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isotp can support in softloader

master
George Hotz 2018-03-10 11:06:40 -08:00
parent 7ae7c7961f
commit 83f2edfb78
2 changed files with 89 additions and 15 deletions
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6
board/pedal/main.c
View File

@ -268,12 +268,6 @@ int main() {
// 48mhz / 65536 ~= 732
timer_init(TIM3, 15);
// needed?
NVIC_EnableIRQ(CAN1_TX_IRQn);
NVIC_EnableIRQ(CAN1_RX0_IRQn);
NVIC_EnableIRQ(CAN1_SCE_IRQn);
NVIC_EnableIRQ(TIM3_IRQn);
// setup watchdog

98
board/spi_flasher.h
View File

@ -142,14 +142,99 @@ void CAN1_TX_IRQHandler() {
CAN->TSR |= CAN_TSR_RQCP0;
}
#define ISOTP_BUF_SIZE 0x110
uint8_t isotp_buf[ISOTP_BUF_SIZE];
uint8_t *isotp_buf_ptr = NULL;
int isotp_buf_remain = 0;
uint8_t isotp_buf_out[ISOTP_BUF_SIZE];
uint8_t *isotp_buf_out_ptr = NULL;
int isotp_buf_out_remain = 0;
int isotp_buf_out_idx = 0;
void bl_can_send(uint8_t *odat) {
// wait for send
while (!(CAN->TSR & CAN_TSR_TME0));
// send continue
CAN->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0];
CAN->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1];
CAN->sTxMailBox[0].TDTR = 8;
CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
}
void CAN1_RX0_IRQHandler() {
while (CAN->RF0R & CAN_RF0R_FMP0) {
if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
CAN->sTxMailBox[0].TDLR = 0xAABBCCDD;
CAN->sTxMailBox[0].TDHR = 0xAABBCCDD;
CAN->sTxMailBox[0].TDTR = 8;
CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
uint8_t dat[8];
((uint32_t*)dat)[0] = CAN->sFIFOMailBox[0].RDLR;
((uint32_t*)dat)[1] = CAN->sFIFOMailBox[0].RDHR;
uint8_t odat[8];
uint8_t type = dat[0] & 0xF0;
if (type == 0x30) {
// continue
while (isotp_buf_out_remain > 0) {
// wait for send
while (!(CAN->TSR & CAN_TSR_TME0));
odat[0] = 0x20 | isotp_buf_out_idx;
memcpy(odat+1, isotp_buf_out_ptr, 7);
isotp_buf_out_remain -= 7;
isotp_buf_out_ptr += 7;
isotp_buf_out_idx++;
bl_can_send(odat);
}
} else if (type == 0x20) {
if (isotp_buf_remain > 0) {
memcpy(isotp_buf_ptr, dat, 7);
isotp_buf_ptr += 7;
isotp_buf_remain -= 7;
}
if (isotp_buf_remain <= 0) {
int len = isotp_buf_ptr - isotp_buf + isotp_buf_remain;
// call the function
memset(isotp_buf_out, 0, ISOTP_BUF_SIZE);
isotp_buf_out_remain = spi_cb_rx(isotp_buf, len, isotp_buf_out);
isotp_buf_out_ptr = isotp_buf_out;
isotp_buf_out_idx = 0;
// send initial
if (isotp_buf_out_remain <= 7) {
odat[0] = isotp_buf_out_remain;
//memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain);
} else {
odat[0] = 0x10 | (isotp_buf_out_remain>>8);
odat[1] = isotp_buf_out_remain & 0xFF;
//memcpy(odat+2, isotp_buf_out_ptr, 6);
isotp_buf_out_remain -= 6;
isotp_buf_out_ptr += 6;
isotp_buf_out_idx++;
}
bl_can_send(odat);
}
} else if (type == 0x10) {
int len = ((dat[0]&0xF)<<8) | dat[1];
// setup buffer
isotp_buf_ptr = isotp_buf;
memcpy(isotp_buf_ptr, dat+2, 6);
if (len < (ISOTP_BUF_SIZE-0x10)) {
isotp_buf_ptr += 6;
isotp_buf_remain = len-6;
}
memset(odat, 0, 8);
odat[0] = 0x30;
bl_can_send(odat);
}
}
// next
CAN->RF0R |= CAN_RF0R_RFOM0;
}
}
@ -181,11 +266,6 @@ void soft_flasher_start() {
// init can
can_silent = ALL_CAN_LIVE;
can_init(0);
// needed?
NVIC_EnableIRQ(CAN1_TX_IRQn);
NVIC_EnableIRQ(CAN1_RX0_IRQn);
NVIC_EnableIRQ(CAN1_SCE_IRQn);
#endif
// A4,A5,A6,A7: setup SPI