WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/AVR/AVR-Bios/bios.c



}
 
void Can_Process(Can_Message_t* msg) {
    if (!(msg->ExtendedFlag)) return;
   
 
    if ((msg->Id & CAN_MASK_CLASS) == ((uint32_t)CAN_NMT << CAN_SHIFT_CLASS)) {
        if ((msg->Id & CAN_MASK_NMT_RID) == ((uint32_t)NODE_ID << CAN_SHIFT_NMT_RID)) {
            //printf("BIOS received msg!\n");
            if ((msg->Id & CAN_MASK_NMT_TYPE)>>CAN_SHIFT_NMT_TYPE == CAN_NMT_RESET) {
                reset();

            // started, bios_msg_full is never reset to 0 so the check fails and all
            // NMT communication except reset is ignored. 
            if (!(bios_msg_full)) {
                memcpy(bios_msg_ptr, msg, sizeof(Can_Message_t));
                bios_msg_full = 1;
            }
        }      
    } else if (bios->can_callback) {
        //printf("Calling app callback.\n");
        bios->can_callback(msg);
 
    }
}
 
#define BIOS_APP    1
#define BIOS_NOAPP  2

    } else {
        // Application exists
        //send CAN_NMT_BIOS_START(BIOS_VERSION, 1)
        tx_msg.Data.bytes[2] = 1;
        bios_state = BIOS_APP;
    }
   
    while (Can_Send(&tx_msg) != CAN_OK);
 
    tx_msg.DataLength = 2;
   
    // main loop
    while (1) {

                flash_init();
                //send CAN_NMT_PGM_ACK(offset)
                tx_msg.Id = CAN_ID_NMT_PGM_ACK;
                tx_msg.Data.words[0] = base_addr;
                bios_state = BIOS_PGM;
 
            }
            break;
        case BIOS_PGM:
            if (nmt_type == CAN_NMT_PGM_DATA) {
                // Set address = base address + offset

                    //update crc
                    //send CAN_NMT_PGM_ACK(offset)
                    tx_msg.Id = CAN_ID_NMT_PGM_ACK;
                } else {
                    //send CAN_NMT_PGM_NACK(offset)
                    tx_msg.Id = CAN_ID_NMT_PGM_NACK;
                }
            }
            if (nmt_type == CAN_NMT_PGM_END) {
                flash_flush_buffer();
                //check crc
                //tx_msg.Data.words[0] = crc;

                    //send CAN_NMT_PGM_ACK(crc)
                    tx_msg.Id = CAN_ID_NMT_PGM_ACK;
                } else {
                    //send CAN_NMT_PGM_NACK(crc)
                    tx_msg.Id = CAN_ID_NMT_PGM_NACK;
                }
                bios_state = BIOS_NOAPP;
            }
        }
        while (Can_Send(&tx_msg) != CAN_OK);
 
 
        bios_msg_full = 0; // We're done with this message, ready for the next.
    }
 
    return 0;

Rev 261	Rev 264
Line 89...	Line 89...
89	}	89	}
90		90
91	void Can_Process(Can_Message_t* msg) {	91	void Can_Process(Can_Message_t* msg) {
92	if (!(msg->ExtendedFlag)) return;	92	if (!(msg->ExtendedFlag)) return;
93		93
94	//applikationen ska bara ta hand om paket som inte är nmt så else:et nedan kommer om det inte är nmt enbart	-
95	if ((msg->Id & CAN_MASK_CLASS) == ((uint32_t)CAN_NMT << CAN_SHIFT_CLASS)) {	94	if ((msg->Id & CAN_MASK_CLASS) == ((uint32_t)CAN_NMT << CAN_SHIFT_CLASS)) {
96	if ((msg->Id & CAN_MASK_NMT_RID) == ((uint32_t)NODE_ID << CAN_SHIFT_NMT_RID)) {	95	if ((msg->Id & CAN_MASK_NMT_RID) == ((uint32_t)NODE_ID << CAN_SHIFT_NMT_RID)) {
97	//printf("BIOS received msg!\n");	96	//printf("BIOS received msg!\n");
98	if ((msg->Id & CAN_MASK_NMT_TYPE)>>CAN_SHIFT_NMT_TYPE == CAN_NMT_RESET) {	97	if ((msg->Id & CAN_MASK_NMT_TYPE)>>CAN_SHIFT_NMT_TYPE == CAN_NMT_RESET) {
99	reset();	98	reset();
Line 103...	Line 102...
103	// started, bios_msg_full is never reset to 0 so the check fails and all	102	// started, bios_msg_full is never reset to 0 so the check fails and all
104	// NMT communication except reset is ignored.	103	// NMT communication except reset is ignored.
105	if (!(bios_msg_full)) {	104	if (!(bios_msg_full)) {
106	memcpy(bios_msg_ptr, msg, sizeof(Can_Message_t));	105	memcpy(bios_msg_ptr, msg, sizeof(Can_Message_t));
107	bios_msg_full = 1;	106	bios_msg_full = 1;
-		107	}
108	}	108	}
109	} else if (bios->can_callback) {	109	} else if (bios->can_callback) {
110	//printf("Calling app callback.\n");	110	//printf("Calling app callback.\n");
111	bios->can_callback(msg);	111	bios->can_callback(msg);
112	}	-
113	}	112	}
114	}	113	}
115		114
116	#define BIOS_APP 1	115	#define BIOS_APP 1
117	#define BIOS_NOAPP 2	116	#define BIOS_NOAPP 2
Line 166...	Line 165...
166	} else {	165	} else {
167	// Application exists	166	// Application exists
168	//send CAN_NMT_BIOS_START(BIOS_VERSION, 1)	167	//send CAN_NMT_BIOS_START(BIOS_VERSION, 1)
169	tx_msg.Data.bytes[2] = 1;	168	tx_msg.Data.bytes[2] = 1;
170	bios_state = BIOS_APP;	169	bios_state = BIOS_APP;
171	}	170	}
172		171
173	while (Can_Send(&tx_msg) != CAN_OK);	172	while (Can_Send(&tx_msg) != CAN_OK);
174		173
175	tx_msg.DataLength = 2;	174	tx_msg.DataLength = 2;
176		175
177	// main loop	176	// main loop
178	while (1) {	177	while (1) {
Line 193...	Line 192...
193	flash_init();	192	flash_init();
194	//send CAN_NMT_PGM_ACK(offset)	193	//send CAN_NMT_PGM_ACK(offset)
195	tx_msg.Id = CAN_ID_NMT_PGM_ACK;	194	tx_msg.Id = CAN_ID_NMT_PGM_ACK;
196	tx_msg.Data.words[0] = base_addr;	195	tx_msg.Data.words[0] = base_addr;
197	bios_state = BIOS_PGM;	196	bios_state = BIOS_PGM;
198	while (Can_Send(&tx_msg) != CAN_OK);	-
199	}	197	}
200	break;	198	break;
201	case BIOS_PGM:	199	case BIOS_PGM:
202	if (nmt_type == CAN_NMT_PGM_DATA) {	200	if (nmt_type == CAN_NMT_PGM_DATA) {
203	// Set address = base address + offset	201	// Set address = base address + offset
Line 216...	Line 214...
216	//update crc	214	//update crc
217	//send CAN_NMT_PGM_ACK(offset)	215	//send CAN_NMT_PGM_ACK(offset)
218	tx_msg.Id = CAN_ID_NMT_PGM_ACK;	216	tx_msg.Id = CAN_ID_NMT_PGM_ACK;
219	} else {	217	} else {
220	//send CAN_NMT_PGM_NACK(offset)	218	//send CAN_NMT_PGM_NACK(offset)
221	tx_msg.Id = CAN_ID_NMT_PGM_NACK;	219	tx_msg.Id = CAN_ID_NMT_PGM_NACK;
222	}	220	}
223	}	221	}
224	if (nmt_type == CAN_NMT_PGM_END) {	222	if (nmt_type == CAN_NMT_PGM_END) {
225	flash_flush_buffer();	223	flash_flush_buffer();
226	//check crc	224	//check crc
227	//tx_msg.Data.words[0] = crc;	225	//tx_msg.Data.words[0] = crc;
Line 229...	Line 227...
229	//send CAN_NMT_PGM_ACK(crc)	227	//send CAN_NMT_PGM_ACK(crc)
230	tx_msg.Id = CAN_ID_NMT_PGM_ACK;	228	tx_msg.Id = CAN_ID_NMT_PGM_ACK;
231	} else {	229	} else {
232	//send CAN_NMT_PGM_NACK(crc)	230	//send CAN_NMT_PGM_NACK(crc)
233	tx_msg.Id = CAN_ID_NMT_PGM_NACK;	231	tx_msg.Id = CAN_ID_NMT_PGM_NACK;
234	}	232	}
235	bios_state = BIOS_NOAPP;	233	bios_state = BIOS_NOAPP;
-		234	}
236	}	235	}
237	while (Can_Send(&tx_msg) != CAN_OK);	236	while (Can_Send(&tx_msg) != CAN_OK);
238	}	-
239		237
240	bios_msg_full = 0; // We're done with this message, ready for the next.	238	bios_msg_full = 0; // We're done with this message, ready for the next.
241	}	239	}
242		240
243	return 0;	241	return 0;

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(root)/trunk/EmbeddedSoftware/AVR/AVR-Bios/bios.c @ 264 – Rev 261 → 264