Revision d54d2f07 Target/Source/ARMCM4_STM32/can.c
| Target/Source/ARMCM4_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[28]; |
| 95 |
} tCanRegs;
|
|
| 100 |
} tCanRegs; |
|
| 96 | 101 |
|
| 97 | 102 |
|
| 98 | 103 |
/**************************************************************************************** |
| ... | ... | |
| 153 | 158 |
* Local constant declarations |
| 154 | 159 |
****************************************************************************************/ |
| 155 | 160 |
/** \brief CAN bittiming table for dynamically calculating the bittiming settings. |
| 156 |
* \details According to the CAN protocol 1 bit-time can be made up of between 8..25
|
|
| 157 |
* time quanta (TQ). The total TQ in a bit is SYNC + TSEG1 + TSEG2 with SYNC
|
|
| 158 |
* always being 1. The sample point is (SYNC + TSEG1) / (SYNC + TSEG1 + SEG2) *
|
|
| 161 |
* \details According to the CAN protocol 1 bit-time can be made up of between 8..25 |
|
| 162 |
* time quanta (TQ). The total TQ in a bit is SYNC + TSEG1 + TSEG2 with SYNC |
|
| 163 |
* always being 1. The sample point is (SYNC + TSEG1) / (SYNC + TSEG1 + SEG2) * |
|
| 159 | 164 |
* 100%. This array contains possible and valid time quanta configurations with |
| 160 | 165 |
* a sample point between 68..78%. |
| 161 | 166 |
*/ |
| ... | ... | |
| 184 | 189 |
|
| 185 | 190 |
int counter = 0; |
| 186 | 191 |
/************************************************************************************//** |
| 187 |
** \brief Search algorithm to match the desired baudrate to a possible bus
|
|
| 192 |
** \brief Search algorithm to match the desired baudrate to a possible bus |
|
| 188 | 193 |
** timing configuration. |
| 189 | 194 |
** \param baud The desired baudrate in kbps. Valid values are 10..1000. |
| 190 | 195 |
** \param prescaler Pointer to where the value for the prescaler will be stored. |
| 191 | 196 |
** \param tseg1 Pointer to where the value for TSEG2 will be stored. |
| 192 | 197 |
** \param tseg2 Pointer to where the value for TSEG2 will be stored. |
| 193 |
** \return BLT_TRUE if the CAN bustiming register values were found, BLT_FALSE
|
|
| 198 |
** \return BLT_TRUE if the CAN bustiming register values were found, BLT_FALSE |
|
| 194 | 199 |
** otherwise. |
| 195 | 200 |
** |
| 196 | 201 |
****************************************************************************************/ |
| 197 |
static blt_bool CanGetSpeedConfig(blt_int16u baud, blt_int16u *prescaler,
|
|
| 202 |
static blt_bool CanGetSpeedConfig(blt_int16u baud, blt_int16u *prescaler, |
|
| 198 | 203 |
blt_int8u *tseg1, blt_int8u *tseg2) |
| 199 | 204 |
{
|
| 200 | 205 |
blt_int8u cnt; |
| ... | ... | |
| 238 | 243 |
commandSend = BLT_FALSE; |
| 239 | 244 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 240 | 245 |
|
| 241 |
/* the current implementation supports CAN1 and 2. throw an assertion error in case a
|
|
| 242 |
* different CAN channel is configured.
|
|
| 246 |
/* the current implementation supports CAN1 and 2. throw an assertion error in case a |
|
| 247 |
* different CAN channel is configured. |
|
| 243 | 248 |
*/ |
| 244 |
ASSERT_CT((BOOT_COM_CAN_CHANNEL_INDEX == 0 || BOOT_COM_CAN_CHANNEL_INDEX == 1));
|
|
| 249 |
ASSERT_CT((BOOT_COM_CAN_CHANNEL_INDEX == 0 || BOOT_COM_CAN_CHANNEL_INDEX == 1)); |
|
| 245 | 250 |
|
| 246 | 251 |
/* obtain bittiming configuration information */ |
| 247 | 252 |
result = CanGetSpeedConfig(BOOT_COM_CAN_BAUDRATE/1000, &prescaler, &tseg1, &tseg2); |
| ... | ... | |
| 297 | 302 |
/* 32-bit scale for the filter */ |
| 298 | 303 |
CAN1->FS1R |= CAN_BIT_FILTER0; |
| 299 | 304 |
/* open up the acceptance filter to receive all messages */ |
| 300 |
CAN1->sFilterRegister[0].FR1 = 0;
|
|
| 301 |
CAN1->sFilterRegister[0].FR2 = 0;
|
|
| 305 |
CAN1->sFilterRegister[0].FR1 = 0; |
|
| 306 |
CAN1->sFilterRegister[0].FR2 = 0; |
|
| 302 | 307 |
/* select id/mask mode for the filter */ |
| 303 | 308 |
CAN1->FM1R &= ~CAN_BIT_FILTER0; |
| 304 | 309 |
/* FIFO 0 assignation for the filter */ |
| ... | ... | |
| 315 | 320 |
/* 32-bit scale for the filter */ |
| 316 | 321 |
CAN1->FS1R |= CAN_BIT_FILTER14; |
| 317 | 322 |
/* open up the acceptance filter to receive all messages */ |
| 318 |
CAN1->sFilterRegister[14].FR1 = 0;
|
|
| 319 |
CAN1->sFilterRegister[14].FR2 = 0;
|
|
| 323 |
CAN1->sFilterRegister[14].FR1 = 0; |
|
| 324 |
CAN1->sFilterRegister[14].FR2 = 0; |
|
| 320 | 325 |
/* select id/mask mode for the filter */ |
| 321 | 326 |
CAN1->FM1R &= ~CAN_BIT_FILTER14; |
| 322 | 327 |
/* FIFO 0 assignation for the filter */ |
| ... | ... | |
| 325 | 330 |
CAN1->FA1R |= CAN_BIT_FILTER14; |
| 326 | 331 |
/* leave initialisation mode for the acceptance filter */ |
| 327 | 332 |
CAN1->FMR &= ~CAN_BIT_FINIT; |
| 328 |
#endif
|
|
| 333 |
#endif |
|
| 329 | 334 |
} /*** end of CanInit ***/ |
| 330 | 335 |
|
| 331 | 336 |
|
| ... | ... | |
| 336 | 341 |
** \return none. |
| 337 | 342 |
** |
| 338 | 343 |
****************************************************************************************/ |
| 339 |
void CanTransmitPacket(blt_int8u *data, blt_int8u len, blt_int8u deviceID)
|
|
| 344 |
void CanTransmitPacket(blt_int8u *data, blt_int8u len, blt_int32u deviceID)
|
|
| 340 | 345 |
{
|
| 341 | 346 |
/* make sure that transmit mailbox 0 is available */ |
| 342 | 347 |
ASSERT_RT((CANx->TSR&CAN_BIT_TME0) == CAN_BIT_TME0); |
| 343 |
/* store the 11-bit message identifier */ |
|
| 344 |
CANx->sTxMailBox[0].TIR &= CAN_BIT_TXRQ; |
|
| 345 | 348 |
|
| 346 | 349 |
blt_int32u address; |
| 347 | 350 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| ... | ... | |
| 351 | 354 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 352 | 355 |
commandSend = BLT_FALSE; |
| 353 | 356 |
} else {
|
| 354 |
address = ((blt_int32u)BOOT_COM_CAN_RX_MSG_ID | (blt_int32u)deviceID);
|
|
| 357 |
address = (blt_int32u)BOOT_COM_CAN_RX_MSG_ID;
|
|
| 355 | 358 |
commandSend = BLT_TRUE; |
| 356 | 359 |
} |
| 357 | 360 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| ... | ... | |
| 360 | 363 |
blt_int8u canData[8]; |
| 361 | 364 |
blt_int8u restLen = len; |
| 362 | 365 |
blt_int8u canIdx = 0; |
| 366 |
blt_int32u ackMsgId; |
|
| 367 |
blt_int8u ackMsgLen; |
|
| 363 | 368 |
|
| 364 | 369 |
/* send the given package in 8 byte packages */ |
| 365 | 370 |
while (restLen > 0) {
|
| 366 |
|
|
| 371 |
/* build the message identifier */ |
|
| 372 |
CANx->sTxMailBox[0].TIR &= CAN_BIT_TXRQ; |
|
| 367 | 373 |
CANx->sTxMailBox[0].TIR |= (address << 21); |
| 368 |
/* store the message date length code (DLC) */ |
|
| 369 |
if (restLen > 7) {
|
|
| 370 |
CANx->sTxMailBox[0].TDTR = 8; |
|
| 371 |
} else {
|
|
| 372 |
CANx->sTxMailBox[0].TDTR = restLen+1; |
|
| 374 |
|
|
| 375 |
/* if this is the first transmission of this packet */ |
|
| 376 |
if (restLen == len) {
|
|
| 377 |
|
|
| 378 |
/* store the message date length code (DLC) */ |
|
| 379 |
CANx->sTxMailBox[0].TDTR = (restLen > 4) ? 8 : restLen+1+4; |
|
| 380 |
|
|
| 381 |
/* store the device ID */ |
|
| 382 |
canData[0] = (blt_int8u)(0xFF & (deviceID >> 0)); |
|
| 383 |
canData[1] = (blt_int8u)(0xFF & (deviceID >> 8)); |
|
| 384 |
canData[2] = (blt_int8u)(0xFF & (deviceID >> 16)); |
|
| 385 |
canData[3] = (blt_int8u)(0xFF & (deviceID >> 24)); |
|
| 386 |
|
|
| 387 |
/* store the remaining packet length */ |
|
| 388 |
canData[4] = restLen; |
|
| 389 |
|
|
| 390 |
canIdx = 5; |
|
| 391 |
} |
|
| 392 |
/* if this is a succeeding transmission of this packet */ |
|
| 393 |
else {
|
|
| 394 |
|
|
| 395 |
/* store the message date length code (DLC) */ |
|
| 396 |
CANx->sTxMailBox[0].TDTR = (restLen > 7) ? 8 : restLen+1; |
|
| 397 |
|
|
| 398 |
/* store the remaining packet length */ |
|
| 399 |
canData[0] = restLen; |
|
| 400 |
|
|
| 401 |
canIdx = 1; |
|
| 373 | 402 |
} |
| 374 |
/* Load max 8 bytes into message data bytes */ |
|
| 375 |
canData[0] = restLen; |
|
| 376 |
canIdx = 1; |
|
| 403 |
|
|
| 404 |
/* store the packet payload */ |
|
| 377 | 405 |
while (restLen > 0 && canIdx < 8) {
|
| 378 | 406 |
canData[canIdx] = data[len-restLen]; |
| 379 | 407 |
canIdx++; |
| ... | ... | |
| 384 | 412 |
canData[canIdx] = 0; |
| 385 | 413 |
canIdx++; |
| 386 | 414 |
} |
| 415 |
|
|
| 387 | 416 |
/* store the message data bytes */ |
| 388 | 417 |
CANx->sTxMailBox[0].TDLR = (((blt_int32u)canData[3] << 24) | \ |
| 389 | 418 |
((blt_int32u)canData[2] << 16) | \ |
| ... | ... | |
| 393 | 422 |
((blt_int32u)canData[6] << 16) | \ |
| 394 | 423 |
((blt_int32u)canData[5] << 8) | \ |
| 395 | 424 |
((blt_int32u)canData[4])); |
| 425 |
|
|
| 396 | 426 |
/* request the start of message transmission */ |
| 397 | 427 |
CANx->sTxMailBox[0].TIR |= CAN_BIT_TXRQ; |
| 398 | 428 |
/* wait for transmit completion */ |
| ... | ... | |
| 402 | 432 |
CopService(); |
| 403 | 433 |
} |
| 404 | 434 |
|
| 435 |
/* wait for the acknowledgement transmission */ |
|
| 436 |
while ((CANx->RF0R&(blt_int32u)0x00000003) == 0) {
|
|
| 437 |
/* keep the watchdog happy */ |
|
| 438 |
CopService(); |
|
| 439 |
} |
|
| 440 |
|
|
| 441 |
/* read out the message identifier, length and payload */ |
|
| 442 |
ackMsgId = (blt_int32u)0x000007FF & (CANx->sFIFOMailBox[0].RIR >> 21); |
|
| 443 |
ackMsgLen = (blt_int8u)0x0F & CANx->sFIFOMailBox[0].RDTR; |
|
| 444 |
canData[0] = (blt_int8u)0xFF & CANx->sFIFOMailBox[0].RDLR; |
|
| 445 |
canData[1] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 8); |
|
| 446 |
canData[2] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 16); |
|
| 447 |
canData[3] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDLR >> 24); |
|
| 448 |
canData[4] = (blt_int8u)0xFF & CANx->sFIFOMailBox[0].RDHR; |
|
| 449 |
canData[5] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 8); |
|
| 450 |
canData[6] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 16); |
|
| 451 |
canData[7] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 24); |
|
| 452 |
|
|
| 453 |
#if (CAN_DEBUG > 0) |
|
| 454 |
/* verification: |
|
| 455 |
* - ID must be "address & BOOT_COM_CAN_MSG_ACK" |
|
| 456 |
* - length must be 1 |
|
| 457 |
* - canData[0] must b equal to restLen |
|
| 458 |
*/ |
|
| 459 |
if (ackMsgId != (address | (blt_int32u)BOOT_COM_CAN_MSG_ACK) || |
|
| 460 |
ackMsgLen != 1 || |
|
| 461 |
canData[0] != restLen) {
|
|
| 462 |
/* some error occurred */ |
|
| 463 |
blinkSOS(1); |
|
| 464 |
msleep(500); |
|
| 465 |
visualizeData((blt_int8u*)&ackMsgId, 2, 1); |
|
| 466 |
msleep(500); |
|
| 467 |
visualizeByte(ackMsgLen, 1); |
|
| 468 |
msleep(500); |
|
| 469 |
visualizeByte(canData[0], 1); |
|
| 470 |
msleep(500); |
|
| 471 |
visualizeByte(restLen, 1); |
|
| 472 |
blinkSOSinf(); |
|
| 473 |
} |
|
| 474 |
#endif /* CAN_DEBUG > 0 */ |
|
| 475 |
|
|
| 476 |
/* release FIFO0 */ |
|
| 477 |
CANx->RF0R |= CAN_BIT_RFOM0; |
|
| 478 |
|
|
| 479 |
/* modify address so that receivers can filter */ |
|
| 480 |
address |= (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT; |
|
| 405 | 481 |
} |
| 406 | 482 |
} /*** end of CanTransmitSinglePacket ***/ |
| 407 | 483 |
|
| ... | ... | |
| 461 | 537 |
blt_int8u canData[8]; |
| 462 | 538 |
blt_int8u restLen; |
| 463 | 539 |
blt_int8u canLength; |
| 540 |
blt_int8u idx; |
|
| 464 | 541 |
|
| 465 |
/* check if a new message was received */ |
|
| 466 |
if ((CANx->RF0R&(blt_int32u)0x00000003) > 0) |
|
| 467 |
{
|
|
| 468 |
/* read out the message identifier */ |
|
| 469 |
rxMsgId = (blt_int32u)0x000007FF & (CANx->sFIFOMailBox[0].RIR >> 21); |
|
| 470 |
/* is this the packet identifier */ |
|
| 471 |
|
|
| 472 |
blt_int32u compID; |
|
| 542 |
blt_int32u compID; |
|
| 473 | 543 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 474 |
if (commandSend == BLT_TRUE) {
|
|
| 475 |
compID = (blt_int32u)BOOT_COM_CAN_TX_MSG_ID;
|
|
| 476 |
} else {
|
|
| 544 |
if (commandSend == BLT_TRUE) {
|
|
| 545 |
compID = (blt_int32u)BOOT_COM_CAN_TX_MSG_ID; |
|
| 546 |
} else {
|
|
| 477 | 547 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 478 |
compID = (blt_int32u)BOOT_COM_CAN_RX_MSG_ID | (blt_int32u)BOOT_COM_DEVICE_ID;
|
|
| 548 |
compID = (blt_int32u)BOOT_COM_CAN_RX_MSG_ID;
|
|
| 479 | 549 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
| 480 |
}
|
|
| 550 |
} |
|
| 481 | 551 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
| 482 | 552 |
|
| 553 |
/* check if a new message was received or is more to come */ |
|
| 554 |
while ((CANx->RF0R&(blt_int32u)0x00000003) > 0 || receivedLen < toReceive) |
|
| 555 |
{
|
|
| 556 |
/* wait for a transmission if required */ |
|
| 557 |
while (receivedLen < toReceive && (CANx->RF0R&(blt_int32u)0x00000003) == 0) {
|
|
| 558 |
/* keep the watchdog happy */ |
|
| 559 |
CopService(); |
|
| 560 |
} |
|
| 561 |
|
|
| 562 |
/* read out the message identifier */ |
|
| 563 |
rxMsgId = (blt_int32u)0x000007FF & (CANx->sFIFOMailBox[0].RIR >> 21); |
|
| 564 |
/* is this the packet identifier */ |
|
| 483 | 565 |
if (rxMsgId == compID) |
| 484 | 566 |
{
|
| 485 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
|
| 486 |
commandSend = BLT_FALSE; |
|
| 487 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
|
| 488 | 567 |
result = BLT_TRUE; |
| 489 | 568 |
|
| 490 | 569 |
/* save length */ |
| ... | ... | |
| 499 | 578 |
canData[6] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 16); |
| 500 | 579 |
canData[7] = (blt_int8u)0xFF & (CANx->sFIFOMailBox[0].RDHR >> 24); |
| 501 | 580 |
|
| 502 |
/* Store rest length of package and check if possible */ |
|
| 581 |
#if (CAN_DEBUG > 0) |
|
| 582 |
if ((receivedLen == 0 && (rxMsgId & (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT) != 0) || |
|
| 583 |
(receivedLen > 0 && (rxMsgId & (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT) == 0)) {
|
|
| 584 |
blinkSOS(4); |
|
| 585 |
msleep(500); |
|
| 586 |
visualizeByte(toReceive, 1); |
|
| 587 |
msleep(500); |
|
| 588 |
visualizeByte(receivedLen, 1); |
|
| 589 |
msleep(500); |
|
| 590 |
visualizeData((blt_int8u*)&rxMsgId, 2, 1); |
|
| 591 |
msleep(500); |
|
| 592 |
blinkSOSinf(); |
|
| 593 |
} |
|
| 594 |
#endif /* CAN_DEBUG > 0 */ |
|
| 595 |
|
|
| 596 |
/* if this is the first transmission of this packet */ |
|
| 503 | 597 |
if (receivedLen == 0) {
|
| 504 |
toReceive = canData[0]; |
|
| 505 |
lastLen = canData[0]; |
|
| 506 |
} else {
|
|
| 598 |
/* abort if the message was meant for someone else */ |
|
| 599 |
blt_int32u deviceID = (((blt_int32u)canData[3]) << 24) | \ |
|
| 600 |
(((blt_int32u)canData[2]) << 16) | \ |
|
| 601 |
(((blt_int32u)canData[1]) << 8) | \ |
|
| 602 |
(((blt_int32u)canData[0])); |
|
| 603 |
#if (BOOT_GATE_ENABLE > 0) |
|
| 604 |
if ((commandSend == BLT_TRUE && deviceID == 0) || |
|
| 605 |
(commandSend != BLT_TRUE && (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID) || deviceID == (blt_int32u)BOOT_COM_DEVICE_LEGACY_ID)) {
|
|
| 606 |
#else |
|
| 607 |
if (deviceID == (blt_int32u)BOOT_COM_DEVICE_ID) {
|
|
| 608 |
#endif |
|
| 609 |
/* store length of the packet */ |
|
| 610 |
toReceive = canData[4]; |
|
| 611 |
lastLen = canData[4]; |
|
| 612 |
idx = 5; |
|
| 613 |
|
|
| 614 |
/* modify the listening address for filtering of subsequent transmissions */ |
|
| 615 |
compID |= (blt_int32u)BOOT_COM_CAN_MSG_SUBSEQUENT; |
|
| 616 |
} else {
|
|
| 617 |
/* release FIFO0 */ |
|
| 618 |
CANx->RF0R |= CAN_BIT_RFOM0; |
|
| 619 |
break; |
|
| 620 |
} |
|
| 621 |
} |
|
| 622 |
/* if this is a subsequent transmission of a packet */ |
|
| 623 |
else {
|
|
| 624 |
/* store rest length and check if possible */ |
|
| 507 | 625 |
restLen = canData[0]; |
| 508 |
if (lastLen-restLen != 7) {
|
|
| 509 |
// package has been lost - but nothing happens |
|
| 626 |
#if (CAN_DEBUG > 0) |
|
| 627 |
if (restLen != toReceive-receivedLen || |
|
| 628 |
canLength > restLen+1 || |
|
| 629 |
lastLen-restLen != ((lastLen==toReceive) ? 3 : 7)) {
|
|
| 630 |
/* transmission has been lost */ |
|
| 631 |
blinkSOS(2); |
|
| 632 |
msleep(500); |
|
| 633 |
visualizeData((blt_int8u*)&rxMsgId, 4, 1); |
|
| 634 |
msleep(500); |
|
| 635 |
visualizeByte(toReceive, 1); |
|
| 636 |
msleep(500); |
|
| 637 |
visualizeByte(receivedLen, 1); |
|
| 638 |
msleep(500); |
|
| 639 |
visualizeByte(lastLen, 1); |
|
| 640 |
msleep(500); |
|
| 641 |
visualizeByte(restLen, 1); |
|
| 642 |
msleep(500); |
|
| 643 |
visualizeByte(canLength, 1); |
|
| 644 |
msleep(500); |
|
| 645 |
visualizeData(readData, receivedLen, 1); |
|
| 646 |
blinkSOSinf(); |
|
| 510 | 647 |
} |
| 648 |
#endif /* CAN_DEBUG > 0 */ |
|
| 511 | 649 |
lastLen = restLen; |
| 650 |
idx = 1; |
|
| 512 | 651 |
} |
| 513 | 652 |
|
| 514 |
/* store data in data package */ |
|
| 515 |
blt_int8u idx; |
|
| 516 |
for (idx=1; idx < canLength; idx++) {
|
|
| 653 |
/* store the payload */ |
|
| 654 |
for (; idx < canLength; idx++) {
|
|
| 517 | 655 |
readData[receivedLen] = canData[idx]; |
| 518 | 656 |
receivedLen++; |
| 519 | 657 |
} |
| 520 | 658 |
|
| 659 |
/* release FIFO0 */ |
|
| 660 |
CANx->RF0R |= CAN_BIT_RFOM0; |
|
| 661 |
|
|
| 662 |
/* send acknowledgement */ |
|
| 663 |
CANx->sTxMailBox[0].TIR &= CAN_BIT_TXRQ; |
|
| 664 |
CANx->sTxMailBox[0].TIR |= ((rxMsgId | (blt_int32u)BOOT_COM_CAN_MSG_ACK) << 21); |
|
| 665 |
CANx->sTxMailBox[0].TDTR = 1; |
|
| 666 |
CANx->sTxMailBox[0].TDLR = (((blt_int32u)0 << 24) | \ |
|
| 667 |
((blt_int32u)0 << 16) | \ |
|
| 668 |
((blt_int32u)0 << 8) | \ |
|
| 669 |
((blt_int32u)(toReceive-receivedLen))); |
|
| 670 |
CANx->sTxMailBox[0].TDHR = (((blt_int32u)0 << 24) | \ |
|
| 671 |
((blt_int32u)0 << 16) | \ |
|
| 672 |
((blt_int32u)0 << 8) | \ |
|
| 673 |
((blt_int32u)0)); |
|
| 674 |
|
|
| 675 |
/* request the start of message transmission */ |
|
| 676 |
CANx->sTxMailBox[0].TIR |= CAN_BIT_TXRQ; |
|
| 677 |
/* wait for transmit completion */ |
|
| 678 |
while ((CANx->TSR&CAN_BIT_TME0) == 0) |
|
| 679 |
{
|
|
| 680 |
/* keep the watchdog happy */ |
|
| 681 |
CopService(); |
|
| 682 |
} |
|
| 683 |
|
|
| 521 | 684 |
/* check if full package has been received */ |
| 522 |
if (receivedLen >= toReceive) {
|
|
| 523 |
receivedLen = 0; |
|
| 685 |
if (receivedLen == toReceive) {
|
|
| 686 |
#if (BOOT_GATE_CAN_ENABLE > 0) |
|
| 687 |
commandSend = BLT_FALSE; |
|
| 688 |
#endif /* BOOT_GATE_CAN_ENABLE > 0 */ |
|
| 524 | 689 |
for (idx = 0; idx < toReceive; idx++) {
|
| 525 | 690 |
data[idx] = readData[idx]; |
| 526 | 691 |
} |
| 527 | 692 |
length = toReceive; |
| 693 |
/* reset static variables */ |
|
| 694 |
receivedLen = 0; |
|
| 695 |
toReceive = 0; |
|
| 696 |
break; |
|
| 528 | 697 |
} else {
|
| 698 |
#if (CAN_DEBUG > 0) |
|
| 699 |
if (receivedLen > toReceive) {
|
|
| 700 |
/* something strange happened */ |
|
| 701 |
blinkSOS(3); |
|
| 702 |
msleep(500); |
|
| 703 |
visualizeByte(toReceive, 1); |
|
| 704 |
msleep(500); |
|
| 705 |
visualizeByte(receivedLen, 1); |
|
| 706 |
blinkSOSinf(); |
|
| 707 |
} |
|
| 708 |
#endif /* CAN_DEBUG > 0 */ |
|
| 529 | 709 |
length = 0; |
| 530 | 710 |
} |
| 711 |
} else {
|
|
| 712 |
/* release FIFO0 */ |
|
| 713 |
CANx->RF0R |= CAN_BIT_RFOM0; |
|
| 531 | 714 |
} |
| 532 |
/* release FIFO0 */ |
|
| 533 |
CANx->RF0R |= CAN_BIT_RFOM0; |
|
| 534 | 715 |
} |
| 716 |
|
|
| 535 | 717 |
return length; |
| 536 | 718 |
} /*** end of CanReceiveSinglePacket ***/ |
| 537 | 719 |
|
| ... | ... | |
| 581 | 763 |
} else {
|
| 582 | 764 |
return 0; |
| 583 | 765 |
} |
| 584 |
|
|
| 766 |
|
|
| 585 | 767 |
|
| 586 | 768 |
} /*** end of CanReceivePacket ***/ |
| 587 | 769 |
#endif |
Also available in: Unified diff