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MYSBootloader 1.1

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Enhancements: static parent, bootloader commands, updated delay funtion
for more precise timing and minor improvements
This commit is contained in:
tekka
2015-03-14 13:46:24 +01:00
parent c83d8d62b3
commit 9b41d2a8e6
6 changed files with 1149 additions and 272 deletions
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MYSBootloader/MYSBootloader.c
+120 -89
View File
@@ -1,17 +1,15 @@
/*
MYSBootloader: OTA bootloader for Mysensor nodes (www.mysensors.org)
Code based on OTA bootloader by ToSa
Original OTA bootloader code by ToSa
Optimized and extended by tekka
Version 1.0 / 20150206
Size: 1834 bytes
Version 1.1 / 20150314
Size: 2002 bytes
Tested with Atmega328P, 16Mhz 3.3V and 5V and MYSController 0.1.2.266 (goo.gl/9DCWNo)
Tested with MYSController 0.1.2.276 (goo.gl/9DCWNo)
MCU: atmega328
clock: 16Mhz (prescaler: off/1)
MCU: Atmega328p
bootsz: 1024W
fuses for ISP:
EX = 0xFE (use 0x06 for Arduino IDE, boards.txt)
HI = 0xDA
@@ -23,9 +21,20 @@
Successfully tested with:
16Mhz extXTAL, 3.3V
1Mhz intRC (8Mhz + DIV8), 3.3V
128kHz intRC, 3.3V
16Mhz extXTAL, 3.3V & 5V
8Mhz intRC, 3.3V & 5V
1Mhz intRC, 3.3 & 5V
128kHz intRC, 3.3V & 5V
* Version 1.1
- use eeprom_update instead of eeprom_write to reduce wear out
- bootloader commands: erase eeprom, set node id
- verify incoming FW blocks for type & address
- communicate over static parent (if set and found) else broadcast to find nearest node
- adjusted timings
* Version 1.0
Initial release
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
@@ -36,45 +45,63 @@
#define MYSBOOTLOADER_MAJVER 1
#define MYSBOOTLOADER_MINVER 0
#define MYSBOOTLOADER_MINVER 1
#define MYSBOOTLOADER_VERSION (MYSBOOTLOADER_MINVER * 256 + MYSBOOTLOADER_MAJVER)
//#define USE_PRESCALER
#define MAX_RESEND 5
// procedures and functions
int main(void) __attribute__ ((OS_main)) __attribute__ ((section (".init9")));
static void programPage(uint16_t page, uint8_t *buf);
static uint16_t calcCRCrom (const void* ptr, uint16_t len);
static uint8_t IsFirmwareValid();
static void reboot();
static void startup();
static void programPage(uint32_t page, uint8_t *buf);
static boolean sendWrite(MyMessage message);
static bool sendAndWait(uint8_t reqType, uint8_t resType);
int main(void) __attribute__ ((OS_main)) __attribute__ ((section (".init9")));
static void programPage(uint16_t page, uint8_t *buf) {
// these function calls use "out" commands: save some bytes and cycles :)
__boot_page_erase_short(page);
boot_spm_busy_wait();
for (uint16_t i = 0; i < SPM_PAGESIZE; i += 2) {
uint16_t data_word = *buf++;
data_word += (*buf++) << 8;
__boot_page_fill_short(page + i, data_word);
}
__boot_page_write_short(page);
boot_spm_busy_wait();
__boot_rww_enable_short();
}
static uint16_t calcCRCrom (const void* ptr, uint16_t len) {
// init 0xFFFF
uint16_t crc = ~0;
for (uint16_t i = 0; i < len; ++i) {
for (uint16_t i = 0; i < len; i++) {
crc = _crc16_update(crc, pgm_read_byte((uint16_t) ptr + i));
}
return crc;
}
static uint8_t IsFirmwareValid () {
return calcCRCrom(0, fc.blocks * FIRMWARE_BLOCK_SIZE) == fc.crc;
}
static void reboot() {
// any pending eeprom activities?
// wait for pending eeprom activities
eeprom_busy_wait();
// trigger watchdog ASAP
watchdogConfig(WATCHDOG_16MS);
// wait until WD triggers
// endless loop
while (1);
}
@@ -82,13 +109,7 @@ static void startup() {
if (IsFirmwareValid()) {
// WD off
watchdogConfig(WATCHDOG_OFF);
#ifdef USE_PRESCALER
// reset prescaler
clock_prescale_set(orgClockDiv);
#endif
// start sketch
// run sketch
((void(*)()) 0)();
} else {
@@ -96,20 +117,7 @@ static void startup() {
}
}
static void programPage(uint32_t page, uint8_t *buf) {
// using out commands, saves some bytes :)
__boot_page_erase_short(page);
boot_spm_busy_wait();
for (uint16_t i = 0; i < SPM_PAGESIZE; i += 2) {
uint16_t w = *buf++;
// generate word
w += (*buf++) << 8;
__boot_page_fill_short(page + i, w);
}
__boot_page_write_short(page);
boot_spm_busy_wait();
__boot_rww_enable_short();
}
static boolean sendWrite(MyMessage message) {
@@ -121,38 +129,45 @@ static bool sendAndWait(uint8_t reqType, uint8_t resType) {
// outer loop, retries
for (uint8_t i = 0; i < MAX_RESEND; i++) {
sendWrite(outMsg);
// loop 20 times, wait time 0.1ms if no/wrong data => 2s
// loop 20 times, wait time 0.1s if no/wrong data => 2s
for (uint8_t j = 0; j < 20; j++) {
// loop 100 times, wait 1ms if no/wrong data => 0.1s
for (uint8_t k = 0; k < 100; k++) {
watchdogReset();
// Tx FIFO data available? (we don't care about the pipe here)
if (available(NULL)) {
// read message from FIFO
readMessage(inMsg.array);
// protocol compatible? if not ignore msg
if ((mGetVersion(inMsg) != PROTOCOL_VERSION)) {
continue;
}
if (inMsg.destination == nc.nodeId) {
// msg for us
if ((mGetCommand(inMsg) == C_INTERNAL) && (inMsg.type == I_FIND_PARENT_RESPONSE)) {
if (inMsg.bValue < nc.distance - 1) {
// got new routing info, update settings
nc.distance = inMsg.bValue + 1;
nc.parentNodeId = inMsg.sender;
// read message from FIFO, skip if size = 0
if (readMessage(inMsg.array) > 0) {
// protocol compatible? if not ignore msg
if ((mGetVersion(inMsg) != PROTOCOL_VERSION)) {
continue;
}
// msg for us?
if (inMsg.destination == nc.nodeId) {
// internal command: find parent
if ((mGetCommand(inMsg) == C_INTERNAL) && (inMsg.type == I_FIND_PARENT_RESPONSE)) {
// static parent found?
if (configuredParentID == inMsg.sender) {
configuredParentFound = true;
}
if ( ((inMsg.bValue < nc.distance - 1) && ( !configuredParentFound) ) || (configuredParentID == inMsg.sender)) {
// got new routing info, update settings
nc.distance = inMsg.bValue + 1;
nc.parentNodeId = inMsg.sender;
}
}
// did we receive expected reply?
if ((mGetCommand(inMsg) == mGetCommand(outMsg)) && (inMsg.type == resType)) {
return true;
}
}
// did we receive expected reply?
if ((mGetCommand(inMsg) == mGetCommand(outMsg)) && (inMsg.type == resType)) {
return true;
}
}
}
} else {
} else {
// wait 1ms if no data available
delaym(10);
_delay_ms(1);
}
}
}
}
@@ -169,13 +184,6 @@ int main(void) {
// reset MCU status register
MCUSR = 0;
#ifdef USE_PRESCALER
// get current prescale
orgClockDiv = clock_prescale_get();
//switch to 4 MHz on 16Mhz crystal
clock_prescale_set(F_CPU_DIV);
#endif
// enable watchdog to avoid deadlock
watchdogConfig(WATCHDOG_8S);
@@ -190,11 +198,10 @@ int main(void) {
// Read firmware config from EEPROM, i.e. type, version, CRC, blocks
eeprom_read_block((void*)&fc, (void*)EEPROM_FIRMWARE_TYPE_ADDRESS, sizeof(NodeFirmwareConfig));
// bootloader should find closest node during each reboot
// invalidate parent node settings, since we have to re-discover them for every single reboot
// find nearest node during reboot: invalidate parent node settings, since we have to re-discover them for every single reboot
configuredParentID = nc.parentNodeId;
// nc.parentNodeId = 0xFF;
nc.distance = 0xFF;
nc.parentNodeId = 0xFF;
// prepare for I_FIND_PARENTS
outMsg.sender = nc.nodeId;
@@ -202,6 +209,7 @@ int main(void) {
outMsg.sensor = 0xFF;
outMsg.destination = BROADCAST_ADDRESS;
// set header
mSetVersion(outMsg, PROTOCOL_VERSION);
mSetLength(outMsg, 0);
mSetCommand(outMsg, C_INTERNAL);
@@ -211,7 +219,7 @@ int main(void) {
// set reading & writing pipe address
setAddress(nc.nodeId);
// network up?, get neighbors, else startup
// network up? get neighbors, else startup
if (!sendAndWait(I_FIND_PARENT, I_FIND_PARENT_RESPONSE)) {
startup();
}
@@ -225,9 +233,9 @@ int main(void) {
openReadingPipe(CURRENT_NODE_PIPE, TO_ADDR(BROADCAST_ADDRESS));
if (sendAndWait(I_ID_REQUEST, I_ID_RESPONSE)) {
// save id to eeprom
eeprom_write_byte((uint8_t*)EEPROM_NODE_ID_ADDRESS, atoi(inMsg.data));
eeprom_update_byte((uint8_t*)EEPROM_NODE_ID_ADDRESS, atoi(inMsg.data));
}
// we could go on and set everything right here, but rebooting will take care of that - saves bytes :)
// we could go on and set everything right here, but rebooting will take care of that - and saves some bytes :)
reboot();
}
@@ -250,6 +258,23 @@ int main(void) {
NodeFirmwareConfig *firmwareConfigResponse = (NodeFirmwareConfig *)inMsg.data;
// bootloader commands
if (firmwareConfigResponse->blocks == 0) {
// verify flag
if (firmwareConfigResponse->crc == 0xDA7A){
// cmd 0x01 clear eeprom
if(firmwareConfigResponse->bl_command == 0x01) {
for(uint16_t i = 0; i < EEPROM_SIZE; i++) eeprom_update_byte((uint8_t *)i,0xFF);
} else
// cmd 0x02 set id
if(firmwareConfigResponse->bl_command == 0x02) {
eeprom_update_byte((uint8_t*)EEPROM_NODE_ID_ADDRESS, (uint8_t)firmwareConfigResponse->bl_data);
}
}
// final step
reboot();
}
// compare with current node configuration, if equal startup
if (!memcmp(&fc,firmwareConfigResponse,sizeof(NodeFirmwareConfig))) {
startup();
@@ -260,7 +285,7 @@ int main(void) {
// invalidate current CRC
fc.crc = 0xFFFF;
// write fetched type and version in case OTA fails (BL will reboot and re-request FW with stored settings)
eeprom_write_block(&fc, (void*)EEPROM_FIRMWARE_TYPE_ADDRESS,sizeof(NodeFirmwareConfig));
eeprom_update_block(&fc, (void*)EEPROM_FIRMWARE_TYPE_ADDRESS,sizeof(NodeFirmwareConfig));
// copy new FW config
memcpy(&fc,firmwareConfigResponse,sizeof(NodeFirmwareConfig));
@@ -270,33 +295,39 @@ int main(void) {
firmwareRequest->type = fc.type;
firmwareRequest->version = fc.version;
// request FW from controller
for (uint16_t block = fc.blocks; block > 0; block--) {
firmwareRequest->block = (block - 1);
// request FW from controller, load FW counting backwards
uint16_t block = fc.blocks;
do {
firmwareRequest->block = block - 1;
// request FW block
if (!sendAndWait(ST_FIRMWARE_REQUEST, ST_FIRMWARE_RESPONSE)) {
reboot();
}
ReplyFWBlock *firmwareResponse = (ReplyFWBlock *)inMsg.data;
// calculate page offset
uint8_t offset = ((block - 1) * FIRMWARE_BLOCK_SIZE) % SPM_PAGESIZE;
// write to buffer
memcpy(progBuf + offset, firmwareResponse->data, FIRMWARE_BLOCK_SIZE);
// program if page full
if (offset == 0) {
programPage(((block - 1) * FIRMWARE_BLOCK_SIZE), progBuf);
}
}
// did we receive requested block?
if (!memcmp(firmwareRequest,firmwareResponse,sizeof(RequestFWBlock))) {
// calculate page offset
uint8_t offset = ((block - 1) * FIRMWARE_BLOCK_SIZE) % SPM_PAGESIZE;
// write to buffer
memcpy(progBuf + offset, firmwareResponse->data, FIRMWARE_BLOCK_SIZE);
// program if page full
if (offset == 0) {
programPage(((block - 1) * FIRMWARE_BLOCK_SIZE), progBuf);
}
block--;
}
} while (block);
// wuff
watchdogReset();
// all blocks transmitted, calc CRC and write to eeprom if valid
if (IsFirmwareValid()) {
// if FW is valid, write settings to eeprom
eeprom_write_block((void*)&fc, (void*)EEPROM_FIRMWARE_TYPE_ADDRESS, sizeof(NodeFirmwareConfig));
// we could restart directly here, but eeprom may still be busy, thus reboot (we check for idle eeprom before rebooting) and save some bytes :)
eeprom_update_block(&fc, (void*)EEPROM_FIRMWARE_TYPE_ADDRESS, sizeof(NodeFirmwareConfig));
}
// final step
reboot();