openblt_can.cpp File Reference

Functions
const CANConfig *	findCanConfig (can_baudrate_e rate)
void	CanInit (void)
	Initializes the CAN controller and synchronizes it to the CAN bus.
void	CanTransmitPacket (blt_int8u *data, blt_int8u len)
	Transmits a packet formatted for the communication interface.
void	boardCanListener (CANRxFrame *frame)
	Receives a communication interface packet if one is present.
blt_bool	CanReceivePacket (blt_int8u *data, blt_int8u *len)

Function Documentation

boardCanListener()

void boardCanListener ( CANRxFrame *  frame )

extern

Receives a communication interface packet if one is present.

Parameters

data	Pointer to byte array where the data is to be stored.
len	Pointer where the length of the packet is to be stored.

Returns

BLT_TRUE is a packet was received, BLT_FALSE otherwise.

Referenced by CanReceivePacket().

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CanInit()

void CanInit

(

void

)

Initializes the CAN controller and synchronizes it to the CAN bus.

Returns

none.

Definition at line 59 of file openblt_can.cpp.

                              {
    // 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(&OPENBLT_CAND, cfg);
}

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CanReceivePacket()

blt_bool CanReceivePacket	(	blt_int8u *	data,
		blt_int8u *	len
	)

Definition at line 114 of file openblt_can.cpp.

{
    constexpr blt_int32u rxMsgId = BOOT_COM_CAN_RX_MSG_ID;
    CANRxFrame frame;
 
    if (MSG_OK != canReceiveTimeout(&OPENBLT_CAND, 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
        goto wrong;
    }
 
    // Check that the frame's ID matches
    if (frame.IDE) {
        if (frame.EID != (rxMsgId & ~0x80000000)) {
            // Wrong ID
            goto wrong;
        }
    } else {
        if (frame.SID != rxMsgId) {
            // Wrong ID
            goto wrong;
        }
    }
 
    // Copy data and length out
    *len = frame.DLC;
    memcpy(data, frame.data8, frame.DLC);
 
    return BLT_TRUE;
 
wrong:
 
#ifdef BOOTLOADER_CAN_LISTENER
    boardCanListener(&frame);
#endif
 
    return BLT_FALSE;
}

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CanTransmitPacket()

void CanTransmitPacket	(	blt_int8u *	data,
		blt_int8u	len
	)

Transmits a packet formatted for the communication interface.

Parameters

data	Pointer to byte array with data that it to be transmitted.
len	Number of bytes that are to be transmitted.

Returns

none.

Definition at line 76 of file openblt_can.cpp.

{
    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 = CAN_IDE_STD;
    }
    else
    {
        txMsgId &= ~0x80000000;
        /* set the 29-bit CAN identifier. */
        frame.EID = txMsgId;
        frame.IDE = CAN_IDE_EXT;
    }
 
    // Copy data/DLC
    frame.DLC = len;
    memcpy(frame.data8, data, len);
 
    canTransmitTimeout(&OPENBLT_CAND, CAN_ANY_MAILBOX, &frame, TIME_MS2I(100));
}

findCanConfig()

static const CANConfig * findCanConfig ( can_baudrate_e  rate )

extern

Definition at line 36 of file can_hw.cpp.

{
    return &canConfig_dummy;
}

Referenced by CanInit(), and initCan().

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