354 lines
15 KiB
C
354 lines
15 KiB
C
/****************************************************************************************
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| Description: demo program bootloader interface source file
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| File Name: boot.c
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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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| 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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| 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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| 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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| 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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/****************************************************************************************
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* Include files
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****************************************************************************************/
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#include "header.h" /* generic header */
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/****************************************************************************************
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** NAME: BootActivate
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** PARAMETER: none
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** RETURN VALUE: none
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** DESCRIPTION: Bootloader activation function.
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**
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****************************************************************************************/
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static void BootActivate(void)
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{
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void (*pEntryFromProgFnc)(void);
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/* set pointer to the address of function EntryFromProg in the bootloader */
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pEntryFromProgFnc = (void*)0x00000040;
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/* call EntryFromProg to activate the bootloader. */
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pEntryFromProgFnc();
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} /*** end of BootActivate ***/
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#if (BOOT_COM_UART_ENABLE > 0)
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/****************************************************************************************
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* U N I V E R S A L A S Y N C H R O N O U S R X T X I N T E R F A C E
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****************************************************************************************/
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/****************************************************************************************
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* Macro definitions
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****************************************************************************************/
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#define UART_DLAB (0x80) /* divisor latch access bit */
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#define UART_MODE_8N1 (0x03) /* 8 data and 1 stop bit, no parity */
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#define UART_FIFO_RX1 (0x07) /* FIFO reset and RX FIFO 1 deep */
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#define UART_RDR (0x01) /* receiver data ready */
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/****************************************************************************************
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* Function prototypes
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****************************************************************************************/
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static unsigned char UartReceiveByte(unsigned char *data);
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/****************************************************************************************
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** NAME: BootComInit
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** PARAMETER: none
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** RETURN VALUE: none
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** DESCRIPTION: Initializes the UART communication interface
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**
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****************************************************************************************/
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void BootComInit(void)
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{
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unsigned long baud_reg_value; /* baudrate register value */
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/* configure P0.0 for UART0 Tx and P0.1 for UART0 Rx functionality */
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PINSEL0 |= 0x05;
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/* disable UART related interrupt generation. this driver works in polling mode */
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U0IER = 0;
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/* clear interrupt id register */
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U0IIR = 0;
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/* clear line status register */
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U0LSR = 0;
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/* set divisor latch DLAB = 1 so buadrate can be configured */
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U0LCR = UART_DLAB;
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/* Baudrate calculation:
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* y = BOOT_CPU_SYSTEM_SPEED_KHZ * 1000 / 16 / BOOT_COM_UART_BAUDRATE and add
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* smartness to automatically round the value up/down using the following trick:
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* y = x/n can round with y = (x + (n + 1)/2 ) / n
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*/
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baud_reg_value = (((BOOT_CPU_SYSTEM_SPEED_KHZ*1000/16)+ \
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((BOOT_COM_UART_BAUDRATE+1)/2))/BOOT_COM_UART_BAUDRATE);
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/* write the calculated baudrate selector value to the registers */
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U0DLL = (unsigned char)baud_reg_value;
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U0DLM = (unsigned char)(baud_reg_value >> 8);
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/* configure 8 data bits, no parity and 1 stop bit and set DLAB = 0 */
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U0LCR = UART_MODE_8N1;
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/* enable and reset transmit and receive FIFO. necessary for UART operation */
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U0FCR = UART_FIFO_RX1;
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} /*** end of BootComInit ***/
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/****************************************************************************************
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** NAME: BootComCheckActivationRequest
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** PARAMETER: none
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** RETURN VALUE: none
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** DESCRIPTION: Receives the CONNECT request from the host, which indicates that the
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** bootloader should be activated and, if so, activates it.
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**
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****************************************************************************************/
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void BootComCheckActivationRequest(void)
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{
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static unsigned char xcpCtoReqPacket[BOOT_COM_UART_RX_MAX_DATA+1];
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static unsigned char xcpCtoRxLength;
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static unsigned char xcpCtoRxInProgress = 0;
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/* start of cto packet received? */
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if (xcpCtoRxInProgress == 0)
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{
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/* store the message length when received */
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if (UartReceiveByte(&xcpCtoReqPacket[0]) == 1)
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{
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/* indicate that a cto packet is being received */
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xcpCtoRxInProgress = 1;
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/* reset packet data count */
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xcpCtoRxLength = 0;
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}
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}
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else
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{
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/* store the next packet byte */
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if (UartReceiveByte(&xcpCtoReqPacket[xcpCtoRxLength+1]) == 1)
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{
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/* increment the packet data count */
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xcpCtoRxLength++;
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/* check to see if the entire packet was received */
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if (xcpCtoRxLength == xcpCtoReqPacket[0])
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{
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/* done with cto packet reception */
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xcpCtoRxInProgress = 0;
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/* check if this was an XCP CONNECT command */
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if ((xcpCtoReqPacket[1] == 0xff) && (xcpCtoReqPacket[2] == 0x00))
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{
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/* connection request received so start the bootloader */
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BootActivate();
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}
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}
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}
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}
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} /*** end of BootComCheckActivationRequest ***/
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/****************************************************************************************
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** NAME: UartReceiveByte
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** PARAMETER: data pointer to byte where the data is to be stored.
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** RETURN VALUE: 1 if a byte was received, 0 otherwise.
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** DESCRIPTION: Receives a communication interface byte if one is present.
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**
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****************************************************************************************/
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static unsigned char UartReceiveByte(unsigned char *data)
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{
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/* check if a new byte was received by means of the RDR-bit */
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if((U0LSR & UART_RDR) != 0)
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{
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/* store the received byte */
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data[0] = U0RBR;
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/* inform caller of the newly received byte */
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return 1;
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}
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/* inform caller that no new data was received */
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return 0;
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} /*** end of UartReceiveByte ***/
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#endif /* BOOT_COM_UART_ENABLE > 0 */
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#if (BOOT_COM_CAN_ENABLE > 0)
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/****************************************************************************************
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* C O N T R O L L E R A R E A N E T W O R K I N T E R F A C E
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****************************************************************************************/
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/****************************************************************************************
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* Macro definitions
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****************************************************************************************/
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#define CAN_TBS1 (0x00000004) /* transmit buffer 1 idle */
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#define CAN_TCS1 (0x00000008) /* transmit buffer 1 complete */
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#define CAN_RRB (0x04) /* receive buffer release */
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#define CAN_RBS (0x01) /* receive buffer status */
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#define CAN_TR (0x01) /* transmission request */
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#define CAN_STB1 (0x20) /* select tx buffer 1 for transmit */
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/****************************************************************************************
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* Type definitions
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****************************************************************************************/
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typedef struct t_can_bus_timing
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{
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unsigned char tseg1; /* CAN time segment 1 */
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unsigned char tseg2; /* CAN time segment 2 */
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} tCanBusTiming; /* bus timing structure type */
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/****************************************************************************************
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* Local constant declarations
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****************************************************************************************/
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/* According to the CAN protocol 1 bit-time can be made up of between 8..25 time quanta
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* (TQ). The total TQ in a bit is SYNC + TSEG1 + TSEG2 with SYNC always being 1.
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* The sample point is (SYNC + TSEG1) / (SYNC + TSEG1 + SEG2) * 100%. This array contains
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* possible and valid time quanta configurations with 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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** NAME: CanGetSpeedConfig
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** PARAMETER: baud The desired baudrate in kbps. Valid values are 10..1000.
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** btr Pointer to where the value for register CANxBTR will be stored.
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** RETURN VALUE: 1 if the CAN bustiming register values were found, 0 otherwise.
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** DESCRIPTION: Search algorithm to match the desired baudrate to a possible bus
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** timing configuration.
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**
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****************************************************************************************/
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static unsigned char CanGetSpeedConfig(unsigned short baud, unsigned long *btr)
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{
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unsigned short prescaler;
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unsigned char 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 % (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/(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 prescaler and bustiming register value */
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*btr = prescaler - 1;
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*btr |= ((canTiming[cnt].tseg2 - 1) << 20) | ((canTiming[cnt].tseg1 - 1) << 16);
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/* found a good bus timing configuration */
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return 1;
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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 0;
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} /*** end of CanGetSpeedConfig ***/
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/****************************************************************************************
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** NAME: BootComInit
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** PARAMETER: none
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** RETURN VALUE: none
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** DESCRIPTION: Initializes the CAN communication interface
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**
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****************************************************************************************/
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void BootComInit(void)
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{
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unsigned long btr_reg_value;
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/* configure acceptance filter for bypass mode so it receives all messages */
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CANAFMR = 0x00000002L;
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/* take CAN controller offline and go into reset mode */
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CAN1MOD = 1;
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/* disable all interrupts. driver only needs to work in polling mode */
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CAN1IER = 0;
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/* reset CAN controller status */
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CAN1GSR = 0;
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/* configure the bittiming */
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if (CanGetSpeedConfig(BOOT_COM_CAN_BAUDRATE/1000, &btr_reg_value) == 1)
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{
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/* write the bittiming configuration to the register */
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CAN1BTR = btr_reg_value;
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}
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/* enter normal operating mode and synchronize to the CAN bus */
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CAN1MOD = 0;
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} /*** end of BootComInit ***/
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/****************************************************************************************
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** NAME: BootComCheckActivationRequest
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** PARAMETER: none
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** RETURN VALUE: none
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** DESCRIPTION: Receives the CONNECT request from the host, which indicates that the
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** bootloader should be activated and, if so, activates it.
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**
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****************************************************************************************/
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void BootComCheckActivationRequest(void)
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{
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unsigned char data[2];
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/* check if a new message was received */
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if ((CAN1SR & CAN_RBS) == 0)
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{
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return;
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}
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/* see if this is the message identifier that we are interested in */
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if (CAN1RID != BOOT_COM_CAN_RX_MSG_ID)
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{
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return;
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}
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/* store the message data */
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data[0] = (unsigned char)CAN1RDA;
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data[1] = (unsigned char)(CAN1RDA >> 8);
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/* release the receive buffer */
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CAN1CMR = CAN_RRB;
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/* check if this was an XCP CONNECT command */
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if ((data[0] == 0xff) && (data[1] == 0x00))
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{
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/* connection request received so start the bootloader */
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BootActivate();
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}
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} /*** end of BootComCheckActivationRequest ***/
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#endif /* BOOT_COM_CAN_ENABLE > 0 */
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/*********************************** end of boot.c *************************************/
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