316 lines
13 KiB
C
316 lines
13 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) 2012 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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/* stop the timer from generating interrupts */
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TimeDeinit();
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/* set pointer to the address of function EntryFromProg in the bootloader. note that
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* 1 is added to this address to enable a switch from Thumb2 to Thumb mode
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*/
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pEntryFromProgFnc = (void*)0x000000F0 + 1;
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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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* 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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/* enable the UART0 peripheral */
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SysCtlPeripheralEnable(SYSCTL_PERIPH_UART0);
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/* enable the and configure UART0 related peripherals and pins */
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SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOA);
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GPIOPinTypeUART(GPIO_PORTA_BASE, GPIO_PIN_0 | GPIO_PIN_1);
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/* configure the UART0 baudrate and communication parameters */
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UARTConfigSetExpClk(UART0_BASE, SysCtlClockGet(), BOOT_COM_UART_BAUDRATE,
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(UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE |
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UART_CONFIG_PAR_NONE));
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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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signed long result;
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/* try to read a newly received byte */
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result = UARTCharGetNonBlocking(UART0_BASE);
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/* check if a new byte was received */
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if(result != -1)
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{
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/* store the received byte */
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*data = (unsigned char)result;
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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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/* index of the used reception message objects */
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#define CAN_RX_MSGOBJECT_IDX (0)
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/****************************************************************************************
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* Local constant declarations
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****************************************************************************************/
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/* lookup table to quickly and efficiently convert a bit number to a bit mask */
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static const unsigned short canBitNum2Mask[] =
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{
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0x0001, /* bit 0 */
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};
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/****************************************************************************************
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** NAME: CanSetBittiming
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** PARAMETER: none
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** RETURN VALUE: 1 if a valid bittiming configuration was found and set. 0 otherwise.
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** DESCRIPTION: Attempts to match the bittiming parameters to the requested baudrate
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** for a sample point between 65 and 75%, through a linear search
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** algorithm. It is based on the equation:
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** baudrate = CAN Clock Freq/((1+PropSeg+Phase1Seg+Phase2Seg)*Prescaler)
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**
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****************************************************************************************/
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static unsigned char CanSetBittiming(void)
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{
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tCANBitClkParms bitClkParms;
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unsigned char samplepoint;
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/* init SJW to maximum value */
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bitClkParms.uSJW = 4;
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/* use a double loop to iterate through all possible settings of uSyncPropPhase1Seg
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* and uPhase2Seg.
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*/
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for (bitClkParms.uSyncPropPhase1Seg = 16; bitClkParms.uSyncPropPhase1Seg >= 1; bitClkParms.uSyncPropPhase1Seg--)
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{
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for (bitClkParms.uPhase2Seg = 8; bitClkParms.uPhase2Seg >= 1; bitClkParms.uPhase2Seg--)
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{
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samplepoint = ((1+bitClkParms.uSyncPropPhase1Seg) * 100) / (1+bitClkParms.uSyncPropPhase1Seg+bitClkParms.uPhase2Seg);
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/* check that sample points is within the preferred range */
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if ( (samplepoint >= 65) && (samplepoint <= 75) )
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{
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/* does a prescaler exist to get the exact baudrate with these bittiming
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* settings?
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*/
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if ((((BOOT_CPU_XTAL_SPEED_KHZ*1000)/BOOT_COM_CAN_BAUDRATE) % (1+bitClkParms.uSyncPropPhase1Seg+bitClkParms.uPhase2Seg)) == 0)
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{
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/* bittiming configuration found. now update SJW to that it is never greater
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* than one of the phase segments. Giving the fact that the sample point is
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* rather high, only phase seg 2 need to be considered for this.
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*/
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if (bitClkParms.uPhase2Seg < 4)
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{
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bitClkParms.uSJW = bitClkParms.uPhase2Seg;
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}
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/* calculate the actual prescaler value */
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bitClkParms.uQuantumPrescaler = ((BOOT_CPU_XTAL_SPEED_KHZ*1000)/BOOT_COM_CAN_BAUDRATE)/(1+bitClkParms.uSyncPropPhase1Seg+bitClkParms.uPhase2Seg);
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/* apply this bittiming configuration */
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CANSetBitTiming(CAN0_BASE, &bitClkParms);
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/* break loop and return from function */
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return 1;
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}
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}
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}
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}
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/* no valid bittiming configuration found */
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return 0;
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} /*** end of CanSetBittiming ***/
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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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tCANMsgObject rxMsgObject;
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/* configure the CAN pins */
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SysCtlPeripheralEnable(SYSCTL_PERIPH_GPIOD);
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GPIOPinTypeCAN(GPIO_PORTD_BASE, GPIO_PIN_0 | GPIO_PIN_1);
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/* enable the CAN controller */
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SysCtlPeripheralEnable(SYSCTL_PERIPH_CAN0);
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/* reset the state of the CAN controller, including the message objects */
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CANInit(CAN0_BASE);
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/* set the bittiming */
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CanSetBittiming();
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/* take the CAN controller out of the initialization state */
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CANEnable(CAN0_BASE);
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/* setup message object 1 to receive the BOOT_COM_CAN_RX_MSG_ID message*/
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rxMsgObject.ulMsgID = BOOT_COM_CAN_RX_MSG_ID;
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rxMsgObject.ulMsgIDMask = 0x7ff;
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rxMsgObject.ulFlags = MSG_OBJ_USE_ID_FILTER;
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rxMsgObject.ulMsgLen = 8;
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CANMessageSet(CAN0_BASE, CAN_RX_MSGOBJECT_IDX+1, &rxMsgObject, MSG_OBJ_TYPE_RX);
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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 long status;
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tCANMsgObject msgObject;
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unsigned char msgData[8];
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/* get bitmask of message objects with new data */
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status = CANStatusGet(CAN0_BASE, CAN_STS_NEWDAT);
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/* check if the BOOT_COM_CAN_RX_MSG_ID message was received */
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if ((status & canBitNum2Mask[CAN_RX_MSGOBJECT_IDX]) != 0)
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{
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/* read the message data */
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msgObject.pucMsgData = msgData;
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CANMessageGet(CAN0_BASE, CAN_RX_MSGOBJECT_IDX+1, &msgObject, true);
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/* check if this was an XCP CONNECT command */
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if ((msgData[0] == 0xff) && (msgData[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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}
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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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