reduce sizae and compat work
- current firmware need more space -> reduce bootloader size from 4K => 2K
- remove timer ISR
- remove interrupt vectors from linked binary
- make avr910 bootloader entry command more robust (old: 'S', new: { 0x1B, 'S'} )
- add compat bootloader entry command (rx: { 0x1B, 0xAA } -> tx: 'MKBL')
- do not leave bootloader after upgrading twiboot slave
- do not erase local flash when upgrading twiboot slave
- remove readable chipinfo output from twiboot slaves
This commit is contained in:
parent
a7fcfaf7b9
commit
125bdc1729
1
.gitignore
vendored
1
.gitignore
vendored
@ -4,3 +4,4 @@
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*.hex
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*.lst
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*.map
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ldscript-no-vectors.x
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18
Makefile
18
Makefile
@ -6,23 +6,33 @@ OPTIMIZE = -Os
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DEFS =
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LIBS =
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LDSCRIPT_SRC := /usr/lib/ldscripts/avr5.x
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LDSCRIPT_DST := ldscript-no-vectors.x
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# Override is only needed by avr-lib build system.
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override CFLAGS = -g -Wall $(OPTIMIZE) -mmcu=$(MCU_TARGET) $(DEFS)
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override LDFLAGS = -Wl,-Map,$(PRG).map,--section-start=.text=0xF000
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override LDFLAGS = -Wl,-Map,$(PRG).map,--section-start=.text=0xF800,-T$(LDSCRIPT_DST)
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CC = avr-gcc
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OBJCOPY = avr-objcopy
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OBJDUMP = avr-objdump
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SIZE = avr-size
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#LDSCRIPT_SRC := $(shell LANG=C $(CC) $(CFLAGS) -Wl,--verbose 2> /dev/null | awk '/^opened script file (.*)$$/{ print $$4 }')
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all: $(PRG).elf lst text
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$(SIZE) -x -A $(PRG).elf
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$(PRG).elf: $(OBJ)
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$(PRG).elf: $(OBJ) | $(LDSCRIPT_DST)
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$(CC) $(CFLAGS) $(LDFLAGS) -o $@ $^ $(LIBS)
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$(LDSCRIPT_DST): $(LDSCRIPT_SRC)
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# remove all lines with *vectors* and insert DISCARD line above .text declaration
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sed -e '/.*vectors.*/d' -e 's/\(^[ \t]*\)\(.text[ \t]*\:\)$$/\1\/DISCARD\/ : { *(.vectors) }\n\1\2/g' $^ > $@
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# -diff -uNr $^ $@ > $@.diff
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clean:
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rm -rf *.o $(PRG).lst $(PRG).map $(PRG).elf $(PRG).hex $(PRG).bin
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rm -rf *.o $(PRG).lst $(PRG).map $(PRG).elf $(PRG).hex $(PRG).bin $(LDSCRIPT_DST)
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lst: $(PRG).lst
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@ -41,4 +51,4 @@ bin: $(PRG).bin
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$(OBJCOPY) -j .text -j .data -O binary $< $@
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install: text
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avrdude -c dragon_isp -P usb -p m644p -B0.3 -V -U flash:w:$(PRG).hex
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avrdude -c dragon_isp -P usb -p m644p -V -U flash:w:$(PRG).hex
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25
README
Normal file
25
README
Normal file
@ -0,0 +1,25 @@
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1) Flash FC firmware:
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# reset running firmware (MCU will execute bootloader only for ~1s!)
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$ echo -e -n "#aR@S\r" > /dev/ttyUSB1
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# flash new firmware
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$ avrdude -p m644p -c butterfly -b 57600 -P /dev/ttyUSB1 -U flash:w:/tmp/Flight-Ctrl_MEGA644_V0_82a.hex
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2) Flash BLMC firmware (via twiboot):
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# enter bootloader (0x1B, 'S'), select first twi-slave ('1'):
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$ echo -e -n "\x1BS1" > /dev/ttyUSB1
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# flash new firmware
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$ avrdude -p m8 -c butterfly -b 57600 -P /dev/ttyUSB1 -U flash:w:/tmp/blmc.hex
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# select next twi-slave (bootloader is still active)
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$ echo -e -n "2" > /dev/ttyUSB1
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3) Other Commands:
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'0' => select FC internal flash/eeprom
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'1' - '4' => select twi-slave 1-4, print bootloader version
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'I' => start application on selected twi-slave, print application version
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'l' => start selected motor
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'k' => stop selected motor
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323
main.c
323
main.c
@ -25,7 +25,7 @@
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/*
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* ATMega 644P:
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* Fuse E: 0xFD (2.7V BOD)
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* Fuse H: 0xDA (2048 words bootloader)
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* Fuse H: 0xDC (1024 words bootloader)
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* Fuse L: 0xFF (ext. Crystal)
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*/
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@ -35,15 +35,15 @@
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#define BAUDRATE 57600
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#define UART_CALC_BAUDRATE(baudRate) ((uint32_t)(F_CPU) / ((uint32_t)(baudRate)*16) -1)
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#define APP_END 0xF000
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#define APP_END 0xF7FF
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#define LED_RT (1<<PORTB0) /* low active */
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#define LED_GN (1<<PORTB1) /* high active */
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#define TWI_CLK 100000
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#define TWI_ADDRESS_BASE 0x20 /* 0x21 - 0x24 */
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#define TWI_ADDRESS_BASE 0x28 /* 0x29 - 0x2C */
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#define TWI_DEVCODE 0x77 /* Mega8 */
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#define TWI_DEVCODE 0x76 /* Mega8 */
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#define OWN_DEVCODE 0x74 /* Mega644 */
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#define OWN_SIGNATURE { 0x1E, 0x96, 0x0A } /* Mega644P */
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@ -79,26 +79,14 @@ static uint8_t recvchar(void)
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return UDR0;
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}
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static void print_byte(uint8_t val)
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{
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uint8_t tmp = (val >> 4) & 0x0F;
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sendchar((tmp < 0x0A) ? ('0' + tmp) : ('a' - 0x0A + tmp));
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tmp = val & 0x0F;
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sendchar((tmp < 0x0A) ? ('0' + tmp) : ('a' - 0x0A + tmp));
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}
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static uint8_t i2c_master_tx(uint8_t val)
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static void i2c_master_tx(uint8_t val)
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{
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TWDR = val;
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TWCR = (1<<TWINT) | (1<<TWEN);
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loop_until_bit_is_set(TWCR, TWINT);
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uint8_t status = TWSR & 0xF8;
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return status;
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}
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static uint8_t i2c_master_rx(uint8_t *val, uint8_t ack)
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static uint8_t i2c_master_rx(uint8_t ack)
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{
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if (ack)
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TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA);
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@ -106,10 +94,7 @@ static uint8_t i2c_master_rx(uint8_t *val, uint8_t ack)
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TWCR = (1<<TWINT) | (1<<TWEN);
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loop_until_bit_is_set(TWCR, TWINT);
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*val = TWDR;
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uint8_t status = TWSR & 0xF8;
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return status;
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return TWDR;
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}
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static void i2c_stop(void)
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@ -125,7 +110,8 @@ static void i2c_start_address(uint8_t addr)
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TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
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loop_until_bit_is_set(TWCR, TWINT);
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uint8_t status = i2c_master_tx(addr);
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i2c_master_tx(addr);
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uint8_t status = (TWSR & 0xF8);
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if (status == 0x18 || status == 0x40)
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break;
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@ -134,66 +120,64 @@ static void i2c_start_address(uint8_t addr)
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}
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}
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/* wait 100x 10ms */
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volatile static uint8_t boot_timeout = 100;
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ISR(TIMER0_OVF_vect)
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static void i2c_switch_app(uint8_t i2c_dev, uint8_t app)
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{
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static uint8_t cnt;
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i2c_start_address(i2c_dev);
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i2c_master_tx(CMD_SWITCH_APPLICATION);
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i2c_master_tx(app);
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i2c_stop();
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/* come back in 10ms (@20MHz) */
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TCNT0 = 0xFF - 195;
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/* blink LED while running */
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cnt++;
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cnt &= 0x03;
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if (cnt == 0x00)
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PORTB ^= LED_GN;
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if (boot_timeout > 0)
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boot_timeout--;
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_delay_ms(20);
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}
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static uint16_t address;
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static uint16_t page_size;
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static uint8_t page_buf[SPM_PAGESIZE];
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static void i2c_print_version(uint8_t i2c_dev)
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{
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i2c_start_address(i2c_dev);
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i2c_master_tx(CMD_READ_VERSION);
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i2c_start_address(i2c_dev | 0x01);
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uint8_t cnt = 16;
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while (cnt--) {
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sendchar(i2c_master_rx(cnt));
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}
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i2c_stop();
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}
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static uint8_t page_buf[SPM_PAGESIZE];
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static void eraseFlash(void)
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{
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uint32_t addr = 0;
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while (APP_END > addr) {
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boot_page_erase(addr);
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uint16_t address = 0;
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while (APP_END < address) {
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boot_page_erase(address);
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boot_spm_busy_wait();
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addr += SPM_PAGESIZE;
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address += SPM_PAGESIZE;
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}
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boot_rww_enable();
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}
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static uint16_t writeFlashPage(uint16_t waddr, uint16_t size)
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static void writeFlashPage(uint16_t address, uint16_t size)
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{
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uint32_t pagestart = (uint32_t)waddr<<1;
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uint32_t baddr = pagestart;
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uint16_t pagestart = address;
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uint16_t data;
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uint8_t *tmp = page_buf;
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do {
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data = *tmp++;
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data |= *tmp++ << 8;
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boot_page_fill(baddr, data);
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boot_page_fill(address, data);
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baddr += 2;
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address += 2;
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size -= 2;
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} while (size);
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boot_page_write(pagestart);
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boot_spm_busy_wait();
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boot_rww_enable();
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return baddr>>1;
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}
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static uint16_t writeEEpromPage(uint16_t address, uint16_t size)
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static void writeEEpromPage(uint16_t address, uint16_t size)
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{
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uint8_t *tmp = page_buf;
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@ -209,31 +193,22 @@ static uint16_t writeEEpromPage(uint16_t address, uint16_t size)
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size--;
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} while (size);
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return address;
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}
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static uint16_t readFlashPage(uint16_t waddr, uint16_t size)
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static void readFlashPage(uint16_t address, uint16_t size)
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{
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uint32_t baddr = (uint32_t)waddr<<1;
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uint16_t data;
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do {
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#if defined(RAMPZ)
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data = pgm_read_word_far(baddr);
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#else
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data = pgm_read_word_near(baddr);
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#endif
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data = pgm_read_word_near(address);
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sendchar(data);
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sendchar((data >> 8));
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baddr += 2;
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address += 2;
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size -= 2;
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} while (size);
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return baddr>>1;
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}
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static uint16_t readEEpromPage(uint16_t address, uint16_t size)
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static void readEEpromPage(uint16_t address, uint16_t size)
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{
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do {
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EEARL = address;
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@ -245,43 +220,36 @@ static uint16_t readEEpromPage(uint16_t address, uint16_t size)
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size--;
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} while (size);
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return address;
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}
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/* 0-2: signature, 3: pagesize, 4-5: flash size, 6-7: eeprom size */
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static uint8_t chipinfo[8];
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void cmd_loop(void)
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void cmd_loop(uint8_t val)
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{
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uint16_t address = 0;
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uint16_t page_size = 0;
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uint8_t i2c_dev = 0;
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sendchar('F');
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sendchar('C');
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sendchar('_');
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sendchar('B');
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sendchar('O');
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sendchar('O');
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sendchar('T');
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while (1) {
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uint8_t val = recvchar();
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uint8_t response = 0xFF;
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// Autoincrement?
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if (val == 'a') {
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sendchar('Y');
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response = 'Y';
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// write address
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} else if (val == 'A') {
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address = recvchar();
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address = (address << 8) | recvchar();
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sendchar('\r');
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response = '\r';
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// Buffer load support
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} else if (val == 'b') {
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sendchar('Y');
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page_size = (i2c_dev == 0) ? sizeof(page_buf) : chipinfo[3];
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sendchar((page_size >> 8) & 0xFF);
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sendchar(page_size & 0xFF);
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response = page_size & 0Xff;
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// Start buffer load
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} else if (val == 'B') {
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@ -313,12 +281,13 @@ void cmd_loop(void)
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} else {
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if (val == 'F') {
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address = writeFlashPage(address, size);
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writeFlashPage(address, size);
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} else if (val == 'E') {
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address = writeEEpromPage(address, size);
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writeEEpromPage(address, size);
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}
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address += size;
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}
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sendchar('\r');
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response = '\r';
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// Block read
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} else if (val == 'g') {
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@ -335,8 +304,7 @@ void cmd_loop(void)
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i2c_start_address(i2c_dev | 0x01);
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while (size--) {
|
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i2c_master_rx(&val, size > 0);
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sendchar(val);
|
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sendchar(i2c_master_rx(size > 0));
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address++;
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}
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@ -344,64 +312,48 @@ void cmd_loop(void)
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|
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} else {
|
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if (val == 'F') {
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address = readFlashPage(address, size);
|
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readFlashPage(address, size);
|
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} else if (val == 'E') {
|
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address = readEEpromPage(address, size);
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readEEpromPage(address, size);
|
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}
|
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address += size;
|
||||
}
|
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|
||||
// Chip erase
|
||||
} else if (val == 'e') {
|
||||
if (i2c_dev == 0) {
|
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eraseFlash();
|
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sendchar('\r');
|
||||
}
|
||||
response = '\r';
|
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|
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// Exit upgrade
|
||||
} else if (val == 'E') {
|
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boot_timeout = 0;
|
||||
sendchar('\r');
|
||||
_delay_ms(10);
|
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break;
|
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|
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// Enter programming mode
|
||||
} else if (val == 'P') {
|
||||
if (i2c_dev != 0) {
|
||||
i2c_start_address(i2c_dev);
|
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i2c_master_tx(CMD_SWITCH_APPLICATION);
|
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i2c_master_tx(BOOTTYPE_BOOTLOADER);
|
||||
i2c_stop();
|
||||
|
||||
_delay_ms(10);
|
||||
if (i2c_dev == 0) {
|
||||
return;
|
||||
}
|
||||
sendchar('\r');
|
||||
|
||||
// Leave programming mode
|
||||
} else if (val == 'L') {
|
||||
// Enter / Leave programming mode
|
||||
} else if (val == 'P' || val == 'L') {
|
||||
if (i2c_dev != 0) {
|
||||
i2c_start_address(i2c_dev);
|
||||
i2c_master_tx(CMD_SWITCH_APPLICATION);
|
||||
i2c_master_tx(BOOTTYPE_APPLICATION);
|
||||
i2c_stop();
|
||||
val = (val == 'P') ? BOOTTYPE_BOOTLOADER : BOOTTYPE_APPLICATION;
|
||||
i2c_switch_app(i2c_dev, val);
|
||||
}
|
||||
sendchar('\r');
|
||||
response = '\r';
|
||||
|
||||
// return programmer type
|
||||
} else if (val == 'p') {
|
||||
sendchar('S');
|
||||
response = 'S';
|
||||
|
||||
// Return device type
|
||||
} else if (val == 't') {
|
||||
sendchar((i2c_dev == 0) ? OWN_DEVCODE : TWI_DEVCODE);
|
||||
sendchar(0);
|
||||
response = '\0';
|
||||
|
||||
// clear and set LED ignored
|
||||
} else if ((val == 'x') || (val == 'y')) {
|
||||
} else if ((val == 'x') || (val == 'y') || (val == 'T')) {
|
||||
recvchar();
|
||||
sendchar('\r');
|
||||
|
||||
// set device
|
||||
} else if (val == 'T') {
|
||||
recvchar();
|
||||
sendchar('\r');
|
||||
response = '\r';
|
||||
|
||||
// Return software identifier
|
||||
} else if (val == 'S') {
|
||||
@ -411,58 +363,37 @@ void cmd_loop(void)
|
||||
sendchar('B');
|
||||
sendchar('O');
|
||||
sendchar('O');
|
||||
sendchar('T');
|
||||
response = 'T';
|
||||
|
||||
// Return Software Version
|
||||
} else if (val == 'V' || val == 'v') {
|
||||
sendchar('0');
|
||||
sendchar('8');
|
||||
response = '8';
|
||||
|
||||
// Return Signature Bytes
|
||||
} else if (val == 's') {
|
||||
if (i2c_dev != 0) {
|
||||
sendchar(chipinfo[2]);
|
||||
sendchar(chipinfo[1]);
|
||||
sendchar(chipinfo[0]);
|
||||
response = chipinfo[0];
|
||||
|
||||
} else {
|
||||
uint8_t sig[3] = OWN_SIGNATURE;
|
||||
sendchar(sig[2]);
|
||||
sendchar(sig[1]);
|
||||
sendchar(sig[0]);
|
||||
response = sig[0];
|
||||
}
|
||||
|
||||
// set i2c target
|
||||
} else if (val == '0') {
|
||||
i2c_dev = 0;
|
||||
sendchar(val);
|
||||
|
||||
} else if (val >= '1' && val <= '4') {
|
||||
i2c_dev = (val - '0' + TWI_ADDRESS_BASE) << 1;
|
||||
sendchar(val);
|
||||
sendchar('<');
|
||||
|
||||
i2c_start_address(i2c_dev);
|
||||
i2c_master_tx(CMD_SWITCH_APPLICATION);
|
||||
i2c_master_tx(BOOTTYPE_BOOTLOADER);
|
||||
i2c_stop();
|
||||
|
||||
for (val = 0; val < 10; val++)
|
||||
_delay_ms(10);
|
||||
|
||||
i2c_start_address(i2c_dev);
|
||||
i2c_master_tx(CMD_READ_VERSION);
|
||||
i2c_start_address(i2c_dev | 0x01);
|
||||
|
||||
uint8_t cnt;
|
||||
for (cnt = 0; cnt < 16; cnt++) {
|
||||
i2c_master_rx(&val, (cnt != 15));
|
||||
sendchar(val);
|
||||
}
|
||||
|
||||
i2c_stop();
|
||||
|
||||
sendchar(',');
|
||||
i2c_switch_app(i2c_dev, BOOTTYPE_BOOTLOADER);
|
||||
_delay_ms(100);
|
||||
i2c_print_version(i2c_dev);
|
||||
|
||||
i2c_start_address(i2c_dev);
|
||||
i2c_master_tx(CMD_READ_MEMORY);
|
||||
@ -474,12 +405,7 @@ void cmd_loop(void)
|
||||
uint8_t i;
|
||||
for (i = 0; i < sizeof(chipinfo); i++) {
|
||||
uint8_t more = (i < (sizeof(chipinfo) -1));
|
||||
i2c_master_rx(&chipinfo[i], more);
|
||||
|
||||
sendchar('0');
|
||||
sendchar('x');
|
||||
print_byte(chipinfo[i]);
|
||||
sendchar(more ? ',' : '>');
|
||||
chipinfo[i] = i2c_master_rx(more);
|
||||
}
|
||||
i2c_stop();
|
||||
|
||||
@ -489,39 +415,34 @@ void cmd_loop(void)
|
||||
i2c_start_address(i2c_dev);
|
||||
i2c_master_tx(0x00 + (val - 'k') * 0x10);
|
||||
i2c_stop();
|
||||
|
||||
sendchar(val);
|
||||
response = val;
|
||||
}
|
||||
|
||||
// start Application / get Version
|
||||
// get Version
|
||||
} else if (val == 'I') {
|
||||
if (i2c_dev != 0) {
|
||||
i2c_start_address(i2c_dev);
|
||||
i2c_master_tx(CMD_SWITCH_APPLICATION);
|
||||
i2c_master_tx(BOOTTYPE_APPLICATION);
|
||||
i2c_stop();
|
||||
|
||||
for (val = 0; val < 10; val++)
|
||||
_delay_ms(10);
|
||||
|
||||
i2c_start_address(i2c_dev);
|
||||
i2c_master_tx(CMD_READ_VERSION);
|
||||
i2c_start_address(i2c_dev | 0x01);
|
||||
|
||||
sendchar('<');
|
||||
uint8_t cnt;
|
||||
for (cnt = 0; cnt < 16; cnt++) {
|
||||
i2c_master_rx(&val, (cnt != 15));
|
||||
sendchar(val);
|
||||
}
|
||||
sendchar('>');
|
||||
i2c_stop();
|
||||
i2c_switch_app(i2c_dev, BOOTTYPE_APPLICATION);
|
||||
_delay_ms(100);
|
||||
i2c_print_version(i2c_dev);
|
||||
}
|
||||
|
||||
// fake MK-TOOL specific stuff
|
||||
} else if (val == 0xAA) {
|
||||
sendchar('M');
|
||||
sendchar('K');
|
||||
sendchar('B');
|
||||
response = 'L';
|
||||
|
||||
/* ESC */
|
||||
} else if (val != 0x1b) {
|
||||
sendchar('?');
|
||||
response = '?';
|
||||
}
|
||||
|
||||
if (response != 0xFF) {
|
||||
sendchar(response);
|
||||
}
|
||||
|
||||
val = recvchar();
|
||||
}
|
||||
}
|
||||
|
||||
@ -532,7 +453,6 @@ static void (*jump_to_app)(void) __attribute__ ((noreturn)) = 0x0000;
|
||||
* system reset. So disable it as soon as possible.
|
||||
* automagically called on startup
|
||||
*/
|
||||
#if defined (__AVR_ATmega88__) || defined (__AVR_ATmega168__)
|
||||
void disable_wdt_timer(void) __attribute__((naked, section(".init3")));
|
||||
void disable_wdt_timer(void)
|
||||
{
|
||||
@ -540,17 +460,15 @@ void disable_wdt_timer(void)
|
||||
WDTCSR = (1<<WDCE) | (1<<WDE);
|
||||
WDTCSR = (0<<WDE);
|
||||
}
|
||||
#endif
|
||||
|
||||
/* linking without vectors, still need __vector_default */
|
||||
void __vector_default(void) {}
|
||||
|
||||
int main(void) __attribute__ ((noreturn));
|
||||
int main(void)
|
||||
{
|
||||
DDRB = LED_GN | LED_RT;
|
||||
PORTB = LED_GN | LED_RT;
|
||||
|
||||
/* move interrupt-vectors to bootloader */
|
||||
MCUCR = (1<<IVCE);
|
||||
MCUCR = (1<<IVSEL);
|
||||
PORTB = LED_RT;
|
||||
|
||||
/* Set baudrate */
|
||||
UBRR0H = (UART_CALC_BAUDRATE(BAUDRATE)>>8) & 0xFF;
|
||||
@ -560,35 +478,32 @@ int main(void)
|
||||
UCSR0B = (1<<TXEN0) | (1<<RXEN0);
|
||||
UCSR0C = (1<<UCSZ01) | (1<<UCSZ00);
|
||||
|
||||
/* timer0: running with F_CPU/1024 */
|
||||
TCCR0B = (1<<CS02) | (1<<CS00);
|
||||
|
||||
/* enable timer0 OVF interrupt */
|
||||
TIMSK0 |= (1<<TOIE0);
|
||||
|
||||
/* enable TWI interface */
|
||||
TWBR = ((F_CPU/TWI_CLK)-16)/2;
|
||||
TWCR = (1<<TWSTO) | (1<<TWEN);
|
||||
|
||||
sei();
|
||||
uint8_t prev = 0x00;
|
||||
uint8_t boot_timeout = 100;
|
||||
|
||||
while (boot_timeout > 0) {
|
||||
if (UCSR0A & (1<<RXC0))
|
||||
if (recvchar() == 'S')
|
||||
cmd_loop();
|
||||
while (boot_timeout-- > 0) {
|
||||
if (UCSR0A & (1<<RXC0)) {
|
||||
uint8_t val = recvchar();
|
||||
|
||||
if (prev == 0x1B && (val == 0xAA || val == 'S')) {
|
||||
PORTB |= LED_GN;
|
||||
cmd_loop(val);
|
||||
boot_timeout = 0;
|
||||
}
|
||||
|
||||
cli();
|
||||
prev = val;
|
||||
}
|
||||
_delay_ms(10);
|
||||
|
||||
/* move interrupt-vectors to applicaion */
|
||||
MCUCR = (1<<IVCE);
|
||||
MCUCR = (0<<IVSEL);
|
||||
if (!(boot_timeout & 0x03))
|
||||
PORTB ^= LED_GN;
|
||||
}
|
||||
|
||||
PORTB = LED_RT;
|
||||
|
||||
uint8_t i;
|
||||
for (i = 0; i < 10; i++)
|
||||
_delay_ms(10);
|
||||
|
||||
jump_to_app();
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user