Porting Paulus on ATSAM4E

File structure

After installation of Paulus the source code is stored in the file structure shown in Table 1 describes the contents.

Table 1: File structure

The initialization of the CAN controller is done in module atsam4e / can.c.

In module atsam4e / init.c the I/O pins for the CAN interface have to be initialized.

In module atsam4e / init.c there must be the functions getBitRate() and getNodeId() available. Usually the CANopen network parameters are provided by reading jumpers or by loading from flash memory.

Development environment

Paulus on the platform of ATSAM4E was developed with the IAR Embeded Workbench for ARM v6.50.

Paulus configuration

In general the initialization function initializes only the absolutely necessary peripherals like clock system, CAN controller, memory management as needed by Paulus and a timer for Heartbeat or LSS. Nevertheless, there might be situations where it makes sense that Paulus initializes other functionalities which are later used by the application as well. As an example consider the serial interface for debug messages.

CAN bit rate

The CAN bit rate is coded by the index of the CAN bit timing table according to /CiA-305/. The index of the default CAN bit rate is specified about the compiler-define BITRATE_INDEX_<bit_rate> in /atsam4e/bl_config.h:

#define BL_USED_BITRATE_INDEX   BITRATE_INDEX_125K

The default CAN bit rate is 125 kbit/s and can be changed by LSS services. The LSS services are described in /Paulus_man/ and base on /CiA-305/. The supported CAN bit rates are depending on the clock of the CAN controller and are listed in /atsam4e/atsam4e_can.c. The value FFh for segment2 marks unsupported CAN bit rates. The clock for the activation of the CAN bit rate is generated by timer TC0 with a period of 1 ms.

Heartbeat producer

Timer TC0 is also used for the generation of Heartbeat producer messages.

Debug output

By the compiler-define DEBUG a debug output can be activated about the serial interface usart1. The compiler-define is set in file /atsam4e/bl_config.h:

#define DEBUG 1

In general the initialization function will initialize only the absolutely necessary peripherals like clock system, CAN controller, memory management as needed by Paulus. Nevertheless, there might be situations where it makes sense that Paulus initializes other functionalities which are later used by the application as well. As an example consider the serial interface for debug messages.

Generating application software

The application software consists of an application header and an application program.

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Figure 1: Application software structure

The application program has to be prepared for download by the following steps:

•     build the application program in binary format

•     calculate the CRC of the application program, build the application header and generate the application software to download

•     configure the start address of the application software in Paulus

Paulus checksum

The program paulus_cksum calculates the CRC checksum of the binary application program, generates the application header and stores the application header and the application program in a new file. This file can be loaded in the device by Paulus.

Unused bytes in the application header are set to 0x00 with the ATSAM4E. The length of the application header is 256 bytes.

Example: The download file for the application program s1_atsam4e.bin is generated about Windows console:

Besides checking the CRC Paulus checks also the size of the application header. A size of 0 is invalid. An application may destroy the ’valid’ information by overwriting the size with 0. That is always possible on the ATSAM4E FLASH, because the byte content is 0xFF after erasing.

More detailed information from this tool can find in /Paulus_CRC/.

Start address

It is important that the start address of the application software in the flash memory and the information in the Paulus configuration in atsam4e/atsam4e_flash.h are identical. The application software is stored as a separate program in the flash memory additionally to the bootloader program. Therefore the application software is flashed to:

#define FLASH_PROGRAM_START_ADR   0x00410000

The length of the application header is 256 byte. The program start of the application is at address (FLASH_PROGRAM_START_ADR + 256 bytes).

Memory

Shared RAM

The shared RAM for data exchange between bootloader and application starts at address 0x20000000. The size of the shared RAM is specified in <target>/bl_interface.h by the compiler-define BL_JUMPCODE_SIZE. The shared memory is installed in <target>/bl_interface.h as follow:

#pragma location=0x20000000

__no_init UNSIGNED8 jumpcode[BL_JUMPCODE_SIZE];

The keyword for the re-start of the application program is set in byte 0-3 of jumpcode. Paulus uses the keyword “APPL” or “BOOT”  to start the application program, see /Paulus_man/.

Flash

The total size of the ATSAM4 flash is 1024Kb. The current implementation of Paulus occupies a memory area of 64Kb from this. Therefore 960 Kb flash memory area available for the application software.

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The flash area for configuration data of Paulus is located at address 0x00408000. On this address and the following Paulus stores the node-ID and the CAN bit rate index during the execution of the LSS service “LSS store configuration“. The addresses are configurable in <target>/bl_interface.h:

After the next re-start Paulus uses this node-ID and this CAN bit rate index for communication. If the LSS services are not used, Paulus uses the node-ID and CAN bit rate index configured in <target>/bl_config.h.

Example application

CANopenSlave1 is an example for an application program. The directory example/ CANopenSlave1 contains the compiler project and the application-specific functions. For compilation the CANopen Library and the suitable driver package is necessary. The CANopen Library and the driver package belong not to the delivery scope of Paulus. The binary application software in example/ CANopenSlave1/bin/s1_download.bin can be used for a quick start.

The linker file of this example project is adapted on these memory requirements.

See settings from linker file:

This example has included source files bl_interface.c, bl_interface.h from bootloader. The application program can request an update by jumping back into Paulus by writing of the program control command start application program (value 1) on object 1F51h/1. The application program calls the macro BOOTLOADER_JUMP(APPL). This call is implemented in usr_301.c /sdoWrInd(). The application program stores the keyword “APPL” in the shared RAM and jumps into Paulus. Paulus is re-started and stays running until the application program is started by command.

References

Table 2: References