amiro-blt / Target / Source / ARMCM3_STM32 / can.c @ 93933a75
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/************************************************************************************//** |
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* \file Source\ARMCM3_STM32\can.c
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* \brief Bootloader CAN communication interface source file.
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* \ingroup Target_ARMCM3_STM32
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* \internal
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*----------------------------------------------------------------------------------------
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* C O P Y R I G H T
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*----------------------------------------------------------------------------------------
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* Copyright (c) 2011 by Feaser http://www.feaser.com All rights reserved
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*
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*----------------------------------------------------------------------------------------
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* L I C E N S E
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*----------------------------------------------------------------------------------------
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* This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or
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* modify it under the terms of the GNU General Public License as published by the Free
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* Software Foundation, either version 3 of the License, or (at your option) any later
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* version.
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*
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* OpenBLT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
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* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
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* PURPOSE. See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with OpenBLT.
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* If not, see <http://www.gnu.org/licenses/>.
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*
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* A special exception to the GPL is included to allow you to distribute a combined work
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* that includes OpenBLT without being obliged to provide the source code for any
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* proprietary components. The exception text is included at the bottom of the license
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* file <license.html>.
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*
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* \endinternal
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****************************************************************************************/
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#define CAN_DEBUG (0) |
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/****************************************************************************************
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* Include files
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****************************************************************************************/
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#include "boot.h" /* bootloader generic header */ |
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#if (CAN_DEBUG > 0) |
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#include <helper.h> |
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#endif
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#if (BOOT_COM_CAN_ENABLE > 0 || BOOT_GATE_CAN_ENABLE > 0) |
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/****************************************************************************************
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* Type definitions
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****************************************************************************************/
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/** \brief CAN transmission mailbox layout. */
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typedef struct |
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{
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volatile blt_int32u TIR;
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volatile blt_int32u TDTR;
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volatile blt_int32u TDLR;
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volatile blt_int32u TDHR;
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} tCanTxMailBox; |
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/** \brief CAN reception FIFO mailbox layout. */
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typedef struct |
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{
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volatile blt_int32u RIR;
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volatile blt_int32u RDTR;
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volatile blt_int32u RDLR;
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volatile blt_int32u RDHR;
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} tCanRxFIFOMailBox; |
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/** \brief CAN filter register layout. */
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typedef struct |
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{
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volatile blt_int32u FR1;
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volatile blt_int32u FR2;
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} tCanFilter; |
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/** \brief CAN controller register layout. */
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typedef struct |
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{
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volatile blt_int32u MCR;
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volatile blt_int32u MSR;
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volatile blt_int32u TSR;
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volatile blt_int32u RF0R;
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volatile blt_int32u RF1R;
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volatile blt_int32u IER;
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volatile blt_int32u ESR;
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volatile blt_int32u BTR;
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blt_int32u RESERVED0[88];
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tCanTxMailBox sTxMailBox[3];
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tCanRxFIFOMailBox sFIFOMailBox[2];
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blt_int32u RESERVED1[12];
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volatile blt_int32u FMR;
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volatile blt_int32u FM1R;
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blt_int32u RESERVED2; |
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volatile blt_int32u FS1R;
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blt_int32u RESERVED3; |
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volatile blt_int32u FFA1R;
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blt_int32u RESERVED4; |
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volatile blt_int32u FA1R;
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blt_int32u RESERVED5[8];
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tCanFilter sFilterRegister[14];
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} tCanRegs; |
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/****************************************************************************************
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* Macro definitions
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****************************************************************************************/
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/** \brief Reset request bit. */
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#define CAN_BIT_RESET ((blt_int32u)0x00008000) |
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/** \brief Initialization request bit. */
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#define CAN_BIT_INRQ ((blt_int32u)0x00000001) |
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/** \brief Initialization acknowledge bit. */
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#define CAN_BIT_INAK ((blt_int32u)0x00000001) |
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/** \brief Sleep mode request bit. */
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#define CAN_BIT_SLEEP ((blt_int32u)0x00000002) |
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/** \brief Filter 0 selection bit. */
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#define CAN_BIT_FILTER0 ((blt_int32u)0x00000001) |
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/** \brief Filter init mode bit. */
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#define CAN_BIT_FINIT ((blt_int32u)0x00000001) |
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/** \brief Transmit mailbox 0 empty bit. */
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#define CAN_BIT_TME0 ((blt_int32u)0x04000000) |
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/** \brief Transmit mailbox request bit. */
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#define CAN_BIT_TXRQ ((blt_int32u)0x00000001) |
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/** \brief Release FIFO 0 mailbox bit. */
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#define CAN_BIT_RFOM0 ((blt_int32u)0x00000020) |
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#if (BOOT_GATE_CAN_ENABLE > 0) |
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blt_bool commandSend; |
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#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
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/****************************************************************************************
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* Register definitions
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****************************************************************************************/
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/** \brief Macro for accessing CAN controller registers. */
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#define CANx ((tCanRegs *) (blt_int32u)0x40006400) |
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/****************************************************************************************
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* Type definitions
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****************************************************************************************/
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/** \brief Structure type for grouping CAN bus timing related information. */
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typedef struct t_can_bus_timing |
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{
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blt_int8u tseg1; /**< CAN time segment 1 */
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blt_int8u tseg2; /**< CAN time segment 2 */
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} tCanBusTiming; |
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/****************************************************************************************
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* Local constant declarations
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****************************************************************************************/
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/** \brief CAN bittiming table for dynamically calculating the bittiming settings.
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* \details According to the CAN protocol 1 bit-time can be made up of between 8..25
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* time quanta (TQ). The total TQ in a bit is SYNC + TSEG1 + TSEG2 with SYNC
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* always being 1. The sample point is (SYNC + TSEG1) / (SYNC + TSEG1 + SEG2) *
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* 100%. This array contains possible and valid time quanta configurations with
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* a sample point between 68..78%.
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*/
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static const tCanBusTiming canTiming[] = |
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{ /* TQ | TSEG1 | TSEG2 | SP */
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/* ------------------------- */
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{ 5, 2 }, /* 8 | 5 | 2 | 75% */
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{ 6, 2 }, /* 9 | 6 | 2 | 78% */
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{ 6, 3 }, /* 10 | 6 | 3 | 70% */
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{ 7, 3 }, /* 11 | 7 | 3 | 73% */
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{ 8, 3 }, /* 12 | 8 | 3 | 75% */
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{ 9, 3 }, /* 13 | 9 | 3 | 77% */
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{ 9, 4 }, /* 14 | 9 | 4 | 71% */
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{ 10, 4 }, /* 15 | 10 | 4 | 73% */
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{ 11, 4 }, /* 16 | 11 | 4 | 75% */
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{ 12, 4 }, /* 17 | 12 | 4 | 76% */
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{ 12, 5 }, /* 18 | 12 | 5 | 72% */
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{ 13, 5 }, /* 19 | 13 | 5 | 74% */
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{ 14, 5 }, /* 20 | 14 | 5 | 75% */
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{ 15, 5 }, /* 21 | 15 | 5 | 76% */
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{ 15, 6 }, /* 22 | 15 | 6 | 73% */
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{ 16, 6 }, /* 23 | 16 | 6 | 74% */
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{ 16, 7 }, /* 24 | 16 | 7 | 71% */
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{ 16, 8 } /* 25 | 16 | 8 | 68% */
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}; |
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/************************************************************************************//** |
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** \brief Search algorithm to match the desired baudrate to a possible bus
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** timing configuration.
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** \param baud The desired baudrate in kbps. Valid values are 10..1000.
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** \param prescaler Pointer to where the value for the prescaler will be stored.
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** \param tseg1 Pointer to where the value for TSEG2 will be stored.
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** \param tseg2 Pointer to where the value for TSEG2 will be stored.
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** \return BLT_TRUE if the CAN bustiming register values were found, BLT_FALSE
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** otherwise.
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**
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****************************************************************************************/
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static blt_bool CanGetSpeedConfig(blt_int16u baud, blt_int16u *prescaler,
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blt_int8u *tseg1, blt_int8u *tseg2) |
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{
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blt_int8u cnt; |
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/* loop through all possible time quanta configurations to find a match */
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for (cnt=0; cnt < sizeof(canTiming)/sizeof(canTiming[0]); cnt++) |
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{
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if (((BOOT_CPU_SYSTEM_SPEED_KHZ/2) % (baud*(canTiming[cnt].tseg1+canTiming[cnt].tseg2+1))) == 0) |
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{
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/* compute the prescaler that goes with this TQ configuration */
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*prescaler = (BOOT_CPU_SYSTEM_SPEED_KHZ/2)/(baud*(canTiming[cnt].tseg1+canTiming[cnt].tseg2+1)); |
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/* make sure the prescaler is valid */
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if ( (*prescaler > 0) && (*prescaler <= 1024) ) |
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{
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/* store the bustiming configuration */
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*tseg1 = canTiming[cnt].tseg1; |
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*tseg2 = canTiming[cnt].tseg2; |
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/* found a good bus timing configuration */
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return BLT_TRUE;
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} |
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} |
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} |
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/* could not find a good bus timing configuration */
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return BLT_FALSE;
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} /*** end of CanGetSpeedConfig ***/
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/************************************************************************************//** |
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** \brief Initializes the CAN controller and synchronizes it to the CAN bus.
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** \return none.
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**
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****************************************************************************************/
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void CanInit(void) |
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{
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blt_int16u prescaler; |
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blt_int8u tseg1, tseg2; |
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blt_bool result; |
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#if (BOOT_GATE_CAN_ENABLE > 0) |
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commandSend = BLT_FALSE; |
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#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
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/* the current implementation supports CAN1. throw an assertion error in case a
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* different CAN channel is configured.
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*/
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ASSERT_CT(BOOT_COM_CAN_CHANNEL_INDEX == 0);
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/* obtain bittiming configuration information */
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result = CanGetSpeedConfig(BOOT_COM_CAN_BAUDRATE/1000, &prescaler, &tseg1, &tseg2);
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ASSERT_RT(result == BLT_TRUE); |
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/* disable all can interrupt. this driver works in polling mode */
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CANx->IER = (blt_int32u)0;
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/* set request to reset the can controller */
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CANx->MCR |= CAN_BIT_RESET ; |
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/* wait for acknowledge that the can controller was reset */
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while ((CANx->MCR & CAN_BIT_RESET) != 0) |
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{
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/* keep the watchdog happy */
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CopService(); |
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} |
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/* exit from sleep mode, which is the default mode after reset */
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CANx->MCR &= ~CAN_BIT_SLEEP; |
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/* set request to enter initialisation mode */
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CANx->MCR |= CAN_BIT_INRQ ; |
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/* wait for acknowledge that initialization mode was entered */
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while ((CANx->MSR & CAN_BIT_INAK) == 0) |
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{
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/* keep the watchdog happy */
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CopService(); |
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} |
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/* configure the bittming */
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CANx->BTR = (blt_int32u)((blt_int32u)(tseg1 - 1) << 16) | \ |
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(blt_int32u)((blt_int32u)(tseg2 - 1) << 20) | \ |
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(blt_int32u)(prescaler - 1);
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/* set request to leave initialisation mode */
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CANx->MCR &= ~CAN_BIT_INRQ; |
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/* wait for acknowledge that initialization mode was exited */
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while ((CANx->MSR & CAN_BIT_INAK) != 0) |
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{
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/* keep the watchdog happy */
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CopService(); |
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} |
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/* enter initialisation mode for the acceptance filter */
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CANx->FMR |= CAN_BIT_FINIT; |
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/* deactivate filter 0 */
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CANx->FA1R &= ~CAN_BIT_FILTER0; |
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/* 32-bit scale for the filter */
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CANx->FS1R |= CAN_BIT_FILTER0; |
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/* open up the acceptance filter to receive all messages */
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CANx->sFilterRegister[0].FR1 = 0; |
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CANx->sFilterRegister[0].FR2 = 0; |
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/* select id/mask mode for the filter */
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CANx->FM1R &= ~CAN_BIT_FILTER0; |
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/* FIFO 0 assignation for the filter */
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CANx->FFA1R &= ~CAN_BIT_FILTER0; |
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/* filter activation */
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CANx->FA1R |= CAN_BIT_FILTER0; |
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/* leave initialisation mode for the acceptance filter */
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CANx->FMR &= ~CAN_BIT_FINIT; |
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} /*** end of CanInit ***/
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/************************************************************************************//** |
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** \brief Transmits a packet formatted for the communication interface.
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** \param data Pointer to byte array with data that it to be transmitted.
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** \param len Number of bytes that are to be transmitted.
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** \param deviceID ID of the device the data has to be sent to.
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** \return none.
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**
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****************************************************************************************/
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void CanTransmitPacket(blt_int8u *data, blt_int8u len, blt_int32u deviceID)
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{
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/* make sure that transmit mailbox 0 is available */
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ASSERT_RT((CANx->TSR&CAN_BIT_TME0) == CAN_BIT_TME0); |
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blt_int32u address; |
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#if (BOOT_GATE_CAN_ENABLE > 0) |
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if (deviceID == 0) { |
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#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
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address = (blt_int32u)BOOT_COM_CAN_TX_MSG_ID; |
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#if (BOOT_GATE_CAN_ENABLE > 0) |
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commandSend = BLT_FALSE; |
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} else {
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address = (blt_int32u)BOOT_COM_CAN_RX_MSG_ID; |
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commandSend = BLT_TRUE; |
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} |
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#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
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/* init variables */
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blt_int8u canData[8];
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blt_int8u restLen = len; |
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blt_int8u canIdx = 0;
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blt_int32u ackMsgId; |
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blt_int8u ackMsgLen; |
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/* send the given package in 8 byte packages */
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while (restLen > 0) { |
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/* build the message identifier */
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CANx->sTxMailBox[0].TIR &= CAN_BIT_TXRQ;
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CANx->sTxMailBox[0].TIR |= (address << 21); |
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/* if this is the first transmission of this packet */
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if (restLen == len) {
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/* store the message date length code (DLC) */
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CANx->sTxMailBox[0].TDTR = (restLen > 4) ? 8 : restLen+1+4; |
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/* store the device ID */
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canData[0] = (blt_int8u)(0xFF & (deviceID >> 0)); |
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canData[1] = (blt_int8u)(0xFF & (deviceID >> 8)); |
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canData[2] = (blt_int8u)(0xFF & (deviceID >> 16)); |
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canData[3] = (blt_int8u)(0xFF & (deviceID >> 24)); |
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/* store the remaining packet length */
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canData[4] = restLen;
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canIdx = 5;
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} |
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/* if this is a succeeding transmission of this packet */
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else {
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/* store the message date length code (DLC) */
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CANx->sTxMailBox[0].TDTR = (restLen > 7) ? 8 : restLen+1; |
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/* store the remaining packet length */
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canData[0] = restLen;
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canIdx = 1;
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} |
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/* store the packet payload */
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while (restLen > 0 && canIdx < 8) { |
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canData[canIdx] = data[len-restLen]; |
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canIdx++; |
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restLen--; |
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} |
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/* fill rest with nulls */
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while (canIdx < 8) { |
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canData[canIdx] = 0;
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canIdx++; |
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} |
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/* store the message data bytes */
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CANx->sTxMailBox[0].TDLR = (((blt_int32u)canData[3] << 24) | \ |
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((blt_int32u)canData[2] << 16) | \ |
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((blt_int32u)canData[1] << 8) | \ |
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((blt_int32u)canData[0]));
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CANx->sTxMailBox[0].TDHR = (((blt_int32u)canData[7] << 24) | \ |
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((blt_int32u)canData[6] << 16) | \ |
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((blt_int32u)canData[5] << 8) | \ |
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((blt_int32u)canData[4]));
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/* request the start of message transmission */
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CANx->sTxMailBox[0].TIR |= CAN_BIT_TXRQ;
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/* wait for transmit completion */
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while ((CANx->TSR&CAN_BIT_TME0) == 0) |
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{
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/* keep the watchdog happy */
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CopService(); |
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} |
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/* wait for the acknowledgement transmission */
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while ((CANx->RF0R&(blt_int32u)0x00000003) == 0) { |
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/* keep the watchdog happy */
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CopService(); |
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} |
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/* read out the message identifier, length and payload */
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ackMsgId = (blt_int32u)0x000007FF & (CANx->sFIFOMailBox[0].RIR >> 21); |
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ackMsgLen = (blt_int8u)0x0F & CANx->sFIFOMailBox[0].RDTR; |
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canData[0] = (blt_int8u)0xFF & CANx->sFIFOMailBox[0].RDLR; |
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canData[1] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 8); |
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canData[2] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 16); |
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canData[3] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 24); |
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canData[4] = (blt_int8u)0xFF & CANx->sFIFOMailBox[0].RDHR; |
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canData[5] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 8); |
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canData[6] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 16); |
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canData[7] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 24); |
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|
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#if (CAN_DEBUG > 0) |
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/* verification:
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* - ID must be "address & BOOT_COM_CAN_MSG_ACK"
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* - length must be 1
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* - canData[0] must b equal to restLen
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*/
|
| 419 |
if (ackMsgId != (address | (blt_int32u)BOOT_COM_CAN_MSG_ACK) ||
|
| 420 |
ackMsgLen != 1 ||
|
| 421 |
canData[0] != restLen) {
|
| 422 |
/* some error occurred */
|
| 423 |
blinkSOS(1);
|
| 424 |
msleep(500);
|
| 425 |
visualizeData((blt_int8u*)&ackMsgId, 2, 1); |
| 426 |
msleep(500);
|
| 427 |
visualizeByte(ackMsgLen, 1);
|
| 428 |
msleep(500);
|
| 429 |
visualizeByte(canData[0], 1); |
| 430 |
msleep(500);
|
| 431 |
visualizeByte(restLen, 1);
|
| 432 |
blinkSOSinf(); |
| 433 |
} |
| 434 |
#endif /* CAN_DEBUG > 0 */ |
| 435 |
|
| 436 |
/* release FIFO0 */
|
| 437 |
CANx->RF0R |= CAN_BIT_RFOM0; |
| 438 |
|
| 439 |
/* modify address so that receivers can filter */
|
| 440 |
address |= (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT; |
| 441 |
} |
| 442 |
} /*** end of CanTransmitPacket ***/
|
| 443 |
|
| 444 |
|
| 445 |
/************************************************************************************//** |
| 446 |
** \brief Receives a communication interface packet if one is present.
|
| 447 |
** \param data Pointer to byte array where the data is to be stored.
|
| 448 |
** \return Length of message (if the message is invalid, the length will be 0).
|
| 449 |
**
|
| 450 |
****************************************************************************************/
|
| 451 |
blt_int8u CanReceivePacket(blt_int8u *data) |
| 452 |
{
|
| 453 |
blt_int32u rxMsgId; |
| 454 |
blt_bool result = BLT_FALSE; |
| 455 |
blt_int8u length = 0;
|
| 456 |
|
| 457 |
static blt_int8u readData[BOOT_COM_RX_MAX_DATA];
|
| 458 |
static blt_int8u receivedLen = 0; |
| 459 |
static blt_int8u lastLen = 0; |
| 460 |
static blt_int8u toReceive = 0; |
| 461 |
blt_int8u canData[8];
|
| 462 |
blt_int8u restLen; |
| 463 |
blt_int8u canLength; |
| 464 |
blt_int8u idx; |
| 465 |
|
| 466 |
blt_int32u compID; |
| 467 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 468 |
if (commandSend == BLT_TRUE) {
|
| 469 |
compID = (blt_int32u)BOOT_COM_CAN_TX_MSG_ID; |
| 470 |
} else {
|
| 471 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 472 |
compID = (blt_int32u)BOOT_COM_CAN_RX_MSG_ID; |
| 473 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 474 |
} |
| 475 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 476 |
|
| 477 |
/* check if a new message was received or is more to come */
|
| 478 |
while ((CANx->RF0R&(blt_int32u)0x00000003) > 0 || receivedLen < toReceive) |
| 479 |
{
|
| 480 |
/* wait for a transmission if required */
|
| 481 |
while (receivedLen < toReceive && (CANx->RF0R&(blt_int32u)0x00000003) == 0) { |
| 482 |
/* keep the watchdog happy */
|
| 483 |
CopService(); |
| 484 |
} |
| 485 |
|
| 486 |
/* read out the message identifier */
|
| 487 |
rxMsgId = (blt_int32u)0x000007FF & (CANx->sFIFOMailBox[0].RIR >> 21); |
| 488 |
/* is this the packet identifier */
|
| 489 |
if (rxMsgId == compID)
|
| 490 |
{
|
| 491 |
result = BLT_TRUE; |
| 492 |
|
| 493 |
/* save length */
|
| 494 |
canLength = (blt_int8u)0x0F & CANx->sFIFOMailBox[0].RDTR; |
| 495 |
/* store the received packet data */
|
| 496 |
canData[0] = (blt_int8u)0xFF & CANx->sFIFOMailBox[0].RDLR; |
| 497 |
canData[1] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 8); |
| 498 |
canData[2] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 16); |
| 499 |
canData[3] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 24); |
| 500 |
canData[4] = (blt_int8u)0xFF & CANx->sFIFOMailBox[0].RDHR; |
| 501 |
canData[5] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 8); |
| 502 |
canData[6] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 16); |
| 503 |
canData[7] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 24); |
| 504 |
|
| 505 |
#if (CAN_DEBUG > 0) |
| 506 |
if ((receivedLen == 0 && (rxMsgId & (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT) != 0) || |
| 507 |
(receivedLen > 0 && (rxMsgId & (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT) == 0)) { |
| 508 |
blinkSOS(4);
|
| 509 |
msleep(500);
|
| 510 |
visualizeByte(toReceive, 1);
|
| 511 |
msleep(500);
|
| 512 |
visualizeByte(receivedLen, 1);
|
| 513 |
msleep(500);
|
| 514 |
visualizeData((blt_int8u*)&rxMsgId, 2, 1); |
| 515 |
msleep(500);
|
| 516 |
blinkSOSinf(); |
| 517 |
} |
| 518 |
#endif /* CAN_DEBUG > 0 */ |
| 519 |
|
| 520 |
/* if this is the first transmission of this packet */
|
| 521 |
if (receivedLen == 0) { |
| 522 |
/* abort if the message was meant for someone else */
|
| 523 |
blt_int32u deviceID = (((blt_int32u)canData[3]) << 24) | \ |
| 524 |
(((blt_int32u)canData[2]) << 16) | \ |
| 525 |
(((blt_int32u)canData[1]) << 8) | \ |
| 526 |
(((blt_int32u)canData[0]));
|
| 527 |
#if (BOOT_GATE_ENABLE > 0) |
| 528 |
#if defined(BOOT_COM_DEVICE_LEGACY_ID)
|
| 529 |
if ((commandSend == BLT_TRUE && deviceID == 0) || |
| 530 |
(commandSend != BLT_TRUE && (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID || deviceID == (blt_int32u)BOOT_COM_DEVICE_LEGACY_ID))) {
|
| 531 |
#else
|
| 532 |
if ((commandSend == BLT_TRUE && deviceID == 0) || |
| 533 |
(commandSend != BLT_TRUE && (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID))) {
|
| 534 |
#endif
|
| 535 |
#else
|
| 536 |
#if defined(BOOT_COM_DEVICE_LEGACY_ID)
|
| 537 |
if (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID ||
|
| 538 |
deviceID == (blt_int32u)BOOT_COM_DEVICE_LEGACY_ID) {
|
| 539 |
#else
|
| 540 |
if (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID) {
|
| 541 |
#endif
|
| 542 |
#endif
|
| 543 |
/* store length of the packet */
|
| 544 |
toReceive = canData[4];
|
| 545 |
lastLen = canData[4];
|
| 546 |
idx = 5;
|
| 547 |
|
| 548 |
/* modify the listening address for filtering of subsequent transmissions */
|
| 549 |
compID |= (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT; |
| 550 |
} else {
|
| 551 |
/* release FIFO0 */
|
| 552 |
CANx->RF0R |= CAN_BIT_RFOM0; |
| 553 |
break;
|
| 554 |
} |
| 555 |
} |
| 556 |
/* if this is a subsequent transmission of a packet */
|
| 557 |
else {
|
| 558 |
/* store rest length and check if possible */
|
| 559 |
restLen = canData[0];
|
| 560 |
#if (CAN_DEBUG > 0) |
| 561 |
if (restLen != toReceive-receivedLen ||
|
| 562 |
canLength > restLen+1 ||
|
| 563 |
lastLen-restLen != ((lastLen==toReceive) ? 3 : 7)) { |
| 564 |
/* transmission has been lost */
|
| 565 |
blinkSOS(2);
|
| 566 |
msleep(500);
|
| 567 |
visualizeData((blt_int8u*)&rxMsgId, 4, 1); |
| 568 |
msleep(500);
|
| 569 |
visualizeByte(toReceive, 1);
|
| 570 |
msleep(500);
|
| 571 |
visualizeByte(receivedLen, 1);
|
| 572 |
msleep(500);
|
| 573 |
visualizeByte(lastLen, 1);
|
| 574 |
msleep(500);
|
| 575 |
visualizeByte(restLen, 1);
|
| 576 |
msleep(500);
|
| 577 |
visualizeByte(canLength, 1);
|
| 578 |
msleep(500);
|
| 579 |
visualizeData(readData, receivedLen, 1);
|
| 580 |
blinkSOSinf(); |
| 581 |
} |
| 582 |
#endif /* CAN_DEBUG > 0 */ |
| 583 |
lastLen = restLen; |
| 584 |
idx = 1;
|
| 585 |
} |
| 586 |
|
| 587 |
/* store the payload */
|
| 588 |
for (; idx < canLength; idx++) {
|
| 589 |
readData[receivedLen] = canData[idx]; |
| 590 |
receivedLen++; |
| 591 |
} |
| 592 |
|
| 593 |
/* release FIFO0 */
|
| 594 |
CANx->RF0R |= CAN_BIT_RFOM0; |
| 595 |
|
| 596 |
/* send acknowledgement */
|
| 597 |
CANx->sTxMailBox[0].TIR &= CAN_BIT_TXRQ;
|
| 598 |
CANx->sTxMailBox[0].TIR |= ((rxMsgId | (blt_int32u)BOOT_COM_CAN_MSG_ACK) << 21); |
| 599 |
CANx->sTxMailBox[0].TDTR = 1; |
| 600 |
CANx->sTxMailBox[0].TDLR = (((blt_int32u)0 << 24) | \ |
| 601 |
((blt_int32u)0 << 16) | \ |
| 602 |
((blt_int32u)0 << 8) | \ |
| 603 |
((blt_int32u)(toReceive-receivedLen))); |
| 604 |
CANx->sTxMailBox[0].TDHR = (((blt_int32u)0 << 24) | \ |
| 605 |
((blt_int32u)0 << 16) | \ |
| 606 |
((blt_int32u)0 << 8) | \ |
| 607 |
((blt_int32u)0));
|
| 608 |
|
| 609 |
/* request the start of message transmission */
|
| 610 |
CANx->sTxMailBox[0].TIR |= CAN_BIT_TXRQ;
|
| 611 |
/* wait for transmit completion */
|
| 612 |
while ((CANx->TSR&CAN_BIT_TME0) == 0) |
| 613 |
{
|
| 614 |
/* keep the watchdog happy */
|
| 615 |
CopService(); |
| 616 |
} |
| 617 |
|
| 618 |
/* check if full package has been received */
|
| 619 |
if (receivedLen == toReceive) {
|
| 620 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 621 |
commandSend = BLT_FALSE; |
| 622 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 623 |
for (idx = 0; idx < toReceive; idx++) { |
| 624 |
data[idx] = readData[idx]; |
| 625 |
} |
| 626 |
length = toReceive; |
| 627 |
/* reset static variables */
|
| 628 |
receivedLen = 0;
|
| 629 |
toReceive = 0;
|
| 630 |
break;
|
| 631 |
} else {
|
| 632 |
#if (CAN_DEBUG > 0) |
| 633 |
if (receivedLen > toReceive) {
|
| 634 |
/* something strange happened */
|
| 635 |
blinkSOS(3);
|
| 636 |
msleep(500);
|
| 637 |
visualizeByte(toReceive, 1);
|
| 638 |
msleep(500);
|
| 639 |
visualizeByte(receivedLen, 1);
|
| 640 |
blinkSOSinf(); |
| 641 |
} |
| 642 |
#endif /* CAN_DEBUG > 0 */ |
| 643 |
length = 0;
|
| 644 |
} |
| 645 |
} else {
|
| 646 |
/* release FIFO0 */
|
| 647 |
CANx->RF0R |= CAN_BIT_RFOM0; |
| 648 |
} |
| 649 |
} |
| 650 |
|
| 651 |
return length;
|
| 652 |
} /*** end of CanReceivePacket ***/
|
| 653 |
#endif /* BOOT_COM_CAN_ENABLE > 0 || BOOT_GATE_CAN_ENABLE > 0 */ |
| 654 |
|
| 655 |
|
| 656 |
/*********************************** end of can.c **************************************/
|