CANopenNode_C2000_bootloader

This is a CANopen bootloader for C2000 microcontroller using CANopenNode.

Tool	Version	Note
Code Composer Studio	v10.2.0
TI Compiler	v22.6.0.LTS
Object Dictionary Editor	v4.1.2-gff637a7	Link: CANopenEditor

Feature

• Does not use interrupts
• Entirely polled communication
• Executed after device reset or power-up. Execution is independent on loaded application.
• Minimal hardware initialization.
• Flash programming and verification.
• Overwrite protection of bootloader code area (Flash Sector A).
• Application code verification using CRC. List of supported algorithms is found in Section 8.9 of TMS320C28xx Assembly Language Tool document. Example of supported CRC algorithms:
  • CRC32_PRIME
  • CRC16_802_15_4
• Backdoor access with waiting window (default is 500ms)
• LSS slave supported.
• LSS slave node Id and bitrate is stored into EEPROM, if available. Refer to EEPROM Utilization
• see bootloader device Object Dictionary

Execution Flow

flowchart TD
    A(Reset) --> B{Check App CRC}
    B -->|valid|J{Check Node ID}
    J -->|valid|C{Check Boot flag}
    C -->|BOOTLOADER_RUN_VAL|D(Run Bootloader)
    C -->|APPLICATION_RUN_VAL|E(Run Application)
    C -->|other value|F[Timer on]
    F -->G{Has expired?}
    G -->|yes|E(Run Application)
    G -->|no|H{SDO received}
    H -->|no|G
    H -->|yes|I[Timer off]
    I -->D
    B -->|invalid|D
    J -->|invalid|D

Loading

EEPROM Utilization

Address	Usage
0x0000-0x0003	Entry Signature 0x0000-0x0001 Length of Entry(0x0004) 0x0002-0x0003 CRC16 of Entry
0x0040-0x0043	Entry: LSS Configuration 0x0040-0x0041 LSS bit rate 0x0042-0x0043 LSS node ID