 248 |
*/
|
| 249 |
ASSERT_CT((BOOT_COM_CAN_CHANNEL_INDEX == 0 || BOOT_COM_CAN_CHANNEL_INDEX == 1)); |
| 250 |
|
| 251 |
/* obtain bittiming configuration information */
|
| 252 |
result = CanGetSpeedConfig(BOOT_COM_CAN_BAUDRATE/1000, &prescaler, &tseg1, &tseg2);
|
| 253 |
ASSERT_RT(result == BLT_TRUE); |
| 254 |
/* disable all can interrupt. this driver works in polling mode */
|
| 255 |
CANx->IER = (blt_int32u)0;
|
| 256 |
/* set request to reset the can controller */
|
| 257 |
CANx->MCR |= CAN_BIT_RESET ; |
| 258 |
/* wait for acknowledge that the can controller was reset */
|
| 259 |
while ((CANx->MCR & CAN_BIT_RESET) != 0) |
| 260 |
{
|
| 261 |
/* keep the watchdog happy */
|
| 262 |
CopService(); |
| 263 |
} |
| 264 |
/* exit from sleep mode, which is the default mode after reset */
|
| 265 |
CANx->MCR &= ~CAN_BIT_SLEEP; |
| 266 |
/* set request to enter initialisation mode */
|
| 267 |
CANx->MCR |= CAN_BIT_INRQ ; |
| 268 |
/* wait for acknowledge that initialization mode was entered */
|
| 269 |
while ((CANx->MSR & CAN_BIT_INAK) == 0) |
| 270 |
{
|
| 271 |
/* keep the watchdog happy */
|
| 272 |
CopService(); |
| 273 |
} |
| 274 |
/* configure the bittming */
|
| 275 |
CANx->BTR = (blt_int32u)((blt_int32u)(3) << 24) | \ |
| 276 |
(blt_int32u)((blt_int32u)(tseg1 - 1) << 16) | \ |
| 277 |
(blt_int32u)((blt_int32u)(tseg2 - 1) << 20) | \ |
| 278 |
(blt_int32u)(prescaler - 1);
|
| 279 |
// CANx->BTR = (blt_int32u)((blt_int32u)(tseg1 - 1) << 16) | \
|
| 280 |
(blt_int32u)((blt_int32u)(tseg2 - 1) << 20) | \
|
| 281 |
(blt_int32u)(prescaler - 1) | \
|
| 282 |
(blt_int32u)(0x3 << 30);
|
| 283 |
// CANx->BTR = (blt_int32u)((blt_int32u)(15) << 16) | \
|
| 284 |
(blt_int32u)((blt_int32u)(3) << 20) | \
|
| 285 |
(blt_int32u)((blt_int32u)(1) << 24) | \
|
| 286 |
(blt_int32u)(1) | \
|
| 287 |
(blt_int32u)(0x3 << 30);
|
| 288 |
/* set request to leave initialisation mode */
|
| 289 |
CANx->MCR &= ~CAN_BIT_INRQ; |
| 290 |
/* wait for acknowledge that initialization mode was exited */
|
| 291 |
while ((CANx->MSR & CAN_BIT_INAK) != 0) |
| 292 |
{
|
| 293 |
/* keep the watchdog happy */
|
| 294 |
CopService(); |
| 295 |
} |
| 296 |
|
| 297 |
#if (BOOT_COM_CAN_CHANNEL_INDEX == 0) |
| 298 |
/* enter initialisation mode for the acceptance filter */
|
| 299 |
CAN1->FMR |= CAN_BIT_FINIT; |
| 300 |
/* deactivate filter 0 */
|
| 301 |
CAN1->FA1R &= ~CAN_BIT_FILTER0; |
| 302 |
/* 32-bit scale for the filter */
|
| 303 |
CAN1->FS1R |= CAN_BIT_FILTER0; |
| 304 |
/* open up the acceptance filter to receive all messages */
|
| 305 |
CAN1->sFilterRegister[0].FR1 = 0; |
| 306 |
CAN1->sFilterRegister[0].FR2 = 0; |
| 307 |
/* select id/mask mode for the filter */
|
| 308 |
CAN1->FM1R &= ~CAN_BIT_FILTER0; |
| 309 |
/* FIFO 0 assignation for the filter */
|
| 310 |
CAN1->FFA1R &= ~CAN_BIT_FILTER0; |
| 311 |
/* filter activation */
|
| 312 |
CAN1->FA1R |= CAN_BIT_FILTER0; |
| 313 |
/* leave initialisation mode for the acceptance filter */
|
| 314 |
CAN1->FMR &= ~CAN_BIT_FINIT; |
| 315 |
#else
|
| 316 |
/* enter initialisation mode for the acceptance filter */
|
| 317 |
CAN1->FMR |= CAN_BIT_FINIT; |
| 318 |
/* deactivate filter 14 */
|
| 319 |
CAN1->FA1R &= ~CAN_BIT_FILTER14; |
| 320 |
/* 32-bit scale for the filter */
|
| 321 |
CAN1->FS1R |= CAN_BIT_FILTER14; |
| 322 |
/* open up the acceptance filter to receive all messages */
|
| 323 |
CAN1->sFilterRegister[14].FR1 = 0; |
| 324 |
CAN1->sFilterRegister[14].FR2 = 0; |
| 325 |
/* select id/mask mode for the filter */
|
| 326 |
CAN1->FM1R &= ~CAN_BIT_FILTER14; |
| 327 |
/* FIFO 0 assignation for the filter */
|
| 328 |
CAN1->FFA1R &= ~CAN_BIT_FILTER14; |
| 329 |
/* filter activation */
|
| 330 |
CAN1->FA1R |= CAN_BIT_FILTER14; |
| 331 |
/* leave initialisation mode for the acceptance filter */
|
| 332 |
CAN1->FMR &= ~CAN_BIT_FINIT; |
| 333 |
#endif
|
| 334 |
} /*** end of CanInit ***/
|
| 335 |
|
| 336 |
|
| 337 |
/************************************************************************************//** |
| 338 |
** \brief Transmits a packet formatted for the communication interface.
|
| 339 |
** \param data Pointer to byte array with data that it to be transmitted.
|
| 340 |
** \param len Number of bytes that are to be transmitted.
|
| 341 |
** \return none.
|
| 342 |
**
|
| 343 |
****************************************************************************************/
|
| 344 |
void CanTransmitPacket(blt_int8u *data, blt_int8u len, blt_int32u deviceID)
|
| 345 |
{
|
| 346 |
/* make sure that transmit mailbox 0 is available */
|
| 347 |
ASSERT_RT((CANx->TSR&CAN_BIT_TME0) == CAN_BIT_TME0); |
| 348 |
|
| 349 |
blt_int32u address; |
| 350 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 351 |
if (deviceID == 0) { |
| 352 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 353 |
address = (blt_int32u)BOOT_COM_CAN_TX_MSG_ID; |
| 354 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 355 |
commandSend = BLT_FALSE; |
| 356 |
} else {
|
| 357 |
address = (blt_int32u)BOOT_COM_CAN_RX_MSG_ID; |
| 358 |
commandSend = BLT_TRUE; |
| 359 |
} |
| 360 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 361 |
|
| 362 |
/* init variables */
|
| 363 |
blt_int8u canData[8];
|
| 364 |
blt_int8u restLen = len; |
| 365 |
blt_int8u canIdx = 0;
|
| 366 |
blt_int32u ackMsgId; |
| 367 |
blt_int8u ackMsgLen; |
| 368 |
|
| 369 |
/* send the given package in 8 byte packages */
|
| 370 |
while (restLen > 0) { |
| 371 |
/* build the message identifier */
|
| 372 |
CANx->sTxMailBox[0].TIR &= CAN_BIT_TXRQ;
|
| 373 |
CANx->sTxMailBox[0].TIR |= (address << 21); |
| 374 |
|
| 375 |
/* if this is the first transmission of this packet */
|
| 376 |
if (restLen == len) {
|
| 377 |
|
| 378 |
/* store the message date length code (DLC) */
|
| 379 |
CANx->sTxMailBox[0].TDTR = (restLen > 4) ? 8 : restLen+1+4; |
| 380 |
|
| 381 |
/* store the device ID */
|
| 382 |
canData[0] = (blt_int8u)(0xFF & (deviceID >> 0)); |
| 383 |
canData[1] = (blt_int8u)(0xFF & (deviceID >> 8)); |
| 384 |
canData[2] = (blt_int8u)(0xFF & (deviceID >> 16)); |
| 385 |
canData[3] = (blt_int8u)(0xFF & (deviceID >> 24)); |
| 386 |
|
| 387 |
/* store the remaining packet length */
|
| 388 |
canData[4] = restLen;
|
| 389 |
|
| 390 |
canIdx = 5;
|
| 391 |
} |
| 392 |
/* if this is a succeeding transmission of this packet */
|
| 393 |
else {
|
| 394 |
|
| 395 |
/* store the message date length code (DLC) */
|
| 396 |
CANx->sTxMailBox[0].TDTR = (restLen > 7) ? 8 : restLen+1; |
| 397 |
|
| 398 |
/* store the remaining packet length */
|
| 399 |
canData[0] = restLen;
|
| 400 |
|
| 401 |
canIdx = 1;
|
| 402 |
} |
| 403 |
|
| 404 |
/* store the packet payload */
|
| 405 |
while (restLen > 0 && canIdx < 8) { |
| 406 |
canData[canIdx] = data[len-restLen]; |
| 407 |
canIdx++; |
| 408 |
restLen--; |
| 409 |
} |
| 410 |
/* fill rest with nulls */
|
| 411 |
while (canIdx < 8) { |
| 412 |
canData[canIdx] = 0;
|
| 413 |
canIdx++; |
| 414 |
} |
| 415 |
|
| 416 |
/* store the message data bytes */
|
| 417 |
CANx->sTxMailBox[0].TDLR = (((blt_int32u)canData[3] << 24) | \ |
| 418 |
((blt_int32u)canData[2] << 16) | \ |
| 419 |
((blt_int32u)canData[1] << 8) | \ |
| 420 |
((blt_int32u)canData[0]));
|
| 421 |
CANx->sTxMailBox[0].TDHR = (((blt_int32u)canData[7] << 24) | \ |
| 422 |
((blt_int32u)canData[6] << 16) | \ |
| 423 |
((blt_int32u)canData[5] << 8) | \ |
| 424 |
((blt_int32u)canData[4]));
|
| 425 |
|
| 426 |
/* request the start of message transmission */
|
| 427 |
CANx->sTxMailBox[0].TIR |= CAN_BIT_TXRQ;
|
| 428 |
/* wait for transmit completion */
|
| 429 |
while ((CANx->TSR&CAN_BIT_TME0) == 0) |
| 430 |
{
|
| 431 |
/* keep the watchdog happy */
|
| 432 |
CopService(); |
| 433 |
} |
| 434 |
|
| 435 |
/* wait for the acknowledgement transmission */
|
| 436 |
while ((CANx->RF0R&(blt_int32u)0x00000003) == 0) { |
| 437 |
/* keep the watchdog happy */
|
| 438 |
CopService(); |
| 439 |
} |
| 440 |
|
| 441 |
/* read out the message identifier, length and payload */
|
| 442 |
ackMsgId = (blt_int32u)0x000007FF & (CANx->sFIFOMailBox[0].RIR >> 21); |
| 443 |
ackMsgLen = (blt_int8u)0x0F & CANx->sFIFOMailBox[0].RDTR; |
| 444 |
canData[0] = (blt_int8u)0xFF & CANx->sFIFOMailBox[0].RDLR; |
| 445 |
canData[1] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 8); |
| 446 |
canData[2] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 16); |
| 447 |
canData[3] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 24); |
| 448 |
canData[4] = (blt_int8u)0xFF & CANx->sFIFOMailBox[0].RDHR; |
| 449 |
canData[5] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 8); |
| 450 |
canData[6] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 16); |
| 451 |
canData[7] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 24); |
| 452 |
|
| 453 |
#if (CAN_DEBUG > 0) |
| 454 |
/* verification:
|
| 455 |
* - ID must be "address & BOOT_COM_CAN_MSG_ACK"
|
| 456 |
* - length must be 1
|
| 457 |
* - canData[0] must b equal to restLen
|
| 458 |
*/
|
| 459 |
if (ackMsgId != (address | (blt_int32u)BOOT_COM_CAN_MSG_ACK) ||
|
| 460 |
ackMsgLen != 1 ||
|
| 461 |
canData[0] != restLen) {
|
| 462 |
/* some error occurred */
|
| 463 |
blinkSOS(1);
|
| 464 |
msleep(500);
|
| 465 |
visualizeData((blt_int8u*)&ackMsgId, 2, 1); |
| 466 |
msleep(500);
|
| 467 |
visualizeByte(ackMsgLen, 1);
|
| 468 |
msleep(500);
|
| 469 |
visualizeByte(canData[0], 1); |
| 470 |
msleep(500);
|
| 471 |
visualizeByte(restLen, 1);
|
| 472 |
blinkSOSinf(); |
| 473 |
} |
| 474 |
#endif /* CAN_DEBUG > 0 */ |
| 475 |
|
| 476 |
/* release FIFO0 */
|
| 477 |
CANx->RF0R |= CAN_BIT_RFOM0; |
| 478 |
|
| 479 |
/* modify address so that receivers can filter */
|
| 480 |
address |= (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT; |
| 481 |
} |
| 482 |
} /*** end of CanTransmitSinglePacket ***/
|
| 483 |
|
| 484 |
|
| 485 |
/************************************************************************************//** |
| 486 |
** \brief Transmits many packets formatted for the communication interface.
|
| 487 |
** \param data Pointer to byte array with data that it to be transmitted.
|
| 488 |
** \param len Number of bytes that are to be transmitted.
|
| 489 |
** \return none.
|
| 490 |
|
| 491 |
**
|
| 492 |
****************************************************************************************/
|
| 493 |
/*void CanTransmitPacket(blt_int8u *data, blt_int8u len, blt_int8u deviceID)
|
| 494 |
{
|
| 495 |
static blt_int8u canPacketData[8];
|
| 496 |
|
| 497 |
canPacketData[0] = len;
|
| 498 |
blt_int8u restLength = len;
|
| 499 |
while (restLength > 0) {
|
| 500 |
blt_int8u canIdx = 0;
|
| 501 |
if (restLength == len) {
|
| 502 |
canIdx = 1;
|
| 503 |
}
|
| 504 |
|
| 505 |
/* while (restLength > 0 && canIdx < 8) {
|
| 506 |
canPacketData[canIdx] = data[len-restLength];
|
| 507 |
canIdx++;
|
| 508 |
restLength--;
|
| 509 |
}*/
|
| 510 |
/* blt_int8u dataLength = 8;
|
| 511 |
if (dataLength > restLength) {
|
| 512 |
dataLength = restLength;
|
| 513 |
}
|
| 514 |
CpuMemCopy((blt_int32u)&canPacketData[1], (blt_int32u)&data[], toReceive);
|
| 515 |
|
| 516 |
CanTransmitSinglePacket(canPacketData, canIdx, deviceID);
|
| 517 |
}
|
| 518 |
} /*** end of CanTransmitPacket ***/
|
| 519 |
|
| 520 |
|
| 521 |
/************************************************************************************//** |
| 522 |
** \brief Receives a communication interface packet if one is present.
|
| 523 |
** \param data Pointer to byte array where the data is to be stored.
|
| 524 |
** \return Length of message (if the message is invalid, the length will be 0).
|
| 525 |
**
|
| 526 |
****************************************************************************************/
|
| 527 |
blt_int8u CanReceivePacket(blt_int8u *data) |
| 528 |
{
|
| 529 |
blt_int32u rxMsgId; |
| 530 |
blt_bool result = BLT_FALSE; |
| 531 |
blt_int8u length = 0;
|
| 532 |
|
| 533 |
static blt_int8u readData[BOOT_COM_RX_MAX_DATA];
|
| 534 |
static blt_int8u receivedLen = 0; |
| 535 |
static blt_int8u lastLen = 0; |
| 536 |
static blt_int8u toReceive = 0; |
| 537 |
blt_int8u canData[8];
|
| 538 |
blt_int8u restLen; |
| 539 |
blt_int8u canLength; |
| 540 |
blt_int8u idx; |
| 541 |
|
| 542 |
blt_int32u compID; |
| 543 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 544 |
if (commandSend == BLT_TRUE) {
|
| 545 |
compID = (blt_int32u)BOOT_COM_CAN_TX_MSG_ID; |
| 546 |
} else {
|
| 547 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 548 |
compID = (blt_int32u)BOOT_COM_CAN_RX_MSG_ID; |
| 549 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 550 |
} |
| 551 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 552 |
|
| 553 |
/* check if a new message was received or is more to come */
|
| 554 |
while ((CANx->RF0R&(blt_int32u)0x00000003) > 0 || receivedLen < toReceive) |
| 555 |
{
|
| 556 |
/* wait for a transmission if required */
|
| 557 |
while (receivedLen < toReceive && (CANx->RF0R&(blt_int32u)0x00000003) == 0) { |
| 558 |
/* keep the watchdog happy */
|
| 559 |
CopService(); |
| 560 |
} |
| 561 |
|
| 562 |
/* read out the message identifier */
|
| 563 |
rxMsgId = (blt_int32u)0x000007FF & (CANx->sFIFOMailBox[0].RIR >> 21); |
| 564 |
/* is this the packet identifier */
|
| 565 |
if (rxMsgId == compID)
|
| 566 |
{
|
| 567 |
result = BLT_TRUE; |
| 568 |
|
| 569 |
/* save length */
|
| 570 |
canLength = (blt_int8u)0x0F & CANx->sFIFOMailBox[0].RDTR; |
| 571 |
/* store the received packet data */
|
| 572 |
canData[0] = (blt_int8u)0xFF & CANx->sFIFOMailBox[0].RDLR; |
| 573 |
canData[1] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 8); |
| 574 |
canData[2] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 16); |
| 575 |
canData[3] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 24); |
| 576 |
canData[4] = (blt_int8u)0xFF & CANx->sFIFOMailBox[0].RDHR; |
| 577 |
canData[5] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 8); |
| 578 |
canData[6] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 16); |
| 579 |
canData[7] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 24); |
| 580 |
|
| 581 |
#if (CAN_DEBUG > 0) |
| 582 |
if ((receivedLen == 0 && (rxMsgId & (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT) != 0) || |
| 583 |
(receivedLen > 0 && (rxMsgId & (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT) == 0)) { |
| 584 |
blinkSOS(4);
|
| 585 |
msleep(500);
|
| 586 |
visualizeByte(toReceive, 1);
|
| 587 |
msleep(500);
|
| 588 |
visualizeByte(receivedLen, 1);
|
| 589 |
msleep(500);
|
| 590 |
visualizeData((blt_int8u*)&rxMsgId, 2, 1); |
| 591 |
msleep(500);
|
| 592 |
blinkSOSinf(); |
| 593 |
} |
| 594 |
#endif /* CAN_DEBUG > 0 */ |
| 595 |
|
| 596 |
/* if this is the first transmission of this packet */
|
| 597 |
if (receivedLen == 0) { |
| 598 |
/* abort if the message was meant for someone else */
|
| 599 |
blt_int32u deviceID = (((blt_int32u)canData[3]) << 24) | \ |
| 600 |
(((blt_int32u)canData[2]) << 16) | \ |
| 601 |
(((blt_int32u)canData[1]) << 8) | \ |
| 602 |
(((blt_int32u)canData[0]));
|
| 603 |
#if (BOOT_GATE_ENABLE > 0) |
| 604 |
#if defined(BOOT_COM_DEVICE_LEGACY_ID)
|
| 605 |
if ((commandSend == BLT_TRUE && deviceID == 0) || |
| 606 |
(commandSend != BLT_TRUE && (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID || deviceID == (blt_int32u)BOOT_COM_DEVICE_LEGACY_ID))) {
|
| 607 |
#else
|
| 608 |
if ((commandSend == BLT_TRUE && deviceID == 0) || |
| 609 |
(commandSend != BLT_TRUE && (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID))) {
|
| 610 |
#endif
|
| 611 |
#else
|
| 612 |
if (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID) {
|
| 613 |
#endif
|
| 614 |
/* store length of the packet */
|
| 615 |
toReceive = canData[4];
|
| 616 |
lastLen = canData[4];
|
| 617 |
idx = 5;
|
| 618 |
|
| 619 |
/* modify the listening address for filtering of subsequent transmissions */
|
| 620 |
compID |= (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT; |
| 621 |
} else {
|
| 622 |
/* release FIFO0 */
|
| 623 |
CANx->RF0R |= CAN_BIT_RFOM0; |
| 624 |
break;
|
| 625 |
} |
| 626 |
} |
| 627 |
/* if this is a subsequent transmission of a packet */
|
| 628 |
else {
|
| 629 |
/* store rest length and check if possible */
|
| 630 |
restLen = canData[0];
|
| 631 |
#if (CAN_DEBUG > 0) |
| 632 |
if (restLen != toReceive-receivedLen ||
|
| 633 |
canLength > restLen+1 ||
|
| 634 |
lastLen-restLen != ((lastLen==toReceive) ? 3 : 7)) { |
| 635 |
/* transmission has been lost */
|
| 636 |
blinkSOS(2);
|
| 637 |
msleep(500);
|
| 638 |
visualizeData((blt_int8u*)&rxMsgId, 4, 1); |
| 639 |
msleep(500);
|
| 640 |
visualizeByte(toReceive, 1);
|
| 641 |
msleep(500);
|
| 642 |
visualizeByte(receivedLen, 1);
|
| 643 |
msleep(500);
|
| 644 |
visualizeByte(lastLen, 1);
|
| 645 |
msleep(500);
|
| 646 |
visualizeByte(restLen, 1);
|
| 647 |
msleep(500);
|
| 648 |
visualizeByte(canLength, 1);
|
| 649 |
msleep(500);
|
| 650 |
visualizeData(readData, receivedLen, 1);
|
| 651 |
blinkSOSinf(); |
| 652 |
} |
| 653 |
#endif /* CAN_DEBUG > 0 */ |
| 654 |
lastLen = restLen; |
| 655 |
idx = 1;
|
| 656 |
} |
| 657 |
|
| 658 |
/* store the payload */
|
| 659 |
for (; idx < canLength; idx++) {
|
| 660 |
readData[receivedLen] = canData[idx]; |
| 661 |
receivedLen++; |
| 662 |
} |
| 663 |
|
| 664 |
/* release FIFO0 */
|
| 665 |
CANx->RF0R |= CAN_BIT_RFOM0; |
| 666 |
|
| 667 |
/* send acknowledgement */
|
| 668 |
CANx->sTxMailBox[0].TIR &= CAN_BIT_TXRQ;
|
| 669 |
CANx->sTxMailBox[0].TIR |= ((rxMsgId | (blt_int32u)BOOT_COM_CAN_MSG_ACK) << 21); |
| 670 |
CANx->sTxMailBox[0].TDTR = 1; |
| 671 |
CANx->sTxMailBox[0].TDLR = (((blt_int32u)0 << 24) | \ |
| 672 |
((blt_int32u)0 << 16) | \ |
| 673 |
((blt_int32u)0 << 8) | \ |
| 674 |
((blt_int32u)(toReceive-receivedLen))); |
| 675 |
CANx->sTxMailBox[0].TDHR = (((blt_int32u)0 << 24) | \ |
| 676 |
((blt_int32u)0 << 16) | \ |
| 677 |
((blt_int32u)0 << 8) | \ |
| 678 |
((blt_int32u)0));
|
| 679 |
|
| 680 |
/* request the start of message transmission */
|
| 681 |
CANx->sTxMailBox[0].TIR |= CAN_BIT_TXRQ;
|
| 682 |
/* wait for transmit completion */
|
| 683 |
while ((CANx->TSR&CAN_BIT_TME0) == 0) |
| 684 |
{
|
| 685 |
/* keep the watchdog happy */
|
| 686 |
CopService(); |
| 687 |
} |
| 688 |
|
| 689 |
/* check if full package has been received */
|
| 690 |
if (receivedLen == toReceive) {
|
| 691 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 692 |
commandSend = BLT_FALSE; |
| 693 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 694 |
for (idx = 0; idx < toReceive; idx++) { |
| 695 |
data[idx] = readData[idx]; |
| 696 |
} |
| 697 |
length = toReceive; |
| 698 |
/* reset static variables */
|
| 699 |
receivedLen = 0;
|
| 700 |
toReceive = 0;
|
| 701 |
break;
|
| 702 |
} else {
|
| 703 |
#if (CAN_DEBUG > 0) |
| 704 |
if (receivedLen > toReceive) {
|
| 705 |
/* something strange happened */
|
| 706 |
blinkSOS(3);
|
| 707 |
msleep(500);
|
| 708 |
visualizeByte(toReceive, 1);
|
| 709 |
msleep(500);
|
| 710 |
visualizeByte(receivedLen, 1);
|
| 711 |
blinkSOSinf(); |
| 712 |
} |
| 713 |
#endif /* CAN_DEBUG > 0 */ |
| 714 |
length = 0;
|
| 715 |
} |
| 716 |
} else {
|
| 717 |
/* release FIFO0 */
|
| 718 |
CANx->RF0R |= CAN_BIT_RFOM0; |
| 719 |
} |
| 720 |
} |
| 721 |
|
| 722 |
return length;
|
| 723 |
} /*** end of CanReceiveSinglePacket ***/
|
| 724 |
|
| 725 |
|
| 726 |
/************************************************************************************//** |
| 727 |
** \brief Receives some communication interface packets if they are present.
|
| 728 |
** \param data Pointer to byte array where the data is to be stored.
|
| 729 |
** \return Length of message (if the message is invalid, the length will be 0).
|
| 730 |
**
|
| 731 |
****************************************************************************************/
|
| 732 |
#if (0) |
| 733 |
blt_int8u CanReceivePacket(blt_int8u *data) |
| 734 |
{
|
| 735 |
static blt_int8u canPacketData[8]; |
| 736 |
static blt_int8u canData[BOOT_COM_RX_MAX_DATA];
|
| 737 |
static blt_int8u receivedLength = 0; |
| 738 |
static blt_int8u toReceive = 0; |
| 739 |
|
| 740 |
// get CAN packet
|
| 741 |
blt_int8u len = CanReceiveSinglePacket(canPacketData); |
| 742 |
|
| 743 |
// check, if packet has been received
|
| 744 |
if (len == 0) { |
| 745 |
return 0; |
| 746 |
} |
| 747 |
|
| 748 |
// if it's the first packet of a flow, save data length
|
| 749 |
blt_int8u startRead = 0;
|
| 750 |
if (receivedLength == 0) { |
| 751 |
toReceive = canPacketData[0];
|
| 752 |
startRead = 1;
|
| 753 |
} |
| 754 |
|
| 755 |
// copy CAN packet data into complete data packet
|
| 756 |
blt_int8u canIdx = 0;
|
| 757 |
while (receivedLength < toReceive && canIdx < 8) { |
| 758 |
canData[receivedLength] = canPacketData[canIdx]; |
| 759 |
receivedLength++; |
| 760 |
canIdx++; |
| 761 |
} |
| 762 |
|
| 763 |
// check, if data packet is finished
|
| 764 |
if (receivedLength == toReceive) {
|
| 765 |
receivedLength = 0;
|
| 766 |
CpuMemCopy((blt_int32u)data, (blt_int32u)&canData[0], toReceive);
|
| 767 |
return toReceive;
|
| 768 |
} else {
|
| 769 |
return 0; |
| 770 |
} |
| 771 |
|
| 772 |
|
| 773 |
} /*** end of CanReceivePacket ***/
|
| 774 |
#endif
|
| 775 |
#endif /* BOOT_COM_CAN_ENABLE > 0 || BOOT_GATE_CAN_ENABLE > 0 */ |
| 776 |
|
| 777 |
|
| 778 |
/*********************************** end of can.c **************************************/
|