CCS/TMS320F28379D: CAN Secondary Custom Bootloader

Chris,

I can't see any difference between CAN part in TRM and DCAN_Boot.c source code for F28379D. So, Should I use DCAN_Boot.c code directly like CAN flash kernel for F28379d ? If it's not true, What should I change ? Why can't I use DCAN_Boot.c source code like can_flash_kernel ? Please explain all of these.

Regards.

Adem

For developing the CAN kernel, the DCAN_boot.c loader part of the kernel shouldn't have to be modified.
I'm not clear on what you are referring to about the TRM. The DCAN_boot.c is designed for the CAN peripheral in F28379D.

Best regards
Chris

Hi Chris,

I understood.

1.) DCAN_boot.c  should be a part of my can_flash_kernel code, right ?

2.) I don't need to develop a boot.c source for CAN again ,right ?

3.) At the below picture, there are some sources and libraries for can_flash_kernel for f28069. And boot.h, Exit_Boot, Shared_boot and other all sources already exist for f28379d. I just need to write a main source for f28379d , right ? 

4.) Should I do something else to develop a CAN custom bootloader for f28379d ? 

5.) I am confusing at below point :

For example CANInit function is written by TI in can.c like below:

void
CANInit(uint32_t ui32Base)
{
int16_t iMsg;

// Check the arguments.
ASSERT(CANBaseValid(ui32Base));

// Place CAN controller in init state, regardless of previous state. This
// will put controller in idle, and allow the message object RAM to be
// programmed.

HWREGH(ui32Base + CAN_O_CTL) = CAN_CTL_INIT;
HWREGH(ui32Base + CAN_O_CTL) = CAN_CTL_SWR;

// Wait for busy bit to clear
while(HWREGH(ui32Base + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY)
{
}

// Clear the message value bit in the arbitration register. This indicates
// the message is not valid and is a "safe" condition to leave the message
// object. The same arb reg is used to program all the message objects.
HWREGH(ui32Base + CAN_O_IF1CMD + 2) = (CAN_IF1CMD_DIR | CAN_IF1CMD_ARB |
CAN_IF1CMD_CONTROL) >> 16;
HWREGH(ui32Base + CAN_O_IF1ARB) = 0;
HWREGH(ui32Base + CAN_O_IF1ARB + 2) = 0;

HWREGH(ui32Base + CAN_O_IF1MCTL) = 0;
HWREGH(ui32Base + CAN_O_IF1MCTL + 2) = 0;

HWREGH(ui32Base + CAN_O_IF2CMD + 2) = (CAN_IF2CMD_DIR | CAN_IF2CMD_ARB |
CAN_IF2CMD_CONTROL) >> 16;
HWREGH(ui32Base + CAN_O_IF2ARB) = 0;
HWREGH(ui32Base + CAN_O_IF2ARB + 2) = 0;

HWREGH(ui32Base + CAN_O_IF2MCTL) = 0;
HWREGH(ui32Base + CAN_O_IF2MCTL + 2) = 0;

// Loop through to program all 32 message objects
for(iMsg = 1; iMsg <= 32; iMsg+=2)
{
// Wait for busy bit to clear
while(HWREGH(ui32Base + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY)
{
}

// Initiate programming the message object
HWREGH(ui32Base + CAN_O_IF1CMD) = iMsg;

// Wait for busy bit to clear
while(HWREGH(ui32Base + CAN_O_IF2CMD) & CAN_IF2CMD_BUSY)
{
}

// Initiate programming the message object
HWREGH(ui32Base + CAN_O_IF2CMD) = iMsg + 1;
}

// Make sure that the interrupt and new data flags are updated for the
// message objects.
HWREGH(ui32Base + CAN_O_IF1CMD + 2) = (CAN_IF1CMD_TXRQST |
CAN_IF1CMD_CLRINTPND) >> 16;
HWREGH(ui32Base + CAN_O_IF2CMD + 2) = (CAN_IF2CMD_TXRQST |
CAN_IF2CMD_CLRINTPND) >> 16;

// Loop through to program all 32 message objects
for(iMsg = 1; iMsg <= 32; iMsg+=2)
{
// Wait for busy bit to clear.
while(HWREGH(ui32Base + CAN_O_IF1CMD) & CAN_IF1CMD_BUSY)
{
}

// Initiate programming the message object
HWREGH(ui32Base + CAN_O_IF1CMD) = iMsg;

// Wait for busy bit to clear.
while(HWREGH(ui32Base + CAN_O_IF2CMD) & CAN_IF2CMD_BUSY)
{
}

// Initiate programming the message object
HWREGH(ui32Base + CAN_O_IF2CMD) = iMsg + 1;
}

// Acknowledge any pending status interrupts.
HWREG(ui32Base + CAN_O_ES);
}

Also in DCAN_boot DCAN_Init function like below:

void DCAN_Boot_Init()
{
//Turn on the clock to the DCAN module
EALLOW;
CpuSysRegs.PCLKCR10.bit.CAN_A = 1;
EDIS;

//Issue a software reset to DCAN_A -- shut down communication via INIT, then reset via SWR
DcanaRegs.CAN_CTL.all = 0x1;
DcanaRegs.CAN_CTL.all = 0x8000;

//Bit timing configuration. See the large comment at the top for details.
DcanaRegs.CAN_CTL.all = 0x1441; //Initialize, disable parity, and enable config register access
DcanaRegs.CAN_BTR.all = DCAN_BOOT_BTRREG;
DcanaRegs.CAN_CTL.all = 0x1400; //Finish initialization and disable config register access

//Set up a receive object via interface 1, then transfer to message RAM
DcanaRegs.CAN_IF1ARB.all = 0x80040000; //MsgVal set, MsgID = 1 (11-bit)
DcanaRegs.CAN_IF1MCTL.all = 0x2; //Data length = 2 bytes
DcanaRegs.CAN_IF1CMD.all = 0x00F80001; //Transfer configuration to message object 1
while (DcanaRegs.CAN_IF1CMD.all & 0x8000) {;} //Wait for message RAM copy

//Set up a transmit object via interface 2 for debug
DcanaRegs.CAN_IF2ARB.all = 0xA0080000; //MsgVal set, MsgID = 2 (11-bit)
DcanaRegs.CAN_IF2MCTL.all = 0x2; //Data length = 2 bytes
DcanaRegs.CAN_IF2CMD.all = 0x00F80002; //Transfer configuration to message object 2
while (DcanaRegs.CAN_IF2CMD.all & 0x8000) {;} //Wait for message RAM copy
}

5.) Why are they different ? Both functions are to initialize the CAN controller on f28379d. Which one should I use for my purpose ?  

Thanks for all. 

Best Regards. 

Adem

1. Yes, that is the code for the bootloader part of the kernel.
2. Correct
3. Yes, you should be able to re-use most, if not all (any non-SCI specific items) from the F28379D SCI flash kernel project
4. I don't understand the question. It is too vague.
5. They are doing essentially the same thing. One is written with drivers and one is written using bitfields. I would use the one from the DCAN_boot.c since that is likely the easier path.

Best regards
Chris

Hi Chris,

Thanks for your replying,

I meant at 4th question that 'boot.c' source, 'shared boot' source, 'exit boot' source and others already exist now. And I can use these sources in my flash kernel code. So , I will write just a main code. Do I need something else like source codes to develop can_flash_kernel ?

Best Regards.

Adem

Once you add in the DCAN_boot.c. You pretty much just have to edit the main.c and the shared_boot.c

Best regards
Chris

Chris,

I don't want to use OTP registers to load boot mode. So, I want to develop custom bootloader. But, In DCAN_boot source code there are some phases with OTP register. Is this code load boot mode with OTP registers ?

Regards.

Adem

You can just hardcode the value passed to DCAN_Boot() for your custom one. If you are referring to where it talks about "ESCAPE_POINT". You can remove those, they are only needed when its in ROM for us to apply fixes if needed.

Best regards
Chris

Thanks a lot Chris,
Regards.

Hi Chris,

I think that I modified can_flash_kernel for F28379D. But, in sci_flash_kernel, there are Shared_Verify and Shared_Erase source files. I used them without changing. Is it true ? Do they need for my can_flash_kernel code ? Should I port them for CAN ?

Regards.

Thanks a lot Chris !