root / trunk / toolbox / bootloader / bootloader.c @ 166
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1 | 154 | bneuman | #include <avr/io.h> |
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2 | #include <avr/boot.h> |
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3 | 165 | kwoo | #include <avr/pgmspace.h> |
4 | 154 | bneuman | |
5 | 156 | kwoo | #include "tooltron.h" |
6 | 154 | bneuman | #include "uart.h" |
7 | |||
8 | #define TRUE 0 |
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9 | #define FALSE 1 |
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10 | |||
11 | 156 | kwoo | #define ADDR 18 |
12 | |||
13 | |||
14 | 154 | bneuman | #define MAX_WAIT_IN_CYCLES 800000 |
15 | 158 | kwoo | #define MAX_TIMEOUT 60000 // Seconds to wait before exiting bootloader mode |
16 | 165 | kwoo | #define MAIN_ADDR 0x000 |
17 | #define BOOT_ADDR 0x5A0 |
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18 | #define JUMP_ADDR 0x590 |
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19 | 154 | bneuman | |
20 | //Status LED
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21 | #define LED_DDR DDRB
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22 | #define LED_PORT PORTB
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23 | #define LED PORTB1
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24 | |||
25 | //Function prototypes
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26 | 165 | kwoo | void __init(void) __attribute__((naked)); |
27 | 154 | bneuman | |
28 | 165 | kwoo | //void onboard_program_write(uint16_t page, uint8_t *buf);
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29 | void (*main_start)(void) = BOOT_ADDR - 2; |
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30 | |||
31 | |||
32 | 156 | kwoo | typedef enum { |
33 | sd, |
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34 | src, |
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35 | dest, |
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36 | comd, |
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37 | read, |
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38 | cs, |
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39 | ack |
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40 | } state_t; |
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41 | |||
42 | 165 | kwoo | // Redirect all unused interrupts to reti
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43 | EMPTY_INTERRUPT(__vector_default); |
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44 | extern void __ctors_end(void) __attribute__((__noreturn__)); |
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45 | |||
46 | // macros for entering subprograms
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47 | #define __JMP_INIT__ __asm__ __volatile__ ("rjmp __ctors_end" ) |
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48 | |||
49 | 164 | kwoo | BOOTLOADER_SECTION void init_uart(uint16_t baud) {
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50 | // Set baud rate
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51 | UBRRH = (uint8_t)(baud>>8);
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52 | UBRRL = (uint8_t)baud; |
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53 | |||
54 | // Enable RX/TX and RX/TX Interrupt
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55 | 166 | kwoo | UCSRB = _BV(RXEN) | _BV(TXEN); |
56 | 164 | kwoo | |
57 | // Enable the TXEN pin as output
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58 | DDRD |= TX_EN; |
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59 | 166 | kwoo | uart_toggle_transmit(UART_TX_OFF); |
60 | 164 | kwoo | } |
61 | 156 | kwoo | |
62 | 164 | kwoo | BOOTLOADER_SECTION int8_t uart_get_byte(uint8_t *output_byte) { |
63 | if (UCSRA & _BV(RXC)) {
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64 | *output_byte = UDR; |
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65 | return 0; |
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66 | } else {
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67 | return -1; |
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68 | } |
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69 | 158 | kwoo | } |
70 | |||
71 | 164 | kwoo | BOOTLOADER_SECTION void uart_send_byte(uint8_t data) {
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72 | //Waits until current transmit is done
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73 | while (!(UCSRA & _BV(UDRE)));
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74 | 166 | kwoo | PORTB |= _BV(PORTB2); |
75 | 164 | kwoo | |
76 | // Enable writes and send
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77 | uart_toggle_transmit(UART_TX_ON); |
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78 | UDR = data; |
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79 | |||
80 | // Waits until the transmit is done
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81 | while(!(UCSRA & _BV(UDRE)));
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82 | 166 | kwoo | PORTB |= _BV(PORTB1); |
83 | |||
84 | 164 | kwoo | uart_toggle_transmit(UART_TX_OFF); |
85 | |||
86 | return;
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87 | 158 | kwoo | } |
88 | |||
89 | 164 | kwoo | BOOTLOADER_SECTION void uart_toggle_transmit(uint8_t state) {
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90 | if (state == UART_TX_ON) {
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91 | PORTD |= TX_EN; |
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92 | } else {
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93 | PORTD &= ~TX_EN; |
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94 | } |
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95 | 158 | kwoo | } |
96 | |||
97 | 164 | kwoo | BOOTLOADER_SECTION char parse_packet(uint8_t *mbuf) {
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98 | 158 | kwoo | uint8_t r = 0; // Byte from the network |
99 | uint8_t crc = 0; // Running checksum of the packet |
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100 | uint8_t cmd = 0; // The command received |
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101 | uint8_t pos = 0; // Position in the message buffer |
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102 | uint8_t lim = 0; // Max number of bytes to read into the message buf |
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103 | state_t state = sd; // State machine
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104 | uint16_t count; |
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105 | //reset_timer();
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106 | count = 0;
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107 | |||
108 | 156 | kwoo | while (1) { |
109 | // Wait for the next byte
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110 | 158 | kwoo | while ((uart_get_byte(&r)) < 0) { |
111 | 161 | kwoo | if (count >= MAX_TIMEOUT) {
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112 | return TT_BAD;
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113 | } |
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114 | 158 | kwoo | } |
115 | 156 | kwoo | |
116 | switch (state) {
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117 | case sd:
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118 | if (r == DELIM) {
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119 | state = src; |
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120 | } |
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121 | break;
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122 | |||
123 | case src:
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124 | if (r == DELIM) {
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125 | state = src; |
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126 | } else {
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127 | crc = r; |
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128 | state = dest; |
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129 | } |
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130 | break;
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131 | |||
132 | case dest:
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133 | if (r == DELIM) {
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134 | state = src; |
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135 | } else if (r == ADDR) { |
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136 | crc ^= r; |
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137 | state = comd; |
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138 | } else {
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139 | state = sd; |
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140 | } |
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141 | break;
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142 | |||
143 | case comd:
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144 | cmd = r; |
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145 | crc ^= r; |
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146 | |||
147 | if (r == DELIM) {
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148 | state = src; |
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149 | } else if (r == TT_PROGM) { |
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150 | lim = PROGM_PACKET_SIZE; |
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151 | state = read; |
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152 | } else if (r == TT_PROGD) { |
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153 | lim = PROGD_PACKET_SIZE; |
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154 | state = read; |
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155 | } else {
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156 | state = cs; |
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157 | } |
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158 | break;
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159 | |||
160 | case read:
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161 | mbuf[pos] = r; |
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162 | crc ^= r; |
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163 | pos++; |
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164 | |||
165 | if (pos == lim) {
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166 | state = cs; |
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167 | } |
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168 | |||
169 | break;
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170 | |||
171 | case cs:
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172 | if (r == crc) {
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173 | return cmd;
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174 | } else {
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175 | return TT_BAD;
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176 | } |
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177 | |||
178 | break;
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179 | |||
180 | default:
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181 | return TT_BAD;
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182 | } |
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183 | } |
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184 | } |
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185 | |||
186 | 164 | kwoo | BOOTLOADER_SECTION void send_packet(uint8_t cmd) {
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187 | 156 | kwoo | uart_send_byte(DELIM); |
188 | uart_send_byte(ADDR); |
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189 | uart_send_byte(SERVER); |
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190 | 158 | kwoo | uart_send_byte(cmd); |
191 | uart_send_byte(ACK_CRC ^ cmd); |
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192 | 166 | kwoo | uart_send_byte(0);
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193 | 156 | kwoo | } |
194 | |||
195 | 164 | kwoo | //#define SPM_PAGESIZE 32
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196 | BOOTLOADER_SECTION void onboard_program_write(uint16_t page, uint8_t *buf) {
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197 | uint16_t i; |
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198 | |||
199 | boot_page_erase (page); |
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200 | boot_spm_busy_wait (); // Wait until the memory is erased.
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201 | |||
202 | for (i=0; i < SPM_PAGESIZE; i+=2){ |
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203 | // Set up little-endian word.
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204 | boot_page_fill (i, buf[i] | (buf[i+1] <<8)); |
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205 | } |
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206 | |||
207 | boot_page_write (page); // Store buffer in flash page.
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208 | boot_spm_busy_wait(); // Wait until the memory is written.
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209 | } |
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210 | |||
211 | 165 | kwoo | BOOTLOADER_SECTION void __init(void) { |
212 | 164 | kwoo | uint8_t mbuf[PROGD_PACKET_SIZE]; |
213 | 165 | kwoo | uint8_t jbuf[2];
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214 | 161 | kwoo | uint16_t caddr = MAIN_ADDR; |
215 | 164 | kwoo | uint8_t iteration = 0;
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216 | 158 | kwoo | uint8_t resp; |
217 | 162 | kwoo | uint16_t prog_len = 0;
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218 | 165 | kwoo | uint8_t i; |
219 | 158 | kwoo | |
220 | 155 | bneuman | init_uart(51); //MAGIC NUMBER?? |
221 | 154 | bneuman | |
222 | //set LED pin as output
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223 | 161 | kwoo | LED_DDR |= 0x07;
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224 | 166 | kwoo | PORTB = 0x00;
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225 | 154 | bneuman | |
226 | //Start bootloading process
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227 | 158 | kwoo | send_packet(TT_BOOT); |
228 | 166 | kwoo | PORTB |= _BV(PORTB0); |
229 | 154 | bneuman | |
230 | 158 | kwoo | resp = parse_packet(mbuf); |
231 | if (resp == TT_PROGM) {
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232 | prog_len = mbuf[0];
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233 | prog_len |= mbuf[1] << 8; |
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234 | } else {
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235 | 164 | kwoo | PORTB = 0;
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236 | 161 | kwoo | main_start(); |
237 | 154 | bneuman | } |
238 | 158 | kwoo | send_packet(TT_ACK); |
239 | 154 | bneuman | |
240 | while(1) { |
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241 | 158 | kwoo | resp = parse_packet(mbuf); |
242 | 154 | bneuman | |
243 | 161 | kwoo | if (resp == TT_PROGD) {
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244 | 164 | kwoo | if (iteration == 0) { |
245 | 165 | kwoo | // Store the jump to user code
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246 | jbuf[0] = mbuf[0]; |
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247 | jbuf[1] = mbuf[1]; |
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248 | |||
249 | *((uint16_t*)mbuf) = pgm_read_word(MAIN_ADDR); |
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250 | |||
251 | onboard_program_write(caddr, mbuf); |
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252 | 164 | kwoo | iteration = 1;
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253 | caddr += PROGD_PACKET_SIZE - 2;
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254 | } else {
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255 | 165 | kwoo | onboard_program_write(caddr, mbuf); |
256 | 164 | kwoo | caddr += PROGD_PACKET_SIZE; |
257 | } |
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258 | 161 | kwoo | } else {
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259 | 166 | kwoo | //main_start();
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260 | while(1); |
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261 | 161 | kwoo | } |
262 | |||
263 | 158 | kwoo | send_packet(TT_ACK); |
264 | 161 | kwoo | |
265 | if (prog_len <= PROGD_PACKET_SIZE) {
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266 | 166 | kwoo | //send_packet(TT_ACK);
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267 | 165 | kwoo | |
268 | for (i = 0; i < PROGD_PACKET_SIZE; i++) { |
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269 | mbuf[i]= 0;
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270 | } |
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271 | |||
272 | mbuf[PROGD_PACKET_SIZE-2] = jbuf[0]; |
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273 | mbuf[PROGD_PACKET_SIZE-1] = jbuf[1]; |
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274 | |||
275 | onboard_program_write(JUMP_ADDR, mbuf); |
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276 | |||
277 | 164 | kwoo | PORTB = 0;
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278 | 161 | kwoo | main_start(); |
279 | } else {
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280 | prog_len -= PROGD_PACKET_SIZE; |
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281 | } |
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282 | 154 | bneuman | } |
283 | } |
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284 | |||
285 | 165 | kwoo | |
286 | int main (void) { |
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287 | while(1); |
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288 | } |