Merge pull request arduino#89 from tekka007/master

MYSBootloader 1.1

Author: henrikekblad

MYSBootloader/MYSBootloader.c

@@ -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
@@ -36,80 +45,79 @@
 
 
 #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);
 }
 
 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 {
 		reboot();
 	}
 }
 
-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;
-							}
-						}
-						// did we receive expected reply?
-						if ((mGetCommand(inMsg) == mGetCommand(outMsg)) && (inMsg.type == resType)) {
-							return true;
+					// 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;
+							}
 
+						}
 					}
-				} 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);
 
@@ -190,18 +198,18 @@ 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;
 	outMsg.last = nc.nodeId;
 	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();