Openblt can

firmware/bootloader/openblt_chibios/openblt_can.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;
+}