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fc_boot
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fc_boot/main.c

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/***************************************************************************
* Copyright (C) 09/2007 by Olaf Rempel *
* razzor@kopf-tisch.de *
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; version 2 of the License, *
* *
* This program is distributed in the hope that it will be useful, *
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
* GNU General Public License for more details. *
* *
* You should have received a copy of the GNU General Public License *
* along with this program; if not, write to the *
* Free Software Foundation, Inc., *
* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
***************************************************************************/
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/boot.h>
#include <avr/pgmspace.h>
#include <avr/wdt.h>
#include <stdio.h>
#define F_CPU 20000000
#include <util/delay.h>
#define BAUDRATE 19200
#define UART_CALC_BAUDRATE(baudRate) ((uint32_t)(F_CPU) / ((uint32_t)(baudRate)*16) -1)
#define APP_END 0xF000
#define LED_RT (1<<PORTB0)
#define LED_GN (1<<PORTB1)
#define TWI_CLK 200000
#define WRITE_COOKIE 0x4711
#define CMD_WAIT 0x00
#define CMD_GET_INFO 0x10
#define CMD_GET_SIGNATURE 0x11
#define CMD_WRITE_FLASH 0x12
#define CMD_READ_FLASH 0x13
#define CMD_WRITE_EEPROM 0x14
#define CMD_READ_EEPROM 0x15
#define CMD_BOOT_APPLICATION 0x1F
#define CMD_SET_PWM 0x21
#define CMD_GET_STATUS 0x22
// #define CMD_SET_PARAM 0x23
// #define CMD_GET_PARAM 0x24
#define CMD_BOOT_LOADER 0x2F
#define DEVCODE_M8 0x77
#define DEVCODE_M644 0x74
static void sendchar(uint8_t data)
{
loop_until_bit_is_set(UCSR0A, UDRE0);
UDR0 = data;
}
static uint8_t recvchar(void)
{
loop_until_bit_is_set(UCSR0A, RXC0);
return UDR0;
}
static int uart_putchar(char c, FILE *stream)
{
if (c == '\n')
uart_putchar('\r', stream);
sendchar(c);
return 0;
}
static FILE mystdout = FDEV_SETUP_STREAM(uart_putchar, NULL, _FDEV_SETUP_WRITE);
static uint8_t i2c_master_tx(uint8_t val)
{
TWDR = val;
TWCR = (1<<TWINT) | (1<<TWEN);
loop_until_bit_is_set(TWCR, TWINT);
uint8_t status = TWSR & 0xF8;
return status;
}
static uint8_t i2c_master_rx(uint8_t *val, uint8_t ack)
{
if (ack)
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWEA);
else
TWCR = (1<<TWINT) | (1<<TWEN);
loop_until_bit_is_set(TWCR, TWINT);
*val = TWDR;
uint8_t status = TWSR & 0xF8;
return status;
}
static void i2c_stop(void)
{
PORTB &= ~LED_RT;
TWCR = (1<<TWINT) | (1<<TWSTO) | (1<<TWEN);
}
static void i2c_start_address(uint8_t addr)
{
while (1) {
PORTB |= LED_RT;
TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN);
loop_until_bit_is_set(TWCR, TWINT);
uint8_t status = i2c_master_tx(addr);
if (status == 0x18 || status == 0x40)
break;
i2c_stop();
_delay_ms(1);
}
}
/* wait 100x 10ms */
static uint8_t boot_timeout = 100;
ISR(TIMER0_OVF_vect)
{
static uint8_t cnt;
/* come back in 10ms (@20MHz) */
TCNT0 = 0xFF - 195;
/* blink LED while running */
cnt++;
cnt &= 0x03;
if (cnt == 0x00)
PORTB ^= LED_GN;
if (boot_timeout > 0)
boot_timeout--;
}
static uint16_t address;
static uint8_t page_buf[256];
static void eraseFlash(void)
{
uint32_t addr = 0;
while (APP_END > addr) {
boot_page_erase(addr);
boot_spm_busy_wait();
addr += SPM_PAGESIZE;
}
boot_rww_enable();
}
static uint16_t writeFlashPage(uint16_t waddr, uint16_t size)
{
uint32_t pagestart = (uint32_t)waddr<<1;
uint32_t baddr = pagestart;
uint16_t data;
uint8_t *tmp = page_buf;
do {
data = *tmp++;
data |= *tmp++ << 8;
boot_page_fill(baddr, data);
baddr += 2;
size -= 2;
} while (size);
boot_page_write(pagestart);
boot_spm_busy_wait();
boot_rww_enable();
return baddr>>1;
}
static uint16_t writeEEpromPage(uint16_t address, uint16_t size)
{
uint8_t *tmp = page_buf;
do {
EEARL = address;
EEARH = (address >> 8);
EEDR = *tmp++;
address++;
EECR |= (1<<EEMPE);
EECR |= (1<<EEPE);
eeprom_busy_wait();
size--;
} while (size);
return address;
}
static uint16_t readFlashPage(uint16_t waddr, uint16_t size)
{
uint32_t baddr = (uint32_t)waddr<<1;
uint16_t data;
do {
#if defined(RAMPZ)
data = pgm_read_word_far(baddr);
#else
data = pgm_read_word_near(baddr);
#endif
sendchar(data);
sendchar((data >> 8));
baddr += 2;
size -= 2;
} while (size);
return baddr>>1;
}
static uint16_t readEEpromPage(uint16_t address, uint16_t size)
{
do {
EEARL = address;
EEARH = (address >> 8);
EECR |= (1<<EERE);
address++;
sendchar(EEDR);
size--;
} while (size);
return address;
}
void cmd_loop(void)
{
uint8_t dev = 0;
uint8_t i2c_dev = (0x21 << 1);
sendchar('F');
sendchar('C');
sendchar('_');
sendchar('B');
sendchar('O');
sendchar('O');
sendchar('T');
while (1) {
uint8_t val = recvchar();
// Autoincrement?
if (val == 'a') {
sendchar('Y');
// write address
} else if (val == 'A') {
address = recvchar();
address = (address<<8) | recvchar();
sendchar('\r');
// Buffer load support
} else if (val == 'b') {
sendchar('Y');
sendchar((sizeof(page_buf) >> 8) & 0xFF);
sendchar(sizeof(page_buf) & 0xFF);
// Start buffer load
} else if (val == 'B') {
uint16_t size;
uint16_t cnt;
uint8_t *tmp = page_buf;
size = recvchar() << 8;
size |= recvchar();
val = recvchar();
for (cnt = 0; cnt < sizeof(page_buf); cnt++)
*tmp++ = (cnt < size) ? recvchar() : 0xFF;
if (dev == DEVCODE_M8) {
i2c_start_address(i2c_dev);
if (val == 'F')
i2c_master_tx(CMD_WRITE_FLASH);
else
i2c_master_tx(CMD_WRITE_EEPROM);
i2c_master_tx(address >> 8);
i2c_master_tx(address & 0xFF);
address += sizeof(page_buf);
i2c_master_tx(WRITE_COOKIE >> 8);
i2c_master_tx(WRITE_COOKIE & 0xFF);
tmp = page_buf;
for (cnt = 0; cnt < sizeof(page_buf); cnt++)
i2c_master_tx(*tmp++);
i2c_stop();
} else if (dev == DEVCODE_M644) {
if (val == 'F') {
address = writeFlashPage(address, size);
} else if (val == 'E') {
address = writeEEpromPage(address, size);
}
}
sendchar('\r');
// Block read
} else if (val == 'g') {
uint16_t size = recvchar() << 8;
size |= recvchar();
val = recvchar();
if (dev == DEVCODE_M8) {
i2c_start_address(i2c_dev);
if (val == 'F')
i2c_master_tx(CMD_READ_FLASH);
else
i2c_master_tx(CMD_READ_EEPROM);
i2c_master_tx(address >> 8);
i2c_master_tx(address & 0xFF);
i2c_start_address(i2c_dev | 0x01);
while (size--) {
i2c_master_rx(&val, size > 0);
sendchar(val);
address++;
}
i2c_stop();
} else if (dev == DEVCODE_M644) {
if (val == 'F') {
address = readFlashPage(address, size);
} else if (val == 'E') {
address = readEEpromPage(address, size);
}
}
// Chip erase
} else if (val == 'e') {
eraseFlash();
sendchar('\r');
// Exit upgrade
} else if (val == 'E') {
boot_timeout = 0;
sendchar('\r');
_delay_ms(10);
break;
// Enter programming mode
} else if (val == 'P') {
i2c_start_address(i2c_dev);
i2c_master_tx(CMD_BOOT_LOADER);
i2c_stop();
_delay_ms(10);
i2c_start_address(i2c_dev);
i2c_master_tx(CMD_GET_SIGNATURE);
i2c_start_address(i2c_dev | 0x01);
i2c_master_rx(&val, 1);
i2c_master_rx(&val, 1);
i2c_master_rx(&val, 0);
i2c_stop();
sendchar('\r');
// Leave programming mode
} else if (val == 'L') {
i2c_start_address(i2c_dev);
i2c_master_tx(CMD_BOOT_APPLICATION);
i2c_stop();
sendchar('\r');
// return programmer type
} else if (val == 'p') {
sendchar('S');
// Return device type
} else if (val == 't') {
sendchar(DEVCODE_M8);
sendchar(DEVCODE_M644);
sendchar(0);
// clear and set LED ignored
} else if ((val == 'x') || (val == 'y')) {
recvchar();
sendchar('\r');
// set device
} else if (val == 'T') {
dev = recvchar();
sendchar('\r');
// Return software identifier
} else if (val == 'S') {
sendchar('F');
sendchar('C');
sendchar('_');
sendchar('B');
sendchar('O');
sendchar('O');
sendchar('T');
// Return Software Version
} else if (val == 'V' || val == 'v') {
sendchar('0');
sendchar('8');
// Return Signature Bytes
} else if (val == 's') {
if (dev == DEVCODE_M8) {
sendchar(0x07);
sendchar(0x93);
sendchar(0x1e);
} else if (dev == DEVCODE_M644) {
sendchar(0x09);
sendchar(0x96);
sendchar(0x1e);
} else {
sendchar(0xFF);
sendchar(0xFF);
sendchar(0xFF);
}
// set i2c target
} else if (val >= '1' && val <= '4') {
i2c_dev = (val - '1' + 0x21) << 1;
sendchar(val);
// test props
} else if (val == 'l') {
i2c_start_address(i2c_dev);
i2c_master_tx(CMD_SET_PWM);
i2c_master_tx(0x00);
i2c_stop();
// test props
} else if (val == 'k') {
i2c_start_address(i2c_dev);
i2c_master_tx(CMD_SET_PWM);
i2c_master_tx(0x0f);
i2c_stop();
/* ESC */
} else if (val != 0x1b) {
sendchar('?');
}
}
}
static void (*jump_to_app)(void) = 0x0000;
int main(void)
{
DDRB = LED_GN | LED_RT;
PORTB = LED_GN;
/* move interrupt-vectors to bootloader */
MCUCR = (1<<IVCE);
MCUCR = (1<<IVSEL);
/* Set baudrate */
UBRR0H = (UART_CALC_BAUDRATE(BAUDRATE)>>8) & 0xFF;
UBRR0L = (UART_CALC_BAUDRATE(BAUDRATE) & 0xFF);
/* USART: rx/tx enable, 8n1 */
UCSR0B = (1<<TXEN0) | (1<<RXEN0);
UCSR0C = (1<<UCSZ01) | (1<<UCSZ00);
stdout = &mystdout;
/* 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();
while (boot_timeout > 0) {
if (UCSR0A & (1<<RXC0))
if (recvchar() == 'S')
cmd_loop();
}
cli();
/* move interrupt-vectors to applicaion */
MCUCR = (1<<IVCE);
MCUCR = (0<<IVSEL);
jump_to_app();
return 0;
}
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