andreika-git
/
rusefi
mirror of https://github.com/andreika-git/rusefi.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Enable CAN for OpenBLT

This commit is contained in:
andreika-git 2024-03-09 00:14:06 +02:00 committed by rusefillc
parent 9702dc7a1a
commit f9dff2bfc8
2 changed files with 28 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
firmware/bootloader/Makefile
View File

@ -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
@ -211,6 +209,7 @@ CPPSRC = $(ALLCPPSRC) \
$(PROJECT_DIR)/bootloader/openblt_chibios/openblt_chibios.cpp \
$(PROJECT_DIR)/bootloader/openblt_chibios/openblt_flash.cpp \
$(PROJECT_DIR)/bootloader/openblt_chibios/openblt_usb.cpp \
$(PROJECT_DIR)/bootloader/openblt_chibios/openblt_can.cpp \
bootloader_stubs.cpp \
bootloader_main.cpp

36
firmware/bootloader/openblt_chibios/openblt_can.cpp
View File

@ -8,17 +8,35 @@ extern "C" {
#include "boot.h"
}
// CAN1 PB8+PB9 and CAN2 PB5+PB6 pins are commonly used by Hellen.
// CAN2 PB5+PB13 pins can be used for ST-bootloader compatibility.
//
// Other STM32 CAN pin combinations:
// CAN1_RX: { PI9, PA11, PH14, PD0, PB8 }, CAN1_TX: { PA12, PH13, PD1, PB9 }
// CAN2_RX: { PB5, PB12 }, CAN2_TX: { PB6, PB13 }
#if !defined(OPENBLT_CAND) || !defined(OPENBLT_CAN_RX_PIN) || !defined(OPENBLT_CAN_RX_PORT) || !defined(OPENBLT_CAN_TX_PIN) || !defined(OPENBLT_CAN_TX_PORT)
#define OPENBLT_CAND CAND2
#define OPENBLT_CAN_RX_PORT GPIOB
#define OPENBLT_CAN_RX_PIN 5
#define OPENBLT_CAN_TX_PORT GPIOB
#define OPENBLT_CAN_TX_PIN 13
#endif
extern const CANConfig *findCanConfig(can_baudrate_e rate);
/************************************************************************************//**
** \brief Initializes the CAN controller and synchronizes it to the CAN bus.
** \return none.
**
****************************************************************************************/
extern "C" void CanInit(void)
{
// TODO: init pins?
extern "C" void CanInit(void) {
// init pins
palSetPadMode(OPENBLT_CAN_TX_PORT, OPENBLT_CAN_TX_PIN, PAL_MODE_ALTERNATE(EFI_CAN_TX_AF));
palSetPadMode(OPENBLT_CAN_RX_PORT, OPENBLT_CAN_RX_PIN, PAL_MODE_ALTERNATE(EFI_CAN_RX_AF));
auto cfg = findCanConfig(B500KBPS);
canStart(&CAND1, cfg);
canStart(&OPENBLT_CAND, cfg);
}
@ -38,21 +56,21 @@ extern "C" void CanTransmitPacket(blt_int8u *data, blt_int8u len)
{
/* set the 11-bit CAN identifier. */
frame.SID = txMsgId;
frame.IDE = false;
frame.IDE = CAN_IDE_STD;
}
else
{
txMsgId &= ~0x80000000;
/* set the 29-bit CAN identifier. */
frame.EID = txMsgId & ~0x80000000; // negate the ID-type bit
frame.IDE = true;
frame.EID = txMsgId;
frame.IDE = CAN_IDE_EXT;
}
// Copy data/DLC
frame.DLC = len;
memcpy(frame.data8, data, len);
canTransmitTimeout(&CAND1, CAN_ANY_MAILBOX, &frame, TIME_MS2I(100));
canTransmitTimeout(&OPENBLT_CAND, CAN_ANY_MAILBOX, &frame, TIME_MS2I(100));
}
/************************************************************************************//**
@ -68,7 +86,7 @@ extern "C" blt_bool CanReceivePacket(blt_int8u *data, blt_int8u *len)
blt_bool result = BLT_FALSE;
CANRxFrame frame;
if (MSG_OK != canReceiveTimeout(&CAND1, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE)) {
if (MSG_OK != canReceiveTimeout(&OPENBLT_CAND, CAN_ANY_MAILBOX, &frame, TIME_IMMEDIATE)) {
// no message was waiting
return BLT_FALSE;
}