X-Git-Url: http://git.droids-corp.org/?p=aversive.git;a=blobdiff_plain;f=projects%2Fmicrob2010%2Fbootloader%2Fmain.c;fp=projects%2Fmicrob2010%2Fbootloader%2Fmain.c;h=8595d720f9150546478728fe49774d2a4c740622;hp=0000000000000000000000000000000000000000;hb=5918edd6f4f713ef3c8b0b0020dd30a4fb8222ae;hpb=9d2d9100592e18fed985730298215884127fc568

diff --git a/projects/microb2010/bootloader/main.c b/projects/microb2010/bootloader/main.c
new file mode 100755
index 0000000..8595d72
--- /dev/null
+++ b/projects/microb2010/bootloader/main.c
@@ -0,0 +1,361 @@
+/*  
+ *  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;
+}