MYSBootloader 1.0
Bootloader for (direct) OTA FW updates. Occupies 1834 bytes .hex is compiled for 16Mhz. Bootloader was tested in this frequency range; 128kHz (intRC) to 16Mhz(XTAL) at 3.3 and 5V. For OTA bootloading, MYSController was used, NodeJS Controller not tested.
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tekka
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#ifndef MYSBootloaderRF24_H
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#define MYSBootloaderRF24_H
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#include "MYSBootloaderHW.h"
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#include "nRF24L01.h"
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typedef enum { RF24_PA_MIN = 0,RF24_PA_LOW, RF24_PA_HIGH, RF24_PA_MAX, RF24_PA_ERROR } rf24_pa_dbm_e ;
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typedef enum { RF24_1MBPS = 0, RF24_2MBPS, RF24_250KBPS } rf24_datarate_e;
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#define _write_register(reg) ( (reg) | W_REGISTER)
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#define _read_register(reg) ( (reg) | R_REGISTER)
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#define addr_width 5
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uint64_t pipe0_reading_address = 0;
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uint8_t BurstReadAddress(uint8_t addr, uint8_t* buf, uint8_t len) {
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csnlow();
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uint8_t status = SPItransfer( addr );
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while ( len-- ) {
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status = SPItransfer(NOP);
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*buf++ = status;
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}
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csnhigh();
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return status;
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}
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uint8_t BurstWriteAddress(uint8_t addr, uint8_t* buf, uint8_t len) {
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csnlow();
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uint8_t status = SPItransfer( addr );
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while ( len-- ) {
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status = SPItransfer(*buf++);
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}
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csnhigh();
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return status;
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}
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uint8_t ReadAddress(uint8_t addr) {
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return BurstReadAddress(addr,NULL,1);
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}
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uint8_t WriteAddress(uint8_t addr, uint8_t val) {
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return BurstWriteAddress(addr,&val,1);
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}
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#define BurstWriteRegister(reg,buf,len) BurstWriteAddress(_write_register(reg),buf,len)
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#define WriteRegister(reg,val) WriteAddress(_write_register(reg),val)
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#define BurstReadRegister(reg,buf,len) BurstReadAddress(_read_register(reg),buf,len)
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#define ReadRegister(reg) ReadAddress(_read_register(reg))
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#define get_status() BurstReadAddress(NOP,NULL,0)
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void Flush_RX(void) {
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BurstWriteAddress(FLUSH_RX,NULL,0);
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}
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void Flush_TX(void) {
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BurstWriteAddress(FLUSH_TX,NULL,0);
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}
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void Flush_RXTX_CLI(void) {
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// flush RX and TX buffer
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Flush_RX();
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Flush_TX();
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// clear registers
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WriteRegister(STATUS, _BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
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}
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static void startListening(void) {
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// for size reasons, we do not read back the register content, set PRIM_RX
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WriteRegister(CONFIG, _BV(PWR_UP) | _BV(CRCO) | _BV(EN_CRC) | _BV(PRIM_RX)) ;
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Flush_RXTX_CLI();
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// write pipe0 address
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if (pipe0_reading_address){
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BurstWriteRegister(RX_ADDR_P0, (uint8_t*)&pipe0_reading_address, addr_width);
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}
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cehigh();
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}
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static void stopListening(void) {
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celow();
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Flush_RXTX_CLI();
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// for size reasons, we do not read back the register content, clear PRIM_RX
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WriteRegister(CONFIG, _BV(PWR_UP) | _BV(CRCO) | _BV(EN_CRC) | ~_BV(PRIM_RX)) ;
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}
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static bool write_buf(uint8_t* buf, uint8_t len, const bool multicast ) {
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// write payload to FIFO
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BurstWriteRegister( multicast ? W_TX_PAYLOAD_NO_ACK : W_TX_PAYLOAD, buf, len) ;
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// CE pulse to start transmission
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cehigh();
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// IMPORTANT: minimum CE pulse width 10us, see nRF24L01 specs
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delaym(1);
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// start transmitting
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celow();
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// wait until sent, here we potentially have a deadlock when transmitter not connected/not working
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while( ! ( get_status() & ( _BV(TX_DS) | _BV(MAX_RT) ))) { }
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// read interrupts and clear
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uint8_t status = WriteRegister(STATUS,_BV(RX_DR) | _BV(TX_DS) | _BV(MAX_RT) );
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// max retries? clear FIFO
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if( status & _BV(MAX_RT)){
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Flush_TX();
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return false;
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}
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return true;
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}
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static uint8_t getDynamicPayloadSize(void) {
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uint8_t result = ReadAddress(R_RX_PL_WID);
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if(result > 32) {
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Flush_RX();
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result = 0;
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}
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return result;
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}
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static bool available(uint8_t* pipe_num) {
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if (!(ReadAddress(FIFO_STATUS) & _BV(RX_EMPTY) )){
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if (pipe_num) {
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uint8_t status = get_status();
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*pipe_num = ( status >> RX_P_NO ) & 0b111;
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}
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return true;
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}
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return false;
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}
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static void readMessage(uint8_t* buf) {
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// read payload
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BurstReadRegister(R_RX_PAYLOAD,buf,getDynamicPayloadSize());
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// reset interrupts
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WriteRegister(STATUS,_BV(RX_DR) | _BV(MAX_RT) | _BV(TX_DS));
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}
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static void openWritingPipe(uint64_t value) {
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BurstWriteRegister(RX_ADDR_P0, (uint8_t*)&value, addr_width);
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BurstWriteRegister(TX_ADDR, (uint8_t*)&value, addr_width);
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}
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static void openReadingPipe(uint8_t pipe, uint64_t address) {
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// If this is pipe 0, cache the address. This is needed because openWritingPipe() will overwrite the pipe 0 address, so
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// startListening() will have to restore it
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if (pipe == WRITE_PIPE) {
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memcpy(&pipe0_reading_address,&address,addr_width);
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}
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// only write full address for pipe 0 and 1
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// since we do not use the BROADCASTING PIPE in this bootloader, we can remove the check
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//if ( pipe < 2 )
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{
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BurstWriteRegister(RX_ADDR_P0 + pipe, (uint8_t*)&address, addr_width);
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}
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}
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static boolean write(uint8_t destination, uint8_t* buf, uint8_t len, boolean multicast) {
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stopListening();
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openWritingPipe(TO_ADDR(destination));
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bool result = write_buf(buf, len, multicast);
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startListening();
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return result;
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}
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static void setAddress(uint8_t addr)
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{
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if (addr != BROADCAST_ADDRESS) {
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openReadingPipe(WRITE_PIPE, TO_ADDR(addr));
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openReadingPipe(CURRENT_NODE_PIPE, TO_ADDR(addr));
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// enable pipe
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WriteRegister(EN_RXADDR,_BV(ERX_P0 + WRITE_PIPE) | _BV(ERX_P0 + CURRENT_NODE_PIPE));
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}
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}
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static void RFinit(void){
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// set address width
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WriteRegister(SETUP_AW, (addr_width-2) % 4);
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// auto retransmit delay 1500us, auto retransmit count 15
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WriteRegister(SETUP_RETR, 5 << ARD | 15 << ARC);
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// enable auto ack on all pipes, except broadcasting pipe
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WriteRegister(EN_AA, 0b00111111 & ~_BV(BROADCAST_PIPE)) ;
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// set channel
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WriteRegister(RF_CH, RF24_CHANNEL);
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// set data rate
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WriteRegister(RF_SETUP, ((RF24_DATARATE & 0b00000010 ) << 4) | ((RF24_DATARATE & 0b00000001 ) << 3) | ((RF24_PA_LEVEL << 1) + 1));
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// flush RX and TX FIFO, clear interrupts
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Flush_RXTX_CLI();
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// activate dynamic payload feature
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WriteAddress(ACTIVATE,0x73);
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// enable payload with ACK and dynamic payload length
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WriteRegister(FEATURE, _BV(EN_ACK_PAY) | _BV(EN_DPL) );
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// Enable dynamic payload length on all pipes
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WriteRegister(DYNPD, _BV(DPL_P5) | _BV(DPL_P4) | _BV(DPL_P3) | _BV(DPL_P2) | _BV(DPL_P1) | _BV(DPL_P0));
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//powerUp, enable 16bit CRC, no RX mode
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WriteRegister(CONFIG, _BV(PWR_UP) | _BV(CRCO) | _BV(EN_CRC) | ~_BV(PRIM_RX));
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// stabilize
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delaym(5);
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// We are not listening to broadcast pipe since we do not reply to broadcasting messages (e.g. FIND_PARENT_RESPONSE messages)
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// openReadingPipe(BROADCAST_PIPE, TO_ADDR(BROADCAST_ADDRESS));
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}
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#endif // MYSBootloaderRF24_H
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