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Revision 1428

Added by Ryan Cahoon over 11 years ago

Add new bootloader prototype supporting wireless programming

View differences:

trunk/code/projects/libwireless/lib/xbee.c
340 340
{
341 341
	#ifndef ROBOT
342 342
	pthread_cancel(*xbee_listen_thread);
343
    pthread_join(*xbee_listen_thread, NULL);
343 344
	free(xbee_listen_thread);
344 345
	lockf(xbee_stream, F_ULOCK, 0);
345 346
	close(xbee_stream);
trunk/code/projects/colonet/server/vision/vision.c
84 84

  
85 85
  cvSmooth( image03, image03, CV_GAUSSIAN, 9, 9 ); // smooth it, otherwise a lot of false circles may be detected
86 86
  CvMemStorage* storage = cvCreateMemStorage(0);
87
  CvSeq* circles = cvHoughCircles( image03, storage, CV_HOUGH_GRADIENT, 1, 1, 100, 43 );
87
  CvSeq* circles = cvHoughCircles( image03, storage, CV_HOUGH_GRADIENT, 1, 50, 100, 43 );
88 88

  
89 89
  int i;
90 90
  for( i = 0; i < circles->total && count < 100; i++ )
trunk/code/projects/wireless_bootloader/downloader.c
1
#include <stdio.h>
2
#include <termios.h>
3
#include <fcntl.h>
4
#include <stdlib.h>
5
#include <unistd.h>
6
#include <sys/ioctl.h>
7

  
8
int setupSerial(int fd, int baud)
9
{
10
	struct termios options;
11

  
12
    /* set baud rate, etc. correctly */
13

  
14
	tcgetattr(fd, &options);
15
	cfsetispeed(&options, baud);
16
	cfsetospeed(&options, baud);
17
	options.c_iflag &= ~ICRNL;
18
	options.c_oflag &= ~OCRNL;
19
	options.c_cflag |= (CLOCAL | CREAD);
20
	options.c_cflag &= ~PARENB;
21
	options.c_cflag &= ~CSTOPB;
22
	options.c_cflag &= ~CSIZE;
23
	options.c_cflag |= CS8;
24
	options.c_lflag &= ~ICANON;
25
	options.c_cc[VMIN] = 1;
26
	options.c_cc[VTIME] = 50;
27

  
28
	if (tcsetattr(fd, TCSANOW, &options))
29
	{
30
		printf("Error setting attributes.\n");
31
		return -1;
32
	}
33

  
34
    return 0;
35
}
36

  
37
int initSerial(char* portName)
38
{
39
    /* open port for I/O */
40
    int fd = open(portName, O_RDWR | O_NOCTTY ); 
41
    if (fd <0)
42
    {
43
        perror(portName);
44
        return -1;
45
    }
46

  
47
    return fd;
48
}
49

  
50
int writeSerial(int h, const char buf[], int length)
51
{
52
    return write(h,buf,length);
53
}
54
int writeByte(int h, char buf)
55
{
56
    return writeSerial(h, &buf, 1);
57
}
58

  
59
int getAvailBytes(int h)
60
{
61
    int bytes;
62
    ioctl(h, FIONREAD, &bytes);
63
    return bytes;
64
}
65

  
66
int readSerial(int h, char buf[], int length)
67
{
68
    return read(h,buf,length);
69
}
70
int readByte(int h)
71
{
72
    char buf;
73
    if (readSerial(h, &buf, 1)<1)
74
        return -1;
75
    return buf;
76
}
77

  
78
void closeSerial(int h)
79
{
80
    close(h);
81
}
82

  
83
int wait_for_ok(int h)
84
{
85
    const char* s = "OK\r";
86
    const char* curr = s;
87
    int count = 0;
88
    while (curr - s < 3)
89
    {
90
        int c;
91
        while(!getAvailBytes(h))
92
        {
93
            if (count++ > 150) return 0;
94
            usleep(10000);
95
        }
96
        c = readByte(h);
97
        if (c>=0)
98
        {
99
            if (c == *curr) {
100
                curr++;
101
            } else {
102
                curr = s;
103
            }
104
        }
105
    }
106

  
107
    return 1;
108
}
109

  
110
int xbee_setup(int h, int robotNum)
111
{
112
    int _init = 0;
113

  
114
    char idstr[9] = "ATIDFF";
115
    setupSerial(h, B9600);
116

  
117
    writeSerial(h, "+++", 3);
118
    if (wait_for_ok(h))
119
    {
120
        printf("Initializing XBee\n");
121

  
122
        writeSerial(h, "ATCH0C\r", 7);
123
        wait_for_ok(h);
124

  
125
        idstr[6] = (robotNum / 10) + 0x30;
126
        idstr[7] = robotNum % 10 + 0x30;
127
        idstr[8] = '\r';
128
        writeSerial(h, idstr, 9);
129
        wait_for_ok(h);
130

  
131
        writeSerial(h, "ATDH0\r", 6);
132
        wait_for_ok(h);
133
        writeSerial(h, "ATDLFFFF\r", 9);
134
        wait_for_ok(h);
135
        writeSerial(h, "ATAP0\r", 6);
136
        wait_for_ok(h);
137
        writeSerial(h, "ATBD6\r", 6);
138
        wait_for_ok(h);
139
        writeSerial(h, "ATCN\r", 5);
140
        wait_for_ok(h);
141

  
142
        _init = 1;
143
    }
144

  
145
    setupSerial(h, B57600);
146

  
147
    if (!_init)
148
    {
149
        printf("Configuring XBee\n");
150

  
151
        writeSerial(h, "+++", 3);
152
        wait_for_ok(h);
153
        
154
        idstr[6] = (robotNum / 10) + 0x30;
155
        idstr[7] = robotNum % 10 + 0x30;
156
        idstr[8] = '\r';
157
        writeSerial(h, idstr, 9);
158
        wait_for_ok(h);
159

  
160
        writeSerial(h, "ATCN\r", 5);
161
        wait_for_ok(h);
162
    }
163

  
164
    return 0;
165
}
166

  
167
/* Take in an intel hex file and load it into a large array
168
 * This allows us to read sequential data from the large array without having to
169
 * worry about weird character line-feed breaks in the text/HEX file.
170
 * 
171
 * Takes: file name?
172
 * Returns: Big array
173
 * 
174
 * For ATmega168, we have to load 128 bytes at a time (program full page). Document: AVR095
175
 */
176

  
177
#define MEM_SIZE 131072
178

  
179
unsigned char intel_hex_array[MEM_SIZE];
180

  
181
unsigned int Hex_Convert(char str[3])
182
{
183
    unsigned int hex_num;
184
    char hstr[5] = { '0', 'x', 0, 0, 0 };
185
    hstr[2] = str[0];
186
    hstr[3] = str[1];
187
    sscanf(hstr, "%x", &hex_num);
188
    return hex_num;
189
}
190

  
191
int parse_file(char* file)
192
{
193
    int i;
194
    char buffer[3];
195
	
196
	/* Read in the HEX file - clean it up */
197
	FILE* fnum = fopen(file, "r");
198
    if (fnum == NULL)
199
        return 1;
200
	
201
	/* Pre-fill hex_array with 0xFF */
202
	for (i=0; i < MEM_SIZE; i++)
203
    {
204
		intel_hex_array[i] = 0xff;
205
	}
206
	
207
	/* Step through cleaned file and load file contents into large array
208
	 * Also convert from ASCII to binary */
209
	for(;;)
210
    {
211
        int Record_Length, Memory_Address_High, Memory_Address_Low, Memory_Address, End_Record;
212

  
213
        /* Peel off first character */
214
        int first = fgetc(fnum);
215

  
216
        /* Remove empty lines + lines not starting with a ":" */
217
        if (first == EOF) break;
218
		if (first != ':') continue;
219
		
220
		/* Peel off record length */
221
		Record_Length = Hex_Convert(fgets(buffer, 3, fnum));
222
		
223
		/* Get the memory address of this line */
224
		Memory_Address_High = Hex_Convert(fgets(buffer, 3, fnum));
225
		Memory_Address_Low = Hex_Convert(fgets(buffer, 3, fnum));
226
		Memory_Address = (Memory_Address_High << 8) + Memory_Address_Low;
227
		
228
		/*Divide Memory address by 2
229
		         If (Memory_Address_High Mod 2) <> 0 Then
230
		             Memory_Address_Low = Memory_Address_Low + 256
231
		         End If
232
		         Memory_Address_High = Memory_Address_High \ 2
233
		         Memory_Address_Low = Memory_Address_Low \ 2*/
234
		
235
		/* Peel off and check for end of file tage */
236
		End_Record = Hex_Convert(fgets(buffer, 3, fnum));
237
        if (End_Record == 04 ) continue;
238
		if (End_Record == 01) break;
239
		
240
		for (i=0; i < Record_Length; i++)
241
        {
242
			/* Pull out the byte and store it in the memory_address location of the intel_hex array */
243
			intel_hex_array[Memory_Address + i] = Hex_Convert(fgets(buffer, 3, fnum));
244
		}
245
		
246
	}
247

  
248
    fclose(fnum);
249
	
250
	return 0;
251
}
252

  
253

  
254
int download(int h, char *file)
255
{
256
	int j;
257
	
258
	int Memory_Address_High;
259
	int Memory_Address_Low;
260
	
261
	int Check_Sum;
262

  
263
    char buf;
264
	
265
	int last_memory_address;
266
	int current_memory_address;
267
	
268
	int page_size = 256; /* For ATmega168, we have to load 128 bytes at a time (program full page). Document: AVR095 */
269
	
270
	/* Take intel hex file and store it squentially into large array */
271
	if (parse_file(file))
272
    {
273
		fprintf(stderr, "Whoa - problem parsing file!\n");
274
		return -1;
275
	}
276

  
277
	printf("Waiting for target IC to broadcast\n");
278
	
279
	/* "Send the reset signal"; */
280

  
281
	while(!getAvailBytes(h))
282
    {
283
        usleep(1500000);
284
        writeByte(h, 6);
285
    }
286

  
287
	printf("Load Mode Notification Received\n");
288
	
289
	/* Find the last spot in the large hex_array */
290
	last_memory_address = MEM_SIZE - 1;
291
	while(last_memory_address > 0)
292
    {
293
		if (intel_hex_array[last_memory_address] != 255) break;
294
		last_memory_address--;
295
	}
296
	
297
	/* Start at beginning of large intel array */
298
	current_memory_address = 0;
299
	while (current_memory_address < last_memory_address)
300
    {
301
        while((buf = readByte(h))==-1)
302
            usleep(1000);
303

  
304
		if (buf == 'T') /* All is well */
305
        {
306
			/* Total_Code_Words = Total_Code_Words + (Record_Length / 2) */
307
        }
308
		else if (buf == 7)  /* Re-send line */
309
        {
310
            static int resend_count = 0;
311
			current_memory_address = current_memory_address - page_size;
312
            if (current_memory_address<0) current_memory_address=0;
313
            printf("\nResending: %d\n", ++resend_count);
314
			usleep(1000);
315
        }
316
		else
317
        {
318
			fprintf(stderr, "\nError : Incorrect response from target IC: %d. Programming is incomplete and will now halt.\n", buf);
319
			return -2;
320
		}
321
		
322
		/* Update progress */
323
		printf("\rLoaded %d code words", current_memory_address);
324
        fflush(stdout);
325
		
326
		/*=============================================*/
327
		/* Convert 16-bit current_memory_address into two 8-bit characters */
328
		Memory_Address_High = current_memory_address >> 8;
329
		Memory_Address_Low = current_memory_address & 0xff;
330
		
331
		/*=============================================*/
332
		/* Calculate current check_sum */
333
		Check_Sum = 0;
334
		Check_Sum += page_size >> 8;    /* page size high byte */
335
        Check_Sum += page_size & 0xff;  /* page size low byte */
336
		Check_Sum += Memory_Address_High; /* Convert high byte */
337
		Check_Sum += Memory_Address_Low; /* Convert low byte */
338
		
339
		for(j=0; j < page_size; j++)
340
        {
341
			Check_Sum += intel_hex_array[current_memory_address + j];
342
		}
343
		
344
		/* Now reduce check_sum to 8 bits */
345
		Check_Sum &= 0xff;
346
		/* Now take 2's compliment */
347
		Check_Sum = 256 - Check_Sum;
348
		
349
		/*=============================================*/
350
		/* Send the start character */
351
        writeByte(h, ':');
352
		
353
		/* Send the record length */
354
        writeByte(h, page_size & 0xff); /* low byte */
355
        writeByte(h, page_size >> 8);   /* high byte */
356
		
357
		/* Send this block's address */
358
        writeByte(h, Memory_Address_Low);
359
        writeByte(h, Memory_Address_High);
360

  
361
		/* Send this block's check sum */
362
        writeByte(h, Check_Sum);
363
		
364
		/* Send the block */
365
		for (j=0; j < page_size; j++)
366
        {
367
			writeByte(h, intel_hex_array[current_memory_address + j]);
368
		}
369
		/*=============================================*/
370

  
371
		current_memory_address += page_size;
372
	}
373
	
374
	/* Tell the target IC we are done transmitting data */
375
    writeByte(h, ':');
376
    writeByte(h, 'S');
377
    writeByte(h, 'S');
378
	
379
	printf("\nDownload Complete!\n");
380

  
381
    return 0;
382
}
383

  
384
int main(int argc, char* argv[])
385
{
386
    int h;
387

  
388
    printf("//=\\\\     _                          __               \n");
389
    printf("||  .    |_) _ |_  _  _  |    |_    /   _  |  _ __  \\/\n");
390
    printf("|| -A!   | \\(_)|_)(_)(_  | |_||_)   \\__(_) | (_)| | / \n");
391
    printf("                                                      \n");
392
    printf("                 Universal Programmer                 \n");
393
    printf("                                                      \n");
394

  
395
    switch(argc)
396
    {
397
    case 3:
398
        /* open port for I/O */
399
        h = initSerial(argv[1]);
400
        setupSerial(h, B57600);
401
    break;
402
    case 4:
403
        h = initSerial(argv[1]);
404
        xbee_setup(h, atoi(argv[3]));        
405
    break;
406
    default:
407
        printf("Usage: %s <port name> <hex file> [<robot ID>]\n", argv[0]);
408
        return -1;
409
    }
410

  
411
    int ret = download(h, argv[2]);
412

  
413
    closeSerial(h);
414

  
415
    return ret;
416
}
trunk/code/projects/wireless_bootloader/wireless_bootloader.c
1
/*
2
    adapted from "Wireless bootloader for the ATmega168 and XBee Series 1 modules"
3
    orginal code copyright 2009 Nathan Seidle, Spark Fun Electronics?
4

  
5
    Modifications for Colony Project, Robotics Club, Carngie Mellon University
6
    by Ryan Cahoon
7
*/
8

  
9
#include <avr/io.h>
10
#include <util/delay.h>
11
#include <avr/boot.h>
12

  
13
#define TRUE	0
14
#define FALSE	1
15

  
16
//Status LEDs
17
#define LED_DDR  DDRC
18
#define LED_PORT PORTC
19
#define LED_PIN  PINC
20
#define LED      (_BV(PINC1) | _BV(PINC5))
21

  
22
//Command Button
23
#define BLPORT   PORTG
24
#define BLDDR    DDRG
25
#define BLPIN    PING
26
#define BLPNUM   PING0
27

  
28
//Function prototypes
29
void setup_uart0(void);
30
void setup_uart1(void);
31
void putch0(char);
32
void putch1(char);
33
int getch0(void);
34
int getch1(void);
35
void flash_led(uint8_t);
36
void onboard_program_write(uint32_t page, uint8_t *buf);
37
int bootloader(int force);
38
int xbee_setup(int robotNum);
39
int xbee_reset(void);
40
int code_transfer(int (*getch)(void), void (*putch)(char));
41

  
42
int usb_send(char* buf, int size);
43

  
44
void (*main_start)(void) = 0x0000;
45

  
46
//Variables
47
uint8_t incoming_page_data[256];
48
uint8_t retransmit_flag = FALSE;
49

  
50
union page_address_union {
51
	uint16_t word;
52
	uint8_t  byte[2];
53
};
54
union page_address_union page_address;
55
union page_address_union page_length;
56

  
57
int main(void)
58
{
59
    return bootloader(0);
60
}
61

  
62
#define EEPROM_ROBOT_ID_ADDR 0x10
63
int eeprom_get_byte(unsigned int uiAddress, unsigned char *byte) {
64
    /* Wait for completion of previous write */
65
    while(EECR & (1<<EEWE));
66
    /* Set up address register */
67
    EEAR = uiAddress;
68
    /* Start eeprom read by writing EERE */
69
    EECR |= (1<<EERE);
70
    /* get data from data register */
71
    *byte=EEDR;
72
    
73
    return 0;
74
}
75
unsigned char get_robotid(void) {
76
    unsigned char c0, c1, c2;
77
    
78
    eeprom_get_byte(EEPROM_ROBOT_ID_ADDR, &c0);
79
    eeprom_get_byte(EEPROM_ROBOT_ID_ADDR+1, &c1);
80
    eeprom_get_byte(EEPROM_ROBOT_ID_ADDR+2, &c2);
81
    if(c0 == 'I' && c1 == 'D')
82
        return c2;
83
    else
84
        return 0xFF;
85
}
86

  
87
int bootloader(int force)
88
{
89
    int robotId;
90

  
91
    // check if button pressed
92
    int oldBLDDR = BLDDR;
93
    int oldBLPORT = BLPORT;
94
    BLDDR  &= ~(1<<BLPNUM);		// set as Input
95
	BLPORT |= (1<<BLPNUM);		// Enable pullup
96

  
97
    if ((BLPIN & (1<<BLPNUM)) && !force) {
98
		// jump to main app if pin is not grounded
99
		BLPORT = oldBLPORT;		// set to default
100
        BLDDR = oldBLDDR;
101
		main_start();			// Jump to application sector
102
	}
103

  
104
    //set LED pin as output
105
	LED_DDR |= 0x77;
106

  
107
    flash_led(1);
108

  
109
    robotId = get_robotid();
110

  
111
    setup_uart1();
112
    xbee_setup(robotId);
113
    setup_uart0();
114

  
115
	//turn on LED to signal entering of bootloader
116
	LED_PORT = ~LED;
117

  
118
	//Start bootloading process
119

  
120
	//Wait for the computer
121
	while(1)
122
    {
123
        // transfering over USB
124
        if (getch0()==6)
125
            code_transfer(getch0, putch0);
126
        // transfering over wireless
127
        if (getch1()==6)
128
            code_transfer(getch1, putch1);
129

  
130
        // Communication testing code:
131
        /*int ch0 = getch0();
132
        if (ch0 >= 0)
133
        {
134
            putch1(ch0);
135
            PORTC ^= 0x70;
136
        }
137
        int ch1 = getch1();
138
        if (ch1 >= 0)
139
        {
140
            putch0(ch1);
141
            PORTC ^= 0x07;
142
        }*/
143
    }
144

  
145
    return 0;
146
}
147

  
148
int code_transfer(int (*getch)(void), void (*putch)(char))
149
{
150
    uint8_t check_sum = 0;
151
	uint16_t i;
152

  
153
    retransmit_flag = FALSE;
154

  
155
    LED_PORT |= 0x77;
156
    LED_PORT &= 0x9A;
157

  
158
	while(1)
159
	{
160
        // Flash the orbs to show progress
161
        PORTC ^= 0x77;
162

  
163
		//Determine if the last received data was good or bad
164
        if (check_sum != 0) //If the check sum does not compute, tell computer to resend same line
165
RESTART:
166
            putch(7); //Tell the computer to retransmit the last page
167
        else            
168
            putch('T'); //Tell the computer that we are ready for the next line
169
        
170
        while(1) //Wait for the computer to initiate transfer
171
		{
172
			if (getch() == ':') break; //This is the "gimme the next chunk" command
173
			if (retransmit_flag == TRUE) goto RESTART;
174
		}
175

  
176
        //Get the length of this block
177
        page_length.byte[0] = getch(); if (retransmit_flag == TRUE) goto RESTART;
178
        page_length.byte[1] = getch(); if (retransmit_flag == TRUE) goto RESTART;
179

  
180
        if (page_length.byte[0] == 'S') //Check to see if we are done - this is the "all done" command
181
		{
182
            //Wait for any flash writes to complete
183
			boot_rww_enable ();
184

  
185
            // signal programming done
186
            LED_PORT |= 0x77;
187
            flash_led(1);
188

  
189
            // reset xbee
190
            xbee_reset();
191

  
192
            flash_led(2);
193

  
194
            // reset robot
195
			WDTCR &= 0xF8;
196
            WDTCR |= 0x08;
197
            while(1);
198
		}
199
	
200
		//Get the memory address at which to store this block of data
201
		page_address.byte[0] = getch(); if (retransmit_flag == TRUE) goto RESTART;
202
		page_address.byte[1] = getch(); if (retransmit_flag == TRUE) goto RESTART;
203

  
204
        check_sum = getch(); //Pick up the check sum for error dectection
205
		if (retransmit_flag == TRUE) goto RESTART;
206
		
207
		for(i = 0 ; i < page_length.word ; i++) //Read the program data
208
		{
209
            incoming_page_data[i] = getch();
210
			if (retransmit_flag == TRUE) goto RESTART;
211
		}
212
        
213
        //Calculate the checksum
214
		for(i = 0 ; i < page_length.word ; i++)
215
            check_sum += incoming_page_data[i];
216
        
217
        check_sum += page_length.byte[0];
218
        check_sum += page_length.byte[1];
219
        check_sum += page_address.byte[0];
220
        check_sum += page_address.byte[1];
221
		
222
        if(check_sum == 0) //If we have a good transmission, put it in ink
223
            onboard_program_write((uint32_t)page_address.word, incoming_page_data);
224
	}
225

  
226
    return 0;
227
}
228

  
229
void onboard_program_write(uint32_t page, uint8_t *buf)
230
{
231
	uint16_t i;
232

  
233
	boot_page_erase (page);
234
	boot_spm_busy_wait ();      // Wait until the memory is erased.
235

  
236
	for (i=0; i<SPM_PAGESIZE; i+=2)
237
	{
238
		// Set up little-endian word.
239

  
240
		uint16_t w = *buf++;
241
		w += (*buf++) << 8;
242
	
243
		boot_page_fill (page + i, w);
244
	}
245

  
246
	boot_page_write (page);     // Store buffer in flash page.
247
	boot_spm_busy_wait();       // Wait until the memory is written.
248
}
249

  
250
void flash_led(uint8_t count)
251
{
252
	uint8_t i;
253
	
254
	for (i = 0; i < count; ++i) {
255
		LED_PORT = ~LED;
256
		_delay_ms(100);
257
		LED_PORT = 0xff;
258
		_delay_ms(100);
259
	}
260
}
261

  
262
/**************************************************************************************/
263

  
264
#define MYUBRR (((((F_CPU * 10) / (8L * baud)) + 5) / 10) - 1)
265

  
266
#define MAX_CHARACTER_WAIT	15 
267
#define MAX_WAIT_IN_CYCLES ( ((MAX_CHARACTER_WAIT * 8) * F_CPU) / baud )
268

  
269
long baud = 9600;
270

  
271
void setup_uart0(void)
272
{
273
    //Setup USART baud rate
274
    UBRR0H = MYUBRR >> 8;
275
    UBRR0L = MYUBRR;
276
    UCSR0B = (1<<RXEN0)|(1<<TXEN0);
277
    UCSR0A |= _BV(U2X0);
278
}
279
void setup_uart1(void)
280
{
281
    //Setup USART baud rate
282
    UBRR1H = MYUBRR >> 8;
283
    UBRR1L = MYUBRR;
284
    UCSR1B = (1<<RXEN1)|(1<<TXEN1);
285
    UCSR1A |= _BV(U2X1);
286
}
287

  
288
void putch0(char ch)
289
{
290
    while (!(UCSR0A & _BV(UDRE0)));
291
    UDR0 = ch;
292
}
293
void putch1(char ch)
294
{
295
    while (!(UCSR1A & _BV(UDRE1)));
296
    UDR1 = ch;
297
}
298

  
299
int getch0(void)
300
{
301
    retransmit_flag = FALSE;
302

  
303
    uint32_t count = 0;
304
    while(!(UCSR0A & _BV(RXC0)))
305
    {
306
        count++;
307
        if (count > MAX_WAIT_IN_CYCLES)
308
        {
309
            retransmit_flag = TRUE;
310
            return -1;
311
        }
312
    }
313

  
314
    return UDR0;
315
}
316

  
317
int getch1(void)
318
{
319
    retransmit_flag = FALSE;
320

  
321
    uint32_t count = 0;
322
    while(!(UCSR1A & _BV(RXC1)))
323
    {
324
        count++;
325
        if (count > MAX_WAIT_IN_CYCLES)
326
        {
327
            retransmit_flag = TRUE;
328
            return -1;
329
        }
330
    }
331

  
332
    return UDR1;
333
}
334

  
335

  
336

  
337
int xbee_wait_for_ok(void)
338
{
339
    const char* s = "OK\r";
340
    const char* curr = s;
341
    while (curr - s < 3)
342
    {
343
        int c = getch1();
344
        if (c>=0)
345
        {
346
            if (c == *curr) {
347
                curr++;
348
            } else {
349
                curr = s;
350
            }
351
        }
352
    }
353

  
354
    return 0;
355
}
356

  
357
int xbee_send_command(const char* buf, int size)
358
{
359
    int i;
360
    for (i = 0; i < size; i++)
361
    {
362
        putch1(buf[i]);
363
    }
364

  
365
    xbee_wait_for_ok();
366

  
367
    return 0;
368
}
369

  
370
int usb_send(char* buf, int size)
371
{
372
    int i;
373
    for(i=0; i<size; i++)
374
        putch0(buf[i]);
375
    return 0;
376
}
377

  
378
int xbee_setup(int robotNum)
379
{
380
    char idstr[9] = "ATIDFF";
381

  
382
    xbee_send_command("+++", 3);
383
    xbee_send_command("ATCH0C\r", 7);
384

  
385
    idstr[6] = (robotNum / 10) + 0x30;
386
    idstr[7] = robotNum % 10 + 0x30;
387
    idstr[8] = '\r';
388
    xbee_send_command(idstr, 9);
389

  
390
    xbee_send_command("ATDH0\r", 6);
391
    xbee_send_command("ATDLFFFF\r", 9);
392
    xbee_send_command("ATAP0\r", 6);
393
    xbee_send_command("ATBD6\r", 6);
394
    xbee_send_command("ATCN\r", 5);
395

  
396
    baud = 57600;
397
    setup_uart1();
398

  
399
    return 0;
400
}
401

  
402
int xbee_reset(void)
403
{
404
    // command sequence guard time
405
    _delay_ms(1100);
406
    xbee_send_command("+++", 3);
407
    xbee_send_command("ATBD3\r", 6);
408
    xbee_send_command("ATFR\r", 5);
409
    // delay 150 ms to wait for reset
410
    _delay_ms(150);
411

  
412
    return 0;
413
}
trunk/code/projects/wireless_bootloader/original_dump.hex
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