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D1.json
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{
"version": 2,
"packages": [
{
"name": "Accessory",
"buses": [
{
"dbc_id": null,
"name": "Charger_internal",
"bitrate": 500000
}
],
"units": [
{
"name": "Bootloader",
"description": "Our custom solution for flashing new firmware over the CAN bus.\r\n\r\nDocumentation can be found in the repository or on team's wiki.",
"bus_links": [
{
"bus": "FSE08.CAN1_powertrain",
"note": null
},
{
"bus": "FSE08.CAN2_aux",
"note": null
},
{
"bus": "FSE09.CAN1",
"note": null
},
{
"bus": "FSE09.CAN2",
"note": null
},
{
"bus": "FSE10.CAN1",
"note": null
},
{
"bus": "FSE10.CAN2",
"note": null
},
{
"bus": "D1.CAN1_powertrain",
"note": null
},
{
"bus": "D1.CAN3",
"note": null
}
],
"enum_types": [
{
"name": "BootTarget",
"description": "Distinguishes which from the set of bootloader-aware units in the car is targeted.",
"items": [
{
"name": "AMS",
"value": 0,
"description": "Accumulator management System"
},
{
"name": "DSH",
"value": 1,
"description": "Dashboard"
},
{
"name": "CHG",
"value": 2,
"description": "Accumulator Charger"
},
{
"name": "PDL",
"value": 3,
"description": "Pedal Box"
},
{
"name": "FSB",
"value": 4,
"description": "Fuse Box"
},
{
"name": "STW",
"value": 5,
"description": "Steering wheel"
},
{
"name": "EBSS",
"value": 6,
"description": "Emergency Brake System Supervisor (DV only)"
}
]
},
{
"name": "Command",
"description": "Commands for the bootloader to perform certain operation",
"items": [
{
"name": "None",
"value": 0,
"description": "Nothing needs to be done right now"
},
{
"name": "StartTransactionFlashing",
"value": 1,
"description": "Sent by master to initiate FLASHING transaction"
},
{
"name": "AbortTransaction",
"value": 2,
"description": "Something failed horribly. Kill the process"
},
{
"name": "StallSubtransaction",
"value": 3,
"description": "Temporarily stop the transmission (e.g. the target device is overrun)"
},
{
"name": "ResumeSubtransaction",
"value": 4,
"description": "Resume previously paused subtransaction"
},
{
"name": "RestartFromAddress",
"value": 5,
"description": "Some data packets have been lost. Return to specified address and start again"
},
{
"name": "StartBootloaderUpdate",
"value": 6,
"description": "The bootloader itself shall be erased and flashed."
},
{
"name": "SetNewVectorTable",
"value": 7,
"description": "Update the application jump table with new value of the isr vector. If the jump table was not valid, fill other metadata with zeros."
}
]
},
{
"name": "EntryReason",
"description": "Lists various reasons why the bootloader may have been entered instead of jumping into the application firmware.",
"items": [
{
"name": "DontEnter",
"value": 0,
"description": "Bootloader will not be entered (jump straight to application)"
},
{
"name": "InvalidMagic",
"value": 1,
"description": "Either no firmware is flashed, or there has been a memory corruption"
},
{
"name": "UnalignedInterruptVector",
"value": 2,
"description": "The application's interrupt vector is not aligned properly"
},
{
"name": "InvalidEntryPoint",
"value": 3,
"description": "The entry point pointer does not point into flash"
},
{
"name": "InvalidInterruptVector",
"value": 4,
"description": "The vector table pointer not point into flash"
},
{
"name": "InvalidTopOfStack",
"value": 5,
"description": "The specified top of stack points to flash"
},
{
"name": "BackupRegisterCorrupted",
"value": 6,
"description": "The backup register contained value different from 0 (reset value) or application_magic"
},
{
"name": "Requested",
"value": 7,
"description": "The bootloader was requested by the flash master via message Ping"
},
{
"name": "ApplicationFailure",
"value": 8,
"description": "The application repeatedly crashed (it was unable to properly initialize or encountered fatal error like a failed assertion)"
}
]
},
{
"name": "HandshakeResponse",
"description": "Error codes originating from the handshake process",
"items": [
{
"name": "OK",
"value": 0,
"description": "Everything is ok"
},
{
"name": "PageAddressNotAligned",
"value": 1,
"description": "Given address is not aligned to page boundary"
},
{
"name": "AddressNotInFlash",
"value": 2,
"description": "Given address is not located in flash at all"
},
{
"name": "PageProtected",
"value": 3,
"description": "Given page belongs to the bootloader."
},
{
"name": "ErasedPageCountMismatch",
"value": 4,
"description": "The specified number of pages to erase (sent during handshake) and the actual number of erase requests do not match. Reported only after the erasing process ends."
},
{
"name": "BinaryTooBig",
"value": 5,
"description": "Available flash memory cannot fit the requested number of bytes."
},
{
"name": "InterruptVectorNotAligned",
"value": 6,
"description": "Received address of the interrupt vector is not aligned"
},
{
"name": "InvalidTransactionMagic",
"value": 7,
"description": "Written transaction magic did not match the expected value."
},
{
"name": "HandshakeSequenceError",
"value": 8,
"description": "Handshake is performed out of order."
},
{
"name": "PageAlreadyErased",
"value": 9,
"description": "The specified page was already erased"
},
{
"name": "NotEnoughPages",
"value": 10,
"description": "There are not that many pages available"
},
{
"name": "NumWrittenBytesMismatch",
"value": 11,
"description": "The number of bytes written does not match the number of expected bytes"
},
{
"name": "EntryPointAddressMismatch",
"value": 12,
"description": "The specified entry point does not match the second word in interrupt vector."
},
{
"name": "ChecksumMismatch",
"value": 13,
"description": "Received checksum of the firmware does not match the computed checksum."
},
{
"name": "TooManyLogicalMemoryBlocks",
"value": 14,
"description": "The specified number of logical blocks does not fit into the internal bootloader's memory"
},
{
"name": "UnknownTransactionType",
"value": 15,
"description": "The bootloader expected transaction type selection, but the master sent something else"
},
{
"name": "HandshakeNotExpected",
"value": 16,
"description": "The bootloader received some handshake message when it was the transmitting bus master"
},
{
"name": "InternalStateMachineError",
"value": 17,
"description": "The bootloader detected inconsistent internal state"
},
{
"name": "CommandNotNone",
"value": 18,
"description": "Register is not command but command is not none"
},
{
"name": "BootloaderInError",
"value": 19,
"description": "Bootloader or some module is in error state."
},
{
"name": "CommandInvalidInCurrentContext",
"value": 20,
"description": "This command is not valid right now."
},
{
"name": "LogicalBlockCountMismatch",
"value": 21,
"description": "Number of expected and received logical memory blocks do not match"
},
{
"name": "LogicalBlocksOverlapping",
"value": 22,
"description": "Two received logical memory blocks are overlapping"
},
{
"name": "LogicalBlockAddressesNotIncreasing",
"value": 23,
"description": "The start address of received logical memory block < end address of previous memory block"
},
{
"name": "LogicalBlockNotCoverable",
"value": 24,
"description": "Received logical block cannot be covered using available physical blocks"
},
{
"name": "AddressNotInBootloader",
"value": 25,
"description": "The specified address is not located within the address space reserved for the bootloader."
},
{
"name": "LogicalBlockTooLong",
"value": 26,
"description": "Received logical memory block's length exceeds remaining flash memory."
},
{
"name": "MustBeNonZero",
"value": 27,
"description": "Specified register does not accept value zero (number of bytes, number of pages or something similar)."
}
]
},
{
"name": "Register",
"description": "Distinguishes values the bootloader must receive during handshake sequence.",
"items": [
{
"name": "EntryPoint",
"value": 0,
"description": "Address of the entry point of flashed firmware."
},
{
"name": "InterruptVector",
"value": 1,
"description": "Address of the isr vector. Must be aligned to 512B boundary (lower 9 bits cleared)"
},
{
"name": "NumPhysicalBlocksToErase",
"value": 2,
"description": "The number of flash physical memory blocks to be erased"
},
{
"name": "PhysicalBlockToErase",
"value": 3,
"description": "Address of a flash physical memory blockto erase"
},
{
"name": "FirmwareSize",
"value": 4,
"description": "Size in bytes of the firmware to be flashed."
},
{
"name": "Checksum",
"value": 5,
"description": "Checksum of the firmware. Taken as the sum of all transmitted halfwords (16bit)"
},
{
"name": "TransactionMagic",
"value": 6,
"description": "Magic value. Writing 0x696c6548 starts and ends the transaction."
},
{
"name": "NumLogicalMemoryBlocks",
"value": 7,
"description": "Number of memory blocks constituting the memory map of firmware"
},
{
"name": "LogicalBlockStart",
"value": 8,
"description": "The starting address for given logical memory block"
},
{
"name": "LogicalBlockLength",
"value": 9,
"description": "The length in bytes of given logical memory block"
},
{
"name": "NumPhysicalMemoryBlocks",
"value": 10,
"description": "Number of physical memory blocks constituting the available flash memory"
},
{
"name": "PhysicalBlockStart",
"value": 11,
"description": "The starting address for given physical memory block"
},
{
"name": "PhysicalBlockLength",
"value": 12,
"description": "The length in bytes of given physical memory block"
},
{
"name": "Command",
"value": 13,
"description": "Use the Command field in message Handshake to determine the requested task"
}
]
},
{
"name": "State",
"description": "Distinguishes states of the flashing process.",
"items": [
{
"name": "Ready",
"value": 0,
"description": "Bootloader is ready to commence handshake with the flashing system"
},
{
"name": "Initialization",
"value": 1,
"description": "Master sent initial transaction magic and the bootloader is now awaiting the selection of transaction type"
},
{
"name": "TransmittingPhysicalMemoryBlocks",
"value": 2,
"description": "BL is sending the available memory map"
},
{
"name": "ReceivingFirmwareMemoryMap",
"value": 3,
"description": "BL is receiving the memory map of new firmware"
},
{
"name": "ErasingPhysicalBlocks",
"value": 4,
"description": "BL is erasing physical blocks"
},
{
"name": "DownloadingFirmware",
"value": 5,
"description": "BL is flashing new firmware"
},
{
"name": "ReceivingFirmwareMetadata",
"value": 6,
"description": "BL is receiving entry point\/isr vector"
},
{
"name": "Error",
"value": 7,
"description": "Some error occured. \/\/TODO make it more concrete"
},
{
"name": "CommunicationStalled",
"value": 8,
"description": "Bootloader is overwhelmed and has suspended the communication."
}
]
},
{
"name": "WriteResult",
"description": "Reports the result of previous write operation.",
"items": [
{
"name": "Ok",
"value": 0,
"description": "Write was performed successfully."
},
{
"name": "InvalidMemory",
"value": 1,
"description": "Requested address was not in any of the beforehand specified erasable pages"
},
{
"name": "AlreadyWritten",
"value": 2,
"description": "Requested address has already been written"
},
{
"name": "Timeout",
"value": 3,
"description": "Write command timeouted"
}
]
}
],
"messages": [
{
"name": "Beacon",
"description": "Sent periodically by an active bootloader to announce its presence.",
"bus": null,
"fields": [
{
"name": "Target",
"description": "Identifies which unit has active bootloader",
"type": "enum Bootloader_BootTarget",
"bits": 4,
"count": 1,
"start_bit": 0,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "State",
"description": "Current state of the bootloader",
"type": "enum Bootloader_State",
"bits": 4,
"count": 1,
"start_bit": 4,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "EntryReason",
"description": "Why is the bootloader active?",
"type": "enum Bootloader_EntryReason",
"bits": 4,
"count": 1,
"start_bit": 8,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "FlashSize",
"description": "Available flash size in kibibytes.",
"type": "uint",
"bits": 12,
"count": 1,
"start_bit": 12,
"unit": "KiB",
"factor": "1",
"factor_num": 1,
"offset": "0",
"min": "0",
"max": "4095"
}
],
"frame_type": "CAN_STD",
"id": 1575,
"length": 3,
"received_by": [
"Accessory.Bootloader",
"FSE09.DSH",
"FSE10.DSH"
],
"sent_by": [
"Accessory.Bootloader"
],
"timeout": 1000,
"tx_period": 500
},
{
"name": "CommunicationYield",
"description": "Current bus master yields control of communication to the other node.\r\nSent between subtransactions.",
"bus": null,
"fields": [
{
"name": "Target",
"description": "Identifies targeted unit.",
"type": "enum Bootloader_BootTarget",
"bits": 4,
"count": 1,
"start_bit": 0,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
}
],
"frame_type": "CAN_STD",
"id": 1570,
"length": 1,
"received_by": [
"Accessory.Bootloader"
],
"sent_by": [
"Accessory.Bootloader"
],
"timeout": null,
"tx_period": null
},
{
"name": "Data",
"description": "Stream of data to be flashed into the MCU.",
"bus": null,
"fields": [
{
"name": "Address",
"description": "Word aligned absolute address",
"type": "uint",
"bits": 30,
"count": 1,
"start_bit": 0,
"unit": "B",
"factor": "4",
"factor_num": 4,
"offset": "0",
"min": "0",
"max": null
},
{
"name": null,
"description": null,
"type": "reserved",
"bits": 1,
"count": 1,
"start_bit": 30,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "HalfwordAccess",
"description": "If set to true, only the lower 16 bits of Word will be flashed.",
"type": "bool",
"bits": 1,
"count": 1,
"start_bit": 31,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "Word",
"description": "Word to be written",
"type": "uint",
"bits": 32,
"count": 1,
"start_bit": 32,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
}
],
"frame_type": "CAN_STD",
"id": 1571,
"length": 8,
"received_by": [
"Accessory.Bootloader"
],
"sent_by": [
"Accessory.Bootloader"
],
"timeout": null,
"tx_period": null
},
{
"name": "DataAck",
"description": "Acknowledgement that the bootloader successfully received word of data. It is not necessary that the word has already been written.",
"bus": null,
"fields": [
{
"name": "Address",
"description": "Word (4B) aligned address of last write comand.",
"type": "uint",
"bits": 30,
"count": 1,
"start_bit": 0,
"unit": "B",
"factor": "4",
"factor_num": 4,
"offset": "0",
"min": "0",
"max": null
},
{
"name": "Result",
"description": "Identifies the result of previous write operation.",
"type": "enum Bootloader_WriteResult",
"bits": 2,
"count": 1,
"start_bit": 30,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
}
],
"frame_type": "CAN_STD",
"id": 1572,
"length": 4,
"received_by": [
"Accessory.Bootloader"
],
"sent_by": [
"Accessory.Bootloader"
],
"timeout": null,
"tx_period": null
},
{
"name": "ExitAck",
"description": "Acknowledgement for a request to leave the bootloader.\r\nCarries information, whether the unit can transition from the bootloader to the main firmware at the moment.\r\nThis transition is prohibited during the process of erasing or flashing. In that case only a power cycle or asserting the Force bit in ExitReq can cause the bootloader to quit.",
"bus": null,
"fields": [
{
"name": "Target",
"description": "Identifies the target unit",
"type": "enum Bootloader_BootTarget",
"bits": 4,
"count": 1,
"start_bit": 0,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "Confirmed",
"description": "True iff the unit is switching from the bootloader to firmware.",
"type": "bool",
"bits": 1,
"count": 1,
"start_bit": 4,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
}
],
"frame_type": "CAN_STD",
"id": 1574,
"length": 1,
"received_by": [],
"sent_by": [
"Accessory.Bootloader"
],
"timeout": null,
"tx_period": null
},
{
"name": "ExitReq",
"description": "Request from the flash master to an ECU to exit the bootloader.",
"bus": null,
"fields": [
{
"name": "Target",
"description": "Which unit shall leave the bootloader.",
"type": "enum Bootloader_BootTarget",
"bits": 4,
"count": 1,
"start_bit": 0,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "Force",
"description": "Force the bootloader to reset regardless of current state. Necessary when there is an ongoing transaction.",
"type": "bool",
"bits": 1,
"count": 1,
"start_bit": 4,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "InitializeApplication",
"description": "Should the bootloader enter the application or only reboot itself?",
"type": "bool",
"bits": 1,
"count": 1,
"start_bit": 5,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
}
],
"frame_type": "CAN_STD",
"id": 1573,
"length": 1,
"received_by": [
"Accessory.Bootloader"
],
"sent_by": [],
"timeout": null,
"tx_period": null
},
{
"name": "Handshake",
"description": "Configuration message exchanged between the flashing master and the bootloader. Has corresponding acknowledge.",
"bus": null,
"fields": [
{
"name": "Register",
"description": "Which register is currently configured",
"type": "enum Bootloader_Register",
"bits": 4,
"count": 1,
"start_bit": 0,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "Command",
"description": "Command to be carried out by the bootloader",
"type": "enum Bootloader_Command",
"bits": 4,
"count": 1,
"start_bit": 4,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": null,
"description": null,
"type": "reserved",
"bits": 4,
"count": 1,
"start_bit": 8,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "Target",
"description": "Identifier of the targeted unit",
"type": "enum Bootloader_BootTarget",
"bits": 4,
"count": 1,
"start_bit": 12,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "Value",
"description": "Value for selected register",
"type": "uint",
"bits": 32,
"count": 1,
"start_bit": 16,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
}
],
"frame_type": "CAN_STD",
"id": 1568,
"length": 6,
"received_by": [
"Accessory.Bootloader"
],
"sent_by": [
"Accessory.Bootloader"
],
"timeout": null,
"tx_period": null
},
{
"name": "HandshakeAck",
"description": "Acknowledgement that a Handshake message has been received.\r\n\/\/TODO wastes bandwidth - remove reserved fields ASAP",
"bus": null,
"fields": [
{
"name": "Register",
"description": "Last written register",
"type": "enum Bootloader_Register",
"bits": 4,
"count": 1,
"start_bit": 0,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "Target",
"description": "Identifier of the responding unit",
"type": "enum Bootloader_BootTarget",
"bits": 4,
"count": 1,
"start_bit": 4,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "Response",
"description": "Error code indicating the result of last operation",
"type": "enum Bootloader_HandshakeResponse",
"bits": 5,
"count": 1,
"start_bit": 8,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": null,
"description": null,
"type": "reserved",
"bits": 3,
"count": 1,
"start_bit": 13,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
},
{
"name": "Value",
"description": "Last written value",
"type": "uint",
"bits": 32,
"count": 1,
"start_bit": 16,
"unit": null,
"factor": null,
"factor_num": null,
"offset": null,
"min": null,
"max": null
}
],
"frame_type": "CAN_STD",
"id": 1569,
"length": 6,
"received_by": [
"Accessory.Bootloader"
],
"sent_by": [
"Accessory.Bootloader"
],
"timeout": null,
"tx_period": null
},
{
"name": "Ping",
"description": "Polls possible boot targets and detects their presence on the CAN bus. May request an ECU to enter the bootloader.",
"bus": null,