Revision d54d2f07 Target/Source/ARMCM3_STM32/can.c
| Target/Source/ARMCM3_STM32/can.c | ||
|---|---|---|
| 23 | 23 |
* You should have received a copy of the GNU General Public License along with OpenBLT. |
| 24 | 24 |
* If not, see <http://www.gnu.org/licenses/>. |
| 25 | 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
|
|
| 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 | 28 |
* proprietary components. The exception text is included at the bottom of the license |
| 29 | 29 |
* file <license.html>. |
| 30 |
*
|
|
| 30 |
* |
|
| 31 | 31 |
* \endinternal |
| 32 | 32 |
****************************************************************************************/ |
| 33 | 33 |
|
| 34 |
#define CAN_DEBUG (0) |
|
| 34 | 35 |
|
| 35 | 36 |
/**************************************************************************************** |
| 36 | 37 |
* Include files |
| 37 | 38 |
****************************************************************************************/ |
| 38 | 39 |
#include "boot.h" /* bootloader generic header */ |
| 39 | 40 |
|
| 41 |
#if (CAN_DEBUG > 0) |
|
| 42 |
#include <helper.h> |
|
| 43 |
#endif |
|
| 44 |
|
|
| 40 | 45 |
|
| 41 | 46 |
#if (BOOT_COM_CAN_ENABLE > 0 || BOOT_GATE_CAN_ENABLE > 0) |
| 42 | 47 |
/**************************************************************************************** |
| ... | ... | |
| 58 | 63 |
volatile blt_int32u RDTR; |
| 59 | 64 |
volatile blt_int32u RDLR; |
| 60 | 65 |
volatile blt_int32u RDHR; |
| 61 |
} tCanRxFIFOMailBox;
|
|
| 66 |
} tCanRxFIFOMailBox; |
|
| 62 | 67 |
|
| 63 | 68 |
/** \brief CAN filter register layout. */ |
| 64 | 69 |
typedef struct |
| ... | ... | |
| 92 | 97 |
volatile blt_int32u FA1R; |
| 93 | 98 |
blt_int32u RESERVED5[8]; |
| 94 | 99 |
tCanFilter sFilterRegister[14]; |
| 95 |
} tCanRegs;
|
|
| 100 |
} tCanRegs; |
|
| 96 | 101 |
|
| 97 | 102 |
|
| 98 | 103 |
/**************************************************************************************** |
| ... | ... | |
| 144 | 149 |
* Local constant declarations |
| 145 | 150 |
****************************************************************************************/ |
| 146 | 151 |
/** \brief CAN bittiming table for dynamically calculating the bittiming settings. |
| 147 |
* \details According to the CAN protocol 1 bit-time can be made up of between 8..25
|
|
| 148 |
* time quanta (TQ). The total TQ in a bit is SYNC + TSEG1 + TSEG2 with SYNC
|
|
| 149 |
* always being 1. The sample point is (SYNC + TSEG1) / (SYNC + TSEG1 + SEG2) *
|
|
| 152 |
* \details According to the CAN protocol 1 bit-time can be made up of between 8..25 |
|
| 153 |
* time quanta (TQ). The total TQ in a bit is SYNC + TSEG1 + TSEG2 with SYNC |
|
| 154 |
* always being 1. The sample point is (SYNC + TSEG1) / (SYNC + TSEG1 + SEG2) * |
|
| 150 | 155 |
* 100%. This array contains possible and valid time quanta configurations with |
| 151 | 156 |
* a sample point between 68..78%. |
| 152 | 157 |
*/ |
| ... | ... | |
| 175 | 180 |
|
| 176 | 181 |
|
| 177 | 182 |
/************************************************************************************//** |
| 178 |
** \brief Search algorithm to match the desired baudrate to a possible bus
|
|
| 183 |
** \brief Search algorithm to match the desired baudrate to a possible bus |
|
| 179 | 184 |
** timing configuration. |
| 180 | 185 |
** \param baud The desired baudrate in kbps. Valid values are 10..1000. |
| 181 | 186 |
** \param prescaler Pointer to where the value for the prescaler will be stored. |
| 182 | 187 |
** \param tseg1 Pointer to where the value for TSEG2 will be stored. |
| 183 | 188 |
** \param tseg2 Pointer to where the value for TSEG2 will be stored. |
| 184 |
** \return BLT_TRUE if the CAN bustiming register values were found, BLT_FALSE
|
|
| 189 |
** \return BLT_TRUE if the CAN bustiming register values were found, BLT_FALSE |
|
| 185 | 190 |
** otherwise. |
| 186 | 191 |
** |
| 187 | 192 |
****************************************************************************************/ |
| 188 |
static blt_bool CanGetSpeedConfig(blt_int16u baud, blt_int16u *prescaler,
|
|
| 193 |
static blt_bool CanGetSpeedConfig(blt_int16u baud, blt_int16u *prescaler, |
|
| 189 | 194 |
blt_int8u *tseg1, blt_int8u *tseg2) |
| 190 | 195 |
{
|
| 191 | 196 |
blt_int8u cnt; |
| ... | ... | |
| 229 | 234 |
commandSend = BLT_FALSE; |
| 230 | 235 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 231 | 236 |
|
| 232 |
/* the current implementation supports CAN1. throw an assertion error in case a
|
|
| 233 |
* different CAN channel is configured.
|
|
| 237 |
/* the current implementation supports CAN1. throw an assertion error in case a |
|
| 238 |
* different CAN channel is configured. |
|
| 234 | 239 |
*/ |
| 235 |
ASSERT_CT(BOOT_COM_CAN_CHANNEL_INDEX == 0);
|
|
| 240 |
ASSERT_CT(BOOT_COM_CAN_CHANNEL_INDEX == 0); |
|
| 236 | 241 |
/* obtain bittiming configuration information */ |
| 237 | 242 |
result = CanGetSpeedConfig(BOOT_COM_CAN_BAUDRATE/1000, &prescaler, &tseg1, &tseg2); |
| 238 | 243 |
ASSERT_RT(result == BLT_TRUE); |
| ... | ... | |
| 275 | 280 |
/* 32-bit scale for the filter */ |
| 276 | 281 |
CANx->FS1R |= CAN_BIT_FILTER0; |
| 277 | 282 |
/* open up the acceptance filter to receive all messages */ |
| 278 |
CANx->sFilterRegister[0].FR1 = 0;
|
|
| 279 |
CANx->sFilterRegister[0].FR2 = 0;
|
|
| 283 |
CANx->sFilterRegister[0].FR1 = 0; |
|
| 284 |
CANx->sFilterRegister[0].FR2 = 0; |
|
| 280 | 285 |
/* select id/mask mode for the filter */ |
| 281 | 286 |
CANx->FM1R &= ~CAN_BIT_FILTER0; |
| 282 | 287 |
/* FIFO 0 assignation for the filter */ |
| ... | ... | |
| 296 | 301 |
** \return none. |
| 297 | 302 |
** |
| 298 | 303 |
****************************************************************************************/ |
| 299 |
void CanTransmitPacket(blt_int8u *data, blt_int8u len, blt_int8u deviceID)
|
|
| 304 |
void CanTransmitPacket(blt_int8u *data, blt_int8u len, blt_int32u deviceID)
|
|
| 300 | 305 |
{
|
| 301 | 306 |
/* make sure that transmit mailbox 0 is available */ |
| 302 | 307 |
ASSERT_RT((CANx->TSR&CAN_BIT_TME0) == CAN_BIT_TME0); |
| 303 |
/* build the message identifier */ |
|
| 304 |
CANx->sTxMailBox[0].TIR &= CAN_BIT_TXRQ; |
|
| 305 | 308 |
|
| 306 | 309 |
blt_int32u address; |
| 307 | 310 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| ... | ... | |
| 311 | 314 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 312 | 315 |
commandSend = BLT_FALSE; |
| 313 | 316 |
} else {
|
| 314 |
address = ((blt_int32u)BOOT_COM_CAN_RX_MSG_ID | (blt_int32u)deviceID);
|
|
| 317 |
address = (blt_int32u)BOOT_COM_CAN_RX_MSG_ID;
|
|
| 315 | 318 |
commandSend = BLT_TRUE; |
| 316 | 319 |
} |
| 317 | 320 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| ... | ... | |
| 320 | 323 |
blt_int8u canData[8]; |
| 321 | 324 |
blt_int8u restLen = len; |
| 322 | 325 |
blt_int8u canIdx = 0; |
| 326 |
blt_int32u ackMsgId; |
|
| 327 |
blt_int8u ackMsgLen; |
|
| 323 | 328 |
|
| 324 | 329 |
/* send the given package in 8 byte packages */ |
| 325 | 330 |
while (restLen > 0) {
|
| 326 |
|
|
| 331 |
/* build the message identifier */ |
|
| 332 |
CANx->sTxMailBox[0].TIR &= CAN_BIT_TXRQ; |
|
| 327 | 333 |
CANx->sTxMailBox[0].TIR |= (address << 21); |
| 328 |
/* store the message date length code (DLC) */ |
|
| 329 |
if (restLen > 7) {
|
|
| 330 |
CANx->sTxMailBox[0].TDTR = 8; |
|
| 331 |
} else {
|
|
| 332 |
CANx->sTxMailBox[0].TDTR = restLen+1; |
|
| 334 |
|
|
| 335 |
/* if this is the first transmission of this packet */ |
|
| 336 |
if (restLen == len) {
|
|
| 337 |
|
|
| 338 |
/* store the message date length code (DLC) */ |
|
| 339 |
CANx->sTxMailBox[0].TDTR = (restLen > 4) ? 8 : restLen+1+4; |
|
| 340 |
|
|
| 341 |
/* store the device ID */ |
|
| 342 |
canData[0] = (blt_int8u)(0xFF & (deviceID >> 0)); |
|
| 343 |
canData[1] = (blt_int8u)(0xFF & (deviceID >> 8)); |
|
| 344 |
canData[2] = (blt_int8u)(0xFF & (deviceID >> 16)); |
|
| 345 |
canData[3] = (blt_int8u)(0xFF & (deviceID >> 24)); |
|
| 346 |
|
|
| 347 |
/* store the remaining packet length */ |
|
| 348 |
canData[4] = restLen; |
|
| 349 |
|
|
| 350 |
canIdx = 5; |
|
| 351 |
} |
|
| 352 |
/* if this is a succeeding transmission of this packet */ |
|
| 353 |
else {
|
|
| 354 |
|
|
| 355 |
/* store the message date length code (DLC) */ |
|
| 356 |
CANx->sTxMailBox[0].TDTR = (restLen > 7) ? 8 : restLen+1; |
|
| 357 |
|
|
| 358 |
/* store the remaining packet length */ |
|
| 359 |
canData[0] = restLen; |
|
| 360 |
|
|
| 361 |
canIdx = 1; |
|
| 333 | 362 |
} |
| 334 |
/* Load max 8 bytes into message data bytes */ |
|
| 335 |
canData[0] = restLen; |
|
| 336 |
canIdx = 1; |
|
| 363 |
|
|
| 364 |
/* store the packet payload */ |
|
| 337 | 365 |
while (restLen > 0 && canIdx < 8) {
|
| 338 | 366 |
canData[canIdx] = data[len-restLen]; |
| 339 | 367 |
canIdx++; |
| ... | ... | |
| 344 | 372 |
canData[canIdx] = 0; |
| 345 | 373 |
canIdx++; |
| 346 | 374 |
} |
| 375 |
|
|
| 347 | 376 |
/* store the message data bytes */ |
| 348 | 377 |
CANx->sTxMailBox[0].TDLR = (((blt_int32u)canData[3] << 24) | \ |
| 349 | 378 |
((blt_int32u)canData[2] << 16) | \ |
| ... | ... | |
| 353 | 382 |
((blt_int32u)canData[6] << 16) | \ |
| 354 | 383 |
((blt_int32u)canData[5] << 8) | \ |
| 355 | 384 |
((blt_int32u)canData[4])); |
| 385 |
|
|
| 356 | 386 |
/* request the start of message transmission */ |
| 357 | 387 |
CANx->sTxMailBox[0].TIR |= CAN_BIT_TXRQ; |
| 358 | 388 |
/* wait for transmit completion */ |
| ... | ... | |
| 362 | 392 |
CopService(); |
| 363 | 393 |
} |
| 364 | 394 |
|
| 395 |
/* wait for the acknowledgement transmission */ |
|
| 396 |
while ((CANx->RF0R&(blt_int32u)0x00000003) == 0) {
|
|
| 397 |
/* keep the watchdog happy */ |
|
| 398 |
CopService(); |
|
| 399 |
} |
|
| 400 |
|
|
| 401 |
/* read out the message identifier, length and payload */ |
|
| 402 |
ackMsgId = (blt_int32u)0x000007FF & (CANx->sFIFOMailBox[0].RIR >> 21); |
|
| 403 |
ackMsgLen = (blt_int8u)0x0F & CANx->sFIFOMailBox[0].RDTR; |
|
| 404 |
canData[0] = (blt_int8u)0xFF & CANx->sFIFOMailBox[0].RDLR; |
|
| 405 |
canData[1] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 8); |
|
| 406 |
canData[2] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 16); |
|
| 407 |
canData[3] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 24); |
|
| 408 |
canData[4] = (blt_int8u)0xFF & CANx->sFIFOMailBox[0].RDHR; |
|
| 409 |
canData[5] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 8); |
|
| 410 |
canData[6] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 16); |
|
| 411 |
canData[7] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 24); |
|
| 412 |
|
|
| 413 |
#if (CAN_DEBUG > 0) |
|
| 414 |
/* verification: |
|
| 415 |
* - ID must be "address & BOOT_COM_CAN_MSG_ACK" |
|
| 416 |
* - length must be 1 |
|
| 417 |
* - canData[0] must b equal to restLen |
|
| 418 |
*/ |
|
| 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; |
|
| 365 | 441 |
} |
| 366 | 442 |
} /*** end of CanTransmitPacket ***/ |
| 367 | 443 |
|
| ... | ... | |
| 385 | 461 |
blt_int8u canData[8]; |
| 386 | 462 |
blt_int8u restLen; |
| 387 | 463 |
blt_int8u canLength; |
| 464 |
blt_int8u idx; |
|
| 388 | 465 |
|
| 389 |
/* check if a new message was received */ |
|
| 390 |
if ((CANx->RF0R&(blt_int32u)0x00000003) > 0) |
|
| 391 |
{
|
|
| 392 |
/* read out the message identifier */ |
|
| 393 |
rxMsgId = (blt_int32u)0x000007FF & (CANx->sFIFOMailBox[0].RIR >> 21); |
|
| 394 |
/* is this the packet identifier */ |
|
| 395 |
|
|
| 396 |
blt_int32u compID; |
|
| 466 |
blt_int32u compID; |
|
| 397 | 467 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 398 |
if (commandSend == BLT_TRUE) {
|
|
| 399 |
compID = (blt_int32u)BOOT_COM_CAN_TX_MSG_ID;
|
|
| 400 |
} else {
|
|
| 468 |
if (commandSend == BLT_TRUE) {
|
|
| 469 |
compID = (blt_int32u)BOOT_COM_CAN_TX_MSG_ID; |
|
| 470 |
} else {
|
|
| 401 | 471 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 402 |
compID = (blt_int32u)BOOT_COM_CAN_RX_MSG_ID | (blt_int32u)BOOT_COM_DEVICE_ID;
|
|
| 472 |
compID = (blt_int32u)BOOT_COM_CAN_RX_MSG_ID;
|
|
| 403 | 473 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 404 |
}
|
|
| 474 |
} |
|
| 405 | 475 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 406 | 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 */ |
|
| 407 | 489 |
if (rxMsgId == compID) |
| 408 | 490 |
{
|
| 409 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
|
| 410 |
commandSend = BLT_FALSE; |
|
| 411 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
|
| 412 | 491 |
result = BLT_TRUE; |
| 413 | 492 |
|
| 414 | 493 |
/* save length */ |
| ... | ... | |
| 423 | 502 |
canData[6] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 16); |
| 424 | 503 |
canData[7] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 24); |
| 425 | 504 |
|
| 426 |
/* Store rest length of package and check if possible */ |
|
| 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 */ |
|
| 427 | 521 |
if (receivedLen == 0) {
|
| 428 |
toReceive = canData[0]; |
|
| 429 |
lastLen = canData[0]; |
|
| 430 |
} else {
|
|
| 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 ((commandSend == BLT_TRUE && deviceID == 0) || |
|
| 529 |
(commandSend != BLT_TRUE && (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID) || deviceID == (blt_int32u)BOOT_COM_DEVICE_LEGACY_ID)) {
|
|
| 530 |
#else |
|
| 531 |
if (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID || |
|
| 532 |
deviceID == (blt_int32u)BOOT_COM_DEVICE_LEGACY_ID) {
|
|
| 533 |
#endif |
|
| 534 |
/* store length of the packet */ |
|
| 535 |
toReceive = canData[4]; |
|
| 536 |
lastLen = canData[4]; |
|
| 537 |
idx = 5; |
|
| 538 |
|
|
| 539 |
/* modify the listening address for filtering of subsequent transmissions */ |
|
| 540 |
compID |= (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT; |
|
| 541 |
} else {
|
|
| 542 |
/* release FIFO0 */ |
|
| 543 |
CANx->RF0R |= CAN_BIT_RFOM0; |
|
| 544 |
break; |
|
| 545 |
} |
|
| 546 |
} |
|
| 547 |
/* if this is a subsequent transmission of a packet */ |
|
| 548 |
else {
|
|
| 549 |
/* store rest length and check if possible */ |
|
| 431 | 550 |
restLen = canData[0]; |
| 432 |
if (lastLen-restLen != 7) {
|
|
| 433 |
// package has been lost - but nothing happens |
|
| 551 |
#if (CAN_DEBUG > 0) |
|
| 552 |
if (restLen != toReceive-receivedLen || |
|
| 553 |
canLength > restLen+1 || |
|
| 554 |
lastLen-restLen != ((lastLen==toReceive) ? 3 : 7)) {
|
|
| 555 |
/* transmission has been lost */ |
|
| 556 |
blinkSOS(2); |
|
| 557 |
msleep(500); |
|
| 558 |
visualizeData((blt_int8u*)&rxMsgId, 4, 1); |
|
| 559 |
msleep(500); |
|
| 560 |
visualizeByte(toReceive, 1); |
|
| 561 |
msleep(500); |
|
| 562 |
visualizeByte(receivedLen, 1); |
|
| 563 |
msleep(500); |
|
| 564 |
visualizeByte(lastLen, 1); |
|
| 565 |
msleep(500); |
|
| 566 |
visualizeByte(restLen, 1); |
|
| 567 |
msleep(500); |
|
| 568 |
visualizeByte(canLength, 1); |
|
| 569 |
msleep(500); |
|
| 570 |
visualizeData(readData, receivedLen, 1); |
|
| 571 |
blinkSOSinf(); |
|
| 434 | 572 |
} |
| 573 |
#endif /* CAN_DEBUG > 0 */ |
|
| 435 | 574 |
lastLen = restLen; |
| 575 |
idx = 1; |
|
| 436 | 576 |
} |
| 437 | 577 |
|
| 438 |
/* store data in data package */ |
|
| 439 |
blt_int8u idx; |
|
| 440 |
for (idx=1; idx < canLength; idx++) {
|
|
| 578 |
/* store the payload */ |
|
| 579 |
for (; idx < canLength; idx++) {
|
|
| 441 | 580 |
readData[receivedLen] = canData[idx]; |
| 442 | 581 |
receivedLen++; |
| 443 | 582 |
} |
| 444 | 583 |
|
| 584 |
/* release FIFO0 */ |
|
| 585 |
CANx->RF0R |= CAN_BIT_RFOM0; |
|
| 586 |
|
|
| 587 |
/* send acknowledgement */ |
|
| 588 |
CANx->sTxMailBox[0].TIR &= CAN_BIT_TXRQ; |
|
| 589 |
CANx->sTxMailBox[0].TIR |= ((rxMsgId | (blt_int32u)BOOT_COM_CAN_MSG_ACK) << 21); |
|
| 590 |
CANx->sTxMailBox[0].TDTR = 1; |
|
| 591 |
CANx->sTxMailBox[0].TDLR = (((blt_int32u)0 << 24) | \ |
|
| 592 |
((blt_int32u)0 << 16) | \ |
|
| 593 |
((blt_int32u)0 << 8) | \ |
|
| 594 |
((blt_int32u)(toReceive-receivedLen))); |
|
| 595 |
CANx->sTxMailBox[0].TDHR = (((blt_int32u)0 << 24) | \ |
|
| 596 |
((blt_int32u)0 << 16) | \ |
|
| 597 |
((blt_int32u)0 << 8) | \ |
|
| 598 |
((blt_int32u)0)); |
|
| 599 |
|
|
| 600 |
/* request the start of message transmission */ |
|
| 601 |
CANx->sTxMailBox[0].TIR |= CAN_BIT_TXRQ; |
|
| 602 |
/* wait for transmit completion */ |
|
| 603 |
while ((CANx->TSR&CAN_BIT_TME0) == 0) |
|
| 604 |
{
|
|
| 605 |
/* keep the watchdog happy */ |
|
| 606 |
CopService(); |
|
| 607 |
} |
|
| 608 |
|
|
| 445 | 609 |
/* check if full package has been received */ |
| 446 |
if (receivedLen >= toReceive) {
|
|
| 447 |
receivedLen = 0; |
|
| 610 |
if (receivedLen == toReceive) {
|
|
| 611 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
|
| 612 |
commandSend = BLT_FALSE; |
|
| 613 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
|
| 448 | 614 |
for (idx = 0; idx < toReceive; idx++) {
|
| 449 | 615 |
data[idx] = readData[idx]; |
| 450 | 616 |
} |
| 451 | 617 |
length = toReceive; |
| 618 |
/* reset static variables */ |
|
| 619 |
receivedLen = 0; |
|
| 620 |
toReceive = 0; |
|
| 621 |
break; |
|
| 452 | 622 |
} else {
|
| 623 |
#if (CAN_DEBUG > 0) |
|
| 624 |
if (receivedLen > toReceive) {
|
|
| 625 |
/* something strange happened */ |
|
| 626 |
blinkSOS(3); |
|
| 627 |
msleep(500); |
|
| 628 |
visualizeByte(toReceive, 1); |
|
| 629 |
msleep(500); |
|
| 630 |
visualizeByte(receivedLen, 1); |
|
| 631 |
blinkSOSinf(); |
|
| 632 |
} |
|
| 633 |
#endif /* CAN_DEBUG > 0 */ |
|
| 453 | 634 |
length = 0; |
| 454 | 635 |
} |
| 636 |
} else {
|
|
| 637 |
/* release FIFO0 */ |
|
| 638 |
CANx->RF0R |= CAN_BIT_RFOM0; |
|
| 455 | 639 |
} |
| 456 |
/* release FIFO0 */ |
|
| 457 |
CANx->RF0R |= CAN_BIT_RFOM0; |
|
| 458 | 640 |
} |
| 641 |
|
|
| 459 | 642 |
return length; |
| 460 | 643 |
} /*** end of CanReceivePacket ***/ |
| 461 | 644 |
#endif /* BOOT_COM_CAN_ENABLE > 0 || BOOT_GATE_CAN_ENABLE > 0 */ |
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