+/*
+ * Copyright Droids Corporation
+ * Olivier Matz <zer0@droids-corp.org>
+ *
+ * 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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
+ *
+ * Revision : $Id: main.c,v 1.4 2009-05-27 20:04:06 zer0 Exp $
+ *
+ */
+
+/*
+ * A simple bootloader example.
+ */
+
+#include <aversive.h>
+#include <aversive/wait.h>
+#include <aversive/pgmspace.h>
+
+#include <stdlib.h>
+#include <string.h>
+#include <util/crc16.h>
+#include <avr/boot.h>
+
+#define BRAKE_DDR() do { DDRJ |= 0xF0; } while(0)
+#define BRAKE_ON() do { PORTJ |= 0xF0; } while(0)
+#define BRAKE_OFF() do { PORTJ &= 0x0F; } while(0)
+
+#define LED1_ON() sbi(PORTJ, 2)
+#define LED1_OFF() cbi(PORTJ, 2)
+
+#define LED2_ON() sbi(PORTJ, 3)
+#define LED2_OFF() cbi(PORTJ, 3)
+
+
+#define NOECHO
+
+#ifdef NOECHO
+#define echo(c) do {} while(0)
+#else
+#define echo(c) uart_send(c)
+#endif
+
+#if UART_NUM == 0
+
+#define UCSRxA UCSR0A
+#define UCSRxB UCSR0B
+#define UCSRxC UCSR0C
+#define RXCx RXC0
+#define UDRx UDR0
+#define UDREx UDRE0
+#define U2Xx U2X0
+#define RXENx RXEN0
+#define TXENx TXEN0
+#define UCSZx0 UCSZ00
+#define UCSZx1 UCSZ01
+#define UBRRx UBRR0
+
+#elif UART_NUM == 1
+
+#define UCSRxA UCSR1A
+#define UCSRxB UCSR1B
+#define UCSRxC UCSR1C
+#define RXCx RXC1
+#define UDRx UDR1
+#define UDREx UDRE1
+#define U2Xx U2X1
+#define RXENx RXEN1
+#define TXENx TXEN1
+#define UCSZx0 UCSZ10
+#define UCSZx1 UCSZ11
+#define UBRRx UBRR1
+
+#elif UART_NUM == 2
+
+#define UCSRxA UCSR2A
+#define UCSRxB UCSR2B
+#define UCSRxC UCSR2C
+#define RXCx RXC2
+#define UDRx UDR2
+#define UDREx UDRE2
+#define U2Xx U2X2
+#define RXENx RXEN2
+#define TXENx TXEN2
+#define UCSZx0 UCSZ20
+#define UCSZx1 UCSZ21
+#define UBRRx UBRR2
+
+#elif UART_NUM == 3
+
+#define UCSRxA UCSR3A
+#define UCSRxB UCSR3B
+#define UCSRxC UCSR3C
+#define RXCx RXC3
+#define UDRx UDR3
+#define UDREx UDRE3
+#define U2Xx U2X3
+#define RXENx RXEN3
+#define TXENx TXEN3
+#define UCSZx0 UCSZ30
+#define UCSZx1 UCSZ31
+#define UBRRx UBRR3
+
+#endif
+
+
+static char uart_recv(void)
+{
+ while ( !(UCSRxA & (1<<RXCx)) ) ;
+ return UDRx;
+}
+
+static void uart_send(char c)
+{
+ while ( !( UCSRxA & (1<<UDREx)) ) ;
+ UDRx = c;
+}
+
+static void uart_puts(const char *buf)
+{
+ while (*buf)
+ uart_send(*(buf++));
+}
+
+static int8_t bootloader_query_hex(uint32_t *val)
+{
+ uint32_t tmp = 0;
+ int c;
+
+ while (1) {
+ c = uart_recv();
+ echo(c);
+
+ if (c == '\n' || c == '\r') {
+ *val = tmp;
+ return 0;
+ }
+ else if (c >= '0' && c <= '9') {
+ tmp <<= 4;
+ tmp += (c - '0');
+ }
+ else if (c >= 'a' && c <= 'f') {
+ tmp <<= 4;
+ tmp += (c - 'a' + 10);
+ }
+ else if (c >= 'A' && c <= 'F') {
+ tmp <<= 4;
+ tmp += (c - 'A' + 10);
+ }
+ else
+ return -1;
+ }
+ return 0;
+}
+
+/* launch application */
+static void launch_app(void)
+{
+ uart_puts("Boot...");
+ MCUCR = (1 << IVCE);
+ MCUCR = (0 << IVSEL);
+ reset();
+}
+
+static void disp_digit(uint8_t x)
+{
+ if (x < 10)
+ x += '0';
+ else
+ x += 'a' - 10 ;
+ uart_send(x);
+}
+
+static void disp_hex8(uint8_t x)
+{
+ disp_digit(x>>4);
+ disp_digit(x&0xf);
+}
+
+static void disp_hex16(uint16_t x)
+{
+ disp_hex8(x>>8);
+ disp_hex8(x);
+}
+
+static void crc_app(void)
+{
+ uint32_t start_addr, addr, size;
+ uint8_t c;
+ uint16_t crc = 0xffff;
+ uint16_t sum = 0;
+
+ uart_puts("addr?\r\n");
+ if (bootloader_query_hex(&start_addr))
+ goto fail;
+ if (start_addr > FLASHEND)
+ goto fail;
+ uart_puts("size?\r\n");
+ if (bootloader_query_hex(&size))
+ goto fail;
+ if (start_addr + size > FLASHEND)
+ goto fail;
+ for (addr=start_addr; addr<start_addr+size; addr++) {
+#if 0
+ /* ignore the 2nd page, it contains microb infos */
+ if (addr >= 256 && addr < 512)
+ continue;
+#endif
+ c = pgm_read_byte_far(addr);
+ crc = _crc_ccitt_update(crc, c);
+ sum += c;
+ }
+ disp_hex16(crc);
+ disp_hex16(sum);
+ return;
+ fail:
+ uart_puts("KO");
+}
+
+static void read32(void)
+{
+ uint32_t start_addr, val = 0;
+ uint8_t c, i;
+
+ uart_puts("addr?\r\n");
+ if (bootloader_query_hex(&start_addr))
+ goto fail;
+ if (start_addr > FLASHEND)
+ goto fail;
+ for (i=0; i<4; i++) {
+ c = pgm_read_byte_far(start_addr+i);
+ val <<= 8;
+ val |= c;
+ }
+ disp_hex16(val);
+ return;
+ fail:
+ uart_puts("KO");
+}
+
+static void prog_page(void)
+{
+ int c;
+ uint32_t addr;
+ uint16_t i;
+ uint16_t crc = 0xffff;
+ uint16_t sum = 0;
+ uint8_t buf[SPM_PAGESIZE];
+
+#define SPM_PAGEMASK ((uint32_t)SPM_PAGESIZE-1)
+ uart_puts("addr?\r\n");
+ if (bootloader_query_hex(&addr))
+ goto fail;
+ if (addr > FLASHEND)
+ goto fail;
+ /* start_addr must be page aligned */
+ if (addr & SPM_PAGEMASK)
+ goto fail;
+
+ uart_puts("ok\r\n");
+
+ PORTJ = 0xF0;
+
+ /* data is received like the .bin format (which is already in
+ * little endian) */
+ for (i=0; i<SPM_PAGESIZE; i++) {
+ c = uart_recv();
+ crc = _crc_ccitt_update(crc, c);
+ sum += c;
+ buf[i] = c;
+ }
+ disp_hex16(crc);
+ disp_hex16(sum);
+ uart_puts(" (y?)\r\n");
+ c = uart_recv();
+ if (c != 'y')
+ goto fail;
+
+ /* erase page */
+ eeprom_busy_wait();
+ boot_page_erase(addr);
+ boot_spm_busy_wait();
+
+ /* Set up little-endian word and fill tmp buf. */
+ for (i=0; i<SPM_PAGESIZE; i+=2) {
+ uint16_t w = buf[i] + ((uint16_t)(buf[i+1]) << 8);
+ boot_page_fill(addr + i, w);
+ }
+
+ PORTJ = 0xFC;
+
+ boot_page_write(addr);
+ boot_spm_busy_wait();
+
+ /* Reenable RWW-section again. We need this if we want to jump
+ * back to the application after bootloading. */
+ boot_rww_enable();
+
+ uart_puts("OK");
+ return;
+ fail:
+ uart_puts("KO");
+}
+
+int main(void)
+{
+ int c;
+ uint32_t i=0;
+
+ /* disable all motors and switch on leds */
+ DDRJ = 0xFC;
+ PORTJ = 0xFC;
+
+ UCSRxA = _BV(U2Xx);
+ UCSRxB = _BV(RXENx) | _BV(TXENx);
+ UCSRxC = _BV(UCSZx1) | _BV(UCSZx0); /* 8 bits no parity 1 stop */
+ UBRRx = 34; /* 57600 at 16 Mhz */
+
+ /* move interrupt vector in bootloader section */
+ MCUCR = (1 << IVCE);
+ MCUCR = (1 << IVSEL);
+
+ sei();
+
+ uart_puts("\r\ncmd> ");
+
+ /* timeout */
+ while ( !(UCSRxA & (1<<RXCx)) ) {
+ i++;
+ if (i>1000000) /* wait about 1 sec */
+ launch_app();
+ }
+
+ while (1) {
+ uart_puts("\r\ncmd> ");
+ c = uart_recv();
+ if (c == 'x')
+ launch_app();
+ else if (c == 'c')
+ crc_app();
+ else if (c == 'p')
+ prog_page();
+ else if (c == 'd')
+ read32();
+ else
+ uart_puts("p:prog_page c:crc x:exec d:dump32");
+ }
+
+ return 0;
+}
git.droids-corp.org / aversive.git / blobdiff