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openblt/Target/Demo/ARMCM7_STM32H7_Nucleo_H743Z.../Prog/App/boot.c

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/************************************************************************************//**
* \file Demo/ARMCM7_STM32H7_Nucleo_H743ZI_CubeIDE/Prog/App/boot.c
* \brief Demo program bootloader interface source file.
* \ingroup Prog_ARMCM7_STM32H7_Nucleo_H743ZI_CubeIDE
* \internal
*----------------------------------------------------------------------------------------
* C O P Y R I G H T
*----------------------------------------------------------------------------------------
* Copyright (c) 2020 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 "header.h" /* generic header */
/****************************************************************************************
* Function prototypes
****************************************************************************************/
#if (BOOT_COM_RS232_ENABLE > 0)
static void BootComRs232Init(void);
static void BootComRs232CheckActivationRequest(void);
#endif
#if (BOOT_COM_CAN_ENABLE > 0)
static void BootComCanInit(void);
static void BootComCanCheckActivationRequest(void);
#endif
/************************************************************************************//**
** \brief Initializes the communication interface.
** \return none.
**
****************************************************************************************/
void BootComInit(void)
{
#if (BOOT_COM_RS232_ENABLE > 0)
BootComRs232Init();
#endif
#if (BOOT_COM_CAN_ENABLE > 0)
BootComCanInit();
#endif
} /*** end of BootComInit ***/
/************************************************************************************//**
** \brief Receives the CONNECT request from the host, which indicates that the
** bootloader should be activated and, if so, activates it.
** \return none.
**
****************************************************************************************/
void BootComCheckActivationRequest(void)
{
#if (BOOT_COM_RS232_ENABLE > 0)
BootComRs232CheckActivationRequest();
#endif
#if (BOOT_COM_CAN_ENABLE > 0)
BootComCanCheckActivationRequest();
#endif
} /*** end of BootComCheckActivationRequest ***/
/************************************************************************************//**
** \brief Bootloader activation function.
** \return none.
**
****************************************************************************************/
void BootActivate(void)
{
/* perform software reset to activate the bootoader again */
NVIC_SystemReset();
} /*** end of BootActivate ***/
#if (BOOT_COM_RS232_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
****************************************************************************************/
/** \brief Timeout time for the reception of a CTO packet. The timer is started upon
* reception of the first packet byte.
*/
#define RS232_CTO_RX_PACKET_TIMEOUT_MS (100u)
/****************************************************************************************
* Local data declarations
****************************************************************************************/
/** \brief UART handle to be used in API calls. */
static UART_HandleTypeDef rs232Handle;
/****************************************************************************************
* Function prototypes
****************************************************************************************/
static unsigned char Rs232ReceiveByte(unsigned char *data);
/************************************************************************************//**
** \brief Initializes the UART communication interface.
** \return none.
**
****************************************************************************************/
static void BootComRs232Init(void)
{
/* Configure UART peripheral. */
rs232Handle.Instance = USART3;
rs232Handle.Init.BaudRate = BOOT_COM_RS232_BAUDRATE;
rs232Handle.Init.WordLength = UART_WORDLENGTH_8B;
rs232Handle.Init.StopBits = UART_STOPBITS_1;
rs232Handle.Init.Parity = UART_PARITY_NONE;
rs232Handle.Init.Mode = UART_MODE_TX_RX;
rs232Handle.Init.HwFlowCtl = UART_HWCONTROL_NONE;
rs232Handle.Init.OverSampling = UART_OVERSAMPLING_16;
rs232Handle.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
rs232Handle.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
/* Initialize the UART peripheral. */
HAL_UART_Init(&rs232Handle);
} /*** end of BootComRs232Init ***/
/************************************************************************************//**
** \brief Receives the CONNECT request from the host, which indicates that the
** bootloader should be activated and, if so, activates it.
** \return none.
**
****************************************************************************************/
static void BootComRs232CheckActivationRequest(void)
{
static unsigned char xcpCtoReqPacket[BOOT_COM_RS232_RX_MAX_DATA+1];
static unsigned char xcpCtoRxLength;
static unsigned char xcpCtoRxInProgress = 0;
static unsigned long xcpCtoRxStartTime = 0;
/* start of cto packet received? */
if (xcpCtoRxInProgress == 0)
{
/* store the message length when received */
if (Rs232ReceiveByte(&xcpCtoReqPacket[0]) == 1)
{
/* check that the length has a valid value. it should not be 0 */
if ( (xcpCtoReqPacket[0] > 0) &&
(xcpCtoReqPacket[0] <= BOOT_COM_RS232_RX_MAX_DATA) )
{
/* store the start time */
xcpCtoRxStartTime = TimerGet();
/* indicate that a cto packet is being received */
xcpCtoRxInProgress = 1;
/* reset packet data count */
xcpCtoRxLength = 0;
}
}
}
else
{
/* store the next packet byte */
if (Rs232ReceiveByte(&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) && (xcpCtoRxLength == 2))
{
/* connection request received so start the bootloader */
BootActivate();
}
}
}
else
{
/* check packet reception timeout */
if (TimerGet() > (xcpCtoRxStartTime + RS232_CTO_RX_PACKET_TIMEOUT_MS))
{
/* cancel cto packet reception due to timeout. note that this automatically
* discards the already received packet bytes, allowing the host to retry.
*/
xcpCtoRxInProgress = 0;
}
}
}
} /*** end of BootComRs232CheckActivationRequest ***/
/************************************************************************************//**
** \brief Receives a communication interface byte if one is present.
** \param data Pointer to byte where the data is to be stored.
** \return 1 if a byte was received, 0 otherwise.
**
****************************************************************************************/
static unsigned char Rs232ReceiveByte(unsigned char *data)
{
HAL_StatusTypeDef result;
/* receive a byte in a non-blocking manner */
result = HAL_UART_Receive(&rs232Handle, data, 1, 0);
/* process the result */
if (result == HAL_OK)
{
/* success */
return 1;
}
/* error occurred */
return 0;
} /*** end of Rs232ReceiveByte ***/
#endif /* BOOT_COM_RS232_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
****************************************************************************************/
/****************************************************************************************
* Type definitions
****************************************************************************************/
/** \brief Structure type for grouping CAN bus timing related information. */
typedef struct t_can_bus_timing
{
unsigned char tseg1; /**< CAN time segment 1 */
unsigned char tseg2; /**< CAN time segment 2 */
} tCanBusTiming;
/****************************************************************************************
* Local constant declarations
****************************************************************************************/
/** \brief CAN bittiming table for dynamically calculating the bittiming settings.
* \details 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% */
};
/****************************************************************************************
* Local data declarations
****************************************************************************************/
/** \brief CAN handle to be used in API calls. */
static FDCAN_HandleTypeDef canHandle;
/************************************************************************************//**
** \brief Search algorithm to match the desired baudrate to a possible bus
** timing configuration.
** \param baud The desired baudrate in kbps. Valid values are 10..1000.
** \param prescaler Pointer to where the value for the prescaler will be stored.
** \param tseg1 Pointer to where the value for TSEG2 will be stored.
** \param tseg2 Pointer to where the value for TSEG2 will be stored.
** \return 1 if the CAN bustiming register values were found, 0 otherwise.
**
****************************************************************************************/
static unsigned char CanGetSpeedConfig(unsigned short baud, unsigned short *prescaler,
unsigned char *tseg1, unsigned char *tseg2)
{
unsigned char cnt;
unsigned long canClockFreqkHz;
/* store CAN peripheral clock speed in kHz */
canClockFreqkHz = BOOT_CPU_XTAL_SPEED_KHZ;
/* loop through all possible time quanta configurations to find a match */
for (cnt=0; cnt < sizeof(canTiming)/sizeof(canTiming[0]); cnt++)
{
if ((canClockFreqkHz % (baud*(canTiming[cnt].tseg1+canTiming[cnt].tseg2+1))) == 0)
{
/* compute the prescaler that goes with this TQ configuration */
*prescaler = canClockFreqkHz/(baud*(canTiming[cnt].tseg1+canTiming[cnt].tseg2+1));
/* make sure the prescaler is valid */
if ( (*prescaler > 0) && (*prescaler <= 512) )
{
/* 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 ***/
/************************************************************************************//**
** \brief Initializes the CAN communication interface.
** \return none.
**
****************************************************************************************/
static void BootComCanInit(void)
{
unsigned short prescaler = 0;
unsigned char tseg1 = 0, tseg2 = 0;
FDCAN_FilterTypeDef filterConfig;
unsigned long rxMsgId = BOOT_COM_CAN_RX_MSG_ID;
/* obtain bittiming configuration information. */
CanGetSpeedConfig(BOOT_COM_CAN_BAUDRATE/1000, &prescaler, &tseg1, &tseg2);
/* set the CAN controller configuration. */
canHandle.Instance = FDCAN1;
canHandle.Init.FrameFormat = FDCAN_FRAME_CLASSIC;
canHandle.Init.Mode = FDCAN_MODE_NORMAL;
canHandle.Init.AutoRetransmission = ENABLE;
canHandle.Init.TransmitPause = DISABLE;
canHandle.Init.ProtocolException = DISABLE;
canHandle.Init.NominalPrescaler = prescaler;
canHandle.Init.NominalSyncJumpWidth = 1;
canHandle.Init.NominalTimeSeg1 = tseg1;
canHandle.Init.NominalTimeSeg2 = tseg2;
/* FD mode is not used by this driver, so the .Init.DataXxx values are don't care. */
canHandle.Init.DataPrescaler = 1;
canHandle.Init.DataSyncJumpWidth = 1;
canHandle.Init.DataTimeSeg1 = 1;
canHandle.Init.DataTimeSeg2 = 1;
canHandle.Init.MessageRAMOffset = 0;
/* does the message to be received have a standard 11-bit CAN identifier? */
if ((rxMsgId & 0x80000000) == 0)
{
canHandle.Init.StdFiltersNbr = 1;
canHandle.Init.ExtFiltersNbr = 0;
}
else
{
canHandle.Init.StdFiltersNbr = 0;
canHandle.Init.ExtFiltersNbr = 1;
}
/* only reception FIFO 0 is used. */
canHandle.Init.RxFifo0ElmtsNbr = 1;
canHandle.Init.RxFifo0ElmtSize = FDCAN_DATA_BYTES_8;
canHandle.Init.RxFifo1ElmtsNbr = 0;
canHandle.Init.RxFifo1ElmtSize = FDCAN_DATA_BYTES_8;
canHandle.Init.RxBuffersNbr = 0;
canHandle.Init.RxBufferSize = FDCAN_DATA_BYTES_8;
/* no transmit buffer is needed. transmit FIFO is not used. */
canHandle.Init.TxEventsNbr = 0;
canHandle.Init.TxBuffersNbr = 0;
canHandle.Init.TxFifoQueueElmtsNbr = 0;
canHandle.Init.TxFifoQueueMode = FDCAN_TX_FIFO_OPERATION;
canHandle.Init.TxElmtSize = FDCAN_DATA_BYTES_8;
/* initialize the CAN controller. this only fails if the CAN controller hardware is
* faulty. no need to evaluate the return value as there is nothing we can do about
* a faulty CAN controller.
*/
(void)HAL_FDCAN_Init(&canHandle);
/* configure the reception filter. note that the implementation of this function
* always returns HAL_OK as long as the CAN controller is initialized, so no need to
* evaluate the return value.
*/
if ((rxMsgId & 0x80000000) == 0)
{
filterConfig.IdType = FDCAN_STANDARD_ID;
}
else
{
filterConfig.IdType = FDCAN_EXTENDED_ID;
/* negate the ID-type bit */
rxMsgId &= ~0x80000000;
}
filterConfig.FilterIndex = 0;
filterConfig.FilterType = FDCAN_FILTER_DUAL;
filterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO0;
filterConfig.FilterID1 = rxMsgId;
filterConfig.FilterID2 = rxMsgId;
filterConfig.RxBufferIndex = 0;
(void)HAL_FDCAN_ConfigFilter(&canHandle, &filterConfig);
/* configure global filter to reject all non-matching frames. */
HAL_FDCAN_ConfigGlobalFilter(&canHandle, FDCAN_REJECT, FDCAN_REJECT,
FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE);
/* start the CAN peripheral. no need to evaluate the return value as there is nothing
* we can do about a faulty CAN controller. */
(void)HAL_FDCAN_Start(&canHandle);
} /*** end of BootComCanInit ***/
/************************************************************************************//**
** \brief Receives the CONNECT request from the host, which indicates that the
** bootloader should be activated and, if so, activates it.
** \return none.
**
****************************************************************************************/
static void BootComCanCheckActivationRequest(void)
{
unsigned long rxMsgId = BOOT_COM_CAN_RX_MSG_ID;
unsigned char packetIdMatches = 0;
FDCAN_RxHeaderTypeDef rxMsgHeader;
unsigned char rxMsgData[8];
unsigned char rxMsgLen;
HAL_StatusTypeDef rxStatus = HAL_ERROR;
/* poll for received CAN messages that await processing. */
if (HAL_FDCAN_GetRxFifoFillLevel(&canHandle, FDCAN_RX_FIFO0) > 0)
{
/* attempt to read the newly received CAN message from its buffer. */
rxStatus = HAL_FDCAN_GetRxMessage(&canHandle, FDCAN_RX_FIFO0, &rxMsgHeader,
rxMsgData);
}
/* only continue processing the CAN message if something was received. */
if (rxStatus == HAL_OK)
{
/* check if this message has the configured CAN packet identifier. */
if ((rxMsgId & 0x80000000) == 0)
{
/* was an 11-bit CAN message received that matches? */
if ( (rxMsgHeader.Identifier == rxMsgId) &&
(rxMsgHeader.IdType == FDCAN_STANDARD_ID) )
{
/* set flag that a packet with a matching CAN identifier was received. */
packetIdMatches = 1;
}
}
else
{
/* negate the ID-type bit */
rxMsgId &= ~0x80000000;
/* was an 29-bit CAN message received that matches? */
if ( (rxMsgHeader.Identifier == rxMsgId) &&
(rxMsgHeader.IdType == FDCAN_EXTENDED_ID) )
{
/* set flag that a packet with a matching CAN identifier was received. */
packetIdMatches = 1;
}
}
/* only continue if a packet with a matching CAN identifier was received. */
if (packetIdMatches == 1)
{
/* obtain the CAN message length. */
rxMsgLen = (unsigned char)(rxMsgHeader.DataLength >> 16U);
/* check if this was an XCP CONNECT command */
if ((rxMsgData[0] == 0xff) && (rxMsgLen == 2))
{
/* connection request received so start the bootloader */
BootActivate();
}
}
}
} /*** end of BootComCanCheckActivationRequest ***/
#endif /* BOOT_COM_CAN_ENABLE > 0 */
/*********************************** end of boot.c *************************************/
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