Detailed Description

This module holds all functions for the initialisation and control of the CANopen Bootloader. Some functions of this module need to be adopted to the target platform:

These functions are located in the cbl_user.c file.

Include dependency graph for cbl_mgr.h:

Enumerations
enum	CblFlashStatus_e { eCBL_FLASH_STATUS_OK = 0 , eCBL_FLASH_STATUS_PROGRESS = 1 }

enum	CblFlashFail_e { eCBL_FLASH_FAIL_NO_PROGRAM = 1 , eCBL_FLASH_FAIL_FORMAT_UNKOWN , eCBL_FLASH_FAIL_FORMAT_CRC , eCBL_FLASH_FAIL_NOT_CLEARED , eCBL_FLASH_FAIL_WRITE_ERROR , eCBL_FLASH_FAIL_ADDRESS_ERROR , eCBL_FLASH_FAIL_SECURED }

enum	CblProgControl_e { eCBL_PROG_CONTROL_STOP = 0 , eCBL_PROG_CONTROL_START , eCBL_PROG_CONTROL_RESET , eCBL_PROG_CONTROL_CLEAR , eCBL_PROG_CONTROL_MANUFACTURER = 0x80 }

Functions
uint32_t	CblMgrBufferCrc (uint8_t *pubMemStartV, uint32_t ulSizeV)

void	CblMgrBufferStore (uint8_t ubProgNumV, uint8_t *pubBufferV, uint16_t uwSizeV)

void	CblMgrEventBusOff (void)

void	CblMgrEventProgControl (uint8_t ubProgNumV, uint8_t ubProgControlV)

void	CblMgrFlashDelete (uint8_t ubProgNumV)

void	CblMgrFlashFinalize (uint8_t ubProgNumV, uint32_t ulSizeV)

uint8_t	CblMgrGetBitrate (void)

uint8_t	CblMgrGetNodeId (void)

uint32_t	CblMgrGetSerialNumber (void)

uint8_t	CblMgrInit (uint8_t ubCanIfV, uint16_t uwConfigV)

uint8_t	CblMgrProcess (void)

uint8_t	CblMgrRelease (void)

uint8_t	CblMgrStart (uint8_t ubBitrateSelV, uint8_t ubNodeIdV)

Enumeration Type Documentation

◆ CblFlashFail_e

enum CblFlashFail_e

Flash failure information.

This enumeration holds the flash failure information (index 1F57h) after programming. The information is coded in bit 1 to 7 of the object.

Enumerator
eCBL_FLASH_FAIL_NO_PROGRAM	No valid program available.
eCBL_FLASH_FAIL_FORMAT_UNKOWN	Data format unknown
eCBL_FLASH_FAIL_FORMAT_CRC	Data format error or data CRC error
eCBL_FLASH_FAIL_NOT_CLEARED	Flash not cleared before write
eCBL_FLASH_FAIL_WRITE_ERROR	Flash write error
eCBL_FLASH_FAIL_ADDRESS_ERROR	General address error
eCBL_FLASH_FAIL_SECURED	Flash secured (write access forbidden)

◆ CblFlashStatus_e

enum CblFlashStatus_e

Flash status information.

This enumeration holds the flash status information (index 1F57h) during programming. The information is coded in bit 0 of the object.

Enumerator
eCBL_FLASH_STATUS_OK	Flash status OK
eCBL_FLASH_STATUS_PROGRESS	Programming in progress

◆ CblProgControl_e

enum CblProgControl_e

Program control.

This enumeration holds the program control values for index 1F51h.

Enumerator
eCBL_PROG_CONTROL_STOP	Stop program
eCBL_PROG_CONTROL_START	Start program
eCBL_PROG_CONTROL_RESET	Reset program
eCBL_PROG_CONTROL_CLEAR	Clear program
eCBL_PROG_CONTROL_MANUFACTURER	Manufacturer specific operation

Function Documentation

◆ CblMgrBufferCrc()

uint32_t CblMgrBufferCrc	(	uint8_t *	pubMemStartV,
		uint32_t	ulSizeV
	)

Parameters

[in]	pubMemStartV	Pointer to beginning of memory
[in]	ulSizeV	Number of bytes

Returns: CRC value

This function calculates the CRC-32 value of the memory starting at pubMemStartV with a size of ulSizeV bytes. The algorithm is explained at http://de.wikipedia.org/wiki/CRC32 .

◆ CblMgrBufferStore()

void CblMgrBufferStore	(	uint8_t	ubProgNumV,
		uint8_t *	pubBufferV,
		uint16_t	uwSizeV
	)

Parameters

[in]	ubProgNumV	Program number
[in]	pubBufferV	Pointer to data
[in]	uwSizeV	Number of bytes

Note: Adopt this function to the application, a sample implementation is located in the file cbl_user.c. Also refer to the Flash Programming section for details.

This function stores the transferred data from the RAM buffer into the Flash memory. The pointer pubBufferV denotes the beginning of the RAM buffer. The parameter uwSizeV defines the number of bytes to be stored.

The parameter ubProgNumV denotes the program number, the start value of the program number is 0. The value corresponds to the sub-index of object 1F50_h, i.e. sub-index 1 is program number 0.

◆ CblMgrEventBusOff()

void CblMgrEventBusOff ( void )

Note: Adopt this function to the application, a sample implementation is located in the file cbl_user.c.

This function is called upon a CAN bus-off condition. The reaction on a bus-off condition is application specific.

A sample implementation is located in the file cbl_user.c

void CblMgrEventBusOff(void)
{
   //---------------------------------------------------------------------------------------------------
   // Todo: handle CAN bus-off condition
   //
 
}
 

◆ CblMgrEventProgControl()

void CblMgrEventProgControl	(	uint8_t	ubProgNumV,
		uint8_t	ubProgControlV
	)

Parameters

[in]	ubProgNumV	Program number
[in]	ubProgControlV	Program control value

Note: Adopt this function to the application, a sample implementation is located in the file cbl_user.c.

This function is called upon writing a value greater or equal to 80_h (eCBL_PROG_CONTROL_MANUFACTURER) to object 1F51_h (program control). The behaviour of the program control operation is manufacturer specific.

The parameter ubProgNumV denotes the program number, the start value of the program number is 0. The value corresponds to the sub-index of object 1F51_h, i.e. sub-index 1 is program number 0.

A sample implementation is located in the file cbl_user.c

void CblMgrEventProgControl(uint8_t ubProgNumV, uint8_t ubProgControlV)
{
   //---------------------------------------------------------------------------------------------------
   // Todo: handle manufacturer specific action
   //
   switch(ubProgControlV)
   {
      case eCBL_PROG_CONTROL_APP_VALID:
      
         break;
         
      case eCBL_PROG_CONTROL_APP_NOT_VALID:
      
         break;
      default:
         
         break;
   }
   
   //---------------------------------------------------------------------------------------------------
   // set the program control register to a defined value, e.g. eCBL_PROG_CONTROL_STOP
   //
   aubIdx1F51_ControlG[ubProgNumV] = eCBL_PROG_CONTROL_STOP;
}
 

◆ CblMgrFlashDelete()

void CblMgrFlashDelete ( uint8_t ubProgNumV )

Parameters

[in] ubProgNumV Program number

Note: Adopt this function to the application, a sample implementation is located in the file cbl_user.c. Also refer to the Flash Programming section for details.

This function erases the flash memory for the application. The parameter ubProgNumV denotes the program number, the start value of the program number is 0. The value corresponds to the sub-index of object 1F51_h, i.e. sub-index 1 is program number 0.

◆ CblMgrFlashFinalize()

void CblMgrFlashFinalize	(	uint8_t	ubProgNumV,
		uint32_t	ulSizeV
	)

Parameters

[in]	ubProgNumV	Program number
[in]	ulSizeV	Number of bytes

Note: Adopt this function to the application, a sample implementation is located in the file cbl_user.c. Also refer to the Flash Programming section for details.

This function is called after all data has been transferred to the device. It is responsible to validate the stored data. The parameter ulSizeV defines the size of the application data.

The parameter ubProgNumV denotes the program number, the start value of the program number is 0. The value corresponds to the sub-index of object 1F50_h, i.e. sub-index 1 is program number 0.

◆ CblMgrGetBitrate()

uint8_t CblMgrGetBitrate ( void )

Returns: Value defined in CpBitrate_e enumeration

Note: Adopt this function to the application, a sample implementation is located in the file cbl_user.c.

This routine returns the device bit-rate.

uint8_t CblMgrGetBitrate(void)
{
   uint8_t ubBitrateT = eCP_BITRATE_500K;
 
   //---------------------------------------------------------------------------------------------------
   // read DIP switch settings here or value from NVM
   //
 
   return (ubBitrateT);
}
 

◆ CblMgrGetNodeId()

uint8_t CblMgrGetNodeId ( void )

Returns: node-ID

Note: Adopt this function to the application, a sample implementation is located in the file cbl_user.c.

This routine returns the node-ID of the device. The return value has to be in the range from 1 to 127.

uint8_t CblMgrGetNodeId(void)
{
   uint8_t  ubNodeIdT = 126;
 
   //---------------------------------------------------------------------------------------------------
   // read DIP switch settings here or value from NVM
   //
 
   return (ubNodeIdT);
}
 

◆ CblMgrGetSerialNumber()

uint32_t CblMgrGetSerialNumber ( void )

Returns: Serial number

Note: Adopt this function to the application, a sample implementation is located in the file cbl_user.c.

This routine returns the serial number of the module, which must be a unique value for a product family. The serial number is used within in Identity Object (Index 1018:04_h).

uint32_t CblMgrGetSerialNumber(void)
{
   uint32_t  ulSerNumT;
 
   //---------------------------------------------------------------------------------------------------
   // read serial number from NVM
   //
   ulSerNumT = 1;
   return(ulSerNumT);
}
 

◆ CblMgrInit()

uint8_t CblMgrInit	(	uint8_t	ubCanIfV,
		uint16_t	uwConfigV
	)

Parameters

[in]	ubCanIfV	Physical CAN interface
[in]	uwConfigV	Initial configuration

Returns: Error code defined in CblErr_e enumeration

The CANopen Bootloader is initialised with CblMgrInit(). This routine will setup the CAN controller and initialise all necessary services. The support of services and their behaviour can be configured by setting the symbols inside the cbl_conf.h configuration file. The parameter ubCanIfV defines the physical CAN interface, taken from the CpChannel_e enumeration. The parameter uwConfigV is reserved and shall be set to 0.

Afterwards the stack can be started by calling the CblMgrStart() to start the CANopen Bootloader.

◆ CblMgrProcess()

uint8_t CblMgrProcess ( void )

Returns: Error code defined in CblErr_e enumeration

This function is responsible to handle all CAN messages and to execute the necessary operations (e.g. erase flash memory). It must be called within the main loop of the application. The function returns an error code defined by the CblErr_e enumeration. The return code eCblErr_NODE_RESET requires a complete re-initialisation of the device, e.g. via a watchdog operation.

◆ CblMgrRelease()

uint8_t CblMgrRelease ( void )

Returns: Error code defined in CblErr_e enumeration

This routine stops the CANopen Bootloader protocol stack. The function returns eCblErr_OK on success.

◆ CblMgrStart()

uint8_t CblMgrStart	(	uint8_t	ubBitrateSelV,
		uint8_t	ubNodeIdV
	)

Parameters

[in]	ubBitrateSelV	Nominal bit-rate value
[in]	ubNodeIdV	Device node-ID (NID)

Returns: Error code defined in CblErr_e enumeration

This routine starts the CANopen Bootloader protocol stack on the given node-ID defined by ubNodeIdV and bit-rate ubBitrateSelV. The initialisation routines from other CANopen services are called and the Boot-up message is sent. The function returns eCblErr_OK on success.

Detailed Description

Enumerations

Functions

Enumeration Type Documentation

◆ CblFlashFail_e

◆ CblFlashStatus_e

◆ CblProgControl_e

Function Documentation

◆ CblMgrBufferCrc()

◆ CblMgrBufferStore()

◆ CblMgrEventBusOff()

◆ CblMgrEventProgControl()

◆ CblMgrFlashDelete()

◆ CblMgrFlashFinalize()

◆ CblMgrGetBitrate()

◆ CblMgrGetNodeId()

◆ CblMgrGetSerialNumber()

◆ CblMgrInit()

◆ CblMgrProcess()

◆ CblMgrRelease()

◆ CblMgrStart()