102 lines
2.7 KiB
C++
102 lines
2.7 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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/************************************************************************************//**
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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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{
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// TODO: init pins?
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auto cfg = findCanConfig(B500KBPS);
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canStart(&CAND1, 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 = false;
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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 & ~0x80000000; // negate the ID-type bit
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frame.IDE = true;
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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(&CAND1, 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(&CAND1, 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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