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openblt/Target/Source/ARMCM4_XMC4/can.c

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/************************************************************************************//**
* \file Source/ARMCM4_XMC4/can.c
* \brief Bootloader CAN communication interface source file.
* \ingroup Target_ARMCM4_XMC4
* \internal
*----------------------------------------------------------------------------------------
* C O P Y R I G H T
*----------------------------------------------------------------------------------------
* Copyright (c) 2016 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 have received a copy of the GNU General Public License along with OpenBLT. It
* should be located in ".\Doc\license.html". If not, contact Feaser to obtain a copy.
*
* \endinternal
****************************************************************************************/
/****************************************************************************************
* Include files
****************************************************************************************/
#include "boot.h" /* bootloader generic header */
#include "xmc_can.h" /* CAN driver header */
#include "xmc_gpio.h" /* GPIO driver header */
#if (BOOT_COM_CAN_ENABLE > 0)
/****************************************************************************************
* Macro definitions
****************************************************************************************/
/** \brief Timeout for transmitting a CAN message in milliseconds. */
#define CAN_MSG_TX_TIMEOUT_MS (50u)
/** \brief Macro for accessing the CAN channel handle in the format that is expected
* by the XMClib CAN driver.
*/
#define CAN_CHANNEL ((CAN_NODE_TypeDef *)(canChannelMap[BOOT_COM_CAN_CHANNEL_INDEX]))
/** \brief Message object dedicated to message transmission. */
#define CAN_TX_MSBOBJ (CAN_MO0)
/** \brief Index of the message object dedicated to message transmission */
#define CAN_TX_MSBOBJ_IDX (0)
/** \brief Message object dedicated to message reception. */
#define CAN_RX_MSBOBJ (CAN_MO1)
/** \brief Index of the message object dedicated to message reception. */
#define CAN_RX_MSBOBJ_IDX (1)
/****************************************************************************************
* Local constant declarations
****************************************************************************************/
/** \brief Helper array to quickly convert the channel index, as specific in the boot-
* loader's configuration header, to the associated channel handle that the
* XMClib's CAN driver requires.
*/
static const CAN_NODE_TypeDef *canChannelMap[] =
{
CAN_NODE0, /* BOOT_COM_CAN_CHANNEL_INDEX = 0 */
CAN_NODE1, /* BOOT_COM_CAN_CHANNEL_INDEX = 1 */
CAN_NODE2, /* BOOT_COM_CAN_CHANNEL_INDEX = 2 */
CAN_NODE3, /* BOOT_COM_CAN_CHANNEL_INDEX = 3 */
CAN_NODE4, /* BOOT_COM_CAN_CHANNEL_INDEX = 4 */
CAN_NODE5 /* BOOT_COM_CAN_CHANNEL_INDEX = 5 */
};
/****************************************************************************************
* Local data declarations
****************************************************************************************/
/** \brief Transmit message object data structure. */
static XMC_CAN_MO_t transmitMsgObj;
/** \brief Receive message object data structure. */
static XMC_CAN_MO_t receiveMsgObj;
/************************************************************************************//**
** \brief Initializes the CAN controller and synchronizes it to the CAN bus.
** \return none.
**
****************************************************************************************/
void CanInit(void)
{
blt_int8u byteIdx;
blt_int32u canModuleFreqHz;
XMC_CAN_NODE_NOMINAL_BIT_TIME_CONFIG_t baud;
blt_int32u transmitId;
blt_int32u receiveId;
/* the current implementation supports CAN_NODE0 to CAN_NODE5. throw an assertion error
* in case a different CAN channel is configured.
*/
ASSERT_CT((BOOT_COM_CAN_CHANNEL_INDEX >= 0) && (BOOT_COM_CAN_CHANNEL_INDEX <= 5));
/* decide on fCAN frequency. it should be in the 5-120MHz range. according to the
* datasheet, it must be at least 12MHz if 1 node (channel) is used with up to
* 16 message objects. This is sufficient for this CAN driver.
*/
canModuleFreqHz = XMC_SCU_CLOCK_GetPeripheralClockFrequency();
/* increase if too low */
while (canModuleFreqHz < 12000000)
{
canModuleFreqHz *= 2;
/* keep the watchdog happy */
CopService();
}
/* decrease if too high */
while (canModuleFreqHz > 120000000)
{
canModuleFreqHz /= 2;
/* keep the watchdog happy */
CopService();
}
/* configure CAN module*/
XMC_CAN_Init(CAN, XMC_CAN_CANCLKSRC_FPERI, canModuleFreqHz);
/* configure CAN node baudrate */
baud.can_frequency = canModuleFreqHz;
baud.baudrate = BOOT_COM_CAN_BAUDRATE;
baud.sample_point = 8000;
baud.sjw = 1,
XMC_CAN_NODE_NominalBitTimeConfigure(CAN_CHANNEL, &baud);
/* set CCE and INIT bit NCR for node configuration */
XMC_CAN_NODE_EnableConfigurationChange(CAN_CHANNEL);
XMC_CAN_NODE_SetInitBit(CAN_CHANNEL);
/* configure the transmit message object */
transmitMsgObj.can_mo_ptr = CAN_TX_MSBOBJ;
transmitMsgObj.can_priority = XMC_CAN_ARBITRATION_MODE_IDE_DIR_BASED_PRIO_2;
/* set the transmit CAN identifier and negate the bit that configures it as a
* 29-bit extended CAN identifier.
*/
transmitId = BOOT_COM_CAN_TX_MSG_ID;
transmitId &= ~0x80000000;
if ((BOOT_COM_CAN_TX_MSG_ID & 0x80000000) == 0)
{
/* 11-bit standard CAN identifier */
transmitMsgObj.can_identifier = transmitId;
transmitMsgObj.can_id_mask = transmitId;
transmitMsgObj.can_id_mode = XMC_CAN_FRAME_TYPE_STANDARD_11BITS;
XMC_CAN_MO_AcceptOnlyMatchingIDE(&transmitMsgObj);
}
else
{
/* 29-bit extended CAN identifier */
transmitMsgObj.can_identifier = transmitId;
transmitMsgObj.can_id_mask = transmitId;
transmitMsgObj.can_id_mode = XMC_CAN_FRAME_TYPE_EXTENDED_29BITS;
XMC_CAN_MO_AcceptOnlyMatchingIDE(&transmitMsgObj);
}
transmitMsgObj.can_data_length = BOOT_COM_CAN_TX_MAX_DATA;
for (byteIdx=0; byteIdx<transmitMsgObj.can_data_length; byteIdx++)
{
transmitMsgObj.can_data_byte[byteIdx] = 0;
}
transmitMsgObj.can_mo_type = XMC_CAN_MO_TYPE_TRANSMSGOBJ;
XMC_CAN_MO_Config(&transmitMsgObj);
/* allocate transmit message object to the channel */
XMC_CAN_AllocateMOtoNodeList(CAN, BOOT_COM_CAN_CHANNEL_INDEX, CAN_TX_MSBOBJ_IDX);
/* configure the receive message object */
receiveMsgObj.can_mo_ptr = CAN_RX_MSBOBJ;
receiveMsgObj.can_priority = XMC_CAN_ARBITRATION_MODE_IDE_DIR_BASED_PRIO_2;
/* set the receive CAN identifier and negate the bit that configures it as a
* 29-bit extended CAN identifier.
*/
receiveId = BOOT_COM_CAN_RX_MSG_ID;
receiveId &= ~0x80000000;
if ((BOOT_COM_CAN_RX_MSG_ID & 0x80000000) == 0)
{
/* 11-bit standard CAN identifier */
receiveMsgObj.can_identifier = receiveId;
receiveMsgObj.can_id_mask = receiveId;
receiveMsgObj.can_id_mode = XMC_CAN_FRAME_TYPE_STANDARD_11BITS;
XMC_CAN_MO_AcceptOnlyMatchingIDE(&receiveMsgObj);
}
else
{
/* 29-bit extended CAN identifier */
receiveMsgObj.can_identifier = receiveId;
receiveMsgObj.can_id_mask = receiveId;
receiveMsgObj.can_id_mode = XMC_CAN_FRAME_TYPE_EXTENDED_29BITS;
XMC_CAN_MO_AcceptOnlyMatchingIDE(&receiveMsgObj);
}
receiveMsgObj.can_data_length = BOOT_COM_CAN_RX_MAX_DATA;
for (byteIdx=0; byteIdx<receiveMsgObj.can_data_length; byteIdx++)
{
receiveMsgObj.can_data_byte[byteIdx] = 0;
}
receiveMsgObj.can_mo_type = XMC_CAN_MO_TYPE_RECMSGOBJ;
XMC_CAN_MO_Config(&receiveMsgObj);
/* allocate receive message object to the channel */
XMC_CAN_AllocateMOtoNodeList(CAN, BOOT_COM_CAN_CHANNEL_INDEX, CAN_RX_MSBOBJ_IDX);
/* reset CCE and INIT bit NCR for node configuration */
XMC_CAN_NODE_DisableConfigurationChange(CAN_CHANNEL);
XMC_CAN_NODE_ResetInitBit(CAN_CHANNEL);
} /*** end of CanInit ***/
/************************************************************************************//**
** \brief Transmits a packet formatted for the communication interface.
** \param data Pointer to byte array with data that it to be transmitted.
** \param len Number of bytes that are to be transmitted.
** \return none.
**
****************************************************************************************/
void CanTransmitPacket(blt_int8u *data, blt_int8u len)
{
blt_int8u byteIdx;
blt_int32u timeout;
/* copy message data */
transmitMsgObj.can_data_length = len;
for (byteIdx=0; byteIdx<transmitMsgObj.can_data_length; byteIdx++)
{
transmitMsgObj.can_data_byte[byteIdx] = data[byteIdx];
}
/* update the message object */
XMC_CAN_MO_UpdateData(&transmitMsgObj);
/* reset the message object's transmit pending flag */
XMC_CAN_MO_ResetStatus(&transmitMsgObj, XMC_CAN_MO_RESET_STATUS_TX_PENDING);
/* submit message for transmission */
XMC_CAN_MO_Transmit(&transmitMsgObj);
/* set timeout time to wait for transmission completion */
timeout = TimerGet() + CAN_MSG_TX_TIMEOUT_MS;
/* wait for transmit completion */
while ((XMC_CAN_MO_GetStatus(&transmitMsgObj) & XMC_CAN_MO_STATUS_TX_PENDING) != 0)
{
/* keep the watchdog happy */
CopService();
/* break loop upon timeout. this would indicate a hardware failure or no other
* nodes connected to the bus.
*/
if (TimerGet() > timeout)
{
break;
}
}
} /*** end of CanTransmitPacket ***/
/************************************************************************************//**
** \brief Receives a communication interface packet if one is present.
** \param data Pointer to byte array where the data is to be stored.
** \param len Pointer where the length of the packet is to be stored.
** \return BLT_TRUE is a packet was received, BLT_FALSE otherwise.
**
****************************************************************************************/
blt_bool CanReceivePacket(blt_int8u *data, blt_int8u *len)
{
blt_int8u byteIdx;
blt_bool result = BLT_FALSE;
/* check if a new message was received */
if ((XMC_CAN_MO_GetStatus(&receiveMsgObj) & XMC_CAN_MO_STATUS_RX_PENDING) != 0)
{
/* read out and process the newly received data */
if (XMC_CAN_MO_Receive(&receiveMsgObj) == XMC_CAN_STATUS_SUCCESS)
{
*len = receiveMsgObj.can_data_length;
for (byteIdx=0; byteIdx<receiveMsgObj.can_data_length; byteIdx++)
{
data[byteIdx] = receiveMsgObj.can_data_byte[byteIdx];
result = BLT_TRUE;
}
}
/* reset the message received flag */
XMC_CAN_MO_ResetStatus(&receiveMsgObj, XMC_CAN_MO_RESET_STATUS_RX_PENDING);
}
return result;
} /*** end of CanReceivePacket ***/
#endif /* BOOT_COM_CAN_ENABLE > 0 */
/*********************************** end of can.c **************************************/
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