537 lines
16 KiB
C
537 lines
16 KiB
C
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/**********************************************************/
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/* Optiboot bootloader for Arduino */
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/* */
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/* Heavily optimised bootloader that is faster and */
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/* smaller than the Arduino standard bootloader */
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/* */
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/* Enhancements: */
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/* Fits in 512 bytes, saving 1.5K of code space */
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/* Background page erasing speeds up programming */
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/* Higher baud rate speeds up programming */
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/* Written almost entirely in C */
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/* Customisable timeout with accurate timeconstant */
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/* */
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/* What you lose: */
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/* Implements a skeleton STK500 protocol which is */
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/* missing several features including EEPROM */
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/* programming and non-page-aligned writes */
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/* High baud rate breaks compatibility with standard */
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/* Arduino flash settings */
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/* */
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/* Currently supports: */
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/* ATmega168 based devices (Diecimila etc) */
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/* ATmega328P based devices (Duemilanove etc) */
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/* */
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/* Does not support: */
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/* ATmega1280 based devices (eg. Mega) */
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/* */
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/* Assumptions: */
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/* The code makes several assumptions that reduce the */
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/* code size. They are all true after a hardware reset, */
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/* but may not be true if the bootloader is called by */
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/* other means or on other hardware. */
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/* No interrupts can occur */
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/* UART and Timer 1 are set to their reset state */
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/* SP points to RAMEND */
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/* */
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/* Code builds on code, libraries and optimisations from: */
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/* stk500boot.c by Jason P. Kyle */
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/* Arduino bootloader http://arduino.cc */
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/* Spiff's 1K bootloader http://spiffie.org/know/arduino_1k_bootloader/bootloader.shtml */
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/* avr-libc project http://nongnu.org/avr-libc */
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/* Adaboot http://www.ladyada.net/library/arduino/bootloader.html */
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/* AVR305 Atmel Application Note */
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/* */
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/* This program is free software; you can redistribute it */
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/* and/or modify it under the terms of the GNU General */
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/* Public License as published by the Free Software */
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/* Foundation; either version 2 of the License, or */
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/* (at your option) any later version. */
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/* */
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/* This program is distributed in the hope that it will */
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/* be useful, but WITHOUT ANY WARRANTY; without even the */
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/* implied warranty of MERCHANTABILITY or FITNESS FOR A */
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/* PARTICULAR PURPOSE. See the GNU General Public */
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/* License for more details. */
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/* */
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/* You should have received a copy of the GNU General */
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/* Public License along with this program; if not, write */
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/* to the Free Software Foundation, Inc., */
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/* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */
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/* */
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/* Licence can be viewed at */
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/* http://www.fsf.org/licenses/gpl.txt */
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/* */
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/**********************************************************/
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#include <inttypes.h>
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#include <avr/io.h>
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#include <avr/pgmspace.h>
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#include <avr/boot.h>
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//#define LED_DATA_FLASH
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#ifndef LED_START_FLASHES
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#define LED_START_FLASHES 0
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#endif
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/* Build-time variables */
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/* BAUD_RATE Programming baud rate */
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/* LED_NO_FLASHES Number of LED flashes on boot */
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/* FLASH_TIME_MS Duration of each LED flash */
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/* BOOT_TIMEOUT_MS Serial port wait time before exiting bootloader */
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/* set the UART baud rate */
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#ifndef BAUD_RATE
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#define BAUD_RATE 19200
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#endif
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#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
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/* Onboard LED is connected to pin PB5 in Arduino NG, Diecimila, and Duemilanove */
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#define LED_DDR DDRB
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#define LED_PORT PORTB
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#define LED_PIN PINB
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#define LED PINB5
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/* Ports for soft UART */
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#ifdef SOFT_UART
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#define UART_PORT PORTD
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#define UART_PIN PIND
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#define UART_DDR DDRD
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#define UART_TX_BIT 1
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#define UART_RX_BIT 0
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#endif
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#endif
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#if defined(__AVR_ATtiny84__)
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/* Onboard LED is connected to pin PB5 in Arduino NG, Diecimila, and Duemilanove */
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#define LED_DDR DDRA
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#define LED_PORT PORTA
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#define LED_PIN PINA
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#define LED PINA4
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/* Ports for soft UART - left port only for now*/
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#ifdef SOFT_UART
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#define UART_PORT PORTA
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#define UART_PIN PINA
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#define UART_DDR DDRA
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#define UART_TX_BIT 2
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#define UART_RX_BIT 3
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#endif
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#endif
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/* STK500 constants list, from AVRDUDE */
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#define STK_OK 0x10
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#define STK_FAILED 0x11 // Not used
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#define STK_UNKNOWN 0x12 // Not used
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#define STK_NODEVICE 0x13 // Not used
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#define STK_INSYNC 0x14 // ' '
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#define STK_NOSYNC 0x15 // Not used
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#define ADC_CHANNEL_ERROR 0x16 // Not used
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#define ADC_MEASURE_OK 0x17 // Not used
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#define PWM_CHANNEL_ERROR 0x18 // Not used
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#define PWM_ADJUST_OK 0x19 // Not used
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#define CRC_EOP 0x20 // 'SPACE'
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#define STK_GET_SYNC 0x30 // '0'
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#define STK_GET_SIGN_ON 0x31 // '1'
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#define STK_SET_PARAMETER 0x40 // '@'
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#define STK_GET_PARAMETER 0x41 // 'A'
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#define STK_SET_DEVICE 0x42 // 'B'
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#define STK_SET_DEVICE_EXT 0x45 // 'E'
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#define STK_ENTER_PROGMODE 0x50 // 'P'
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#define STK_LEAVE_PROGMODE 0x51 // 'Q'
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#define STK_CHIP_ERASE 0x52 // 'R'
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#define STK_CHECK_AUTOINC 0x53 // 'S'
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#define STK_LOAD_ADDRESS 0x55 // 'U'
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#define STK_UNIVERSAL 0x56 // 'V'
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#define STK_PROG_FLASH 0x60 // '`'
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#define STK_PROG_DATA 0x61 // 'a'
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#define STK_PROG_FUSE 0x62 // 'b'
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#define STK_PROG_LOCK 0x63 // 'c'
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#define STK_PROG_PAGE 0x64 // 'd'
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#define STK_PROG_FUSE_EXT 0x65 // 'e'
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#define STK_READ_FLASH 0x70 // 'p'
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#define STK_READ_DATA 0x71 // 'q'
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#define STK_READ_FUSE 0x72 // 'r'
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#define STK_READ_LOCK 0x73 // 's'
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#define STK_READ_PAGE 0x74 // 't'
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#define STK_READ_SIGN 0x75 // 'u'
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#define STK_READ_OSCCAL 0x76 // 'v'
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#define STK_READ_FUSE_EXT 0x77 // 'w'
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#define STK_READ_OSCCAL_EXT 0x78 // 'x'
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/* Watchdog settings */
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#define WATCHDOG_OFF (0)
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#define WATCHDOG_16MS (_BV(WDE))
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#define WATCHDOG_32MS (_BV(WDP0) | _BV(WDE))
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#define WATCHDOG_64MS (_BV(WDP1) | _BV(WDE))
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#define WATCHDOG_125MS (_BV(WDP1) | _BV(WDP0) | _BV(WDE))
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#define WATCHDOG_250MS (_BV(WDP2) | _BV(WDE))
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#define WATCHDOG_500MS (_BV(WDP2) | _BV(WDP0) | _BV(WDE))
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#define WATCHDOG_1S (_BV(WDP2) | _BV(WDP1) | _BV(WDE))
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#define WATCHDOG_2S (_BV(WDP2) | _BV(WDP1) | _BV(WDP0) | _BV(WDE))
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#define WATCHDOG_4S (_BV(WDE3) | _BV(WDE))
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#define WATCHDOG_8S (_BV(WDE3) | _BV(WDE0) | _BV(WDE))
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/* Function Prototypes */
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/* The main function is in init9, which removes the interrupt vector table */
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/* we don't need. It is also 'naked', which means the compiler does not */
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/* generate any entry or exit code itself. */
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int main(void) __attribute__ ((naked)) __attribute__ ((section (".init9")));
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void putch(char);
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uint8_t getch(void);
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static inline void getNch(uint8_t); /* "static inline" is a compiler hint to reduce code size */
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void verifySpace();
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static inline void flash_led(uint8_t);
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uint8_t getLen();
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static inline void watchdogReset();
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void watchdogConfig(uint8_t x);
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#ifdef SOFT_UART
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void uartDelay() __attribute__ ((naked));
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#endif
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void appStart() __attribute__ ((naked));
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/* C zero initialises all global variables. However, that requires */
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/* These definitions are NOT zero initialised, but that doesn't matter */
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/* This allows us to drop the zero init code, saving us memory */
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#define buff ((uint8_t*)(0x100))
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#define address (*(uint16_t*)(0x200))
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#define length (*(uint8_t*)(0x202))
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#ifdef VIRTUAL_BOOT_PARTITION
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#define rstVect (*(uint16_t*)(0x204))
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#define wdtVect (*(uint16_t*)(0x206))
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#endif
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/* main program starts here */
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int main(void) {
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// After the zero init loop, this is the first code to run.
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//
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// This code makes the following assumptions:
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// No interrupts will execute
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// SP points to RAMEND
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// r1 contains zero
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//
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// If not, uncomment the following instructions:
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// cli();
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// SP=RAMEND; // This is done by hardware reset
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// asm volatile ("clr __zero_reg__");
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uint8_t ch;
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#if LED_START_FLASHES > 0
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// Set up Timer 1 for timeout counter
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TCCR1B = _BV(CS12) | _BV(CS10); // div 1024
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#endif
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#ifndef SOFT_UART
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UCSR0A = _BV(U2X0); //Double speed mode USART0
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UCSR0B = _BV(RXEN0) | _BV(TXEN0);
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UCSR0C = _BV(UCSZ00) | _BV(UCSZ01);
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UBRR0L = (uint8_t)( (F_CPU + BAUD_RATE * 4L) / (BAUD_RATE * 8L) - 1 );
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#endif
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// Adaboot no-wait mod
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ch = MCUSR;
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MCUSR = 0;
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if (!(ch & _BV(EXTRF))) appStart();
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// Set up watchdog to trigger after 500ms
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watchdogConfig(WATCHDOG_500MS);
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/* Set LED pin as output */
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LED_DDR |= _BV(LED);
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#ifdef SOFT_UART
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/* Set TX pin as output */
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UART_DDR |= _BV(UART_TX_BIT);
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#endif
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#if LED_START_FLASHES > 0
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/* Flash onboard LED to signal entering of bootloader */
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flash_led(LED_START_FLASHES * 2);
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#endif
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/* Forever loop */
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for (;;) {
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/* get character from UART */
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ch = getch();
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if(ch == STK_GET_PARAMETER) {
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// GET PARAMETER returns a generic 0x03 reply - enough to keep Avrdude happy
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getNch(1);
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putch(0x03);
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}
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else if(ch == STK_SET_DEVICE) {
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// SET DEVICE is ignored
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getNch(20);
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}
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else if(ch == STK_SET_DEVICE_EXT) {
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// SET DEVICE EXT is ignored
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getNch(5);
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}
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else if(ch == STK_LOAD_ADDRESS) {
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// LOAD ADDRESS
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address = getch();
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address = (address & 0xff) | (getch() << 8);
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address += address; // Convert from word address to byte address
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verifySpace();
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}
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else if(ch == STK_UNIVERSAL) {
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// UNIVERSAL command is ignored
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getNch(4);
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putch(0x00);
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}
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/* Write memory, length is big endian and is in bytes */
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else if(ch == STK_PROG_PAGE) {
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// PROGRAM PAGE - we support flash programming only, not EEPROM
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uint8_t *bufPtr;
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uint16_t addrPtr;
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getLen();
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// Immediately start page erase - this will 4.5ms
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boot_page_erase((uint16_t)(void*)address);
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// While that is going on, read in page contents
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bufPtr = buff;
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do *bufPtr++ = getch();
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while (--length);
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// Read command terminator, start reply
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verifySpace();
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// If only a partial page is to be programmed, the erase might not be complete.
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// So check that here
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boot_spm_busy_wait();
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#ifdef VIRTUAL_BOOT_PARTITION
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if ((uint16_t)(void*)address == 0) {
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// This is the reset vector page. We need to live-patch the code so the
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// bootloader runs.
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//
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// Move RESET vector to WDT vector
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uint16_t vect = buff[0] | (buff[1]<<8);
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rstVect = vect;
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wdtVect = buff[10] | (buff[11]<<8);
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vect -= 4; // Instruction is a relative jump (rjmp), so recalculate.
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buff[10] = vect & 0xff;
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buff[11] = vect >> 8;
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// Add jump to bootloader at RESET vector
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buff[0] = 0x7f;
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buff[1] = 0xce; // rjmp 0x1d00 instruction
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}
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#endif
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// Copy buffer into programming buffer
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bufPtr = buff;
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addrPtr = (uint16_t)(void*)address;
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ch = SPM_PAGESIZE / 2;
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do {
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uint16_t a;
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a = *bufPtr++;
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a |= (*bufPtr++) << 8;
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boot_page_fill((uint16_t)(void*)addrPtr,a);
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addrPtr += 2;
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} while (--ch);
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// Write from programming buffer
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boot_page_write((uint16_t)(void*)address);
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boot_spm_busy_wait();
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#if defined(RWWSRE)
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// Reenable read access to flash
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boot_rww_enable();
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#endif
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}
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/* Read memory block mode, length is big endian. */
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else if(ch == STK_READ_PAGE) {
|
||
|
|
// READ PAGE - we only read flash
|
||
|
|
getLen();
|
||
|
|
verifySpace();
|
||
|
|
#ifdef VIRTUAL_BOOT_PARTITION
|
||
|
|
do {
|
||
|
|
// Undo vector patch in bottom page so verify passes
|
||
|
|
if (address == 0) ch=rstVect & 0xff;
|
||
|
|
else if (address == 1) ch=rstVect >> 8;
|
||
|
|
else if (address == 10) ch=wdtVect & 0xff;
|
||
|
|
else if (address == 11) ch=wdtVect >> 8;
|
||
|
|
else ch = pgm_read_byte_near(address);
|
||
|
|
address++;
|
||
|
|
putch(ch);
|
||
|
|
} while (--length);
|
||
|
|
#else
|
||
|
|
do putch(pgm_read_byte_near(address++));
|
||
|
|
while (--length);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
/* Get device signature bytes */
|
||
|
|
else if(ch == STK_READ_SIGN) {
|
||
|
|
// READ SIGN - return what Avrdude wants to hear
|
||
|
|
verifySpace();
|
||
|
|
putch(SIGNATURE_0);
|
||
|
|
putch(SIGNATURE_1);
|
||
|
|
putch(SIGNATURE_2);
|
||
|
|
}
|
||
|
|
else if (ch == 'Q') {
|
||
|
|
// Adaboot no-wait mod
|
||
|
|
watchdogConfig(WATCHDOG_16MS);
|
||
|
|
verifySpace();
|
||
|
|
}
|
||
|
|
else {
|
||
|
|
// This covers the response to commands like STK_ENTER_PROGMODE
|
||
|
|
verifySpace();
|
||
|
|
}
|
||
|
|
putch(STK_OK);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
void putch(char ch) {
|
||
|
|
#ifndef SOFT_UART
|
||
|
|
while (!(UCSR0A & _BV(UDRE0)));
|
||
|
|
UDR0 = ch;
|
||
|
|
#else
|
||
|
|
__asm__ __volatile__ (
|
||
|
|
" com %[ch]\n" // ones complement, carry set
|
||
|
|
" sec\n"
|
||
|
|
"1: brcc 2f\n"
|
||
|
|
" cbi %[uartPort],%[uartBit]\n"
|
||
|
|
" rjmp 3f\n"
|
||
|
|
"2: sbi %[uartPort],%[uartBit]\n"
|
||
|
|
" nop\n"
|
||
|
|
"3: rcall uartDelay\n"
|
||
|
|
" rcall uartDelay\n"
|
||
|
|
" lsr %[ch]\n"
|
||
|
|
" dec %[bitcnt]\n"
|
||
|
|
" brne 1b\n"
|
||
|
|
:
|
||
|
|
:
|
||
|
|
[bitcnt] "d" (10),
|
||
|
|
[ch] "r" (ch),
|
||
|
|
[uartPort] "I" (_SFR_IO_ADDR(UART_PORT)),
|
||
|
|
[uartBit] "I" (UART_TX_BIT)
|
||
|
|
:
|
||
|
|
"r25"
|
||
|
|
);
|
||
|
|
#endif
|
||
|
|
}
|
||
|
|
|
||
|
|
uint8_t getch(void) {
|
||
|
|
uint8_t ch;
|
||
|
|
|
||
|
|
watchdogReset();
|
||
|
|
|
||
|
|
#ifdef LED_DATA_FLASH
|
||
|
|
LED_PIN |= _BV(LED);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifdef SOFT_UART
|
||
|
|
__asm__ __volatile__ (
|
||
|
|
"1: sbic %[uartPin],%[uartBit]\n" // Wait for start edge
|
||
|
|
" rjmp 1b\n"
|
||
|
|
" rcall uartDelay\n" // Get to middle of start bit
|
||
|
|
"2: rcall uartDelay\n" // Wait 1 bit period
|
||
|
|
" rcall uartDelay\n" // Wait 1 bit period
|
||
|
|
" clc\n"
|
||
|
|
" sbic %[uartPin],%[uartBit]\n"
|
||
|
|
" sec\n"
|
||
|
|
" dec %[bitCnt]\n"
|
||
|
|
" breq 3f\n"
|
||
|
|
" ror %[ch]\n"
|
||
|
|
" rjmp 2b\n"
|
||
|
|
"3:\n"
|
||
|
|
:
|
||
|
|
[ch] "=r" (ch)
|
||
|
|
:
|
||
|
|
[bitCnt] "d" (9),
|
||
|
|
[uartPin] "I" (_SFR_IO_ADDR(UART_PIN)),
|
||
|
|
[uartBit] "I" (UART_RX_BIT)
|
||
|
|
:
|
||
|
|
"r25"
|
||
|
|
);
|
||
|
|
#else
|
||
|
|
while(!(UCSR0A & _BV(RXC0)));
|
||
|
|
ch = UDR0;
|
||
|
|
#endif
|
||
|
|
|
||
|
|
#ifdef LED_DATA_FLASH
|
||
|
|
LED_PIN |= _BV(LED);
|
||
|
|
#endif
|
||
|
|
|
||
|
|
return ch;
|
||
|
|
}
|
||
|
|
|
||
|
|
#ifdef SOFT_UART
|
||
|
|
//#define UART_B_VALUE (((F_CPU/BAUD_RATE)-23)/6)
|
||
|
|
#define UART_B_VALUE (((F_CPU/BAUD_RATE)-20)/6)
|
||
|
|
#if UART_B_VALUE > 255
|
||
|
|
#error Baud rate too slow for soft UART
|
||
|
|
#endif
|
||
|
|
|
||
|
|
void uartDelay() {
|
||
|
|
__asm__ __volatile__ (
|
||
|
|
"ldi r25,%[count]\n"
|
||
|
|
"1:dec r25\n"
|
||
|
|
"brne 1b\n"
|
||
|
|
"ret\n"
|
||
|
|
::[count] "M" (UART_B_VALUE)
|
||
|
|
);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
void getNch(uint8_t count) {
|
||
|
|
do getch(); while (--count);
|
||
|
|
verifySpace();
|
||
|
|
}
|
||
|
|
|
||
|
|
void verifySpace() {
|
||
|
|
if (getch() != CRC_EOP) appStart();
|
||
|
|
putch(STK_INSYNC);
|
||
|
|
}
|
||
|
|
|
||
|
|
#if LED_START_FLASHES > 0
|
||
|
|
void flash_led(uint8_t count) {
|
||
|
|
do {
|
||
|
|
TCNT1 = -(F_CPU/(1024*16));
|
||
|
|
TIFR1 = _BV(TOV1);
|
||
|
|
while(!(TIFR1 & _BV(TOV1)));
|
||
|
|
LED_PIN |= _BV(LED);
|
||
|
|
watchdogReset();
|
||
|
|
} while (--count);
|
||
|
|
}
|
||
|
|
#endif
|
||
|
|
|
||
|
|
uint8_t getLen() {
|
||
|
|
getch();
|
||
|
|
length = getch();
|
||
|
|
return getch();
|
||
|
|
}
|
||
|
|
|
||
|
|
// Watchdog functions. These are only safe with interrupts turned off.
|
||
|
|
void watchdogReset() {
|
||
|
|
__asm__ __volatile__ (
|
||
|
|
"wdr\n"
|
||
|
|
);
|
||
|
|
}
|
||
|
|
|
||
|
|
void watchdogConfig(uint8_t x) {
|
||
|
|
WDTCSR = _BV(WDCE) | _BV(WDE);
|
||
|
|
WDTCSR = x;
|
||
|
|
}
|
||
|
|
|
||
|
|
void appStart() {
|
||
|
|
watchdogConfig(WATCHDOG_OFF);
|
||
|
|
__asm__ __volatile__ (
|
||
|
|
#ifdef VIRTUAL_BOOT_PARTITION
|
||
|
|
// Jump to WDT vector
|
||
|
|
"ldi r30,5\n"
|
||
|
|
"clr r31\n"
|
||
|
|
#else
|
||
|
|
// Jump to RST vector
|
||
|
|
"clr r30\n"
|
||
|
|
"clr r31\n"
|
||
|
|
#endif
|
||
|
|
"ijmp\n"
|
||
|
|
);
|
||
|
|
}
|