AMiRo-OS

/************************************************************************************//**

* \file         xcpmaster.c

* \brief        XCP Master source file.

* \ingroup      SerialBoot

* \internal

*----------------------------------------------------------------------------------------

*                          C O P Y R I G H T

*----------------------------------------------------------------------------------------

*   Copyright (c) 2014  by Feaser    http://www.feaser.com    All rights reserved

*

*----------------------------------------------------------------------------------------

*                            L I C E N S E

*----------------------------------------------------------------------------------------

* This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or

* modify it under the terms of the GNU General Public License as published by the Free

* Software Foundation, either version 3 of the License, or (at your option) any later

* version.

*

* OpenBLT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;

* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR

* PURPOSE. See the GNU General Public License for more details.

*

* You should have received a copy of the GNU General Public License along with OpenBLT.

* If not, see <http://www.gnu.org/licenses/>.

*

* A special exception to the GPL is included to allow you to distribute a combined work 

* that includes OpenBLT without being obliged to provide the source code for any 

* proprietary components. The exception text is included at the bottom of the license

* file <license.html>.

* 

* \endinternal

****************************************************************************************/

/****************************************************************************************

* Include files

****************************************************************************************/

#include <assert.h>                                   /* assertion module              */

#include <sb_types.h>                                 /* C types                       */

#include "xcpmaster.h"                                /* XCP master protocol module    */

/****************************************************************************************

* Macro definitions

****************************************************************************************/

/* XCP command codes as defined by the protocol currently supported by this module */

#define XCP_MASTER_CMD_CONNECT         (0xFF)

#define XCP_MASTER_CMD_DISCONNECT      (0xFE)

#define XCP_MASTER_CMD_SET_MTA         (0xF6)

#define XCP_MASTER_CMD_UPLOAD          (0xF5)

#define XCP_MASTER_CMD_PROGRAM_START   (0xD2)

#define XCP_MASTER_CMD_PROGRAM_CLEAR   (0xD1)

#define XCP_MASTER_CMD_PROGRAM         (0xD0)

#define XCP_MASTER_CMD_PROGRAM_RESET   (0xCF)

#define XCP_MASTER_CMD_PROGRAM_MAX     (0xC9)

/* XCP response packet IDs as defined by the protocol */

#define XCP_MASTER_CMD_PID_RES         (0xFF) /* positive response */

/* timeout values */

#define XCP_MASTER_CONNECT_TIMEOUT_MS  (20)

#define XCP_MASTER_TIMEOUT_T1_MS       (1000)  /* standard command timeout */

#define XCP_MASTER_TIMEOUT_T2_MS       (2000)  /* build checksum timeout */

#define XCP_MASTER_TIMEOUT_T3_MS       (2000)  /* program start timeout */

#define XCP_MASTER_TIMEOUT_T4_MS       (10000) /* erase timeout */

#define XCP_MASTER_TIMEOUT_T5_MS       (1000)  /* write and reset timeout */

#define XCP_MASTER_TIMEOUT_T6_MS       (1000)  /* user specific connect connect timeout */

#define XCP_MASTER_TIMEOUT_T7_MS       (2000)  /* wait timer timeout */

/* XCP error codes */

/** \brief Cmd processor synchronization error code. */

#define XCP_ERR_CMD_SYNCH           (0x00)

/** \brief Command was not executed error code. */

#define XCP_ERR_CMD_BUSY            (0x10)

/** \brief Unknown or unsupported command error code. */

#define XCP_ERR_CMD_UNKNOWN         (0x20)

/** \brief Parameter out of range error code. */

#define XCP_ERR_OUT_OF_RANGE        (0x22)

/** \brief Protected error code. Seed/key required. */

#define XCP_ERR_ACCESS_LOCKED       (0x25)

/** \brief Cal page not valid error code. */

#define XCP_ERR_PAGE_NOT_VALID      (0x26)

/** \brief Sequence error code. */

#define XCP_ERR_SEQUENCE            (0x29)

/** \brief Generic error code. */

#define XCP_ERR_GENERIC             (0x31)

/** \brief Number of retries to connect to the XCP slave. */

#define XCP_MASTER_CONNECT_RETRIES     (5)

/****************************************************************************************

* Function prototypes

****************************************************************************************/

static sb_uint8 XcpMasterSendCmdConnect(sb_uint8 flashingTargetID);

static sb_uint8 XcpMasterSendCmdSetMta(sb_uint32 address);

static sb_uint8 XcpMasterSendCmdUpload(sb_uint8 data[], sb_uint8 length);

static sb_uint8 XcpMasterSendCmdProgramStart(void);

static sb_uint8 XcpMasterSendCmdDisconnect(void);

static sb_uint8 XcpMasterSendCmdProgramReset(void);

static sb_uint8 XcpMasterSendCmdProgram(sb_uint8 length, sb_uint8 data[]);

static sb_uint8 XcpMasterSendCmdProgramMax(sb_uint8 data[]);

static sb_uint8 XcpMasterSendCmdProgramClear(sb_uint32 length);

static void     XcpMasterSetOrderedLong(sb_uint32 value, sb_uint8 data[]);

static void     XcpMasterPrintError(sb_uint8 error);

/****************************************************************************************

* Local data declarations

****************************************************************************************/

/** \brief Store the byte ordering of the XCP slave. */

static sb_uint8 xcpSlaveIsIntel = SB_FALSE;

/** \brief The max number of bytes in the command transmit object (master->slave). */

static sb_uint8 xcpMaxCto;

/** \brief The max number of bytes in the command transmit object (master->slave) during

 *         a programming session.

 */

static sb_uint8 xcpMaxProgCto = 0;

/** \brief The max number of bytes in the data transmit object (slave->master). */

static sb_uint8 xcpMaxDto;

/** \brief Internal data buffer for storing the data of the XCP response packet. */

static tXcpTransportResponsePacket responsePacket;

/************************************************************************************//**

** \brief     Initializes the XCP master protocol layer.

** \param     device Serial communication device name. For example "COM4".

** \param     baudrate Communication speed in bits/sec.

** \return    SB_TRUE is successful, SB_FALSE otherwise.

**

****************************************************************************************/

sb_uint8 XcpMasterInit(sb_char *device, sb_uint32 baudrate, sb_uint8 comIsUart)

{

  /* initialize the underlying transport layer that is used for the communication */

  return XcpTransportInit(device, baudrate, comIsUart);

} /*** end of XcpMasterInit ***/

/************************************************************************************//**

** \brief     Uninitializes the XCP master protocol layer.

** \return    none.

**

****************************************************************************************/

void XcpMasterDeinit(void)

{

  XcpTransportClose();

} /*** end of XcpMasterDeinit ***/

/************************************************************************************//**

** \brief     Connect to the XCP slave.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

sb_uint8 XcpMasterConnect(sb_uint8 flashingTargetID)

{

  sb_uint8 cnt;

  sb_uint8 retries = 1;

  if (flashingTargetID <= 0) {

    retries = XCP_MASTER_CONNECT_RETRIES;

  }

  /* try to connect with a finite amount of retries */

  for (cnt=0; cnt<retries; cnt++)

  {

    /* send the connect command */

    if (XcpMasterSendCmdConnect(flashingTargetID) == SB_TRUE)

    {

      /* connected so no need to retry */

      return SB_TRUE;

    }

  }

  /* still here so could not connect */

  return SB_FALSE;

} /*** end of XcpMasterConnect ***/

/************************************************************************************//**

** \brief     Disconnect the slave.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

sb_uint8 XcpMasterDisconnect(void)

{

  /* send reset command instead of the disconnect. this causes the user program on the

   * slave to automatically start again if present.

   */

  return XcpMasterSendCmdDisconnect();

} /*** end of XcpMasterDisconnect ***/

/************************************************************************************//**

** \brief     Resets the user program.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

sb_uint8 XcpMasterProgramReset(void)

{

  /* send reset command instead of the disconnect. this causes the user program on the

   * slave to automatically start again if present.

   */

  return XcpMasterSendCmdProgramReset();

} /*** end of XcpMasterDisconnect ***/

/************************************************************************************//**

** \brief     Puts a connected slave in programming session.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

sb_uint8 XcpMasterStartProgrammingSession(void)

{

  /* place the slave in programming mode */

  return XcpMasterSendCmdProgramStart();

} /*** end of XcpMasterStartProgrammingSession ***/

/************************************************************************************//**

** \brief     Stops the programming session by sending a program command with size 0 and

**            then resetting the slave.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

sb_uint8 XcpMasterStopProgrammingSession(void)

{

  /* stop programming by sending the program command with size 0 */

  if (XcpMasterSendCmdProgram(0, SB_NULL) == SB_FALSE)

  {

    return SB_FALSE;

  }

  /* request a reset of the slave */

//  return XcpMasterSendCmdProgramReset();

  return SB_TRUE;

} /*** end of XcpMasterStopProgrammingSession ***/

/************************************************************************************//**

** \brief     Erases non volatile memory on the slave.

** \param     addr Base memory address for the erase operation.

** \param     len Number of bytes to erase.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

sb_uint8 XcpMasterClearMemory(sb_uint32 addr, sb_uint32 len)

{

  /* first set the MTA pointer */

  if (XcpMasterSendCmdSetMta(addr) == SB_FALSE)

  {

    return SB_FALSE;

  }

  /* now perform the erase operation */

  return XcpMasterSendCmdProgramClear(len);

} /*** end of XcpMasterClearMemory ***/

/************************************************************************************//**

** \brief     Reads data from the slave's memory.

** \param     addr Base memory address for the read operation

** \param     len Number of bytes to read.

** \param     data Destination buffer for storing the read data bytes.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

sb_uint8 XcpMasterReadData(sb_uint32 addr, sb_uint32 len, sb_uint8 data[])

{

  sb_uint8 currentReadCnt;

  sb_uint32 bufferOffset = 0;

  /* first set the MTA pointer */

  if (XcpMasterSendCmdSetMta(addr) == SB_FALSE)

  {

    return SB_FALSE;

  }

  /* perform segmented upload of the data */

  while (len > 0)

  {

    /* set the current read length to make optimal use of the available packet data. */

    currentReadCnt = len % (xcpMaxDto - 1);

    if (currentReadCnt == 0)

    {

      currentReadCnt = (xcpMaxDto - 1);

    }

    /* upload some data */

    if (XcpMasterSendCmdUpload(&data[bufferOffset], currentReadCnt) == SB_FALSE)

    {

      return SB_FALSE;

    }

    /* update loop variables */

    len -= currentReadCnt;

    bufferOffset += currentReadCnt;

  }

  /* still here so all data successfully read from the slave */

  return SB_TRUE;

} /*** end of XcpMasterReadData ***/

/************************************************************************************//**

** \brief     Programs data to the slave's non volatile memory. Note that it must be

**            erased first.

** \param     addr Base memory address for the program operation

** \param     len Number of bytes to program.

** \param     data Source buffer with the to be programmed bytes.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

sb_uint8 XcpMasterProgramData(sb_uint32 addr, sb_uint32 len, sb_uint8 data[])

{

  sb_uint8 currentWriteCnt;

  sb_uint32 bufferOffset = 0;

  /* first set the MTA pointer */

  if (XcpMasterSendCmdSetMta(addr) == SB_FALSE)

  {

    return SB_FALSE;

  }

  /* perform segmented programming of the data */

  while (len > 0)

  {

    /* set the current read length to make optimal use of the available packet data. */

    currentWriteCnt = len % (xcpMaxProgCto - 1);

    if (currentWriteCnt == 0)

    {

      currentWriteCnt = (xcpMaxProgCto - 1);

    }

    /* prepare the packed data for the program command */

    if (currentWriteCnt < (xcpMaxProgCto - 1))

    {

      /* program data */

      if (XcpMasterSendCmdProgram(currentWriteCnt, &data[bufferOffset]) == SB_FALSE)

      {

        return SB_FALSE;

      }

    }

    else

    {

      /* program max data */

      if (XcpMasterSendCmdProgramMax(&data[bufferOffset]) == SB_FALSE)

      {

        return SB_FALSE;

      }

    }

    /* update loop variables */

    len -= currentWriteCnt;

    bufferOffset += currentWriteCnt;

  }

  /* still here so all data successfully programmed */

  return SB_TRUE;

} /*** end of XcpMasterProgramData ***/

/************************************************************************************//**

** \brief     Sends the XCP Connect command.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

static sb_uint8 XcpMasterSendCmdConnect(sb_uint8 flashingTargetID)

{

  sb_uint8 packetData[2];

  tXcpTransportResponsePacket *responsePacketPtr;

  /* prepare the command packet */

  packetData[0] = XCP_MASTER_CMD_CONNECT;

  packetData[1] = flashingTargetID; /* normal mode */

  /* send the packet */

  if (XcpTransportSendPacket(packetData, 2, XCP_MASTER_CONNECT_TIMEOUT_MS) == SB_FALSE)

  {

    /* cound not set packet or receive response within the specified timeout */

    return SB_FALSE;

  }

  /* still here so a response was received */

  responsePacketPtr = XcpTransportReadResponsePacket();

  /* check if the reponse was valid */

  if ( (responsePacketPtr->len == 0) || (responsePacketPtr->data[0] != XCP_MASTER_CMD_PID_RES) )

  {

    /* not a valid or positive response */

    return SB_FALSE;

  }

  /* process response data */

  if ((responsePacketPtr->data[2] & 0x01) == 0)

  {

    /* store slave's byte ordering information */

    xcpSlaveIsIntel = SB_TRUE;

  }

  /* store max number of bytes the slave allows for master->slave packets. */

  xcpMaxCto = responsePacketPtr->data[3];

  xcpMaxProgCto = xcpMaxCto;

  /* store max number of bytes the slave allows for slave->master packets. */

  if (xcpSlaveIsIntel == SB_TRUE)

  {

    xcpMaxDto = responsePacketPtr->data[4] + (responsePacketPtr->data[5] << 8);

  }

  else

  {

    xcpMaxDto = responsePacketPtr->data[5] + (responsePacketPtr->data[4] << 8);

  }

  /* double check size configuration of the master */

  assert(XCP_MASTER_TX_MAX_DATA >= xcpMaxCto);

  assert(XCP_MASTER_RX_MAX_DATA >= xcpMaxDto);

  /* still here so all went well */  

  return SB_TRUE;

} /*** end of XcpMasterSendCmdConnect ***/

/************************************************************************************//**

** \brief     Sends the XCP Set MTA command.

** \param     address New MTA address for the slave.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

static sb_uint8 XcpMasterSendCmdSetMta(sb_uint32 address)

{

  sb_uint8 packetData[8];

  tXcpTransportResponsePacket *responsePacketPtr;

  /* prepare the command packet */

  packetData[0] = XCP_MASTER_CMD_SET_MTA;

  packetData[1] = 0; /* reserved */

  packetData[2] = 0; /* reserved */

  packetData[3] = 0; /* address extension not supported */

  /* set the address taking into account byte ordering */

  XcpMasterSetOrderedLong(address, &packetData[4]);

  /* send the packet */

  if (XcpTransportSendPacket(packetData, 8, XCP_MASTER_TIMEOUT_T4_MS) == SB_FALSE) //XCP_MASTER_TIMEOUT_T1_MS

  {

    /* cound not set packet or receive response within the specified timeout */

    printf("\nno response (set MTA)\n");

    return SB_FALSE;

  }

  /* still here so a response was received */

  responsePacketPtr = XcpTransportReadResponsePacket();

  /* check if the reponse was valid */

  if ( (responsePacketPtr->len == 0) || (responsePacketPtr->data[0] != XCP_MASTER_CMD_PID_RES) )

  {

    /* not a valid or positive response */

    if (responsePacketPtr->len == 0) {

      printf("\nmessage length = 0");

    } else {

      XcpMasterPrintError(responsePacketPtr->data[1]);

    }

    printf(" (set MTA)\n");

    return SB_FALSE;

  }

  /* still here so all went well */  

  return SB_TRUE;

} /*** end of XcpMasterSendCmdSetMta ***/

/************************************************************************************//**

** \brief     Sends the XCP UPLOAD command.

** \param     data Destination data buffer.

** \param     length Number of bytes to upload.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

static sb_uint8 XcpMasterSendCmdUpload(sb_uint8 data[], sb_uint8 length)

{

  sb_uint8 packetData[2];

  tXcpTransportResponsePacket *responsePacketPtr;

  sb_uint8 data_index;

  /* cannot request more data then the max rx data - 1 */

  assert(length < XCP_MASTER_RX_MAX_DATA);

  /* prepare the command packet */

  packetData[0] = XCP_MASTER_CMD_UPLOAD;

  packetData[1] = length;

  /* send the packet */

  if (XcpTransportSendPacket(packetData, 2, XCP_MASTER_TIMEOUT_T4_MS) == SB_FALSE) //XCP_MASTER_TIMEOUT_T1_MS

  {

    /* cound not set packet or receive response within the specified timeout */

    printf("\nno response (upload)\n");

    return SB_FALSE;

  }

  /* still here so a response was received */

  responsePacketPtr = XcpTransportReadResponsePacket();

  /* check if the reponse was valid */

  if ( (responsePacketPtr->len == 0) || (responsePacketPtr->data[0] != XCP_MASTER_CMD_PID_RES) )

  {

    /* not a valid or positive response */

    if (responsePacketPtr->len == 0) {

      printf("\nmessage length = 0");

    } else {

      XcpMasterPrintError(responsePacketPtr->data[1]);

    }

    printf(" (upload)\n");

    return SB_FALSE;

  }

  /* now store the uploaded data */

  for (data_index=0; data_index<length; data_index++)

  {

    data[data_index] = responsePacketPtr->data[data_index+1];

  }

  /* still here so all went well */  

  return SB_TRUE;

} /*** end of XcpMasterSendCmdUpload ***/

/************************************************************************************//**

** \brief     Sends the XCP PROGRAM START command.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

static sb_uint8 XcpMasterSendCmdProgramStart(void)

{

  sb_uint8 packetData[1];

  tXcpTransportResponsePacket *responsePacketPtr;

  /* prepare the command packet */

  packetData[0] = XCP_MASTER_CMD_PROGRAM_START;

  /* send the packet */

  if (XcpTransportSendPacket(packetData, 1, XCP_MASTER_TIMEOUT_T4_MS) == SB_FALSE) //XCP_MASTER_TIMEOUT_T3_MS

  {

    /* cound not set packet or receive response within the specified timeout */

    printf("\nno response (program start)\n");

    return SB_FALSE;

  }

  /* still here so a response was received */

  responsePacketPtr = XcpTransportReadResponsePacket();

  /* check if the reponse was valid */

  if ( (responsePacketPtr->len == 0) || (responsePacketPtr->data[0] != XCP_MASTER_CMD_PID_RES) )

  {

    /* not a valid or positive response */

    if (responsePacketPtr->len == 0) {

      printf("\nmessage length = 0");

    } else {

      XcpMasterPrintError(responsePacketPtr->data[1]);

    }

    printf(" (program start)\n");

    return SB_FALSE;

  }

  /* store max number of bytes the slave allows for master->slave packets during the

   * programming session

   */

  xcpMaxProgCto = responsePacketPtr->data[3];

  /* still here so all went well */  

  return SB_TRUE;

} /*** end of XcpMasterSendCmdProgramStart ***/

/************************************************************************************//**

** \brief     Sends the XCP PROGRAM DISCONNECT command.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

static sb_uint8 XcpMasterSendCmdDisconnect(void)

{

  sb_uint8 packetData[1];

  tXcpTransportResponsePacket *responsePacketPtr;

  /* prepare the command packet */

  packetData[0] = XCP_MASTER_CMD_DISCONNECT;

  /* send the packet */

  if (XcpTransportSendPacket(packetData, 1, XCP_MASTER_TIMEOUT_T4_MS) == SB_FALSE)

  {

    /* cound not set packet or receive response within the specified timeout */

    return SB_FALSE;

  }

  /* still here so a response was received */

  responsePacketPtr = XcpTransportReadResponsePacket();

  /* check if the reponse was valid */

  if ( (responsePacketPtr->len == 0) || (responsePacketPtr->data[0] != XCP_MASTER_CMD_PID_RES) )

  {

    /* not a valid or positive response */

    return SB_FALSE;

  }

  /* still here so all went well */  

  return SB_TRUE;

} /*** end of XcpMasterSendCmdProgramStart ***/

/************************************************************************************//**

** \brief     Sends the XCP PROGRAM RESET command. Note that this command is a bit 

**            different as in it does not require a response.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

static sb_uint8 XcpMasterSendCmdProgramReset(void)

{

  sb_uint8 packetData[1];

  tXcpTransportResponsePacket *responsePacketPtr;

  /* prepare the command packet */

  packetData[0] = XCP_MASTER_CMD_PROGRAM_RESET;

  /* send the packet, assume the sending itself is ok and check if a response was

   * received.

   */

  if (XcpTransportSendPacket(packetData, 1, XCP_MASTER_TIMEOUT_T4_MS) == SB_FALSE) //XCP_MASTER_TIMEOUT_T5_MS

  {

    /* probably no response received within the specified timeout, but that is allowed

     * for the reset command.

     */

//    printf("no response");

    return SB_TRUE;

  }

/*

 * The following part is critical if the user program uses the same connection like the flashing program!

 * In this case the bootloader doesn't send any information after the reset command. According to this

 * the following code part can be skipped.

 */

//  /* still here so a response was received */

//  responsePacketPtr = XcpTransportReadResponsePacket();

//  

//  /* check if the reponse was valid */

//  printf("response not valid\nlength: %u\nresponse: %i", responsePacketPtr->len, *(responsePacketPtr->data));

//  if ( (responsePacketPtr->len == 0) || (responsePacketPtr->data[0] != XCP_MASTER_CMD_PID_RES) )

//  {

//    /* not a valid or positive response */

//    return SB_FALSE;

//  }

  /* still here so all went well */  

  return SB_TRUE;

} /*** end of XcpMasterSendCmdProgramReset ***/

/************************************************************************************//**

** \brief     Sends the XCP PROGRAM command.

** \param     length Number of bytes in the data array to program.

** \param     data Array with data bytes to program.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

static sb_uint8 XcpMasterSendCmdProgram(sb_uint8 length, sb_uint8 data[])

{

  sb_uint8 packetData[XCP_MASTER_TX_MAX_DATA];

  tXcpTransportResponsePacket *responsePacketPtr;

  sb_uint8 cnt;

  /* verify that this number of bytes actually first in this command */

  assert(length <= (xcpMaxProgCto-2) && (xcpMaxProgCto <= XCP_MASTER_TX_MAX_DATA));

  /* prepare the command packet */

  packetData[0] = XCP_MASTER_CMD_PROGRAM;

  packetData[1] = length;

  for (cnt=0; cnt<length; cnt++)

  {

    packetData[cnt+2] = data[cnt];

  }

  /* send the packet */

  if (XcpTransportSendPacket(packetData, length+2, XCP_MASTER_TIMEOUT_T4_MS) == SB_FALSE) //XCP_MASTER_TIMEOUT_T5_MS

  {

    /* cound not set packet or receive response within the specified timeout */

    printf("\nno response (program)\n");

    return SB_FALSE;

  }

  /* still here so a response was received */

  responsePacketPtr = XcpTransportReadResponsePacket();

  /* check if the reponse was valid */

  if ( (responsePacketPtr->len == 0) || (responsePacketPtr->data[0] != XCP_MASTER_CMD_PID_RES) )

  {

    /* not a valid or positive response */

    if (responsePacketPtr->len == 0) {

      printf("\nmessage length = 0");

    } else {

      XcpMasterPrintError(responsePacketPtr->data[1]);

    }

    printf(" (program)\n");

    return SB_FALSE;

  }

  /* still here so all went well */  

  return SB_TRUE;

} /*** end of XcpMasterSendCmdProgram ***/

/************************************************************************************//**

** \brief     Sends the XCP PROGRAM MAX command.

** \param     data Array with data bytes to program.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

static sb_uint8 XcpMasterSendCmdProgramMax(sb_uint8 data[])

{

  sb_uint8 packetData[XCP_MASTER_TX_MAX_DATA];

  tXcpTransportResponsePacket *responsePacketPtr;

  sb_uint8 cnt;

  /* verify that this number of bytes actually first in this command */

  assert(xcpMaxProgCto <= XCP_MASTER_TX_MAX_DATA);

  /* prepare the command packet */

  packetData[0] = XCP_MASTER_CMD_PROGRAM_MAX;

  for (cnt=0; cnt<(xcpMaxProgCto-1); cnt++)

  {

    packetData[cnt+1] = data[cnt];

  }

  /* send the packet */

  if (XcpTransportSendPacket(packetData, xcpMaxProgCto, XCP_MASTER_TIMEOUT_T4_MS) == SB_FALSE) //XCP_MASTER_TIMEOUT_T5_MS

  {

    /* cound not set packet or receive response within the specified timeout */

    printf("\nno response (program max)\n");

    return SB_FALSE;

  }

  /* still here so a response was received */

  responsePacketPtr = XcpTransportReadResponsePacket();

  /* check if the reponse was valid */

  if ( (responsePacketPtr->len == 0) || (responsePacketPtr->data[0] != XCP_MASTER_CMD_PID_RES) )

  {

    /* not a valid or positive response */

    if (responsePacketPtr->len == 0) {

      printf("\nmessage length = 0");

    } else {

      XcpMasterPrintError(responsePacketPtr->data[1]);

    }

    printf(" (program max)\n");

    return SB_FALSE;

  }

  /* still here so all went well */  

  return SB_TRUE;

} /*** end of XcpMasterSendCmdProgramMax ***/

/************************************************************************************//**

** \brief     Sends the XCP PROGRAM CLEAR command.

** \return    SB_TRUE is successfull, SB_FALSE otherwise.

**

****************************************************************************************/

static sb_uint8 XcpMasterSendCmdProgramClear(sb_uint32 length)

{

  sb_uint8 packetData[8];

  tXcpTransportResponsePacket *responsePacketPtr;

  /* prepare the command packet */

  packetData[0] = XCP_MASTER_CMD_PROGRAM_CLEAR;

  packetData[1] = 0; /* use absolute mode */

  packetData[2] = 0; /* reserved */

  packetData[3] = 0; /* reserved */

  /* set the erase length taking into account byte ordering */

  XcpMasterSetOrderedLong(length, &packetData[4]);

  /* send the packet */

  if (XcpTransportSendPacket(packetData, 8, XCP_MASTER_TIMEOUT_T4_MS) == SB_FALSE)

  {

    /* cound not set packet or receive response within the specified timeout */

    printf("\nno response (program clear)\n");

    return SB_FALSE;

  }

  /* still here so a response was received */

  responsePacketPtr = XcpTransportReadResponsePacket();

  /* check if the reponse was valid */

  if ( (responsePacketPtr->len == 0) || (responsePacketPtr->data[0] != XCP_MASTER_CMD_PID_RES) )

  {

    /* not a valid or positive response */

    if (responsePacketPtr->len == 0) {

      printf("\nmessage length = 0");

    } else {

      XcpMasterPrintError(responsePacketPtr->data[1]);

    }

    printf(" (program clear)\n");

    return SB_FALSE;

  }

  /* still here so all went well */  

  return SB_TRUE;

} /*** end of XcpMasterSendCmdProgramClear ***/

/************************************************************************************//**

** \brief     Stores a 32-bit value into a byte buffer taking into account Intel

**            or Motorola byte ordering.

** \param     value The 32-bit value to store in the buffer.

** \param     data Array to the buffer for storage.

** \return    none.

**

****************************************************************************************/

static void XcpMasterSetOrderedLong(sb_uint32 value, sb_uint8 data[])

{

  if (xcpSlaveIsIntel == SB_TRUE)

  {

    data[3] = (sb_uint8)(value >> 24);

    data[2] = (sb_uint8)(value >> 16);

    data[1] = (sb_uint8)(value >>  8);

    data[0] = (sb_uint8)value;

  }

  else

  {

    data[0] = (sb_uint8)(value >> 24);

    data[1] = (sb_uint8)(value >> 16);

    data[2] = (sb_uint8)(value >>  8);

    data[3] = (sb_uint8)value;

  }

} /*** end of XcpMasterSetOrderedLong ***/

static void XcpMasterPrintError(sb_uint8 error) {

  printf("\nError: ");

  switch (error) {

    case XCP_ERR_CMD_SYNCH:

      printf("command processor synchronization"); break;

    case XCP_ERR_CMD_BUSY:

      printf("command was not executed"); break;

    case XCP_ERR_CMD_UNKNOWN:

      printf("unknown or unsupported command"); break;

    case XCP_ERR_OUT_OF_RANGE:

      printf("parameter out of range"); break;

    case XCP_ERR_ACCESS_LOCKED:

      printf("protected - seed/key required"); break;

    case XCP_ERR_PAGE_NOT_VALID:

      printf("cal page not valid"); break;

    case XCP_ERR_SEQUENCE:

      printf("sequence"); break;

    case XCP_ERR_GENERIC:

      printf("generic"); break;

    default:

      printf("!UNKNOWN ERROR!");

  }

  printf("\n");

}

/*********************************** end of xcpmaster.c ********************************/