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/*

 * $Id: bios.c 2032 2012-06-27 23:08:42Z pengi $

 */

#include <inttypes.h>

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/wdt.h>

#include <avr/pgmspace.h>

#include <string.h>

#include <util/crc16.h>

#include <config.h>

#include <vectors.h> // Must be included after sfr_defs.h but before any ISR()

#include <drivers/can/can.h>

#include <flash.h>

#include <bios_export.h>

#include CAN_DRIVER_H

#if !defined( NODE_HW_ID )

#error No NODE_HW_ID in bios.inc, set NODE_HW_ID=<GENERATE_HW> and Ill generate it for you

#endif

#if defined(__AVR_ATmega8__)

#define IVSEL_REG GICR

#elif defined(__AVR_ATmega88__) || defined(__AVR_ATmega168__) || defined(__AVR_ATmega168P__) || defined(__AVR_ATmega328P__)

#define IVSEL_REG MCUCR

#else

#error AVR device not supported!

#endif

/* DEVICETYPE is sent in bios start frame */

#if defined(__AVR_ATmega8__)

#define DEVICETYPE 1

#elif defined(__AVR_ATmega88__)

#define DEVICETYPE 3

#elif defined(__AVR_ATmega168__) || defined(__AVR_ATmega168P__)

#define DEVICETYPE 4

#elif defined(__AVR_ATmega328P__)

#define DEVICETYPE 5

#else

#error AVR device not supported!

#endif

#if defined(AUTOSTART)

#if AUTOSTART == 0

#error Please choose a higher AUTOSTART value in bios.inc, the nod will cease to work, and you can only reflash node with ISP

#endif

#if AUTOSTART == 1

#error Please choose a higher AUTOSTART value in bios.inc, there might be problems with updating software on node

#endif

#endif

//---------------------------------------------------------------------------

// Private declarations

volatile uint8_t bios_msg_full;

Can_Message_t* bios_msg_ptr; // only a pointer to main-local structure to save .bss space

extern char __bios_start; // Start of BIOS area in flash, from ld-script.

prog_uint32_t hwid = NODE_HW_ID;

#if defined(AUTOSTART)

uint8_t autostart_cnt;

#endif

#define BIOS_APP     1

#define BIOS_NOAPP   2

#define BIOS_PGM     3

#define BIOS_END_PGM 4

//---------------------------------------------------------------------------

// Private functions

void Can_Process(Can_Message_t* msg) {

    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 defined(AUTOSTART)

            autostart_cnt++;

#endif

        }

        if (((msg->Id & CAN_MASK_NMT_TYPE)>>CAN_SHIFT_NMT_TYPE) == CAN_NMT_RESET

                && msg->DataLength == 4

                && msg->Data.bytes[0] == (hwid&0xff)

                && msg->Data.bytes[1] == ((hwid>>8)&0xff)

                && msg->Data.bytes[2] == ((hwid>>16)&0xff)

                && msg->Data.bytes[3] == ((hwid>>24)&0xff)) {

            BIOS_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;

        }

    }

    if (BIOS_CanCallback) {

        //printf("Calling app callback.\n");

        BIOS_CanCallback(msg);

    }

}

int main(void) {

    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];

    // 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 = 0;

    uint8_t len;

    uint16_t data;

    uint8_t send_msg = 0;

    Can_Message_t tx_msg;

    Can_Message_t bios_msg;

    bios_msg_ptr = &bios_msg;

#if defined(AUTOSTART)

    autostart_cnt = 0;

#endif

    // Enable watchdog timer to protect against an application locking the

    // node by leaving interrupts disabled.

    wdt_enable(WDTO_2S);

    // 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) BIOS_Reset();

#if defined(INITDDRB)

    DDRB=INITDDRB;

#endif

#if defined(INITDDRC)

    DDRC=INITDDRC;

#endif

#if defined(INITDDRD)

    DDRD=INITDDRD;

#endif

#if defined(INITPORTB)

    PORTB=INITPORTB;

#endif

#if defined(INITPORTC)

    PORTC=INITPORTC;

#endif

#if defined(INITPORTD)

    PORTD=INITPORTD;

#endif

#if defined(INITPINB)

    PINB=INITPINB;

#endif

#if defined(INITPINC)

    PINC=INITPINC;

#endif

#if defined(INITPIND)

    PIND=INITPIND;

#endif

    tx_msg.RemoteFlag = 0;

    tx_msg.ExtendedFlag = 1;

    tx_msg.Id = CAN_ID_NMT_BIOS_START;

    tx_msg.DataLength = 8;

    tx_msg.Data.bytes[0] = BIOS_VERSION&0xff;

    tx_msg.Data.bytes[1] = (BIOS_VERSION>>8)&0xff;

    tx_msg.Data.bytes[3] = DEVICETYPE;

    tx_msg.Data.bytes[4] = hwid&0xff;

    tx_msg.Data.bytes[5] = (hwid>>8)&0xff;

    tx_msg.Data.bytes[6] = (hwid>>16)&0xff;

    tx_msg.Data.bytes[7] = (hwid>>24)&0xff;

    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; // All msg sent after BIOS_START are length 2 so set it once.

    // Main loop

    while (1) {

        // Wait for message

        while (!bios_msg_full) {

#if defined(AUTOSTART)

            if (bios_state == BIOS_APP && autostart_cnt == AUTOSTART) {

                app_reset();

            }

#endif

        }

        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) {

            if (nmt_type == CAN_NMT_START_APP

                    && bios_msg.DataLength == 4

                    && bios_msg.Data.bytes[0] == (hwid&0xff)

                    && bios_msg.Data.bytes[1] == ((hwid>>8)&0xff)

                    && bios_msg.Data.bytes[2] == ((hwid>>16)&0xff)

                    && bios_msg.Data.bytes[3] == ((hwid>>24)&0xff)) {

                app_reset(); // Will never return

            }

            // Fall through

        case BIOS_NOAPP:

            //if (nmt_type == CAN_NMT_PGM_START) {

            if (nmt_type == CAN_NMT_PGM_START

                    && bios_msg.DataLength == 8

                    && bios_msg.Data.bytes[4] == (hwid&0xff)

                    && bios_msg.Data.bytes[5] == ((hwid>>8)&0xff)

                    && bios_msg.Data.bytes[6] == ((hwid>>16)&0xff)

                    && bios_msg.Data.bytes[7] == ((hwid>>24)&0xff)) {

                // Set base address

                base_addr = bios_msg.Data.words[0];

                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;

            }

            break;

        case BIOS_PGM:

            // Default to send CAN_NMT_PGM_ACK(offset)

            tx_msg.Id = CAN_ID_NMT_PGM_ACK;

            if (nmt_type == CAN_NMT_PGM_DATA) {

                // 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;

                // Flash all data sent, beginning at addr.

                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).

                    // 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];

                    flash_write_word(addr, data);

                    addr += 2;

                }

                // Adjust addr if an odd number of bytes were sent, for use in crc calc.

                addr -= bios_msg.DataLength & 1;

            }

            if (nmt_type == CAN_NMT_PGM_END) {

                // Make sure a partly filled page will be flashed.

                flash_flush_buffer();

                // 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 loc, crc = 0;

                for (loc = base_addr; loc < addr; loc++) { // addr will be last location written + 2.

                    crc = _crc16_update(crc, pgm_read_byte(loc));

                }

                tx_msg.Data.words[0] = crc;

                send_msg = 1;

                bios_state = BIOS_END_PGM;

            }

            break;

        case BIOS_END_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.

                flash_copy_data(bios_msg.Data.words[0],

                                bios_msg.Data.words[1],

                                bios_msg.Data.words[2]);

                // flash_copy_data will never return.

            }

        }

        if (send_msg) {

            while (Can_Send(&tx_msg) != CAN_OK);

            send_msg = 0;

        }

        bios_msg_full = 0; // We're done with this message, ready for the next.

    }

    return 0;

}