WebSVN – HomeAutomation – Diff – /trunk/EmbeddedSoftware/PIC/canBoot/Source/Main.c



 *
 *                  Main application
 *
 *********************************************************************
 * FileName:        $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBoot/Source/Main.c $
 * Last changed:    $LastChangedDate: 2006-11-15 09:41:08 +0100 (Wed, 15 Nov 2006) $
 * By:              $LastChangedBy: johboh $
 * Revision:        $Revision: 101 $
 ********************************************************************/
 
#include <compiler.h>
#include <stackTasks.h>
#include <CANdefs.h>
#include <CAN.h>
#include <boot.h>
#include <funcdefs.h>
#include <EEaccess.h>
 
/** V E C T O R  R E M A P P I N G *******************************************/
 
#pragma code _HIGH_INTERRUPT_VECTOR = 0x000008
void _high_ISR (void)

#ifdef USE_CAN
    #include <CAN.h>
#endif
 
static CAN_PROTO_MESSAGE cm;
 
static DWORD cnt =0;
 
static void mainInit(void);
static BOOL canGetPacket(void);
void TBLWT_Func(void);

 
DWORD tickCounter = 0;
DWORD tickSubCounter = 0;
 
DWORD tickGet(void);
 
static int MY_ID = DEFAULT_ID;
static BYTE MY_NID = DEFAULT_NID;
 
void main()
{
    static PROGRAM_STATE pgs = pgsWATING_START;
    static DWORD t = 0;
    static WORD programmerSid=0;
   
    static BYTE errMsg = ACK_ERR_NO_ERROR;
    static PROGRAM_STATE afterAckPgs = pgsWATING_START;
    static DWORD pgmAddress = 0;
    static BYTE bytesReceived = 0;
 
    DWORD tBoot;
   
    static BYTE pgmData[64];
 
 
 
    // Inits
    mainInit();
 
    #ifdef USE_CAN
        canInit();
    #endif
 
    tBoot = tickGet();
   
    // Read ID and NID if exist.
    if (EERead(NODE_ID_EE)==NODE_HAS_ID)
    {
        MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);
        MY_NID=EERead(NODE_ID_EE + 3);
    }
 
 
    for(;;)
    {
        BYTE i;

 
        switch(pgs)
        {
            case pgsWATING_START:
                // Check if there is bootloader start packet
                if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_INIT && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID && cm.nid==MY_NID)
                {
                    // Has new start packet
                    pgmAddress      = (((DWORD)cm.data[BOOT_DATA_ADDRU_INDEX])<<16)+(((DWORD)cm.data[BOOT_DATA_ADDRH_INDEX])<<8)+((DWORD)cm.data[BOOT_DATA_ADDRL_INDEX]);
                    programmerSid   = cm.sid;
                    t               = tickGet();
                    errMsg          = ACK_ERR_NO_ERROR;
                    afterAckPgs     = pgsWAIT_FIRST_PGM_PACKET;
                    pgs             = pgsSEND_ACK;
                    // save pgm adress.
                   
                }

                outCm.funct             = FUNCT_BOOTLOADER;
                outCm.funcc             = FUNCC_BOOT_ACK;
                outCm.nid               = MY_NID;
                outCm.sid               = MY_ID;
                outCm.data_length       = 8;
                outCm.data[BOOT_DATA_ERR_INDEX] = errMsg;
                t                       = tickGet();
                pgs                     = afterAckPgs;
 
                while(!canSendMessage(outCm,PRIO_HIGH));
            break;

            case pgsWAIT_FIRST_PGM_PACKET:
                // wait for first pgm packet.
                if ((tickGet()-t)>PACKET_TIMEOUT)
                {
                    // Timeout, resend ack.
                    errMsg          = ACK_ERR_NO_ERROR;
                    afterAckPgs     = pgsWAIT_FIRST_PGM_PACKET;
                    pgs             = pgsSEND_ACK;
                }
 
                // If programming packet...

                // If adress packet (control packet)..
                if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_ADDR && cm.nid==MY_NID && cm.sid==programmerSid)
                {
                    // Send ack and goto wait first packet.
                    // save adress.
                    errMsg          = ACK_ERR_NO_ERROR;
                    afterAckPgs     = pgsWAIT_FIRST_PGM_PACKET;
                    pgs             = pgsSEND_ACK;
                }
               
                // If end packet...

                    // If 64, write.
 
                    if (bytesReceived==0)
                    {
                        // No received, done.
                        errMsg          = ACK_ERR_NO_ERROR;
                        afterAckPgs     = pgsDONE;
                        pgs             = pgsSEND_ACK;
                    }
                    else if (bytesReceived!=64)
                    {
                        errMsg          = ACK_ERR_ERROR;
                        afterAckPgs     = pgsWAIT_FIRST_PGM_PACKET;
                        pgs             = pgsSEND_ACK;
                    }
                    else
                    {

                // Write program and send ack.
 
                // Check addr limit
                if (pgmAddress<RM_RESET_VECTOR)
                {              
                    errMsg          = ACK_ERR_ERROR;
                    pgs             = pgsSEND_ACK;
                    //Not allowed to write here!
                   
                }
 

                // disable write to memory
                EECON1bits.WREN = 0;
 
                pgmAddress     += 64;
                bytesReceived   = 0;
                errMsg          = ACK_ERR_NO_ERROR;
                pgs             = pgsSEND_ACK;
 
            break;
 
 

Rev 96	Rev 101
Line 2...	Line 2...
2	*	2	*
3	* Main application	3	* Main application
4	*	4	*
5	*********************************************************************	5	*********************************************************************
6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBoot/Source/Main.c $	6	* FileName: $HeadURL: https://svn.auml.se/svn/HomeAutomation/trunk/EmbeddedSoftware/PIC/canBoot/Source/Main.c $
7	* Last changed: $LastChangedDate: 2006-11-14 21:11:45 +0100 (~~Tue,~~ 14 Nov 2006) $	7	* Last changed: $LastChangedDate: 2006-11-15 09:41:08 +0100 (Wed, 15 Nov 2006) $
8	* By: $LastChangedBy: johboh $	8	* By: $LastChangedBy: johboh $
9	* Revision: $Revision: 96 $	9	* Revision: $Revision: 101 $
10	********************************************************************/	10	********************************************************************/
11		11
12	#include <compiler.h>	12	#include <compiler.h>
13	#include <stackTasks.h>	13	#include <stackTasks.h>
14	#include <CANdefs.h>	14	#include <CANdefs.h>
15	#include <CAN.h>	15	#include <CAN.h>
16	#include <boot.h>	16	#include <boot.h>
17	#include <funcdefs.h>	17	#include <funcdefs.h>
-		18	#include <EEaccess.h>
18		19
19	/ V E C T O R R E M A P P I N G *****************************************/	20	/ V E C T O R R E M A P P I N G *****************************************/
20		21
21	#pragma code _HIGH_INTERRUPT_VECTOR = 0x000008	22	#pragma code _HIGH_INTERRUPT_VECTOR = 0x000008
22	void _high_ISR (void)	23	void _high_ISR (void)
Line 36...	Line 37...
36	#ifdef USE_CAN	37	#ifdef USE_CAN
37	#include <CAN.h>	38	#include <CAN.h>
38	#endif	39	#endif
39		40
40	static CAN_PROTO_MESSAGE cm;	41	static CAN_PROTO_MESSAGE cm;
41	static BYTE ful=0;	-
42	static DWORD cnt =0;	42	static DWORD cnt =0;
43		43
44	static void mainInit(void);	44	static void mainInit(void);
45	static BOOL canGetPacket(void);	45	static BOOL canGetPacket(void);
46	void TBLWT_Func(void);	46	void TBLWT_Func(void);
Line 53...	Line 53...
53		53
54	DWORD tickCounter = 0;	54	DWORD tickCounter = 0;
55	DWORD tickSubCounter = 0;	55	DWORD tickSubCounter = 0;
56		56
57	DWORD tickGet(void);	57	DWORD tickGet(void);
-		58
-		59	static int MY_ID = DEFAULT_ID;
-		60	static BYTE MY_NID = DEFAULT_NID;
58		61
59	void main()	62	void main()
60	{	63	{
61	static PROGRAM_STATE pgs = pgsWATING_START;	64	static PROGRAM_STATE pgs = pgsWATING_START;
62	static DWORD t = 0;	65	static DWORD t = 0;
63	static WORD programmerSid=0;	66	static WORD programmerSid=0;
64		67
65	static BYTE errMsg = ~~ERR_NO_ERROR~~;	68	static BYTE errMsg = ACK_ERR_NO_ERROR;
66	static PROGRAM_STATE afterAckPgs = pgsWATING_START;	69	static PROGRAM_STATE afterAckPgs = pgsWATING_START;
67	static DWORD pgmAddress = 0;	70	static DWORD pgmAddress = 0;
68	static BYTE bytesReceived = 0;	71	static BYTE bytesReceived = 0;
69		72
70	DWORD tBoot;	73	DWORD tBoot;
71		74
72	static BYTE pgmData[64];	75	static BYTE pgmData[64];
73		76
74	static BYTE tmp;	-
75		-
76	// Inits	77	// Inits
77	mainInit();	78	mainInit();
78		79
79	#ifdef USE_CAN	80	#ifdef USE_CAN
80	canInit();	81	canInit();
81	#endif	82	#endif
82		83
83	tBoot = tickGet();	84	tBoot = tickGet();
-		85
-		86	// Read ID and NID if exist.
-		87	if (EERead(NODE_ID_EE)==NODE_HAS_ID)
-		88	{
-		89	MY_ID=(((WORD)EERead(NODE_ID_EE + 1))<<8)+EERead(NODE_ID_EE + 2);
-		90	MY_NID=EERead(NODE_ID_EE + 3);
-		91	}
84		92
85		93
86	for(;;)	94	for(;;)
87	{	95	{
88	BYTE i;	96	BYTE i;
Line 99...	Line 107...
99		107
100	switch(pgs)	108	switch(pgs)
101	{	109	{
102	case pgsWATING_START:	110	case pgsWATING_START:
103	// Check if there is bootloader start packet	111	// Check if there is bootloader start packet
104	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_INIT && ((((unsigned int)cm.data[~~RID_HIGH_INDEX~~])<<8)+cm.data[~~RID_LOW_INDEX~~])==MY_ID && cm.nid==MY_NID)	112	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_INIT && ((((unsigned int)cm.data[BOOT_DATA_RID_HIGH_INDEX])<<8)+cm.data[BOOT_DATA_RID_LOW_INDEX])==MY_ID && cm.nid==MY_NID)
105	{	113	{
106	// Has new start packet	114	// Has new start packet
107	pgmAddress = (((DWORD)cm.data[~~ADDRU_INDEX~~])<<16)+(((DWORD)cm.data[~~ADDRH_INDEX~~])<<8)+((DWORD)cm.data[~~ADDRL_INDEX~~]);	115	pgmAddress = (((DWORD)cm.data[BOOT_DATA_ADDRU_INDEX])<<16)+(((DWORD)cm.data[BOOT_DATA_ADDRH_INDEX])<<8)+((DWORD)cm.data[BOOT_DATA_ADDRL_INDEX]);
108	programmerSid = cm.sid;	116	programmerSid = cm.sid;
109	t = tickGet();	117	t = tickGet();
110	errMsg = ~~ERR_NO_ERROR~~;	118	errMsg = ACK_ERR_NO_ERROR;
111	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	119	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
112	pgs = pgsSEND_ACK;	120	pgs = pgsSEND_ACK;
113	// save pgm adress.	121	// save pgm adress.
114		122
115	}	123	}
Line 126...	Line 134...
126	outCm.funct = FUNCT_BOOTLOADER;	134	outCm.funct = FUNCT_BOOTLOADER;
127	outCm.funcc = FUNCC_BOOT_ACK;	135	outCm.funcc = FUNCC_BOOT_ACK;
128	outCm.nid = MY_NID;	136	outCm.nid = MY_NID;
129	outCm.sid = MY_ID;	137	outCm.sid = MY_ID;
130	outCm.data_length = 8;	138	outCm.data_length = 8;
131	outCm.data[~~ERR_INDEX~~] = errMsg;	139	outCm.data[BOOT_DATA_ERR_INDEX] = errMsg;
132	t = tickGet();	140	t = tickGet();
133	pgs = afterAckPgs;	141	pgs = afterAckPgs;
134		142
135	while(!canSendMessage(outCm,PRIO_HIGH));	143	while(!canSendMessage(outCm,PRIO_HIGH));
136	break;	144	break;
Line 139...	Line 147...
139	case pgsWAIT_FIRST_PGM_PACKET:	147	case pgsWAIT_FIRST_PGM_PACKET:
140	// wait for first pgm packet.	148	// wait for first pgm packet.
141	if ((tickGet()-t)>PACKET_TIMEOUT)	149	if ((tickGet()-t)>PACKET_TIMEOUT)
142	{	150	{
143	// Timeout, resend ack.	151	// Timeout, resend ack.
144	errMsg = ~~ERR_NO_ERROR~~;	152	errMsg = ACK_ERR_NO_ERROR;
145	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	153	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
146	pgs = pgsSEND_ACK;	154	pgs = pgsSEND_ACK;
147	}	155	}
148		156
149	// If programming packet...	157	// If programming packet...
Line 181...	Line 189...
181	// If adress packet (control packet)..	189	// If adress packet (control packet)..
182	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_ADDR && cm.nid==MY_NID && cm.sid==programmerSid)	190	if (hasPacket==TRUE && cm.funct==FUNCT_BOOTLOADER && cm.funcc==FUNCC_BOOT_ADDR && cm.nid==MY_NID && cm.sid==programmerSid)
183	{	191	{
184	// Send ack and goto wait first packet.	192	// Send ack and goto wait first packet.
185	// save adress.	193	// save adress.
186	errMsg = ~~ERR_NO_ERROR~~;	194	errMsg = ACK_ERR_NO_ERROR;
187	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	195	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
188	pgs = pgsSEND_ACK;	196	pgs = pgsSEND_ACK;
189	}	197	}
190		198
191	// If end packet...	199	// If end packet...
Line 197...	Line 205...
197	// If 64, write.	205	// If 64, write.
198		206
199	if (bytesReceived==0)	207	if (bytesReceived==0)
200	{	208	{
201	// No received, done.	209	// No received, done.
202	errMsg = ~~ERR_NO_ERROR~~;	210	errMsg = ACK_ERR_NO_ERROR;
203	afterAckPgs = pgsDONE;	211	afterAckPgs = pgsDONE;
204	pgs = pgsSEND_ACK;	212	pgs = pgsSEND_ACK;
205	}	213	}
206	else if (bytesReceived!=64)	214	else if (bytesReceived!=64)
207	{	215	{
208	errMsg = ~~ERR_ERROR~~;	216	errMsg = ACK_ERR_ERROR;
209	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;	217	afterAckPgs = pgsWAIT_FIRST_PGM_PACKET;
210	pgs = pgsSEND_ACK;	218	pgs = pgsSEND_ACK;
211	}	219	}
212	else	220	else
213	{	221	{
Line 236...	Line 244...
236	// Write program and send ack.	244	// Write program and send ack.
237		245
238	// Check addr limit	246	// Check addr limit
239	if (pgmAddress<RM_RESET_VECTOR)	247	if (pgmAddress<RM_RESET_VECTOR)
240	{	248	{
241	errMsg = ~~ERR_ERROR~~;	249	errMsg = ACK_ERR_ERROR;
242	pgs = pgsSEND_ACK;	250	pgs = pgsSEND_ACK;
243	//Not allowed to write here!	251	//Not allowed to write here!
244		252
245	}	253	}
246		254
Line 303...	Line 311...
303	// disable write to memory	311	// disable write to memory
304	EECON1bits.WREN = 0;	312	EECON1bits.WREN = 0;
305		313
306	pgmAddress += 64;	314	pgmAddress += 64;
307	bytesReceived = 0;	315	bytesReceived = 0;
308	errMsg = ~~ERR_NO_ERROR~~;	316	errMsg = ACK_ERR_NO_ERROR;
309	pgs = pgsSEND_ACK;	317	pgs = pgsSEND_ACK;
310		318
311	break;	319	break;
312		320
313		321

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