root / trunk / toolbox / bootloader / bootloader.c @ 168
History | View | Annotate | Download (6.41 KB)
1 |
#include <avr/io.h> |
---|---|
2 |
#include <avr/boot.h> |
3 |
#include <avr/pgmspace.h> |
4 |
|
5 |
#include "tooltron.h" |
6 |
#include "uart.h" |
7 |
|
8 |
#define TRUE 0 |
9 |
#define FALSE 1 |
10 |
|
11 |
#define ADDR 18 |
12 |
|
13 |
|
14 |
#define MAX_WAIT_IN_CYCLES 800000 |
15 |
#define MAX_TIMEOUT 60000 // Seconds to wait before exiting bootloader mode |
16 |
#define MAIN_ADDR 0x000 |
17 |
#define BOOT_START 0x500 |
18 |
|
19 |
//Status LED
|
20 |
#define LED_DDR DDRB
|
21 |
#define LED_PORT PORTB
|
22 |
#define LED PORTB1
|
23 |
|
24 |
//Function prototypes
|
25 |
void __init(void) __attribute__((naked)); |
26 |
|
27 |
|
28 |
typedef enum { |
29 |
sd, |
30 |
src, |
31 |
dest, |
32 |
comd, |
33 |
read, |
34 |
cs, |
35 |
ack |
36 |
} state_t; |
37 |
|
38 |
typedef union { |
39 |
uint8_t bytes[2];
|
40 |
int16_t sword; |
41 |
} rjump_t; |
42 |
|
43 |
// Redirect all unused interrupts to reti
|
44 |
EMPTY_INTERRUPT(__vector_default); |
45 |
extern void __ctors_end(void) __attribute__((__noreturn__)); |
46 |
|
47 |
// macros for entering subprograms
|
48 |
#define __JMP_INIT__ __asm__ __volatile__ ("rjmp __ctors_end" ) |
49 |
|
50 |
BOOTLOADER_SECTION void init_uart(uint16_t baud) {
|
51 |
// Set baud rate
|
52 |
UBRRH = (uint8_t)(baud>>8);
|
53 |
UBRRL = (uint8_t)baud; |
54 |
|
55 |
// Enable RX/TX
|
56 |
UCSRB = _BV(RXEN) | _BV(TXEN); |
57 |
|
58 |
// Enable the TXEN pin as output
|
59 |
DDRD |= TX_EN; |
60 |
uart_toggle_transmit(UART_TX_OFF); |
61 |
} |
62 |
|
63 |
BOOTLOADER_SECTION int8_t uart_get_byte(uint8_t *output_byte) { |
64 |
if (UCSRA & _BV(RXC)) {
|
65 |
*output_byte = UDR; |
66 |
return 0; |
67 |
} else {
|
68 |
return -1; |
69 |
} |
70 |
} |
71 |
|
72 |
BOOTLOADER_SECTION void uart_send_byte(uint8_t data) {
|
73 |
//Waits until current transmit is done
|
74 |
while (!(UCSRA & _BV(UDRE)));
|
75 |
//PORTB |= _BV(PORTB2);
|
76 |
|
77 |
// Enable writes and send
|
78 |
uart_toggle_transmit(UART_TX_ON); |
79 |
UDR = data; |
80 |
|
81 |
// Waits until the transmit is done
|
82 |
while(!(UCSRA & _BV(TXC)));
|
83 |
uart_toggle_transmit(UART_TX_OFF); |
84 |
UCSRA |= _BV(TXC); |
85 |
|
86 |
//PORTB |= _BV(PORTB1);
|
87 |
|
88 |
|
89 |
return;
|
90 |
} |
91 |
|
92 |
BOOTLOADER_SECTION void uart_toggle_transmit(uint8_t state) {
|
93 |
if (state == UART_TX_ON) {
|
94 |
PORTD |= TX_EN; |
95 |
} else {
|
96 |
PORTD &= ~TX_EN; |
97 |
} |
98 |
} |
99 |
|
100 |
BOOTLOADER_SECTION char parse_packet(uint8_t *mbuf) {
|
101 |
uint8_t r; // Byte from the network
|
102 |
uint8_t crc; // Running checksum of the packet
|
103 |
uint8_t cmd; // The command received
|
104 |
uint8_t pos; // Position in the message buffer
|
105 |
uint8_t lim; // Max number of bytes to read into the message buf
|
106 |
state_t state; // State machine
|
107 |
uint16_t count; |
108 |
|
109 |
r = 0;
|
110 |
crc = 0;
|
111 |
cmd = 0;
|
112 |
pos = 0;
|
113 |
lim = 0;
|
114 |
state = sd; |
115 |
count = 0;
|
116 |
|
117 |
while (1) { |
118 |
// Wait for the next byte
|
119 |
while ((uart_get_byte(&r)) < 0) { |
120 |
if (count >= MAX_TIMEOUT) {
|
121 |
return TT_BAD;
|
122 |
} |
123 |
} |
124 |
|
125 |
switch (state) {
|
126 |
case sd:
|
127 |
if (r == DELIM) {
|
128 |
state = src; |
129 |
} |
130 |
break;
|
131 |
|
132 |
case src:
|
133 |
if (r == DELIM) {
|
134 |
state = src; |
135 |
} else {
|
136 |
crc = r; |
137 |
state = dest; |
138 |
} |
139 |
break;
|
140 |
|
141 |
case dest:
|
142 |
if (r == DELIM) {
|
143 |
state = src; |
144 |
} else if (r == ADDR) { |
145 |
crc ^= r; |
146 |
state = comd; |
147 |
} else {
|
148 |
state = sd; |
149 |
} |
150 |
break;
|
151 |
|
152 |
case comd:
|
153 |
cmd = r; |
154 |
crc ^= r; |
155 |
|
156 |
if (r == DELIM) {
|
157 |
state = src; |
158 |
} else if (r == TT_PROGM) { |
159 |
lim = PROGM_PACKET_SIZE; |
160 |
state = read; |
161 |
} else if (r == TT_PROGD) { |
162 |
lim = PROGD_PACKET_SIZE; |
163 |
state = read; |
164 |
} else {
|
165 |
state = cs; |
166 |
} |
167 |
break;
|
168 |
|
169 |
case read:
|
170 |
mbuf[pos] = r; |
171 |
crc ^= r; |
172 |
pos++; |
173 |
|
174 |
if (pos == lim) {
|
175 |
state = cs; |
176 |
} |
177 |
|
178 |
break;
|
179 |
|
180 |
case cs:
|
181 |
if (r == crc) {
|
182 |
return cmd;
|
183 |
} else {
|
184 |
return TT_BAD;
|
185 |
} |
186 |
|
187 |
break;
|
188 |
|
189 |
default:
|
190 |
return TT_BAD;
|
191 |
} |
192 |
} |
193 |
} |
194 |
|
195 |
BOOTLOADER_SECTION void send_packet(uint8_t cmd) {
|
196 |
uart_send_byte(DELIM); |
197 |
uart_send_byte(ADDR); |
198 |
uart_send_byte(SERVER); |
199 |
uart_send_byte(cmd); |
200 |
uart_send_byte(ACK_CRC ^ cmd); |
201 |
} |
202 |
|
203 |
//#define SPM_PAGESIZE 32
|
204 |
BOOTLOADER_SECTION void onboard_program_write(uint16_t page, uint8_t *buf) {
|
205 |
uint16_t i; |
206 |
|
207 |
boot_page_erase (page); |
208 |
boot_spm_busy_wait (); // Wait until the memory is erased.
|
209 |
|
210 |
for (i=0; i < SPM_PAGESIZE; i+=2){ |
211 |
// Set up little-endian word.
|
212 |
boot_page_fill (page + i, buf[i] | (buf[i+1] <<8)); |
213 |
} |
214 |
|
215 |
boot_page_write (page); // Store buffer in flash page.
|
216 |
boot_spm_busy_wait(); // Wait until the memory is written.
|
217 |
} |
218 |
|
219 |
BOOTLOADER_SECTION void main(void) { |
220 |
uint8_t mbuf[PROGD_PACKET_SIZE]; |
221 |
rjump_t jbuf; |
222 |
uint16_t caddr = MAIN_ADDR; |
223 |
uint8_t iteration; |
224 |
uint8_t resp; |
225 |
uint16_t prog_len; |
226 |
uint8_t i; |
227 |
void (*main_start)(void); |
228 |
|
229 |
main_start = BOOT_START - 2;
|
230 |
iteration = 0;
|
231 |
|
232 |
init_uart(51); //MAGIC NUMBER?? |
233 |
|
234 |
//set LED pin as output
|
235 |
LED_DDR |= 0x07;
|
236 |
PORTB = 0x07;
|
237 |
|
238 |
//Start bootloading process
|
239 |
send_packet(TT_BOOT); |
240 |
|
241 |
resp = parse_packet(mbuf); |
242 |
if (resp == TT_PROGM) {
|
243 |
prog_len = mbuf[0];
|
244 |
prog_len |= mbuf[1] << 8; |
245 |
} else {
|
246 |
//PORTB = 0;
|
247 |
main_start(); |
248 |
} |
249 |
send_packet(TT_ACK); |
250 |
|
251 |
while(1) { |
252 |
resp = parse_packet(mbuf); |
253 |
|
254 |
if (resp == TT_PROGD) {
|
255 |
if (iteration == 0) { |
256 |
// Store the jump to user code
|
257 |
jbuf.bytes[0] = mbuf[0]; |
258 |
jbuf.bytes[1] = mbuf[1]; |
259 |
|
260 |
jbuf.sword &= 0x0FFF;
|
261 |
jbuf.sword -= BOOT_START >> 1;
|
262 |
jbuf.sword &= 0x0FFF;
|
263 |
jbuf.sword |= 0xC000;
|
264 |
|
265 |
mbuf[0] = pgm_read_byte(MAIN_ADDR);
|
266 |
mbuf[1] = pgm_read_byte(MAIN_ADDR + 1); |
267 |
//PORTB &= ~_BV(PORTB0);
|
268 |
//while(1);
|
269 |
|
270 |
iteration = 1;
|
271 |
} /*else {
|
272 |
PORTB &= ~_BV(PORTB1);
|
273 |
while(1);
|
274 |
}*/
|
275 |
|
276 |
|
277 |
onboard_program_write(caddr, mbuf); |
278 |
caddr += PROGD_PACKET_SIZE; |
279 |
} else {
|
280 |
//main_start();
|
281 |
PORTB &= ~_BV(PORTB2); |
282 |
while(1); |
283 |
} |
284 |
|
285 |
send_packet(TT_ACK); |
286 |
|
287 |
if (prog_len <= PROGD_PACKET_SIZE) {
|
288 |
for (i = 0; i < PROGD_PACKET_SIZE; i++) { |
289 |
mbuf[i]= 0;
|
290 |
} |
291 |
|
292 |
mbuf[PROGD_PACKET_SIZE-2] = jbuf.bytes[0]; |
293 |
mbuf[PROGD_PACKET_SIZE-1] = jbuf.bytes[1]; |
294 |
|
295 |
onboard_program_write(BOOT_START - SPM_PAGESIZE, mbuf); |
296 |
|
297 |
PORTB = 0;
|
298 |
main_start(); |
299 |
} else {
|
300 |
prog_len -= PROGD_PACKET_SIZE; |
301 |
} |
302 |
} |
303 |
} |
304 |
|
305 |
/*
|
306 |
int main (void) {
|
307 |
while(1);
|
308 |
}*/
|