351 lines
15 KiB
Plaintext
351 lines
15 KiB
Plaintext
/****************************************************************************************
|
|
| Description: demo program bootloader interface source file
|
|
| File Name: boot.c
|
|
|
|
|
|----------------------------------------------------------------------------------------
|
|
| C O P Y R I G H T
|
|
|----------------------------------------------------------------------------------------
|
|
| Copyright (c) 2011 by Feaser http://www.feaser.com All rights reserved
|
|
|
|
|
|----------------------------------------------------------------------------------------
|
|
| L I C E N S E
|
|
|----------------------------------------------------------------------------------------
|
|
| This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or
|
|
| modify it under the terms of the GNU General Public License as published by the Free
|
|
| Software Foundation, either version 3 of the License, or (at your option) any later
|
|
| version.
|
|
|
|
|
| OpenBLT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
|
|
| without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
|
|
| PURPOSE. See the GNU General Public License for more details.
|
|
|
|
|
| You should have received a copy of the GNU General Public License along with OpenBLT.
|
|
| If not, see <http://www.gnu.org/licenses/>.
|
|
|
|
|
| A special exception to the GPL is included to allow you to distribute a combined work
|
|
| that includes OpenBLT without being obliged to provide the source code for any
|
|
| proprietary components. The exception text is included at the bottom of the license
|
|
| file <license.html>.
|
|
|
|
|
****************************************************************************************/
|
|
|
|
/****************************************************************************************
|
|
* Include files
|
|
****************************************************************************************/
|
|
#include "header.h" /* generic header */
|
|
|
|
|
|
/****************************************************************************************
|
|
** NAME: BootActivate
|
|
** PARAMETER: none
|
|
** RETURN VALUE: none
|
|
** DESCRIPTION: Bootloader activation function.
|
|
**
|
|
****************************************************************************************/
|
|
static void BootActivate(void)
|
|
{
|
|
void (*pEntryFromProgFnc)(void);
|
|
|
|
/* set pointer to the address of function EntryFromProg in the bootloader. note that
|
|
* 1 is added to this address to enable a switch from Thumb2 to Thumb mode
|
|
*/
|
|
pEntryFromProgFnc = (void*)0x08000150 + 1;
|
|
/* call EntryFromProg to activate the bootloader. */
|
|
pEntryFromProgFnc();
|
|
} /*** end of BootActivate ***/
|
|
|
|
|
|
#if (BOOT_COM_UART_ENABLE > 0)
|
|
/****************************************************************************************
|
|
* 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
|
|
****************************************************************************************/
|
|
|
|
/****************************************************************************************
|
|
* Macro definitions
|
|
****************************************************************************************/
|
|
|
|
|
|
/****************************************************************************************
|
|
* Function prototypes
|
|
****************************************************************************************/
|
|
static unsigned char UartReceiveByte(unsigned char *data);
|
|
|
|
|
|
/****************************************************************************************
|
|
** NAME: BootComInit
|
|
** PARAMETER: none
|
|
** RETURN VALUE: none
|
|
** DESCRIPTION: Initializes the UART communication interface
|
|
**
|
|
****************************************************************************************/
|
|
void BootComInit(void)
|
|
{
|
|
UartInit(BOOT_COM_UART_BAUDRATE);
|
|
} /*** end of BootComInit ***/
|
|
|
|
|
|
/****************************************************************************************
|
|
** NAME: BootComCheckActivationRequest
|
|
** PARAMETER: none
|
|
** RETURN VALUE: none
|
|
** DESCRIPTION: Receives the CONNECT request from the host, which indicates that the
|
|
** bootloader should be activated and, if so, activates it.
|
|
**
|
|
****************************************************************************************/
|
|
void BootComCheckActivationRequest(void)
|
|
{
|
|
static unsigned char xcpCtoReqPacket[BOOT_COM_UART_RX_MAX_DATA+1];
|
|
static unsigned char xcpCtoRxLength;
|
|
static unsigned char xcpCtoRxInProgress = 0;
|
|
|
|
/* start of cto packet received? */
|
|
if (xcpCtoRxInProgress == 0)
|
|
{
|
|
/* store the message length when received */
|
|
if (UartReceiveByte(&xcpCtoReqPacket[0]) == 1)
|
|
{
|
|
/* indicate that a cto packet is being received */
|
|
xcpCtoRxInProgress = 1;
|
|
|
|
/* reset packet data count */
|
|
xcpCtoRxLength = 0;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
/* store the next packet byte */
|
|
if (UartReceiveByte(&xcpCtoReqPacket[xcpCtoRxLength+1]) == 1)
|
|
{
|
|
/* increment the packet data count */
|
|
xcpCtoRxLength++;
|
|
|
|
/* check to see if the entire packet was received */
|
|
if (xcpCtoRxLength == xcpCtoReqPacket[0])
|
|
{
|
|
/* done with cto packet reception */
|
|
xcpCtoRxInProgress = 0;
|
|
|
|
/* check if this was an XCP CONNECT command */
|
|
if ((xcpCtoReqPacket[1] == 0xff) && (xcpCtoReqPacket[2] == 0x00))
|
|
{
|
|
/* connection request received so start the bootloader */
|
|
BootActivate();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
} /*** end of BootComCheckActivationRequest ***/
|
|
|
|
|
|
/****************************************************************************************
|
|
** NAME: UartReceiveByte
|
|
** PARAMETER: data pointer to byte where the data is to be stored.
|
|
** RETURN VALUE: 1 if a byte was received, 0 otherwise.
|
|
** DESCRIPTION: Receives a communication interface byte if one is present.
|
|
**
|
|
****************************************************************************************/
|
|
static unsigned char UartReceiveByte(unsigned char *data)
|
|
{
|
|
/* check flag to see if a byte was received */
|
|
if (USART_GetFlagStatus(USART2, USART_FLAG_RXNE) == SET)
|
|
{
|
|
/* retrieve and store the newly received byte */
|
|
*data = (unsigned char)USART_ReceiveData(USART2);
|
|
/* all done */
|
|
return 1;
|
|
}
|
|
/* still here to no new byte received */
|
|
return 0;
|
|
} /*** end of UartReceiveByte ***/
|
|
#endif /* BOOT_COM_UART_ENABLE > 0 */
|
|
|
|
|
|
#if (BOOT_COM_CAN_ENABLE > 0)
|
|
/****************************************************************************************
|
|
* 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
|
|
****************************************************************************************/
|
|
|
|
/****************************************************************************************
|
|
* Macro definitions
|
|
****************************************************************************************/
|
|
|
|
|
|
/****************************************************************************************
|
|
* Type definitions
|
|
****************************************************************************************/
|
|
typedef struct t_can_bus_timing
|
|
{
|
|
unsigned char tseg1; /* CAN time segment 1 */
|
|
unsigned char tseg2; /* CAN time segment 2 */
|
|
} tCanBusTiming; /* bus timing structure type */
|
|
|
|
|
|
/****************************************************************************************
|
|
* Local constant declarations
|
|
****************************************************************************************/
|
|
/* According to the CAN protocol 1 bit-time can be made up of between 8..25 time quanta
|
|
* (TQ). The total TQ in a bit is SYNC + TSEG1 + TSEG2 with SYNC always being 1.
|
|
* The sample point is (SYNC + TSEG1) / (SYNC + TSEG1 + SEG2) * 100%. This array contains
|
|
* possible and valid time quanta configurations with a sample point between 68..78%.
|
|
*/
|
|
static const tCanBusTiming canTiming[] =
|
|
{ /* TQ | TSEG1 | TSEG2 | SP */
|
|
/* ------------------------- */
|
|
{ 5, 2 }, /* 8 | 5 | 2 | 75% */
|
|
{ 6, 2 }, /* 9 | 6 | 2 | 78% */
|
|
{ 6, 3 }, /* 10 | 6 | 3 | 70% */
|
|
{ 7, 3 }, /* 11 | 7 | 3 | 73% */
|
|
{ 8, 3 }, /* 12 | 8 | 3 | 75% */
|
|
{ 9, 3 }, /* 13 | 9 | 3 | 77% */
|
|
{ 9, 4 }, /* 14 | 9 | 4 | 71% */
|
|
{ 10, 4 }, /* 15 | 10 | 4 | 73% */
|
|
{ 11, 4 }, /* 16 | 11 | 4 | 75% */
|
|
{ 12, 4 }, /* 17 | 12 | 4 | 76% */
|
|
{ 12, 5 }, /* 18 | 12 | 5 | 72% */
|
|
{ 13, 5 }, /* 19 | 13 | 5 | 74% */
|
|
{ 14, 5 }, /* 20 | 14 | 5 | 75% */
|
|
{ 15, 5 }, /* 21 | 15 | 5 | 76% */
|
|
{ 15, 6 }, /* 22 | 15 | 6 | 73% */
|
|
{ 16, 6 }, /* 23 | 16 | 6 | 74% */
|
|
{ 16, 7 }, /* 24 | 16 | 7 | 71% */
|
|
{ 16, 8 } /* 25 | 16 | 8 | 68% */
|
|
};
|
|
|
|
|
|
/****************************************************************************************
|
|
** NAME: CanGetSpeedConfig
|
|
** PARAMETER: baud The desired baudrate in kbps. Valid values are 10..1000.
|
|
** prescaler Pointer to where the value for the prescaler will be stored.
|
|
** tseg1 Pointer to where the value for TSEG2 will be stored.
|
|
** tseg2 Pointer to where the value for TSEG2 will be stored.
|
|
** RETURN VALUE: 1 if the CAN bustiming register values were found, 0 otherwise.
|
|
** DESCRIPTION: Search algorithm to match the desired baudrate to a possible bus
|
|
** timing configuration.
|
|
**
|
|
****************************************************************************************/
|
|
static unsigned char CanGetSpeedConfig(unsigned short baud, unsigned short *prescaler,
|
|
unsigned char *tseg1, unsigned char *tseg2)
|
|
{
|
|
unsigned char cnt;
|
|
|
|
/* loop through all possible time quanta configurations to find a match */
|
|
for (cnt=0; cnt < sizeof(canTiming)/sizeof(canTiming[0]); cnt++)
|
|
{
|
|
if (((BOOT_CPU_SYSTEM_SPEED_KHZ/2) % (baud*(canTiming[cnt].tseg1+canTiming[cnt].tseg2+1))) == 0)
|
|
{
|
|
/* compute the prescaler that goes with this TQ configuration */
|
|
*prescaler = (BOOT_CPU_SYSTEM_SPEED_KHZ/2)/(baud*(canTiming[cnt].tseg1+canTiming[cnt].tseg2+1));
|
|
|
|
/* make sure the prescaler is valid */
|
|
if ( (*prescaler > 0) && (*prescaler <= 1024) )
|
|
{
|
|
/* store the bustiming configuration */
|
|
*tseg1 = canTiming[cnt].tseg1;
|
|
*tseg2 = canTiming[cnt].tseg2;
|
|
/* found a good bus timing configuration */
|
|
return 1;
|
|
}
|
|
}
|
|
}
|
|
/* could not find a good bus timing configuration */
|
|
return 0;
|
|
} /*** end of CanGetSpeedConfig ***/
|
|
|
|
|
|
/****************************************************************************************
|
|
** NAME: BootComInit
|
|
** PARAMETER: none
|
|
** RETURN VALUE: none
|
|
** DESCRIPTION: Initializes the CAN communication interface
|
|
**
|
|
****************************************************************************************/
|
|
void BootComInit(void)
|
|
{
|
|
GPIO_InitTypeDef GPIO_InitStructure;
|
|
CAN_InitTypeDef CAN_InitStructure;
|
|
CAN_FilterInitTypeDef CAN_FilterInitStructure;
|
|
unsigned short prescaler;
|
|
unsigned char tseg1, tseg2;
|
|
|
|
/* GPIO clock enable */
|
|
RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
|
|
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
|
|
/* Configure CAN pin: RX */
|
|
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
|
|
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
|
|
GPIO_Init(GPIOB, &GPIO_InitStructure);
|
|
/* Configure CAN pin: TX */
|
|
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_9;
|
|
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
|
|
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
|
|
GPIO_Init(GPIOB, &GPIO_InitStructure);
|
|
/* Remap CAN1 pins to PortB */
|
|
GPIO_PinRemapConfig(GPIO_Remap1_CAN1 , ENABLE);
|
|
/* CAN1 Periph clock enable */
|
|
RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
|
|
/* CAN register init */
|
|
CAN_DeInit(CAN1);
|
|
CAN_StructInit(&CAN_InitStructure);
|
|
/* obtain the bittiming configuration for this baudrate */
|
|
CanGetSpeedConfig(BOOT_COM_CAN_BAUDRATE/1000, &prescaler, &tseg1, &tseg2);
|
|
/* CAN controller init */
|
|
CAN_InitStructure.CAN_TTCM = DISABLE;
|
|
CAN_InitStructure.CAN_ABOM = DISABLE;
|
|
CAN_InitStructure.CAN_AWUM = DISABLE;
|
|
CAN_InitStructure.CAN_NART = DISABLE;
|
|
CAN_InitStructure.CAN_RFLM = DISABLE;
|
|
CAN_InitStructure.CAN_TXFP = DISABLE;
|
|
CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
|
|
/* CAN Baudrate init */
|
|
CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
|
|
CAN_InitStructure.CAN_BS1 = tseg1 - 1;
|
|
CAN_InitStructure.CAN_BS2 = tseg2 - 1;
|
|
CAN_InitStructure.CAN_Prescaler = prescaler;
|
|
CAN_Init(CAN1, &CAN_InitStructure);
|
|
/* CAN filter init - receive all messages */
|
|
CAN_FilterInitStructure.CAN_FilterNumber = 0;
|
|
CAN_FilterInitStructure.CAN_FilterMode = CAN_FilterMode_IdMask;
|
|
CAN_FilterInitStructure.CAN_FilterScale = CAN_FilterScale_32bit;
|
|
CAN_FilterInitStructure.CAN_FilterIdHigh = 0x0000;
|
|
CAN_FilterInitStructure.CAN_FilterIdLow = 0x0000;
|
|
CAN_FilterInitStructure.CAN_FilterMaskIdHigh = 0x0000;
|
|
CAN_FilterInitStructure.CAN_FilterMaskIdLow = 0x0000;
|
|
CAN_FilterInitStructure.CAN_FilterFIFOAssignment = 0;
|
|
CAN_FilterInitStructure.CAN_FilterActivation = ENABLE;
|
|
CAN_FilterInit(&CAN_FilterInitStructure);
|
|
} /*** end of BootComInit ***/
|
|
|
|
|
|
/****************************************************************************************
|
|
** NAME: BootComCheckActivationRequest
|
|
** PARAMETER: none
|
|
** RETURN VALUE: none
|
|
** DESCRIPTION: Receives the CONNECT request from the host, which indicates that the
|
|
** bootloader should be activated and, if so, activates it.
|
|
**
|
|
****************************************************************************************/
|
|
void BootComCheckActivationRequest(void)
|
|
{
|
|
CanRxMsg RxMessage;
|
|
|
|
/* check if a new message was received */
|
|
if (CAN_MessagePending(CAN1, CAN_FIFO0) > 0)
|
|
{
|
|
/* receive the message */
|
|
CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);
|
|
if (RxMessage.StdId == BOOT_COM_CAN_RX_MSG_ID)
|
|
{
|
|
/* check if this was an XCP CONNECT command */
|
|
if ((RxMessage.Data[0] == 0xff) && (RxMessage.Data[1] == 0x00))
|
|
{
|
|
/* connection request received so start the bootloader */
|
|
BootActivate();
|
|
}
|
|
}
|
|
}
|
|
} /*** end of BootComCheckActivationRequest ***/
|
|
#endif /* BOOT_COM_CAN_ENABLE > 0 */
|
|
|
|
|
|
/*********************************** end of boot.c *************************************/
|