mirror of https://github.com/rusefi/rusefi.git
146 lines
4.4 KiB
C++
146 lines
4.4 KiB
C++
#include "pch.h"
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#include "hal.h"
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#include "can_hw.h"
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extern "C" {
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#include "boot.h"
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}
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// CAN1 PB8+PB9 and CAN2 PB5+PB6 pins are commonly used by Hellen.
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// CAN2 PB5+PB13 pins can be used for ST-bootloader compatibility.
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//
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// Other STM32 CAN pin combinations:
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// CAN1_RX: { PI9, PA11, PH14, PD0, PB8 }, CAN1_TX: { PA12, PH13, PD1, PB9 }
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// CAN2_RX: { PB5, PB12 }, CAN2_TX: { PB6, PB13 }
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#ifndef BOOT_COM_CAN_CHANNEL_INDEX
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#error BOOT_COM_CAN_CHANNEL_INDEX is not defined.
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#elif (BOOT_COM_CAN_CHANNEL_INDEX == 0)
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#ifndef STM32_CAN_USE_CAN1
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#error STM32_CAN_USE_CAN1 is not enabled for CAN index 0
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#endif
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#undef OPENBLT_CAND
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#define OPENBLT_CAND CAND1
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#elif (BOOT_COM_CAN_CHANNEL_INDEX == 1)
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#ifndef STM32_CAN_USE_CAN2
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#error STM32_CAN_USE_CAN2 is not enabled for CAN index 1
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#endif
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#undef OPENBLT_CAND
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#define OPENBLT_CAND CAND2
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#else
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#error Unknown BOOT_COM_CAN_CHANNEL_INDEX.
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#endif
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#if !defined(OPENBLT_CAN_RX_PIN) || !defined(OPENBLT_CAN_RX_PORT) || !defined(OPENBLT_CAN_TX_PIN) || !defined(OPENBLT_CAN_TX_PORT)
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#if (BOOT_COM_CAN_CHANNEL_INDEX == 0)
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// default pins for CAN1 (compatible with Hellen)
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#define OPENBLT_CAN_RX_PORT GPIOB
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#define OPENBLT_CAN_RX_PIN 8
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#define OPENBLT_CAN_TX_PORT GPIOB
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#define OPENBLT_CAN_TX_PIN 9
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#elif (BOOT_COM_CAN_CHANNEL_INDEX == 1)
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// default pins for CAN2 (compatible with ST-bootloader)
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#define OPENBLT_CAN_RX_PORT GPIOB
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#define OPENBLT_CAN_RX_PIN 5
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#define OPENBLT_CAN_TX_PORT GPIOB
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#define OPENBLT_CAN_TX_PIN 13
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#endif
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#endif
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extern const CANConfig *findCanConfig(can_baudrate_e rate);
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/************************************************************************************//**
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** \brief Initializes the CAN controller and synchronizes it to the CAN bus.
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** \return none.
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**
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****************************************************************************************/
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extern "C" void CanInit(void) {
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// init pins
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palSetPadMode(OPENBLT_CAN_TX_PORT, OPENBLT_CAN_TX_PIN, PAL_MODE_ALTERNATE(EFI_CAN_TX_AF));
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palSetPadMode(OPENBLT_CAN_RX_PORT, OPENBLT_CAN_RX_PIN, PAL_MODE_ALTERNATE(EFI_CAN_RX_AF));
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auto cfg = findCanConfig(B500KBPS);
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canStart(&OPENBLT_CAND, cfg);
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}
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/************************************************************************************//**
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** \brief Transmits a packet formatted for the communication interface.
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** \param data Pointer to byte array with data that it to be transmitted.
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** \param len Number of bytes that are to be transmitted.
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** \return none.
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**
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****************************************************************************************/
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extern "C" void CanTransmitPacket(blt_int8u *data, blt_int8u len)
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{
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blt_int32u txMsgId = BOOT_COM_CAN_TX_MSG_ID;
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CANTxFrame frame;
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if ((txMsgId & 0x80000000) == 0)
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{
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/* set the 11-bit CAN identifier. */
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frame.SID = txMsgId;
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frame.IDE = CAN_IDE_STD;
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}
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else
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{
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txMsgId &= ~0x80000000;
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/* set the 29-bit CAN identifier. */
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frame.EID = txMsgId;
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frame.IDE = CAN_IDE_EXT;
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}
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// Copy data/DLC
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frame.DLC = len;
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memcpy(frame.data8, data, len);
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canTransmitTimeout(&OPENBLT_CAND, CAN_ANY_MAILBOX, &frame, TIME_MS2I(100));
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}
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/************************************************************************************//**
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** \brief Receives a communication interface packet if one is present.
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** \param data Pointer to byte array where the data is to be stored.
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** \param len Pointer where the length of the packet is to be stored.
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** \return BLT_TRUE is a packet was received, BLT_FALSE otherwise.
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**
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****************************************************************************************/
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extern "C" blt_bool CanReceivePacket(blt_int8u *data, blt_int8u *len)
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{
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constexpr blt_int32u rxMsgId = BOOT_COM_CAN_RX_MSG_ID;
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blt_bool result = BLT_FALSE;
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CANRxFrame frame;
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if (MSG_OK != canReceiveTimeout(&OPENBLT_CAND, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE)) {
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// no message was waiting
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return BLT_FALSE;
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}
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// Check that the ID type matches this frame (std vs ext)
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constexpr bool configuredAsExt = (rxMsgId & 0x80000000) != 0;
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if (configuredAsExt != frame.IDE) {
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// Wrong frame type
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return BLT_FALSE;
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}
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// Check that the frame's ID matches
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if (frame.IDE) {
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if (frame.EID != (rxMsgId & ~0x80000000)) {
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// Wrong ID
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return BLT_FALSE;
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}
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} else {
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if (frame.SID != rxMsgId) {
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// Wrong ID
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return BLT_FALSE;
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}
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}
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// Copy data and length out
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*len = frame.DLC;
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memcpy(data, frame.data8, frame.DLC);
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return BLT_TRUE;
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}
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