samples: canbus: canopen: add program download support (4aeea753) · Commits · Wenxi XU / zephyr

boards/arm/frdm_k64f/board.cmake

+1 −0

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		@@ -16,3 +16,4 @@ board_runner_args(pyocd "--target=k64f")
		include(${ZEPHYR_BASE}/boards/common/pyocd.board.cmake)
		include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)
		include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
		include(${ZEPHYR_BASE}/boards/common/canopen.board.cmake)

boards/arm/twr_ke18f/board.cmake

+1 −0

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		@@ -16,3 +16,4 @@ board_runner_args(pyocd "--target=ke18f16")
		include(${ZEPHYR_BASE}/boards/common/pyocd.board.cmake)
		include(${ZEPHYR_BASE}/boards/common/jlink.board.cmake)
		include(${ZEPHYR_BASE}/boards/common/openocd.board.cmake)
		include(${ZEPHYR_BASE}/boards/common/canopen.board.cmake)

samples/subsys/canbus/canopen/CMakeLists.txt

+4 −0

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		@@ -2,6 +2,10 @@

		cmake_minimum_required(VERSION 3.13.1)

		macro(app_set_runner_args)
		board_runner_args(canopen "--node-id=${CONFIG_CANOPEN_NODE_ID}")
		endmacro()

		find_package(Zephyr HINTS $ENV{ZEPHYR_BASE})
		project(CANopen)

samples/subsys/canbus/canopen/README.rst

+52 −1

Original line number	Diff line number	Diff line
		@@ -15,7 +15,7 @@ CANopen protocol stack.

		Apart from the CANopen protocol stack integration, this sample also
		demonstrates the use of non-volatile storage for the CANopen object
		dictionary.
		dictionary and optionally program download over CANopen.

		Requirements
		************
		@@ -327,6 +327,57 @@ Running the above Python code should produce the following output:
		Button press counter: 9
		Button press counter: 10

		Testing CANopen Program Download
		********************************

		Building and Running for FRDM-K64F
		==================================
		The sample can be rebuilt with MCUboot and program download support
		for the FRDM-K64F as follows:

		#. Build and flash MCUboot by following the instructions in the
		:ref:`mcuboot` documentation page.

		#. Rebuild the CANopen sample with MCUboot support:

		.. zephyr-app-commands::
		:zephyr-app: samples/subsys/canbus/canopen
		:board: frdm_k64f
		:goals: build
		:gen-args: -DCONFIG_BOOTLOADER_MCUBOOT=y
		:compact:

		#. Sign the newly rebuilt CANopen sample binary (using either the
		demonstration-only RSA key from MCUboot or any other key used when
		building MCUboot itself):

		.. code-block:: console

		west sign -t imgtool --bin --no-hex -- --key mcuboot/root-rsa-2048.pem \
		--version 1.0.0

		#. Flash the newly signed CANopen sample binary using west:

		.. code-block:: console

		west flash --skip-rebuild --bin-file zephyr/zephyr.signed.bin

		#. Confirm the newly flashed firmware image using west:

		.. code-block:: console

		west flash --skip-rebuild --runner canopen --confirm-only

		#. Finally, resign the CANopen sample binary with a new version number
		and perform a program download over CANopen:

		.. code-block:: console

		west sign -t imgtool --bin --no-hex -- --key mcuboot/root-rsa-2048.pem \
		--version 1.0.1
		west flash --skip-rebuild --bin-file zephyr/zephyr.signed.bin \
		--runner canopen

		Modifying the Object Dictionary
		*******************************
		The CANopen object dictionary used in this sample application can be

samples/subsys/canbus/canopen/objdict/CO_OD.c

+9 −1

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		@@ -74,6 +74,10 @@ struct sCO_OD_RAM CO_OD_RAM = {
		/1003/ { 0, 0, 0, 0, 0, 0, 0, 0 },
		/1010/ { 0x00000003 },
		/1011/ { 0x00000001 },
		/1f50/ { 0 },
		/1f51/ { 0x0L },
		/1f56/ { 0x0000L },
		/1f57/ { 0x0000L },
		/2100/ { 0x0L, 0x0L, 0x0L, 0x0L, 0x0L, 0x0L, 0x0L, 0x0L, 0x0L, 0x0L },
		/2102/ 0x0000L,

		@@ -275,7 +279,7 @@ struct sCO_OD_EEPROM CO_OD_EEPROM = {
		/*******************************************************************************
		OBJECT DICTIONARY
		*******************************************************************************/
		const CO_OD_entry_t CO_OD[41] = {
		const CO_OD_entry_t CO_OD[45] = {

		{ 0x1000, 0x00, 0x85, 4, (void *)&CO_OD_ROM.deviceType },
		{ 0x1001, 0x00, 0x26, 1, (void *)&CO_OD_RAM.errorRegister },
		@@ -314,6 +318,10 @@ const CO_OD_entry_t CO_OD[41] = {
		{ 0x1a01, 0x08, 0x00, 4, (void *)&OD_record1a01 },
		{ 0x1a02, 0x08, 0x00, 0, (void *)&OD_record1a02 },
		{ 0x1a03, 0x08, 0x00, 0, (void *)&OD_record1a03 },
		{ 0x1f50, 0x01, 0x0a, 0, (void *)0 },
		{ 0x1f51, 0x01, 0x0e, 1, (void *)&CO_OD_RAM.programControl[0] },
		{ 0x1f56, 0x01, 0x86, 4, (void *)&CO_OD_RAM.programSoftwareIdentification[0] },
		{ 0x1f57, 0x01, 0x86, 4, (void *)&CO_OD_RAM.flashStatusIdentification[0] },
		{ 0x1f80, 0x00, 0x8d, 4, (void *)&CO_OD_ROM.NMTStartup },
		{ 0x2100, 0x00, 0x26, 10, (void *)&CO_OD_RAM.errorStatusBits },
		{ 0x2101, 0x00, 0xa7, 4, (void *)&CO_OD_EEPROM.powerOnCounter },

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