Colony

/*

    adapted from "Wireless bootloader for the ATmega168 and XBee Series 1 modules"

    orginal code copyright 2009 Nathan Seidle, Spark Fun Electronics?

    Modifications for Colony Project, Robotics Club, Carngie Mellon University

    by Ryan Cahoon

*/

#include <avr/io.h>

#include <util/delay.h>

#include <avr/boot.h>

#define TRUE        0

#define FALSE        1

//Status LEDs

#define LED_DDR  DDRC

#define LED_PORT PORTC

#define LED_PIN  PINC

#define LED      (_BV(PINC1) | _BV(PINC5))

//Command Button

#define BLPORT   PORTG

#define BLDDR    DDRG

#define BLPIN    PING

#define BLPNUM   PING0

//Function prototypes

void setup_uart0(void);

void setup_uart1(void);

void putch0(char);

void putch1(char);

int getch0(void);

int getch1(void);

void flash_led(uint8_t);

void onboard_program_write(uint32_t page, uint8_t *buf);

int bootloader(int force);

int xbee_setup(int robotNum);

int xbee_reset(void);

int code_transfer(int (*getch)(void), void (*putch)(char));

int usb_send(char* buf, int size);

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

//Variables

uint8_t incoming_page_data[256];

uint8_t retransmit_flag = FALSE;

union page_address_union {

        uint16_t word;

        uint8_t  byte[2];

};

union page_address_union page_address;

union page_address_union page_length;

int main(void)

{

    return bootloader(0);

}

#define EEPROM_ROBOT_ID_ADDR 0x10

int eeprom_get_byte(unsigned int uiAddress, unsigned char *byte) {

    /* Wait for completion of previous write */

    while(EECR & (1<<EEWE));

    /* Set up address register */

    EEAR = uiAddress;

    /* Start eeprom read by writing EERE */

    EECR |= (1<<EERE);

    /* get data from data register */

    *byte=EEDR;

    return 0;

}

unsigned char get_robotid(void) {

    unsigned char c0, c1, c2;

    eeprom_get_byte(EEPROM_ROBOT_ID_ADDR, &c0);

    eeprom_get_byte(EEPROM_ROBOT_ID_ADDR+1, &c1);

    eeprom_get_byte(EEPROM_ROBOT_ID_ADDR+2, &c2);

    if(c0 == 'I' && c1 == 'D')

        return c2;

    else

        return 0xFF;

}

int bootloader(int force)

{

    int robotId;

    // check if button pressed

    int oldBLDDR = BLDDR;

    int oldBLPORT = BLPORT;

    BLDDR  &= ~(1<<BLPNUM);                // set as Input

        BLPORT |= (1<<BLPNUM);                // Enable pullup

    if ((BLPIN & (1<<BLPNUM)) && !force) {

                // jump to main app if pin is not grounded

                BLPORT = oldBLPORT;                // set to default

        BLDDR = oldBLDDR;

                main_start();                        // Jump to application sector

        }

    //set LED pin as output

        LED_DDR |= 0x77;

    flash_led(1);

    robotId = get_robotid();

    setup_uart1();

    xbee_setup(robotId);

    setup_uart0();

        //turn on LED to signal entering of bootloader

        LED_PORT = ~LED;

        //Start bootloading process

        //Wait for the computer

        while(1)

    {

        // transfering over USB

        if (getch0()==6)

            code_transfer(getch0, putch0);

        // transfering over wireless

        if (getch1()==6)

            code_transfer(getch1, putch1);

        // Communication testing code:

        /*int ch0 = getch0();

        if (ch0 >= 0)

        {

            putch1(ch0);

            PORTC ^= 0x70;

        }

        int ch1 = getch1();

        if (ch1 >= 0)

        {

            putch0(ch1);

            PORTC ^= 0x07;

        }*/

    }

    return 0;

}

int code_transfer(int (*getch)(void), void (*putch)(char))

{

    uint8_t check_sum = 0;

        uint16_t i;

    retransmit_flag = FALSE;

    LED_PORT |= 0x77;

    LED_PORT &= 0x9A;

        while(1)

        {

        // Flash the orbs to show progress

        PORTC ^= 0x77;

                //Determine if the last received data was good or bad

        if (check_sum != 0) //If the check sum does not compute, tell computer to resend same line

RESTART:

            putch(7); //Tell the computer to retransmit the last page

        else            

            putch('T'); //Tell the computer that we are ready for the next line

        while(1) //Wait for the computer to initiate transfer

                {

                        if (getch() == ':') break; //This is the "gimme the next chunk" command

                        if (retransmit_flag == TRUE) goto RESTART;

                }

        //Get the length of this block

        page_length.byte[0] = getch(); if (retransmit_flag == TRUE) goto RESTART;

        page_length.byte[1] = getch(); if (retransmit_flag == TRUE) goto RESTART;

        if (page_length.byte[0] == 'S') //Check to see if we are done - this is the "all done" command

                {

            //Wait for any flash writes to complete

                        boot_rww_enable ();

            // signal programming done

            LED_PORT |= 0x77;

            flash_led(1);

            // reset xbee

            xbee_reset();

            flash_led(2);

            // reset robot

                        WDTCR &= 0xF8;

            WDTCR |= 0x08;

            while(1);

                }

                //Get the memory address at which to store this block of data

                page_address.byte[0] = getch(); if (retransmit_flag == TRUE) goto RESTART;

                page_address.byte[1] = getch(); if (retransmit_flag == TRUE) goto RESTART;

        check_sum = getch(); //Pick up the check sum for error dectection

                if (retransmit_flag == TRUE) goto RESTART;

                for(i = 0 ; i < page_length.word ; i++) //Read the program data

                {

            incoming_page_data[i] = getch();

                        if (retransmit_flag == TRUE) goto RESTART;

                }

        //Calculate the checksum

                for(i = 0 ; i < page_length.word ; i++)

            check_sum += incoming_page_data[i];

        check_sum += page_length.byte[0];

        check_sum += page_length.byte[1];

        check_sum += page_address.byte[0];

        check_sum += page_address.byte[1];

        if(check_sum == 0) //If we have a good transmission, put it in ink

            onboard_program_write((uint32_t)page_address.word, incoming_page_data);

        }

    return 0;

}

void onboard_program_write(uint32_t page, uint8_t *buf)

{

        uint16_t i;

        boot_page_erase (page);

        boot_spm_busy_wait ();      // Wait until the memory is erased.

        for (i=0; i<SPM_PAGESIZE; i+=2)

        {

                // Set up little-endian word.

                uint16_t w = *buf++;

                w += (*buf++) << 8;

                boot_page_fill (page + i, w);

        }

        boot_page_write (page);     // Store buffer in flash page.

        boot_spm_busy_wait();       // Wait until the memory is written.

}

void flash_led(uint8_t count)

{

        uint8_t i;

        for (i = 0; i < count; ++i) {

                LED_PORT = ~LED;

                _delay_ms(100);

                LED_PORT = 0xff;

                _delay_ms(100);

        }

}

/**************************************************************************************/

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

#define MAX_CHARACTER_WAIT        15 

#define MAX_WAIT_IN_CYCLES ( ((MAX_CHARACTER_WAIT * 8) * F_CPU) / baud )

long baud = 9600;

void setup_uart0(void)

{

    //Setup USART baud rate

    UBRR0H = MYUBRR >> 8;

    UBRR0L = MYUBRR;

    UCSR0B = (1<<RXEN0)|(1<<TXEN0);

    UCSR0A |= _BV(U2X0);

}

void setup_uart1(void)

{

    //Setup USART baud rate

    UBRR1H = MYUBRR >> 8;

    UBRR1L = MYUBRR;

    UCSR1B = (1<<RXEN1)|(1<<TXEN1);

    UCSR1A |= _BV(U2X1);

}

void putch0(char ch)

{

    while (!(UCSR0A & _BV(UDRE0)));

    UDR0 = ch;

}

void putch1(char ch)

{

    while (!(UCSR1A & _BV(UDRE1)));

    UDR1 = ch;

}

int getch0(void)

{

    retransmit_flag = FALSE;

    uint32_t count = 0;

    while(!(UCSR0A & _BV(RXC0)))

    {

        count++;

        if (count > MAX_WAIT_IN_CYCLES)

        {

            retransmit_flag = TRUE;

            return -1;

        }

    }

    return UDR0;

}

int getch1(void)

{

    retransmit_flag = FALSE;

    uint32_t count = 0;

    while(!(UCSR1A & _BV(RXC1)))

    {

        count++;

        if (count > MAX_WAIT_IN_CYCLES)

        {

            retransmit_flag = TRUE;

            return -1;

        }

    }

    return UDR1;

}

int xbee_wait_for_ok(void)

{

    const char* s = "OK\r";

    const char* curr = s;

    while (curr - s < 3)

    {

        int c = getch1();

        if (c>=0)

        {

            if (c == *curr) {

                curr++;

            } else {

                curr = s;

            }

        }

    }

    return 0;

}

int xbee_send_command(const char* buf, int size)

{

    int i;

    for (i = 0; i < size; i++)

    {

        putch1(buf[i]);

    }

    xbee_wait_for_ok();

    return 0;

}

int usb_send(char* buf, int size)

{

    int i;

    for(i=0; i<size; i++)

        putch0(buf[i]);

    return 0;

}

int xbee_setup(int robotNum)

{

    char idstr[9] = "ATIDFF";

    xbee_send_command("+++", 3);

    xbee_send_command("ATCH0C\r", 7);

    idstr[6] = (robotNum / 10) + 0x30;

    idstr[7] = robotNum % 10 + 0x30;

    idstr[8] = '\r';

    xbee_send_command(idstr, 9);

    xbee_send_command("ATDH0\r", 6);

    xbee_send_command("ATDLFFFF\r", 9);

    xbee_send_command("ATAP0\r", 6);

    xbee_send_command("ATBD6\r", 6);

    xbee_send_command("ATCN\r", 5);

    baud = 57600;

    setup_uart1();

    return 0;

}

int xbee_reset(void)

{

    // command sequence guard time

    _delay_ms(1100);

    xbee_send_command("+++", 3);

    xbee_send_command("ATBD3\r", 6);

    xbee_send_command("ATFR\r", 5);

    // delay 150 ms to wait for reset

    _delay_ms(150);

    return 0;

}