mirror of https://github.com/FOME-Tech/fome-fw.git
Merge 6b97de0523
into 97f26196fe
This commit is contained in:
commit
162bf70065
|
@ -22,8 +22,6 @@ DDEFS += -DHAL_USE_FLASH=FALSE
|
|||
DDEFS += -DEFI_USE_UART_DMA=FALSE
|
||||
|
||||
DDEFS += -DEFI_USB_SERIAL=TRUE -DHAL_USE_USB_MSD=FALSE
|
||||
# disable CAN
|
||||
DDEFS += -DEFI_CAN_SUPPORT=FALSE
|
||||
|
||||
# Cache is disabled on F7, H7
|
||||
DDEFS += -DSTM32_SRAM2_NOCACHE=FALSE -DSTM32_NOCACHE_SRAM1_SRAM2=FALSE -DSTM32_NOCACHE_SRAM3=FALSE
|
||||
|
@ -189,8 +187,10 @@ CPPSRC = $(ALLCPPSRC) \
|
|||
$(HW_LAYER_EMS_CPP) \
|
||||
$(BOARDCPPSRC) \
|
||||
$(PROJECT_DIR)/util/efilib.cpp \
|
||||
$(PROJECT_DIR)/hw_layer/drivers/can/can_config.cpp \
|
||||
$(PROJECT_DIR)/hw_layer/pin_repository.cpp \
|
||||
$(RUSEFI_LIB_CPP) \
|
||||
$(PROJECT_DIR)/bootloader/openblt_chibios/openblt_can.cpp \
|
||||
$(PROJECT_DIR)/bootloader/openblt_chibios/openblt_chibios.cpp \
|
||||
$(PROJECT_DIR)/bootloader/openblt_chibios/openblt_flash.cpp \
|
||||
$(PROJECT_DIR)/bootloader/openblt_chibios/openblt_usb.cpp \
|
||||
|
|
|
@ -0,0 +1,101 @@
|
|||
#include "pch.h"
|
||||
|
||||
#include "hal.h"
|
||||
|
||||
#include "can_hw.h"
|
||||
|
||||
extern "C" {
|
||||
#include "boot.h"
|
||||
}
|
||||
|
||||
/************************************************************************************//**
|
||||
** \brief Initializes the CAN controller and synchronizes it to the CAN bus.
|
||||
** \return none.
|
||||
**
|
||||
****************************************************************************************/
|
||||
extern "C" void CanInit(void)
|
||||
{
|
||||
// TODO: init pins?
|
||||
|
||||
auto cfg = findCanConfig(B500KBPS);
|
||||
canStart(&CAND1, cfg);
|
||||
}
|
||||
|
||||
|
||||
/************************************************************************************//**
|
||||
** \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.
|
||||
**
|
||||
****************************************************************************************/
|
||||
extern "C" void CanTransmitPacket(blt_int8u *data, blt_int8u len)
|
||||
{
|
||||
blt_int32u txMsgId = BOOT_COM_CAN_TX_MSG_ID;
|
||||
CANTxFrame frame;
|
||||
|
||||
if ((txMsgId & 0x80000000) == 0)
|
||||
{
|
||||
/* set the 11-bit CAN identifier. */
|
||||
frame.SID = txMsgId;
|
||||
frame.IDE = false;
|
||||
}
|
||||
else
|
||||
{
|
||||
txMsgId &= ~0x80000000;
|
||||
/* set the 29-bit CAN identifier. */
|
||||
frame.EID = txMsgId & ~0x80000000; // negate the ID-type bit
|
||||
frame.IDE = true;
|
||||
}
|
||||
|
||||
// Copy data/DLC
|
||||
frame.DLC = len;
|
||||
memcpy(frame.data8, data, len);
|
||||
|
||||
canTransmitTimeout(&CAND1, CAN_ANY_MAILBOX, &frame, TIME_MS2I(100));
|
||||
}
|
||||
|
||||
/************************************************************************************//**
|
||||
** \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.
|
||||
**
|
||||
****************************************************************************************/
|
||||
extern "C" blt_bool CanReceivePacket(blt_int8u *data, blt_int8u *len)
|
||||
{
|
||||
constexpr blt_int32u rxMsgId = BOOT_COM_CAN_RX_MSG_ID;
|
||||
blt_bool result = BLT_FALSE;
|
||||
CANRxFrame frame;
|
||||
|
||||
if (MSG_OK != canReceiveTimeout(&CAND1, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE)) {
|
||||
// no message was waiting
|
||||
return BLT_FALSE;
|
||||
}
|
||||
|
||||
// Check that the ID type matches this frame (std vs ext)
|
||||
constexpr bool configuredAsExt = (rxMsgId & 0x80000000) == 0;
|
||||
if (configuredAsExt != frame.IDE) {
|
||||
// Wrong frame type
|
||||
return BLT_FALSE;
|
||||
}
|
||||
|
||||
// Check that the frame's ID matches
|
||||
if (frame.IDE) {
|
||||
if (frame.EID != (rxMsgId & ~0x80000000)) {
|
||||
// Wrong ID
|
||||
return BLT_FALSE;
|
||||
}
|
||||
} else {
|
||||
if (frame.SID != rxMsgId) {
|
||||
// Wrong ID
|
||||
return BLT_FALSE;
|
||||
}
|
||||
}
|
||||
|
||||
// Copy data and length out
|
||||
*len = frame.DLC;
|
||||
memcpy(data, frame.data8, frame.DLC);
|
||||
|
||||
return BLT_TRUE;
|
||||
}
|
|
@ -71,7 +71,7 @@
|
|||
*
|
||||
*/
|
||||
/** \brief Enable/disable CAN transport layer. */
|
||||
#define BOOT_COM_CAN_ENABLE (0)
|
||||
#define BOOT_COM_CAN_ENABLE (1)
|
||||
/** \brief Configure the desired CAN baudrate. */
|
||||
#define BOOT_COM_CAN_BAUDRATE (500000)
|
||||
/** \brief Configure CAN message ID target->host. */
|
||||
|
@ -83,6 +83,8 @@
|
|||
/** \brief Configure number of bytes in the host->target CAN message. */
|
||||
#define BOOT_COM_CAN_RX_MAX_DATA (8)
|
||||
|
||||
#define BOOT_COM_CAN_CHANNEL_INDEX (1)
|
||||
|
||||
/* The RS232 communication interface is selected by setting the BOOT_COM_RS232_ENABLE
|
||||
* configurable to 1. Configurable BOOT_COM_RS232_BAUDRATE selects the communication speed
|
||||
* in bits/second. The maximum amount of data bytes in a message for data transmission
|
||||
|
|
Loading…
Reference in New Issue