diff --git a/.gitignore b/.gitignore index 0e727de..6622b31 100644 --- a/.gitignore +++ b/.gitignore @@ -1,6 +1,3 @@ -# Directories -doc - # AVR temp files *.srec *.s diff --git a/doc/ioc.md b/doc/ioc.md new file mode 100644 index 0000000..eb7af23 --- /dev/null +++ b/doc/ioc.md @@ -0,0 +1,11 @@ +# IOC + +## Firmware +### General +* All serial links run at 19200 baud + +### Bootloader +* The bootloader is a standard Arduino bootloader with the following additions + * Use ASCII command 'X' to enable loop-through mode. Everything received on UART RX will be forwarded to UART TX until the next reset. + * Use ASCII command 'Z' to immediately launch into the user firmware +* Use the following avrdude command to program: `avrdude -p m8 -P /dev/ttyUSBx -c arduino -b 19200 -U flash:w:$(TARGET).hex` diff --git a/ioc/avr-bootloader/main.c b/ioc/avr-bootloader/main.c index 8c8d22a..805005a 100644 --- a/ioc/avr-bootloader/main.c +++ b/ioc/avr-bootloader/main.c @@ -7,6 +7,7 @@ /* */ /* Hacked by DojoCorp - ZGZ - MMX - IVR */ /* Hacked by David A. Mellis */ +/* Hacked by Markus Koch */ /* */ /* This program is free software; you can redistribute it */ /* and/or modify it under the terms of the GNU General */ @@ -38,19 +39,7 @@ #include #include -//#define F_CPU 16000000 - -/* We, Malmoitians, like slow interaction - * therefore the slow baud rate ;-) - */ -//#define BAUD_RATE 9600 - -/* 6.000.000 is more or less 8 seconds at the - * speed configured here - */ -//#define MAX_TIME_COUNT 6000000 #define MAX_TIME_COUNT (F_CPU>>1) -///#define MAX_TIME_COUNT_MORATORY 1600000 /* SW_MAJOR and MINOR needs to be updated from time to time to avoid warning message from AVR Studio */ #define HW_VER 0x02 @@ -61,18 +50,18 @@ // avr-gcc compiler v3.1.x and older doesn't support outb() and inb() // if necessary, convert outb and inb to outp and inp #ifndef outb - #define outb(sfr,val) (_SFR_BYTE(sfr) = (val)) +#define outb(sfr,val) (_SFR_BYTE(sfr) = (val)) #endif #ifndef inb - #define inb(sfr) _SFR_BYTE(sfr) +#define inb(sfr) _SFR_BYTE(sfr) #endif /* defines for future compatibility */ #ifndef cbi - #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) +#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) #endif #ifndef sbi - #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) +#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) #endif /* Adjust to suit whatever pin your hardware uses to enter the bootloader */ @@ -80,12 +69,6 @@ #define eeprom_rw(addr) eeprom_read_word ((uint16_t *)(addr)) #define eeprom_wb(addr, val) eeprom_write_byte ((uint8_t *)(addr), (uint8_t)(val)) -/* Onboard LED is connected to pin PB5 */ -#define LED_DDR DDRB -#define LED_PORT PORTB -#define LED_PIN PINB -#define LED PINB5 - #define SIG1 0x1E // Yep, Atmel is the only manufacturer of AVR micros. Single source :( #define SIG2 0x93 @@ -100,18 +83,18 @@ void byte_response(uint8_t); void nothing_response(void); union address_union { - uint16_t word; - uint8_t byte[2]; + uint16_t word; + uint8_t byte[2]; } address; union length_union { - uint16_t word; - uint8_t byte[2]; + uint16_t word; + uint8_t byte[2]; } length; struct flags_struct { - unsigned eeprom : 1; - unsigned rampz : 1; + unsigned eeprom : 1; + unsigned rampz : 1; } flags; uint8_t buff[256]; @@ -127,81 +110,50 @@ void (*app_start)(void) = 0x0000; int main(void) { - uint8_t ch,ch2; - uint16_t w; + uint8_t ch,ch2; + uint16_t w; - //cbi(BL_DDR,BL); - //sbi(BL_PORT,BL); + /* Disable interrupts */ + cli(); - asm volatile("nop\n\t"); + /* Pre-init I/O */ + DDRB = 0; + DDRC = 0; + DDRD = 0; + PORTB = 0; + PORTC = 0; + PORTD = 0; - /* check if flash is programmed already, if not start bootloader anyway */ - //if(pgm_read_byte_near(0x0000) != 0xFF) { + asm volatile("nop\n\t"); - /* check if bootloader pin is set low */ - //if(bit_is_set(BL_PIN,BL)) app_start(); - //} + /* initialize UART(s) depending on CPU defined */ + /* m8 */ + UBRRH = (((F_CPU/BAUD_RATE)/16)-1)>>8; // set baud rate + UBRRL = (((F_CPU/BAUD_RATE)/16)-1); + UCSRB = (1<>8; // set baud rate - UBRRL = (((F_CPU/BAUD_RATE)/16)-1); - UCSRB = (1<> 8; - //UCSRA = 0x00; - //UCSRC = 0x86; - //UCSRB = _BV(TXEN)|_BV(RXEN); - - - /* this was giving uisp problems, so I removed it; without it, the boot - works on with uisp and avrdude on the mac (at least). */ - //putch('\0'); - - //uint32_t l; - //uint32_t time_count; - //time_count=0; - - /* set LED pin as output */ - sbi(LED_DDR,LED); for (i = 0; i < 16; i++) { - outb(LED_PORT, inb(LED_PORT) ^ _BV(LED)); _delay_loop_2(0); } - - //for (l=0; l<40000000; l++) - //outb(LED_PORT, inb(LED_PORT) ^= _BV(LED)); - /* flash onboard LED three times to signal entering of bootloader */ - //for(i=0; i<3; ++i) { - //for(l=0; l<40000000; ++l); - //sbi(LED_PORT,LED); - //for(l=0; l<40000000; ++l); - //cbi(LED_PORT,LED); - //} - - /* see comment at previous call to putch() */ - //putch('\0'); // this line is needed for the synchronization of the programmer - - /* forever */ - for (;;) { - //if((inb(UCSRA) & _BV(RXC))){ - /* get character from UART */ + /* forever */ + for (;;) { + //if ((inb(UCSRA) & _BV(RXC))){ + /* get character from UART */ ch = getch(); /* A bunch of if...else if... gives smaller code than switch...case ! */ - - /* Hello is anyone home ? */ - if(ch=='0') { - nothing_response(); + + /* Hello is anyone home ? */ + if (ch == '0') { + nothing_response(); } - + /* Request programmer ID */ /* Not using PROGMEM string due to boot block in m128 being beyond 64kB boundry */ /* Would need to selectively manipulate RAMPZ, and it's only 9 characters anyway so who cares. */ - else if(ch=='1') { + else if (ch == '1') { if (getch() == ' ') { putch(0x14); putch('A'); @@ -212,296 +164,271 @@ int main(void) putch('S'); putch('P'); putch(0x10); - } + } } - + /* AVR ISP/STK500 board commands DON'T CARE so default nothing_response */ - else if(ch=='@') { - ch2 = getch(); - if (ch2>0x85) getch(); - nothing_response(); + else if (ch == '@') { + ch2 = getch(); + if (ch2>0x85) getch(); + nothing_response(); } - + /* AVR ISP/STK500 board requests */ - else if(ch=='A') { - ch2 = getch(); - if(ch2==0x80) byte_response(HW_VER); // Hardware version - else if(ch2==0x81) byte_response(SW_MAJOR); // Software major version - else if(ch2==0x82) byte_response(SW_MINOR); // Software minor version - //else if(ch2==0x98) byte_response(0x03); // Unknown but seems to be required by avr studio 3.56 - else byte_response(0x00); // Covers various unnecessary responses we don't care about + else if (ch == 'A') { + ch2 = getch(); + if (ch2==0x80) byte_response(HW_VER); // Hardware version + else if (ch2==0x81) byte_response(SW_MAJOR); // Software major version + else if (ch2==0x82) byte_response(SW_MINOR); // Software minor version + //else if (ch2==0x98) byte_response(0x03); // Unknown but seems to be required by avr studio 3.56 + else byte_response(0x00); // Covers various unnecessary responses we don't care about } - + /* Device Parameters DON'T CARE, DEVICE IS FIXED */ - else if(ch=='B') { - getNch(20); - nothing_response(); + else if (ch == 'B') { + getNch(20); + nothing_response(); } - + /* Parallel programming stuff DON'T CARE */ - else if(ch=='E') { - getNch(5); - nothing_response(); + else if (ch == 'E') { + getNch(5); + nothing_response(); } - + /* Enter programming mode */ - else if(ch=='P') { - nothing_response(); - // FIXME: modified only here by DojoCorp, Mumbai, India, 20050626 - //time_count=0; // exted the delay once entered prog.mode + else if (ch == 'P') { + nothing_response(); + // FIXME: modified only here by DojoCorp, Mumbai, India, 20050626 + //time_count=0; // exted the delay once entered prog.mode } - + /* Leave programming mode */ - else if(ch=='Q') { - nothing_response(); - //time_count=MAX_TIME_COUNT_MORATORY; // once the programming is done, - // we should start the application - // but uisp has problems with this, - // therefore we just change the times - // and give the programmer 1 sec to react + else if (ch == 'Q') { + nothing_response(); + //time_count=MAX_TIME_COUNT_MORATORY; // once the programming is done, + // we should start the application + // but uisp has problems with this, + // therefore we just change the times + // and give the programmer 1 sec to react } - + + /* Loop UART until reset */ + else if (ch == 'X') { + while (1) { + if (UCSRA & (1 << RXC)) { + UDR = UDR; + } + } + } + + /* Start user code NOW */ + else if (ch == 'Z') { + app_start(); + } + /* Erase device, don't care as we will erase one page at a time anyway. */ - else if(ch=='R') { - nothing_response(); + else if (ch == 'R') { + nothing_response(); } - + /* Set address, little endian. EEPROM in bytes, FLASH in words */ /* Perhaps extra address bytes may be added in future to support > 128kB FLASH. */ /* This might explain why little endian was used here, big endian used everywhere else. */ - else if(ch=='U') { - address.byte[0] = getch(); - address.byte[1] = getch(); - nothing_response(); + else if (ch == 'U') { + address.byte[0] = getch(); + address.byte[1] = getch(); + nothing_response(); } - + /* Universal SPI programming command, disabled. Would be used for fuses and lock bits. */ - else if(ch=='V') { - getNch(4); - byte_response(0x00); + else if (ch == 'V') { + getNch(4); + byte_response(0x00); } - + /* Write memory, length is big endian and is in bytes */ - else if(ch=='d') { - length.byte[1] = getch(); - length.byte[0] = getch(); - flags.eeprom = 0; - if (getch() == 'E') flags.eeprom = 1; - for (w=0;w127) address_high = 0x01; //Only possible with m128, m256 will need 3rd address byte. FIXME - //else address_high = 0x00; - - //address.word = address.word << 1; //address * 2 -> byte location - //if ((length.byte[0] & 0x01)) length.word++; //Even up an odd number of bytes cli(); //Disable interrupts, just to be sure while(bit_is_set(EECR,EEWE)); //Wait for previous EEPROM writes to complete asm volatile( - "clr r17 \n\t" //page_word_count - "lds r30,address \n\t" //Address of FLASH location (in words) - "lds r31,address+1 \n\t" - "lsl r30 \n\t" //address * 2 -> byte location - "rol r31 \n\t" - "ldi r28,lo8(buff) \n\t" //Start of buffer array in RAM - "ldi r29,hi8(buff) \n\t" - "lds r24,length \n\t" //Length of data to be written (in bytes) - "lds r25,length+1 \n\t" - "sbrs r24,0 \n\t" //Even up an odd number of bytes - "rjmp length_loop \n\t" - "adiw r24,1 \n\t" - "length_loop: \n\t" //Main loop, repeat for number of words in block - "cpi r17,0x00 \n\t" //If page_word_count=0 then erase page - "brne no_page_erase \n\t" - "rcall wait_spm \n\t" -// "wait_spm1: \n\t" -// "lds r16,%0 \n\t" //Wait for previous spm to complete -// "andi r16,1 \n\t" -// "cpi r16,1 \n\t" -// "breq wait_spm1 \n\t" - "ldi r16,0x03 \n\t" //Erase page pointed to by Z - "sts %0,r16 \n\t" - "spm \n\t" - "rcall wait_spm \n\t" -// "wait_spm2: \n\t" -// "lds r16,%0 \n\t" //Wait for previous spm to complete -// "andi r16,1 \n\t" -// "cpi r16,1 \n\t" -// "breq wait_spm2 \n\t" - "ldi r16,0x11 \n\t" //Re-enable RWW section - "sts %0,r16 \n\t" - "spm \n\t" - "no_page_erase: \n\t" - "ld r0,Y+ \n\t" //Write 2 bytes into page buffer - "ld r1,Y+ \n\t" - - "rcall wait_spm \n\t" -// "wait_spm3: \n\t" -// "lds r16,%0 \n\t" //Wait for previous spm to complete -// "andi r16,1 \n\t" -// "cpi r16,1 \n\t" -// "breq wait_spm3 \n\t" - "ldi r16,0x01 \n\t" //Load r0,r1 into FLASH page buffer - "sts %0,r16 \n\t" - "spm \n\t" - - "inc r17 \n\t" //page_word_count++ - "cpi r17,%1 \n\t" - "brlo same_page \n\t" //Still same page in FLASH - "write_page: \n\t" - "clr r17 \n\t" //New page, write current one first - "rcall wait_spm \n\t" -// "wait_spm4: \n\t" -// "lds r16,%0 \n\t" //Wait for previous spm to complete -// "andi r16,1 \n\t" -// "cpi r16,1 \n\t" -// "breq wait_spm4 \n\t" - "ldi r16,0x05 \n\t" //Write page pointed to by Z - "sts %0,r16 \n\t" - "spm \n\t" - "rcall wait_spm \n\t" -// "wait_spm5: \n\t" -// "lds r16,%0 \n\t" //Wait for previous spm to complete -// "andi r16,1 \n\t" -// "cpi r16,1 \n\t" -// "breq wait_spm5 \n\t" - "ldi r16,0x11 \n\t" //Re-enable RWW section - "sts %0,r16 \n\t" - "spm \n\t" - "same_page: \n\t" - "adiw r30,2 \n\t" //Next word in FLASH - "sbiw r24,2 \n\t" //length-2 - "breq final_write \n\t" //Finished - "rjmp length_loop \n\t" - - "wait_spm: \n\t" - "lds r16,%0 \n\t" //Wait for previous spm to complete - "andi r16,1 \n\t" - "cpi r16,1 \n\t" - "breq wait_spm \n\t" - "ret \n\t" - - "final_write: \n\t" - "cpi r17,0 \n\t" - "breq block_done \n\t" - "adiw r24,2 \n\t" //length+2, fool above check on length after short page write - "rjmp write_page \n\t" - "block_done: \n\t" - "clr __zero_reg__ \n\t" //restore zero register - : "=m" (SPMCR) : "M" (PAGE_SIZE) : "r0","r16","r17","r24","r25","r28","r29","r30","r31"); - + "clr r17 \n\t" //page_word_count + "lds r30,address \n\t" //Address of FLASH location (in words) + "lds r31,address+1 \n\t" + "lsl r30 \n\t" //address * 2 -> byte location + "rol r31 \n\t" + "ldi r28,lo8(buff) \n\t" //Start of buffer array in RAM + "ldi r29,hi8(buff) \n\t" + "lds r24,length \n\t" //Length of data to be written (in bytes) + "lds r25,length+1 \n\t" + "sbrs r24,0 \n\t" //Even up an odd number of bytes + "rjmp length_loop \n\t" + "adiw r24,1 \n\t" + "length_loop: \n\t" //Main loop, repeat for number of words in block + "cpi r17,0x00 \n\t" //If page_word_count=0 then erase page + "brne no_page_erase \n\t" + "rcall wait_spm \n\t" + + "ldi r16,0x03 \n\t" //Erase page pointed to by Z + "sts %0,r16 \n\t" + "spm \n\t" + "rcall wait_spm \n\t" + + "ldi r16,0x11 \n\t" //Re-enable RWW section + "sts %0,r16 \n\t" + "spm \n\t" + "no_page_erase: \n\t" + "ld r0,Y+ \n\t" //Write 2 bytes into page buffer + "ld r1,Y+ \n\t" + + "rcall wait_spm \n\t" + + "ldi r16,0x01 \n\t" //Load r0,r1 into FLASH page buffer + "sts %0,r16 \n\t" + "spm \n\t" + + "inc r17 \n\t" //page_word_count++ + "cpi r17,%1 \n\t" + "brlo same_page \n\t" //Still same page in FLASH + "write_page: \n\t" + "clr r17 \n\t" //New page, write current one first + "rcall wait_spm \n\t" + + "ldi r16,0x05 \n\t" //Write page pointed to by Z + "sts %0,r16 \n\t" + "spm \n\t" + "rcall wait_spm \n\t" + + "ldi r16,0x11 \n\t" //Re-enable RWW section + "sts %0,r16 \n\t" + "spm \n\t" + "same_page: \n\t" + "adiw r30,2 \n\t" //Next word in FLASH + "sbiw r24,2 \n\t" //length-2 + "breq final_write \n\t" //Finished + "rjmp length_loop \n\t" + + "wait_spm: \n\t" + "lds r16,%0 \n\t" //Wait for previous spm to complete + "andi r16,1 \n\t" + "cpi r16,1 \n\t" + "breq wait_spm \n\t" + "ret \n\t" + + "final_write: \n\t" + "cpi r17,0 \n\t" + "breq block_done \n\t" + "adiw r24,2 \n\t" //length+2, fool above check on length after short page write + "rjmp write_page \n\t" + "block_done: \n\t" + "clr __zero_reg__ \n\t" //restore zero register + : "=m" (SPMCR) : "M" (PAGE_SIZE) : "r0","r16","r17","r24","r25","r28","r29","r30","r31"); + /* Should really add a wait for RWW section to be enabled, don't actually need it since we never */ /* exit the bootloader without a power cycle anyhow */ } putch(0x14); putch(0x10); - } + } } - + /* Read memory block mode, length is big endian. */ - else if(ch=='t') { - length.byte[1] = getch(); - length.byte[0] = getch(); - if (getch() == 'E') flags.eeprom = 1; - else { + else if (ch == 't') { + length.byte[1] = getch(); + length.byte[0] = getch(); + if (getch() == 'E') flags.eeprom = 1; + else { flags.eeprom = 0; address.word = address.word << 1; // address * 2 -> byte location - } - if (getch() == ' ') { // Command terminator + } + if (getch() == ' ') { // Command terminator putch(0x14); - for (w=0;w < length.word;w++) { // Can handle odd and even lengths okay + for (w=0; w < length.word; w++) { // Can handle odd and even lengths okay if (flags.eeprom) { // Byte access EEPROM read putch(eeprom_rb(address.word)); address.word++; - } else { + } else { if (!flags.rampz) putch(pgm_read_byte_near(address.word)); address.word++; } } putch(0x10); - } + } } - + /* Get device signature bytes */ - else if(ch=='u') { - if (getch() == ' ') { + else if (ch == 'u') { + if (getch() == ' ') { putch(0x14); putch(SIG1); putch(SIG2); putch(SIG3); putch(0x10); - } + } } - + /* Read oscillator calibration byte */ - else if(ch=='v') { - byte_response(0x00); + else if (ch == 'v') { + byte_response(0x00); } -// } else { -// time_count++; -// if (time_count>=MAX_TIME_COUNT) { -// app_start(); -// } -// } } /* end of forever loop */ } void putch(char ch) { - /* m8 */ - while (!(inb(UCSRA) & _BV(UDRE))); - outb(UDR,ch); + /* m8 */ + while (!(inb(UCSRA) & _BV(UDRE))); + outb(UDR,ch); } char getch(void) { - /* m8 */ + /* m8 */ uint32_t count = 0; - while(!(inb(UCSRA) & _BV(RXC))) { + while(!(inb(UCSRA) & _BV(RXC))) { /* HACKME:: here is a good place to count times*/ count++; if (count > MAX_TIME_COUNT) app_start(); - } - return (inb(UDR)); + } + return (inb(UDR)); } void getNch(uint8_t count) { - uint8_t i; - for(i=0;i