#include "bios_funs.h"
#include "avr_cfg.h"
#include <inttypes.h>
#include <avr/io.h>
#include <avr/interrupt.h>
#include <avr/wdt.h>
#include <avr/pgmspace.h>
#ifdef BIOS_UART
#include <stdio.h>
#endif
#include <string.h>
#include <util/crc16.h>
#include "flash.h"
#include "vectors.h" // Must be included after sfr_defs.h but before any ISR()
#include "mcp2515/mcp2515.h"
//---------------------------------------------------------------------------
// Globals
volatile uint32_t 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) {
//Just loop and let the watchdog reset
cli();
while(1);
}
#ifdef BIOS_UART
void bios_putchar(char c) {
UART_PUTCHAR(c);
}
char bios_getchar(void) {
char c;
UART_GETCHAR(c)
return c;
}
#endif
unsigned long timebase_get(void) {
uint8_t sreg;
unsigned long res;
//Disable interrupts while reading tick count
sreg=SREG;
cli();
res = gMilliSecTick;
SREG=sreg;
return res;
}
// TODO: Insert can driver's Can_Send directly in bios interface.
Can_Return_t can_send(Can_Message_t* msg) {
return Can_Send(msg);
}
//---------------------------------------------------------------------------
// Function definitions for the private functions
#ifdef BIOS_UART
static int console_getchar(FILE *stream) {
return bios_getchar();
}
static int console_putchar(char c, FILE *stream) {
bios_putchar(c);
return 0;
}
static FILE bios_stdio = FDEV_SETUP_STREAM(console_putchar, console_getchar,
_FDEV_SETUP_RW);
#endif
//---------------------------------------------------------------------------
// 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->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
// 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");
bios->can_callback(msg);
}
}
#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;
#ifdef BIOS_UART
// Setup USART for debug channel
UART_INIT();
stdout = &bios_stdio;
stdin = &bios_stdio;
#endif
// 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.
wdt_enable(WDTO_500MS);
// Move interrupt vectors to start of bootloader section and enable interrupts
IVSEL_REG = _BV(IVCE);
IVSEL_REG = _BV(IVSEL);
sei();
if (Can_Init() != CAN_OK) reset();
tx_msg.RemoteFlag = 0;
tx_msg.ExtendedFlag = 1;
tx_msg.Id = CAN_ID_NMT_BIOS_START;
tx_msg.DataLength = 3;
tx_msg.Data.words[0] = BIOS_VERSION;
if (pgm_read_word(0) == 0xffff) {
// No application in flash
//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)
tx_msg.Data.bytes[2] = 1;
bios_state = BIOS_APP;
}
while (Can_Send(&tx_msg) != CAN_OK);
tx_msg.DataLength = 2;
// 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();
//send CAN_NMT_PGM_ACK(offset)
tx_msg.Id = CAN_ID_NMT_PGM_ACK;
tx_msg.Data.words[0] = base_addr;
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
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);
addr += 2;
}
//update crc //cannot update crc here, data not written yet /arune
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)
tx_msg.Id = CAN_ID_NMT_PGM_NACK;
}
}
if (nmt_type == CAN_NMT_PGM_END) {
flash_flush_buffer();
//check crc
data = bios_msg.Data.words[0];
uint16_t calccrc = 0;
for (i=0; i < offset; i++) {
calccrc = _crc16_update(calccrc, pgm_read_byte(base_addr+i));
}
tx_msg.Data.words[0] = calccrc;
if (data == calccrc) { //crc ok
//send CAN_NMT_PGM_ACK(crc)
tx_msg.Id = CAN_ID_NMT_PGM_ACK;
} else {
//send CAN_NMT_PGM_NACK(crc)
tx_msg.Id = CAN_ID_NMT_PGM_NACK;
}
bios_state = BIOS_NOAPP;
}
}
while (Can_Send(&tx_msg) != CAN_OK);
bios_msg_full = 0; // We're done with this message, ready for the next.
}
return 0;
}