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

     gMilliSecTick++;
     wdt_reset();
+}
 void Can_Process(Can_Message_t* msg) {
-    if (!(msg->ExtendedFlag)) return;
+    if (!(msg->ExtendedFlag)) return; // We don't care about standard CAN frames.
+    if ((msg->Id & CAN_MASK_CLASS)>>CAN_SHIFT_CLASS == CAN_NMT) {
+        if ((msg->Id & CAN_MASK_NMT_TYPE)>>CAN_SHIFT_NMT_TYPE == CAN_NMT_TIME) {
+            // Reset watchdog as long as time messages from the master node
+            // are received periodically. If anything hangs the CAN communication
+            // or the master node is not up, the node will be reset.
+            wdt_reset();
+            //TODO: Don't care about time right now... Figure out what to do with it.
+        }
+        if ((msg->Id & CAN_MASK_NMT_RID)>>CAN_SHIFT_NMT_RID == NODE_ID) {
-    if ((msg->Id & CAN_MASK_CLASS) == ((uint32_t)CAN_NMT << CAN_SHIFT_CLASS)) {
-        if ((msg->Id & CAN_MASK_NMT_RID) == ((uint32_t)NODE_ID << CAN_SHIFT_NMT_RID)) {
-            //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
             // 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");
         bios->can_callback(msg);
+    }
 }
 #define BIOS_APP    1
 #define BIOS_NOAPP  2
 #define BIOS_PGM    3
 int main() {
-    void (*app_reset)(void) = 0;
+    void (*app_reset)(void) = 0; // Function pointer to jump to application reset vector.
     uint8_t bios_state;
     uint8_t nmt_type;
+    uint8_t pagebuf[SPM_PAGESIZE];
-    // This unneccessary initialization uses 8 bytes flash, just to make the compiler happy!
+    // These unneccessary initializations uses 12 bytes flash, just to make the compiler happy!
     uint16_t base_addr = 0;
     uint16_t offset = 0;
-    uint16_t addr;
+    uint16_t addr = 0;
     uint8_t len;
-    uint16_t i;
     uint16_t data;
     uint8_t send_msg = 0;
     Can_Message_t tx_msg;
     Can_Message_t bios_msg;
     bios_msg_ptr = &bios_msg;
     stdout = &bios_stdio;
     stdin = &bios_stdio;
 #endif
     // Initialize a suitable hardware timer to create a 1KHz interrupt.
+    //TODO: Any point in having timebase in bios after wdt_reset() is moved to Can_Process?
     TIMEBASE_INIT();
     // Enable watchdog timer to protect against an application locking the
     // node by leaving interrupts disabled.
-    wdt_enable(WDTO_500MS);
+    wdt_enable(WDTO_2S);
     // Move interrupt vectors to start of bootloader section and enable interrupts
     IVSEL_REG = _BV(IVCE);
     IVSEL_REG = _BV(IVSEL);
     sei();
 #ifdef BIOS_UART
     printf("BIOS start\n");
 #endif
     if (pgm_read_word(0) == 0xffff) {
         // No application in flash
-        //send CAN_NMT_BIOS_START(BIOS_VERSION, 0)
+        // Send CAN_NMT_BIOS_START(BIOS_VERSION, 0)
         tx_msg.Data.bytes[2] = 0;
         bios_state = BIOS_NOAPP;
     } else {
         // Application exists
-        //send CAN_NMT_BIOS_START(BIOS_VERSION, 1)
+        // Send CAN_NMT_BIOS_START(BIOS_VERSION, 1)
         tx_msg.Data.bytes[2] = 1;
         bios_state = BIOS_APP;
+    }
     while (Can_Send(&tx_msg) != CAN_OK);
-    tx_msg.DataLength = 2;
+    tx_msg.DataLength = 2; // All msg sent after BIOS_START are length 2 so set it once.
-    // 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) {
             // Fall through
         case BIOS_NOAPP:
             if (nmt_type == CAN_NMT_PGM_START) {
                 // Set base address
                 base_addr = bios_msg.Data.words[0];
-                flash_init();
+                flash_init(pagebuf);
                 //send CAN_NMT_PGM_ACK(offset)
                 tx_msg.Id = CAN_ID_NMT_PGM_ACK;
                 tx_msg.Data.words[0] = base_addr;
                 send_msg = 1;
                 bios_state = BIOS_PGM;
+            }
             if (nmt_type == CAN_NMT_PGM_COPY) {
                 // For BIOS updating over CAN. Upload bios to application area,
                 // send this message with correct parameters to copy data from
                 // application to bios area and pray it will come alive again.
-                // Make extra really super sure that the .bootloader section is
-                // EXACTLY the same, except for the vector table (which MUST be
-                // updated) or go get your ISP.
                 flash_copy_data(bios_msg.Data.words[0],
                                 bios_msg.Data.words[1],
                                 bios_msg.Data.words[2]);
                 // flash_copy_data will never return.
+            }
             break;
         case BIOS_PGM:
             if (nmt_type == CAN_NMT_PGM_DATA) {
-                // Set address = base address + offset
+                // Set address = base address + offset.
                 offset = bios_msg.Data.words[0];
                 addr = base_addr + offset;
+                // One of ACK and NACK will be sent, both have offset as data.
                 tx_msg.Data.words[0] = offset;
+                send_msg = 1;
-                // TODO: Check (addr + dlc) valid instead
+                // Default to send CAN_NMT_PGM_ACK(offset)
-                if (addr < (uint16_t)&__bios_start) { //address valid
+                tx_msg.Id = CAN_ID_NMT_PGM_ACK;
-                    //flash data at address
+                // Flash all data sent, beginning at addr.
-                    len = (bios_msg.DataLength+1)/2; // Number of words in message, rounded up.
+                len = (bios_msg.DataLength+1)/2; // Number of words in message, rounded up.
+                uint8_t i;
-                    for (i=1; i<len; i++) { // Skip first word (offset)
+                for (i=1; i<len; i++) { // Skip first word (offset).
+                    // Abort if trying to write in BIOS area.
+                    if (addr >= (uint16_t)&__bios_start) {
+                        // Send CAN_NMT_PGM_NACK(offset).
+                        tx_msg.Id = CAN_ID_NMT_PGM_NACK;
+                        break; //for loop
+                    }
-                        data = bios_msg.Data.words[i];
+                    data = bios_msg.Data.words[i];
-                        flash_write_word(addr, data);
+                    flash_write_word(addr, data);
-                        addr += 2;
+                    addr += 2;
-                    }
+                }
-                    //update crc //cannot update crc here, data not written yet /arune
+                // Adjust addr if an odd number of bytes were sent, for use in crc calc.
-                    offset += bios_msg.DataLength - 2;  //let offset be last address to simplify crc calc later
-                    //send CAN_NMT_PGM_ACK(offset)
-                    tx_msg.Id = CAN_ID_NMT_PGM_ACK;
-                } else {
-                    //send CAN_NMT_PGM_NACK(offset)
+                addr -= bios_msg.DataLength & 1;
-                    tx_msg.Id = CAN_ID_NMT_PGM_NACK;
-                }
-                send_msg = 1;
+            }
             if (nmt_type == CAN_NMT_PGM_END) {
+                // Make sure a partly filled page will be flashed.
                 flash_flush_buffer();
-                //check crc
+                // Calculate crc on written data.
+                //TODO: This will not work if data is not sent sequentially without
+                // holes, starting with offset=0. We might want to send a NACK if the
+                // offset in a CAN_NMT_PGM_DATA msg differs from the expected offset.
-                uint16_t calccrc = 0;
+                uint16_t loc, crc = 0;
-                for (i=0; i < offset; i++) {
+                for (loc = base_addr; loc < addr - 2; loc++) { // addr will be last location written + 2.
-                    calccrc = _crc16_update(calccrc, pgm_read_byte(base_addr+i));
+                    crc = _crc16_update(crc, pgm_read_byte(loc));
+                }
-                tx_msg.Data.words[0] = calccrc;
+                tx_msg.Data.words[0] = crc;
                 tx_msg.Id = CAN_ID_NMT_PGM_ACK;
                 send_msg = 1;
                 bios_state = BIOS_NOAPP;
+            }
+        }

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