app/canldtg/canld_tg.c

   1 /* CAN loader */
   2 #include <string.h>
   3 #include <periph/can.h>
   4
   5 #define CANLOAD_HEAD 0x7fe
   6 #define CANLOAD_BODY 0x7ff
   7
   8 #define CANLOAD_CMD_NOP   0x00
   9 #define CANLOAD_CMD_LOAD  0x01
  10 #define CANLOAD_CMD_GO    0x02
  11 #define CANLOAD_CMD_ON    0xfa
  12
  13 #ifndef CANLOAD_ID
  14 #error Unique 32bit number CANLOAD_ID must be defined for each compiled target board.
  15 #endif
  16 extern uint32_t canload_id;
  17
  18 #define STATUS_LED
  19 #ifdef STATUS_LED
  20 /* define i/o port addr&values for lighting status LED */
  21 #define LED_PINSEL2     PINSEL2
  22 #define LED_PINSEL_VAL2 0xfffffff3
  23 #define LED_IODIR2      IODIR1
  24 #define LED_IOSET2      IOSET1
  25 #define LED_IOCLR2      IOCLR1
  26 #define LED_IOBIT3      0x00080000
  27
  28 #define LED_PINSEL     PINSEL1
  29 #define LED_PINSEL_VAL 0xfffc0fff;
  30 #define LED_IODIR      IODIR0
  31 #define LED_IOSET      IOSET0
  32 #define LED_IOCLR      IOCLR0
  33 #define LED_IOBIT0     0x00400000
  34 #define LED_IOBIT1     0x00800000
  35 #define LED_IOBIT2     0x01000000
  36 #endif
  37
  38 can_msg_t received_msg;
  39
  40 void rx_msg(uint32_t id) {
  41   do {
  42     while (!can_msg_received);
  43     can_msg_received = 0;
  44   } while (can_rx_msg.id != id);
  45   memcpy(&received_msg, (void*)&can_rx_msg, sizeof(can_msg_t));
  46 }
  47
  48 int main() {
  49   can_msg_t msg = {.flags = 0, .dlc = 5, .id = CANLOAD_ID & 0x7ff};
  50   uint8_t cmd;
  51   void *address;
  52   void (*user_code)();
  53
  54   canload_id = CANLOAD_ID;
  55   /* peripheral clock = CPU clock (10MHz) */
  56   VPBDIV = 1;
  57   /** map exception handling to ROM **/
  58   MEMMAP = 0x1;
  59   /* init Vector Interrupt Controller */
  60   VICIntEnClr = 0xFFFFFFFF;
  61   VICIntSelect = 0x00000000;
  62 #ifdef STATUS_LED
  63   /* turn LED on */
  64   LED_PINSEL &= LED_PINSEL_VAL;
  65   LED_PINSEL2 &= LED_PINSEL_VAL2;
  66   LED_IODIR |= LED_IOBIT0;
  67   LED_IODIR |= LED_IOBIT1;
  68   LED_IODIR |= LED_IOBIT2;
  69   LED_IODIR2 |= LED_IOBIT3;
  70   LED_IOCLR = LED_IOBIT0;
  71   LED_IOSET = LED_IOBIT1;
  72   LED_IOCLR = LED_IOBIT2;
  73   LED_IOCLR2 = LED_IOBIT3;
  74 #endif
  75   /* 10MHz CPU, 10MHz VPB, 50kb/s CAN */
  76   can_init(0x250000, 14, NULL);
  77   /* announce ourself to the world */
  78   msg.data[4] = CANLOAD_CMD_ON;
  79   ((uint32_t*)msg.data)[0] = canload_id;
  80 #ifdef STATUS_LED
  81   LED_IOCLR = LED_IOBIT1;
  82 #endif
  83   while (can_tx_msg(&msg));
  84 #ifdef STATUS_LED
  85   LED_IOSET = LED_IOBIT1;
  86 #endif
  87   /* command processing loop */
  88   for (;;) {
  89     /* wait for loader HEAD message */
  90     rx_msg(CANLOAD_HEAD);
  91     /* check target ID and mask */
  92     if ((received_msg.dlc != 8) ||
  93         (((uint32_t*)received_msg.data)[0] !=
  94          (((uint32_t*)received_msg.data)[1] & canload_id)))
  95       continue;
  96 #ifdef STATUS_LED
  97     LED_IOCLR = LED_IOBIT1;
  98 #endif
  99     /* receive loader command message */
 100     rx_msg(CANLOAD_BODY);
 101     switch (cmd = received_msg.data[0]) {
 102     case CANLOAD_CMD_NOP:
 103       break;
 104     case CANLOAD_CMD_LOAD:
 105       /* set starting load address */
 106       memcpy(&address, (void*)received_msg.data + 1, 4);
 107       /* receive data, until last packet (~shorter msg) arrive */
 108       do {
 109         rx_msg(CANLOAD_BODY);
 110         memcpy(address, (void*)received_msg.data, received_msg.dlc);
 111         address += received_msg.dlc;
 112       } while (received_msg.dlc == 8);
 113       break;
 114     case CANLOAD_CMD_GO:
 115       memcpy(&user_code, (void*)received_msg.data + 1, 4);
 116       /* GO! */
 117       user_code();
 118       break;
 119     default:
 120       /* unrecognized command -- do not acknowledge */
 121       continue;
 122     }
 123 #ifdef STATUS_LED
 124     LED_IOSET = LED_IOBIT1;
 125 #endif
 126     /* command executed -- acknowledge */
 127     msg.data[4] = cmd;
 128     ((uint32_t*)msg.data)[0] = canload_id;
 129     while (can_tx_msg(&msg));
 130   }
 131 }
 132
 133 /* KOHE||, */