WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/AVR/AVR-Bios/bios.c

 #include <avr/io.h>
 #include <avr/interrupt.h>
 #include <avr/wdt.h>
 #include <avr/pgmspace.h>
 #include <stdio.h>
+#include <string.h>
 #include "flash.h"
 #include "vectors.h" // Must be included after sfr_defs.h but before any ISR()
 #include "mcp2515/mcp2515.h"
 //---------------------------------------------------------------------------
 // Globals
 volatile long gMilliSecTick;
+volatile uint8_t bios_msg_full;
+Can_Message_t* bios_msg_ptr; // only a pointer to main-local structure to save .bss space
 //---------------------------------------------------------------------------
 // Function definitions for the exported interface
 void reset(void) {
     return res;
+}
 // TODO: Insert can driver's Can_Send directly in bios interface.
 Can_Return_t can_send(Can_Message_t* msg) {
-    return CAN_FAIL;
+    return Can_Send(msg);
+}
-//Can_Return_t can_receive(Can_Message_t *msg) {
-//  return CAN_FAIL;
-//}
 //---------------------------------------------------------------------------
 // Function definitions for the private functions
 static int console_getchar(FILE *stream) {
     return 0;
+}
 static FILE bios_stdio = FDEV_SETUP_STREAM(console_putchar, console_getchar,
                                          _FDEV_SETUP_RW);
 //---------------------------------------------------------------------------
 // Interrupt Service Routines
 // Read app_vectors.h!
 ISR(TIMEBASE_VECTOR) {
     TIMEBASE_COUNTER -= TIMEBASE_RELOAD;
     gMilliSecTick++;
     wdt_reset();
 }
 void Can_Process(Can_Message_t* msg) {
+    if (!(msg->ExtendedFlag)) return;
-    if (msg->ExtendedFlag && ((msg->Id & CAN_FUNCT_MASK) == CAN_MSG_TYPE_BIOS)) {
+    if ((msg->Id & (CAN_MASK_CLASS | CAN_MASK_NMT_RID)) ==
+                ((uint32_t)CAN_NMT << CAN_SHIFT_CLASS |
+                 (uint32_t)NODE_ID << CAN_SHIFT_NMT_RID)) {
-        printf("BIOS received msg!\n");
+        //printf("BIOS received msg!\n");
+        if ((msg->Id & CAN_MASK_NMT_TYPE)>>CAN_SHIFT_NMT_TYPE == CAN_NMT_RESET) {
+            reset();
+        }
+        // Copy message to bios buffer if bios is done with the previous message.
+        // This is also a check to see if bios is still running. When app is
+        // started, bios_msg_full is never reset to 0 so the check fails and all
+        // NMT communication except reset is ignored.
+        if (!(bios_msg_full)) {
+            memcpy(bios_msg_ptr, msg, sizeof(Can_Message_t));
+            bios_msg_full = 1;
+        }
     } else if (bios->can_callback) {
-        printf("Calling app callback.\n");
+        //printf("Calling app callback.\n");
         bios->can_callback(msg);
-    } else {
-        printf("BIOS received application msg but no handler installed!\n");
     }
 }
+#define BIOS_APP    1
+#define BIOS_NOAPP  2
+#define BIOS_PGM    3
 int main() {
     void (*app_reset)(void) = 0;
+    uint8_t bios_state;
+    uint8_t nmt_type;
+    uint16_t base_addr = 0;
+    uint16_t offset;
+    uint16_t addr;
+    uint8_t len;
+    uint8_t i;
+    uint16_t data;
+    Can_Message_t tx_msg;
+    Can_Message_t bios_msg;
+    bios_msg_ptr = &bios_msg;
     // Setup USART for debug channel
     UART_INIT();
     stdout = &bios_stdio;
     stdin = &bios_stdio;
     // Initialize a suitable hardware timer to create a 1KHz interrupt.
     TIMEBASE_INIT();
     // Enable watchdog timer to protect against an application locking the
     // node by leaving interrupts disabled.
     // Move interrupt vectors to start of bootloader section and enable interrupts
     IVSEL_REG = _BV(IVCE);
     IVSEL_REG = _BV(IVSEL);
     sei();
-    printf("AVR BIOS\n");
+    if (Can_Init() != CAN_OK) reset();
-    if (pgm_read_word(0) != 0xffff) {
+    tx_msg.RemoteFlag = 0;
+    tx_msg.ExtendedFlag = 1;
-        printf("Starting application.\n");
+    tx_msg.Id = CAN_ID_NMT_BIOS_START;
-        app_reset();
+    tx_msg.DataLength = 3;
-    }
-    printf("No application found.\n");
+    tx_msg.Data.words[0] = BIOS_VERSION;
-    printf("\n------------------------------------------------------------\n");
+    if (pgm_read_word(0) == 0xffff) {
-    printf(  "   CAN Test: Periodic Transmission\n");
+        // No application in flash
-    printf(  "------------------------------------------------------------\n");
+        //send CAN_NMT_BIOS_START(BIOS_VERSION, 0)
-    printf("CanInit...\n");
+        tx_msg.Data.bytes[2] = 0;
-    if (Can_Init() != CAN_OK) {
+        bios_state = BIOS_NOAPP;
-        printf("FAILED!\n");
-    }
-    else {
+    } else {
-        printf("OK!\n");
+        // Application exists
+        //send CAN_NMT_BIOS_START(BIOS_VERSION, 1)
+        tx_msg.Data.bytes[2] = 1;
+        bios_state = BIOS_APP;
     }
-    uint32_t timeStamp = 0;
+    while (Can_Send(&tx_msg) != CAN_OK);
-    Can_Message_t txMsg;
-    //The databytes are just what happens to be in the memory. They are never set.
-    txMsg.RemoteFlag = 0;
-    txMsg.ExtendedFlag = 1;
-#define NODENUMBER 2
-#if NODENUMBER == 1
-    txMsg.Id = 16;
-    txMsg.DataLength = 2;
+    tx_msg.DataLength = 2;
-#elif NODENUMBER == 2
-    txMsg.Id = 32;
-    txMsg.DataLength = 5;
-#else
-# error NODENUMBER not set!
-#endif
-    /* main loop */
+    // main loop
     while (1) {
+        // Wait for message
+        while (!bios_msg_full);
+        nmt_type = (bios_msg.Id & CAN_MASK_NMT_TYPE)>>CAN_SHIFT_NMT_TYPE;
+        switch (bios_state) {
+        case BIOS_APP:
+            if (nmt_type == CAN_NMT_START_APP) {
+                app_reset(); // Will never return
+            }
+            // Fall through
+        case BIOS_NOAPP:
+            if (nmt_type == CAN_NMT_PGM_START) {
+                // Set base address
+                base_addr = bios_msg.Data.words[0];
+                flash_init();
+                bios_state = BIOS_PGM;
+            }
+            break;
+        case BIOS_PGM:
+            if (nmt_type == CAN_NMT_PGM_DATA) {
+                // Set address = base address + offset
+                offset = bios_msg.Data.words[0];
+                addr = base_addr + offset;
+                tx_msg.Data.words[0] = offset;
+                // TODO: Check (addr + dlc) valid instead
+                if (addr < (uint16_t)&__bios_start) { //address valid
+                    //flash data at address
-        /* send CAN message and check for CAN errors once every second */
+                    len = (bios_msg.DataLength+1)/2; // Number of words in message, rounded up.
+                    for (i=1; i<len; i++) { // Skip first word (offset)
+                        data = bios_msg.Data.words[i];
+                        flash_write_word(addr, data);
+                    }
+                    //update crc
+                    //send CAN_NMT_PGM_ACK(offset)
+                    tx_msg.Id = CAN_ID_NMT_PGM_ACK;
+                } else {
+                    //send CAN_NMT_PGM_NACK(offset)
+                    tx_msg.Id = CAN_ID_NMT_PGM_NACK;
+                }
+            }
-        if ((timebase_get() - timeStamp) >= 1000) {
+            if (nmt_type == CAN_NMT_PGM_END) {
-            timeStamp = timebase_get();
+                flash_flush_buffer();
+                //check crc
+                //tx_msg.Data.words[0] = crc;
-            /* send txMsg */
+                if (1) { //crc ok
+                    //send CAN_NMT_PGM_ACK(crc)
+                    tx_msg.Id = CAN_ID_NMT_PGM_ACK;
-            txMsg.Id++;
+                } else {
+                    //send CAN_NMT_PGM_NACK(crc)
+                    tx_msg.Id = CAN_ID_NMT_PGM_NACK;
+                }
+                bios_state = BIOS_NOAPP;
+            }
-            Can_Send(&txMsg);
+            while (Can_Send(&tx_msg) != CAN_OK);
+        }
+        bios_msg_full = 0; // We're done with this message, ready for the next.
+    }
     return 0;
+}

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(root)/trunk/EmbeddedSoftware/AVR/AVR-Bios/bios.c @ 253 – Rev 250 → 253