OTA Bootloader
- including adjustments to library header files to allow usage across C (bootloader) and C++ (firmware sketches) - including definition of new message types for firmware config and firmware code
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ToSa27
@@ -0,0 +1,207 @@
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#include "MyOtaBootloader.h"
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int main(void) __attribute__ ((naked)) __attribute__ ((section (".init9")));
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volatile char dummy;
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EMPTY_INTERRUPT(WDT_vect);
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static uint16_t calcCRCrom (const void* ptr, uint16_t len) {
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uint16_t crc = ~0;
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for (uint16_t i = 0; i < len; ++i)
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crc = _crc16_update(crc, pgm_read_byte((uint16_t) ptr + i));
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return crc;
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}
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static uint8_t validFirmware () {
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return calcCRCrom(0, fc.blocks * FIRMWARE_BLOCK_SIZE) == fc.crc;
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}
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static void reboot() {
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wdt_enable(WDTO_15MS);
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for (;;);
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}
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static void startup() {
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if (validFirmware()) {
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wdt_disable();
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clock_prescale_set(orgClockDiv);
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((void(*)()) 0)();
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} else
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reboot();
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}
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static void boot_program_page(uint32_t page, uint8_t *buf) {
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uint8_t sreg = SREG;
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cli();
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eeprom_busy_wait();
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boot_page_erase(page);
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boot_spm_busy_wait();
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for (uint16_t i = 0; i < SPM_PAGESIZE; i += 2) {
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uint16_t w = *buf++;
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w += (*buf++) << 8;
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boot_page_fill(page + i, w);
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}
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boot_page_write(page);
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boot_spm_busy_wait();
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boot_rww_enable();
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SREG = sreg;
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}
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static boolean sendWrite(MyMessage message) {
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return write(nc.parentNodeId, message.array, HEADER_SIZE + mGetLength(message), (message.destination == BROADCAST_ADDRESS));
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}
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static uint8_t sendAndWait(uint8_t reqType, uint8_t resType) {
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msg.type = reqType;
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for (uint8_t i = 0; i < 10; i++) {
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sendWrite(msg);
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for (uint16_t j = 0; j < 20; j++) {
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wdt_reset();
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for (uint16_t j = 0; j < 100; j++) {
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wdt_reset();
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uint8_t pipe;
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boolean avail = available(&pipe);
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if (avail && pipe<=6) {
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read(rmsg.array,pipe);
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if(!(mGetVersion(rmsg) == PROTOCOL_VERSION))
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continue;
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if (rmsg.destination == nc.nodeId) {
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if (mGetCommand(rmsg) == C_INTERNAL) {
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if (rmsg.type == I_PING_ACK) {
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if (rmsg.data[0] < nc.distance - 1) {
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nc.distance = rmsg.data[0] + 1;
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nc.parentNodeId = rmsg.sender;
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eeprom_write_byte((uint8_t*)EEPROM_PARENT_NODE_ID_ADDRESS, nc.parentNodeId);
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eeprom_write_byte((uint8_t*)EEPROM_DISTANCE_ADDRESS, nc.distance);
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}
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}
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}
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if ((mGetCommand(rmsg) == mGetCommand(msg)) && (rmsg.type == resType))
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return 1;
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}
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}
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delaym(1);
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}
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}
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}
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return 0;
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}
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int main () {
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asm volatile ("clr __zero_reg__");
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// switch to 4 MHz
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orgClockDiv = clock_prescale_get();
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clock_prescale_set(F_CPU_DIV);
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MCUSR = 0;
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// enable watchdog to avoid deadlock
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wdt_enable(WDTO_8S);
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#ifdef LED_DEBUG
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// enable LEDs for debugging and blink once as visual "bootloader started" sign
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led_init();
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blink(LED_MBOTH, 250);
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#endif
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#ifdef UART_DEBUG
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// enable UART for debugging and send start message
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uart_init();
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uart_puts("Go\n");
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#endif
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wdt_reset();
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// initialize RF module
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begin();
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wdt_reset();
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// Read settings from EEPROM
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eeprom_read_block((void*)&nc, (void*)EEPROM_NODE_ID_ADDRESS, sizeof(struct NodeConfig));
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wdt_reset();
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msg.sender = nc.nodeId;
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msg.last = nc.nodeId;
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address(nc.nodeId);
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msg.sensor = NODE_SENSOR_ID;
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mSetLength(msg, 0);
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mSetPayloadType(msg, P_STRING);
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mSetAck(msg,false);
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mSetVersion(msg, PROTOCOL_VERSION);
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nc.distance = 255;
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mSetCommand(msg, C_INTERNAL);
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msg.destination = BROADCAST_ADDRESS;
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if (!sendAndWait(I_PING, I_PING_ACK))
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// starting existing firmware if no ping response (if firmware is valid)
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// reboot();
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startup();
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msg.destination = GATEWAY_ADDRESS;
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if (nc.nodeId == AUTO) {
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openReadingPipe(CURRENT_NODE_PIPE, TO_ADDR(nc.nodeId));
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if (!sendAndWait(I_ID_REQUEST, I_ID_RESPONSE))
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reboot();
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if (mGetPayloadType(rmsg) == P_BYTE)
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nc.nodeId = rmsg.data[0];
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else if (mGetPayloadType(rmsg) == P_STRING)
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nc.nodeId = atoi(rmsg.data);
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if (nc.nodeId == AUTO)
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reboot();
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eeprom_write_byte((uint8_t*)EEPROM_NODE_ID_ADDRESS, nc.nodeId);
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msg.sender = nc.nodeId;
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msg.last = nc.nodeId;
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address(nc.nodeId);
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}
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// Read settings from EEPROM
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eeprom_read_block((void*)&fc, (void*)EEPROM_FIRMWARE_TYPE_ADDRESS, sizeof(struct FirmwareConfig));
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mSetPayloadType(msg,P_CUSTOM);
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FirmwareConfigRequest *firmwareConfigRequest = (FirmwareConfigRequest *)msg.data;
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mSetLength(msg, sizeof(FirmwareConfigRequest));
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mSetCommand(msg, C_STREAM);
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firmwareConfigRequest->type = fc.type;
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firmwareConfigRequest->version = fc.version;
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if (!sendAndWait(ST_FIRMWARE_CONFIG_REQUEST, ST_FIRMWARE_CONFIG_RESPONSE))
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// starting existing firmware if no firmware config response (if firmware is valid)
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// reboot();
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startup();
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FirmwareConfigResponse *firmwareConfigResponse = (FirmwareConfigResponse *)rmsg.data;
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if (firmwareConfigResponse->version == fc.version)
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if (firmwareConfigResponse->blocks == fc.blocks)
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if (firmwareConfigResponse->crc == fc.crc)
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if (validFirmware())
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startup();
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fc.type = firmwareConfigResponse->type;
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fc.version = firmwareConfigResponse->version;
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fc.blocks = firmwareConfigResponse->blocks;
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fc.crc = firmwareConfigResponse->crc;
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FirmwareRequest *firmwareRequest = (FirmwareRequest *)msg.data;
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mSetLength(msg, sizeof(FirmwareRequest));
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firmwareRequest->type = fc.type;
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firmwareRequest->version = fc.version;
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for (uint16_t block = 0; block < fc.blocks; block++) {
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firmwareRequest->block = block;
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if (!sendAndWait(ST_FIRMWARE_REQUEST, ST_FIRMWARE_RESPONSE))
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reboot();
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FirmwareResponse *firmwareResponse = (FirmwareResponse *)rmsg.data;
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uint8_t offset = (block * FIRMWARE_BLOCK_SIZE) % SPM_PAGESIZE;
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memcpy(progBuf + offset, firmwareResponse->data, FIRMWARE_BLOCK_SIZE);
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if (offset == SPM_PAGESIZE - FIRMWARE_BLOCK_SIZE)
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boot_program_page((block * FIRMWARE_BLOCK_SIZE) - offset, progBuf);
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}
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wdt_reset();
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if (validFirmware()) {
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eeprom_write_block((void*)&fc, (void*)EEPROM_FIRMWARE_TYPE_ADDRESS, sizeof(struct FirmwareConfig));
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#ifdef UART_DEBUG
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uart_puts("fw ok\n");
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} else {
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uart_puts("fw nok\n");
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#endif
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}
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reboot();
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}
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