CAN Bootloader协议介绍与C++源码 -

#include "mainwindow.h"
#include "ui_mainwindow.h"
typedef struct {
unsigned char SJW;
unsigned char BS1;
unsigned char BS2;
unsigned short PreScale;
} tCAN_BaudRate;
#define GET_ADDR 0x0 //向主机请求本机地址，XX为本机地址，一共7bit
#define ERASE 0x1 //擦除应用程序
#define WRITE 0x2 //将程序写入Flash
#define READ 0x3 //将程序从Flash中读出
#define GO 0x4 //执行应用程序
#define SET_WRITE_ADDR 0x5 //设置写数据起始地址
#define WRITE_CONTINUOUS 0x6 //连续写数据，写数据地址自动递增
#define SET_READ_ADDR 0x7 //设置读数据起始地址
#define READ_CONTINUOUS 0x8 //连续读数据，读数据起始地址递增
#define GET_VERSION 0x9 //获取Bootloader固件版本
#define ONLINE_CHECK 0xA //检测CAN节点是否在线
#define ADDR_OK 0xC //请求地址可用
#define ADDR_ERROR 0xD //请求地址不可用
#define CMD_OK 0xE //命令执行成功
#define CMD_ERROR 0xF //命令执行失败
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
int ret;
ui->setupUi(this);
for(int i=0;i<128;i++){
can_addr.local_addr[i]=0;
}
nodeTableInit();
ret = VCI_ScanDevice(1);
if(ret<=0){
QMessageBox::warning(this,"Warning","No device Connected!");
return;
}
ret = VCI_OpenDevice(VCI_USBCAN2,ui->deviceIndexComboBox->currentIndex(),0);
if(ret!=STATUS_OK){
QMessageBox::warning(this,"Warning","Open device Error!");
return;
}
if(canInit()){
ret = VCI_StartCAN(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex());
if(ret!=STATUS_OK){
QMessageBox::warning(this,"Warning","Start CAN Error!");
return;
}
}
scanNodeTimerID = startTimer(100);
}
MainWindow::~MainWindow()
{
VCI_ResetCAN(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex());
VCI_CloseDevice(VCI_USBCAN2,ui->deviceIndexComboBox->currentIndex());
delete ui;
}
void MainWindow::nodeTableInit(void)
{
QStringList strList;
strList << "Addr" << "MAC(Hex)" << "Version";
model = new QStandardItemModel;
model->setColumnCount(strList.count());
model->setRowCount(127);
model->setHorizontalHeaderLabels(strList);
ui->nodeListTableView->setModel(model);
ui->nodeListTableView->setColumnWidth(0, 50);
ui->nodeListTableView->setColumnWidth(1, 160);
ui->nodeListTableView->setColumnWidth(2, 60);
ui->nodeListTableView->setEditTriggers(QAbstractItemView::NoEditTriggers);
ui->nodeListTableView->setSelectionBehavior(QAbstractItemView::SelectRows); //整行选中的方式
ui->nodeListTableView->verticalHeader()->setDefaultSectionSize(20);
ui->nodeListTableView->verticalHeader()->hide();
for(int r=0;r<model->rowCount();r++){
for(int c = 0; c < model->columnCount(); c++)
{
QStandardItem *item = new QStandardItem("");
model->setItem(r,c,item);
}
}
}
int MainWindow::CAN_GetBaudRateNum(unsigned int BaudRate)
{
switch(BaudRate){
case 1000000 :return 0;
case 900000 :return 1;
case 800000 :return 2;
case 666000 :return 3;
case 600000 :return 4;
case 500000 :return 5;
case 400000 :return 6;
case 300000 :return 7;
case 250000 :return 8;
case 225000:return 9;
case 200000 :return 10;
case 160000:return 11;
case 150000 :return 12;
case 144000:return 13;
case 125000 :return 14;
case 120000:return 15;
case 100000 :return 16;
case 90000 :return 17;
case 80000 :return 18;
case 75000:return 19;
case 60000 :return 20;
case 50000 :return 21;
case 40000 :return 22;
case 30000 :return 23;
case 20000 :return 24;
default:return 0;
}
}
bool MainWindow::canInit(void)
{
int ret;
tCAN_BaudRate CAN_BaudRateInitTab[]= { // CLK=36MHz
1,5,3,4, // 1M
1,4,3,5, // 900K
1,5,3,5, // 800K
1,5,3,6, // 666K
1,6,3,6, // 600K
1,5,2,9, // 500K
1,7,2,9, // 400K
1,16,3,6, // 300K
1,4,3,18, // 250K
1,6,3,16, // 225K
1,8,3,15, // 200K
1,4,4,25, // 160K
1,5,4,24, // 150K
1,5,4,25, // 144K
1,13,4,16, // 125K
1,10,4,20, // 120K
1,9,5,24, // 100K
1,10,5,25, // 90K
1,12,5,25, // 80K
1,9,6,30, // 75K
1,7,7,40, // 60K
1,8,7,45, // 50K
1,9,8,50, // 40K
1,6,3,120, // 30K
1,3,2,300, // 20K
};
VCI_INIT_CONFIG_EX CAN_InitConfig;
QString str = ui->baudRateComboBox->currentText();
str.resize(str.length()-4);
int baud = str.toInt(NULL,10)*1000;
CAN_InitConfig.CAN_BRP = CAN_BaudRateInitTab[CAN_GetBaudRateNum(baud)].PreScale;
CAN_InitConfig.CAN_SJW = CAN_BaudRateInitTab[CAN_GetBaudRateNum(baud)].SJW;
CAN_InitConfig.CAN_BS1 = CAN_BaudRateInitTab[CAN_GetBaudRateNum(baud)].BS1;
CAN_InitConfig.CAN_BS2 = CAN_BaudRateInitTab[CAN_GetBaudRateNum(baud)].BS2;
CAN_InitConfig.CAN_ABOM = 1;
CAN_InitConfig.CAN_Mode = 0;
CAN_InitConfig.CAN_NART = 0;
CAN_InitConfig.CAN_RELAY = 0;
CAN_InitConfig.CAN_RFLM = 0;
CAN_InitConfig.CAN_TXFP = 1;
ret = VCI_InitCANEx(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_InitConfig);
if(ret!=STATUS_OK){
QMessageBox::warning(this,"Warning","Initialize device Error!");
return false;
}
VCI_FILTER_CONFIG CAN_Filter;
CAN_Filter.Enable = 1;
CAN_Filter.ExtFrame = 0;
CAN_Filter.FilterIndex = 0;
CAN_Filter.FilterMode = 0;
CAN_Filter.ID_IDE = 0;
CAN_Filter.ID_RTR = 0;
CAN_Filter.ID_Std_Ext = 0;
CAN_Filter.MASK_IDE = 0;
CAN_Filter.MASK_RTR = 0;
CAN_Filter.MASK_Std_Ext = 0;
ret = VCI_SetFilter(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_Filter);
if(ret!=STATUS_OK){
QMessageBox::warning(this,"Warning","Set filter Error!");
return false;
}
return true;
}
void MainWindow::logMessage(QString str)
{
ui->logTextEdit->moveCursor(QTextCursor::End);
ui->logTextEdit->append(str);
}
bool MainWindow::setStartAddr(unsigned char can_node_addr,unsigned int startAddr)
{
VCI_CAN_OBJ CAN_SendData;
VCI_CAN_OBJ CAN_ReadData;
int ret,retry;
CAN_SendData.Data[0] = startAddr>>24;
CAN_SendData.Data[1] = startAddr>>16;
CAN_SendData.Data[2] = startAddr>>8;
CAN_SendData.Data[3] = startAddr>>0;
CAN_SendData.DataLen = 4;
CAN_SendData.ID = (can_node_addr<<4)|SET_WRITE_ADDR;
CAN_SendData.ExternFlag = 0;
CAN_SendData.RemoteFlag = 0;
CAN_SendData.SendType = 0;
ret = VCI_Transmit(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_SendData,
1);
if(ret!=1){
logMessage("Set start address error!");
QMessageBox::warning(this,"Warning","Set start address error!");
return false;
}
retry = 0;
while(1){
Sleep(10);
ret = VCI_Receive(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_ReadData,
1);
if((ret==1)&&(can_node_addr==(CAN_ReadData.ID>>4))&&((CAN_ReadData.ID&0xF)==CMD_OK)){
break;
}else{
Sleep(10);
retry++;
if(retry>5){
logMessage("Set start address error!");
QMessageBox::warning(this,"Warning","Set start address error!");
return false;
}
QCoreApplication::processEvents(QEventLoop::AllEvents);
}
}
logMessage("Set start success!");
return true;
}
bool MainWindow::eraseSectors(unsigned char can_node_addr,unsigned int startAddr,unsigned int EndAddr)
{
VCI_CAN_OBJ CAN_SendData;
VCI_CAN_OBJ CAN_ReadData;
int ret,retry;
if(startAddr>EndAddr){
QMessageBox::warning(this,"Warning","Address error!");
return false;
}else{
CAN_SendData.Data[0] = startAddr>>24;
CAN_SendData.Data[1] = startAddr>>16;
CAN_SendData.Data[2] = startAddr>>8;
CAN_SendData.Data[3] = startAddr>>0;
CAN_SendData.Data[4] = EndAddr>>24;
CAN_SendData.Data[5] = EndAddr>>16;
CAN_SendData.Data[6] = EndAddr>>8;
CAN_SendData.Data[7] = EndAddr>>0;
CAN_SendData.DataLen = 8;
CAN_SendData.ID = (can_node_addr<<4)|ERASE;
CAN_SendData.ExternFlag = 0;
CAN_SendData.RemoteFlag = 0;
CAN_SendData.SendType = 0;
ret = VCI_Transmit(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_SendData,
1);
if(ret!=1){
logMessage("Erase sectors error!");
QMessageBox::warning(this,"Warning","Send Data Error!");
return false;
}
logMessage("Start erase sectors,please wait...");
retry = 0;
while(1){
Sleep(10);
ret = VCI_Receive(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_ReadData,
1);
if((ret==1)&&(can_node_addr==(CAN_ReadData.ID>>4))&&((CAN_ReadData.ID&0xF)==CMD_OK)){
break;
}else{
Sleep(10);
retry++;
if(retry>200){
logMessage("Erase sectors error!");
QMessageBox::warning(this,"Warning","Erase sector error!");
return false;
}
QCoreApplication::processEvents(QEventLoop::AllEvents);
}
}
logMessage("Erase sector success!");
return true;
}
}
void MainWindow::on_updatePushButton_clicked()
{
int ret,retry;
QString str;
uint32_t startAddr = ui->startAddrLineEdit->text().toInt(NULL,16);
VCI_CAN_OBJ CAN_SendData;
VCI_CAN_OBJ CAN_ReadData;
QFile firmwareFile(ui->fileLineEdit->text());
if(model->item(ui->nodeListTableView->currentIndex().row(),0)->text().isEmpty()){
QMessageBox::warning(this,"Warning","Please select online can node!");
return;
}
uint8_t can_node_addr = ui->nodeListTableView->currentIndex().row()+1;
if (firmwareFile.open(QFile::ReadOnly)){
killTimer(scanNodeTimerID);
//擦出程序扇区
if(!eraseSectors(can_node_addr,startAddr,startAddr+firmwareFile.size())){
scanNodeTimerID = startTimer(100);
return;
}
//设置程序起始地址
if(!setStartAddr(can_node_addr,startAddr)){
scanNodeTimerID = startTimer(50);
return;
}
logMessage("Start write firmware data...");
str.sprintf("CAN node address:%d",can_node_addr);
logMessage(str);
str.sprintf("Firmware start address(Hex):%08X",startAddr);
logMessage(str);
str.sprintf("Firmware size:%d Byte",firmwareFile.size());
logMessage(str);
str.sprintf("Current Progress:%3d%%",0);
logMessage(str);
for(int i=0;i<firmwareFile.size();i+=8){
firmwareFile.read((char*)(&CAN_SendData.Data[0]),8);
CAN_SendData.DataLen = 8;
CAN_SendData.ExternFlag = 0;
CAN_SendData.RemoteFlag = 0;
CAN_SendData.SendType = 0;
CAN_SendData.ID = (can_node_addr<<4)|WRITE_CONTINUOUS;
ret = VCI_Transmit(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_SendData,
1);
if(ret!=1){
logMessage("Write firmware data error!");
QMessageBox::warning(this,"Warning","Send Data Error!");
scanNodeTimerID = startTimer(100);
return;
}
//设置更新进度
QTextCursor cursor = ui->logTextEdit->textCursor();
cursor.deletePreviousChar();
cursor.deletePreviousChar();
cursor.deletePreviousChar();
cursor.deletePreviousChar();
str.sprintf("%3d%%",i*100/firmwareFile.size());
ui->logTextEdit->insertPlainText(str);
retry = 0;
while(1){
ret = VCI_Receive(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_ReadData,
1);
if((ret==1)&&(can_node_addr==(CAN_ReadData.ID>>4))&&((CAN_ReadData.ID&0xF)==CMD_OK)){
break;
}else{
Sleep(10);
retry++;
if(retry>10){
logMessage("Write firmware data error!");
QMessageBox::warning(this,"Warning","Get ACK error!");
scanNodeTimerID = startTimer(100);
return;
}
}
}
QCoreApplication::processEvents(QEventLoop::AllEvents);
}
//设置更新进度
QTextCursor cursor = ui->logTextEdit->textCursor();
cursor.deletePreviousChar();
cursor.deletePreviousChar();
cursor.deletePreviousChar();
cursor.deletePreviousChar();
str.sprintf("%3d%%",100);
ui->logTextEdit->insertPlainText(str);
logMessage("Write firmware data success!");
QMessageBox::information(this,"Information","Update firmware success!");
scanNodeTimerID = startTimer(100);
firmwareFile.close();
}else{
QMessageBox::warning(this,"Warning","Open file error!");
}
}
void MainWindow::timerEvent(QTimerEvent * event)
{
if(event->timerId() == scanNodeTimerID){
onlineCheck();
}
}
void MainWindow::onlineCheck(void)
{
VCI_CAN_OBJ CAN_ReadData[200];
VCI_CAN_OBJ CAN_SendData;
int ret,i,k;
QString mac_str;
QString str;
ret = VCI_Receive(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_ReadData[0],
200);
for(k=0;k<ret;k++){
if((CAN_ReadData[k].ID&0xF)==GET_ADDR){
mac_str.sprintf("%02X%02X%02X%02X%02X%02X%02X%02X",
CAN_ReadData[k].Data[0],CAN_ReadData[k].Data[1],
CAN_ReadData[k].Data[2],CAN_ReadData[k].Data[3],
CAN_ReadData[k].Data[4],CAN_ReadData[k].Data[5],
CAN_ReadData[k].Data[6],CAN_ReadData[k].Data[7]);
for(i=1;i<128;i++){
if(can_addr.local_addr[i]==0){
can_addr.local_addr[i] = i;
for(int j=0;j<8;j++){
can_addr.mac_addr[i][j] = CAN_ReadData[k].Data[j];
CAN_SendData.Data[j] = CAN_ReadData[k].Data[j];
}
CAN_SendData.DataLen = 8;
CAN_SendData.ExternFlag = 0;
CAN_SendData.RemoteFlag = 0;
CAN_SendData.SendType = 0;
CAN_SendData.ID = (i<<4)|ADDR_OK;//设置从机地址
break;
}else if(mac_str==model->item(i-1,1)->text()){
for(int j=0;j<8;j++){
CAN_SendData.Data[j] = CAN_ReadData[k].Data[j];
}
CAN_SendData.DataLen = 8;
CAN_SendData.ExternFlag = 0;
CAN_SendData.RemoteFlag = 0;
CAN_SendData.SendType = 0;
CAN_SendData.ID = (i<<4)|ADDR_OK;//设置从机地址
break;
}else{
continue;
}
}
if(i==128){
CAN_SendData.DataLen = 0;
CAN_SendData.ExternFlag = 0;
CAN_SendData.RemoteFlag = 0;
CAN_SendData.SendType = 0;
CAN_SendData.ID = ADDR_ERROR;
}
ret = VCI_Transmit(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_SendData,
1);
if(ret!=1){
QMessageBox::warning(this,"Warning","Send Data Error!");
killTimer(scanNodeTimerID);
}else{
//将正确获取到设备地址的节点在界面列表里面显示出来
if((CAN_SendData.ID&0xF)!=ADDR_ERROR){
str.sprintf("%d",i);
model->item(i-1,0)->setText(str);
model->item(i-1,1)->setText(mac_str);
}
}
}
}
QCoreApplication::processEvents(QEventLoop::AllEvents);
//检测在线状态
for(i=0;i<model->rowCount();i++){
uint32_t local_addr,retry=0;
if(!model->item(i,0)->text().isEmpty()){
//清除之前接收的数据
VCI_ClearBuffer(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex());
local_addr = model->item(i,0)->text().toInt(NULL,0);
//发送在线检测命令
CAN_SendData.DataLen = 0;
CAN_SendData.ExternFlag = 0;
CAN_SendData.RemoteFlag = 0;
CAN_SendData.SendType = 0;
CAN_SendData.ID = (local_addr<<4)|ONLINE_CHECK;
ret = VCI_Transmit(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_SendData,
1);
if(ret!=1){
QMessageBox::warning(this,"Warning","Send Data Error!");
}
retry = 0;
while(1){
ret = VCI_Receive(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_ReadData[0],
1);
if((ret==1)&&(local_addr==(CAN_ReadData[0].ID>>4))&&((CAN_ReadData[0].ID&0xF)==CMD_OK)){
mac_str.sprintf("%02X%02X%02X%02X%02X%02X%02X%02X",
CAN_ReadData[0].Data[0],CAN_ReadData[0].Data[1],
CAN_ReadData[0].Data[2],CAN_ReadData[0].Data[3],
CAN_ReadData[0].Data[4],CAN_ReadData[0].Data[5],
CAN_ReadData[0].Data[6],CAN_ReadData[0].Data[7]);
model->item(i,1)->setText(mac_str);
break;
}else{
if(retry<10){
Sleep(10);
retry++;
}else{
for(int c=0;c<model->columnCount();c++){
model->item(i,c)->setText("");
}
can_addr.local_addr[i+1]=0;
break;
}
}
}
}
}
QCoreApplication::processEvents(QEventLoop::AllEvents);
//获取版本信息
for(i=0;i<model->rowCount();i++){
uint32_t local_addr,retry=0;
if(!model->item(i,0)->text().isEmpty()){
//清除之前接收的数据
VCI_ClearBuffer(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex());
local_addr = model->item(i,0)->text().toInt(NULL,0);
//发送在线检测命令
CAN_SendData.DataLen = 0;
CAN_SendData.ExternFlag = 0;
CAN_SendData.RemoteFlag = 0;
CAN_SendData.SendType = 0;
CAN_SendData.ID = (local_addr<<4)|GET_VERSION;
ret = VCI_Transmit(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_SendData,
1);
if(ret!=1){
QMessageBox::warning(this,"Warning","Send Data Error!");
}
retry = 0;
while(1){
ret = VCI_Receive(VCI_USBCAN2,
ui->deviceIndexComboBox->currentIndex(),
ui->channelIndexComboBox->currentIndex(),
&CAN_ReadData[0],
1);
if((ret==1)&&(local_addr==(CAN_ReadData[0].ID>>4))&&((CAN_ReadData[0].ID&0xF)==GET_VERSION)){
str.sprintf("V%d.%d",CAN_ReadData[0].Data[0],CAN_ReadData[0].Data[1]);
model->item(local_addr-1,2)->setText(str);
break;
}else{
if(retry<10){
Sleep(10);
retry++;
}else{
break;
}
}
}
}
}
}
void MainWindow::on_openFilePushButton_clicked()
{
QString fileName;
fileName=QFileDialog::getOpenFileName(this,
tr("Open files"),
"",
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