path: root/bootloaders/optiboot/optiboot.c

/**********************************************************/
/* Optiboot bootloader for Arduino                        */
/*                                                        */
/* Heavily optimised bootloader that is faster and        */
/* smaller than the Arduino standard bootloader           */
/*                                                        */
/* Enhancements:                                          */
/*   Fits in 512 bytes, saving 1.5K of code space         */
/*   Background page erasing speeds up programming        */
/*   Higher baud rate speeds up programming               */
/*   Written almost entirely in C                         */
/*   Customisable timeout with accurate timeconstant      */
/*                                                        */
/* What you lose:                                         */
/*   Implements a skeleton STK500 protocol which is       */
/*     missing several features including EEPROM          */
/*     programming and non-page-aligned writes            */
/*   High baud rate breaks compatibility with standard    */
/*     Arduino flash settings                             */
/*                                                        */
/* Currently supports:                                    */
/*   ATmega168 based devices (Diecimila etc)              */
/*   ATmega328P based devices (Duemilanove etc)           */
/*                                                        */
/* Does not support:                                      */
/*   ATmega1280 based devices (eg. Mega)                  */
/*                                                        */
/* Assumptions:                                           */
/*   The code makes several assumptions that reduce the   */
/*   code size. They are all true after a hardware reset, */
/*   but may not be true if the bootloader is called by   */
/*   other means or on other hardware.                    */
/*     No interrupts can occur                            */
/*     UART and Timer 1 are set to their reset state      */
/*     SP points to RAMEND                                */
/*                                                        */
/* Code builds on code, libraries and optimisations from: */
/*   stk500boot.c          by Jason P. Kyle               */
/*   Arduino bootloader    http://arduino.cc              */
/*   Spiff's 1K bootloader http://spiffie.org/know/arduino_1k_bootloader/bootloader.shtml */
/*   avr-libc project      http://nongnu.org/avr-libc     */
/*   Adaboot               http://www.ladyada.net/library/arduino/bootloader.html */
/*   AVR305                Atmel Application Note         */
/*                                                        */
/* This program is free software; you can redistribute it */
/* and/or modify it under the terms of the GNU General    */
/* Public License as published by the Free Software       */
/* Foundation; either version 2 of the License, or        */
/* (at your option) any later version.                    */
/*                                                        */
/* This program is distributed in the hope that it will   */
/* be useful, but WITHOUT ANY WARRANTY; without even the  */
/* implied warranty of MERCHANTABILITY or FITNESS FOR A   */
/* PARTICULAR PURPOSE.  See the GNU General Public        */
/* License for more details.                              */
/*                                                        */
/* You should have received a copy of the GNU General     */
/* Public License along with this program; if not, write  */
/* to the Free Software Foundation, Inc.,                 */
/* 59 Temple Place, Suite 330, Boston, MA  02111-1307 USA */
/*                                                        */
/* Licence can be viewed at                               */
/* http://www.fsf.org/licenses/gpl.txt                    */
/*                                                        */
/**********************************************************/

#include <inttypes.h>
#include <avr/io.h>
#include <avr/pgmspace.h>
#include <avr/boot.h>

//#define LED_DATA_FLASH

#ifndef LED_START_FLASHES
#define LED_START_FLASHES 0
#endif

/* Build-time variables */
/* BAUD_RATE       Programming baud rate */
/* LED_NO_FLASHES  Number of LED flashes on boot */
/* FLASH_TIME_MS   Duration of each LED flash */
/* BOOT_TIMEOUT_MS Serial port wait time before exiting bootloader */

/* set the UART baud rate */
#ifndef BAUD_RATE
#define BAUD_RATE   19200
#endif

#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
/* Onboard LED is connected to pin PB5 in Arduino NG, Diecimila, and Duemilanove */ 
#define LED_DDR     DDRB
#define LED_PORT    PORTB
#define LED_PIN     PINB
#define LED         PINB5

/* Ports for soft UART */
#ifdef SOFT_UART
#define UART_PORT   PORTD
#define UART_PIN    PIND
#define UART_DDR    DDRD
#define UART_TX_BIT 1
#define UART_RX_BIT 0
#endif
#endif

#if defined(__AVR_ATtiny84__)
/* Onboard LED is connected to pin PB5 in Arduino NG, Diecimila, and Duemilanove */ 
#define LED_DDR     DDRA
#define LED_PORT    PORTA
#define LED_PIN     PINA
#define LED         PINA4

/* Ports for soft UART - left port only for now*/
#ifdef SOFT_UART
#define UART_PORT   PORTA
#define UART_PIN    PINA
#define UART_DDR    DDRA
#define UART_TX_BIT 2
#define UART_RX_BIT 3
#endif
#endif

/* STK500 constants list, from AVRDUDE */
#define STK_OK              0x10
#define STK_FAILED          0x11  // Not used
#define STK_UNKNOWN         0x12  // Not used
#define STK_NODEVICE        0x13  // Not used
#define STK_INSYNC          0x14  // ' '
#define STK_NOSYNC          0x15  // Not used
#define ADC_CHANNEL_ERROR   0x16  // Not used
#define ADC_MEASURE_OK      0x17  // Not used
#define PWM_CHANNEL_ERROR   0x18  // Not used
#define PWM_ADJUST_OK       0x19  // Not used
#define CRC_EOP             0x20  // 'SPACE'
#define STK_GET_SYNC        0x30  // '0'
#define STK_GET_SIGN_ON     0x31  // '1'
#define STK_SET_PARAMETER   0x40  // '@'
#define STK_GET_PARAMETER   0x41  // 'A'
#define STK_SET_DEVICE      0x42  // 'B'
#define STK_SET_DEVICE_EXT  0x45  // 'E'
#define STK_ENTER_PROGMODE  0x50  // 'P'
#define STK_LEAVE_PROGMODE  0x51  // 'Q'
#define STK_CHIP_ERASE      0x52  // 'R'
#define STK_CHECK_AUTOINC   0x53  // 'S'
#define STK_LOAD_ADDRESS    0x55  // 'U'
#define STK_UNIVERSAL       0x56  // 'V'
#define STK_PROG_FLASH      0x60  // '`'
#define STK_PROG_DATA       0x61  // 'a'
#define STK_PROG_FUSE       0x62  // 'b'
#define STK_PROG_LOCK       0x63  // 'c'
#define STK_PROG_PAGE       0x64  // 'd'
#define STK_PROG_FUSE_EXT   0x65  // 'e'
#define STK_READ_FLASH      0x70  // 'p'
#define STK_READ_DATA       0x71  // 'q'
#define STK_READ_FUSE       0x72  // 'r'
#define STK_READ_LOCK       0x73  // 's'
#define STK_READ_PAGE       0x74  // 't'
#define STK_READ_SIGN       0x75  // 'u'
#define STK_READ_OSCCAL     0x76  // 'v'
#define STK_READ_FUSE_EXT   0x77  // 'w'
#define STK_READ_OSCCAL_EXT 0x78  // 'x'

/* Watchdog settings */
#define WATCHDOG_OFF    (0)
#define WATCHDOG_16MS   (_BV(WDE))
#define WATCHDOG_32MS   (_BV(WDP0) | _BV(WDE))
#define WATCHDOG_64MS   (_BV(WDP1) | _BV(WDE))
#define WATCHDOG_125MS  (_BV(WDP1) | _BV(WDP0) | _BV(WDE))
#define WATCHDOG_250MS  (_BV(WDP2) | _BV(WDE))
#define WATCHDOG_500MS  (_BV(WDP2) | _BV(WDP0) | _BV(WDE))
#define WATCHDOG_1S     (_BV(WDP2) | _BV(WDP1) | _BV(WDE))
#define WATCHDOG_2S     (_BV(WDP2) | _BV(WDP1) | _BV(WDP0) | _BV(WDE))
#define WATCHDOG_4S     (_BV(WDE3) | _BV(WDE))
#define WATCHDOG_8S     (_BV(WDE3) | _BV(WDE0) | _BV(WDE))

/* Function Prototypes */
/* The main function is in init9, which removes the interrupt vector table */
/* we don't need. It is also 'naked', which means the compiler does not    */
/* generate any entry or exit code itself. */
int main(void) __attribute__ ((naked)) __attribute__ ((section (".init9")));
void putch(char);
uint8_t getch(void);
static inline void getNch(uint8_t); /* "static inline" is a compiler hint to reduce code size */
void verifySpace();
static inline void flash_led(uint8_t);
uint8_t getLen();
static inline void watchdogReset();
void watchdogConfig(uint8_t x);
#ifdef SOFT_UART
void uartDelay() __attribute__ ((naked));
#endif
void appStart() __attribute__ ((naked));

/* C zero initialises all global variables. However, that requires */
/* These definitions are NOT zero initialised, but that doesn't matter */
/* This allows us to drop the zero init code, saving us memory */
#define buff    ((uint8_t*)(0x100))
#define address (*(uint16_t*)(0x200))
#define length  (*(uint8_t*)(0x202))
#ifdef VIRTUAL_BOOT_PARTITION
#define rstVect (*(uint16_t*)(0x204))
#define wdtVect (*(uint16_t*)(0x206))
#endif
/* main program starts here */
int main(void) {
  // After the zero init loop, this is the first code to run.
  //
  // This code makes the following assumptions:
  //  No interrupts will execute
  //  SP points to RAMEND
  //  r1 contains zero
  //
  // If not, uncomment the following instructions:
  // cli();
  // SP=RAMEND;  // This is done by hardware reset
  asm volatile ("clr __zero_reg__");

  uint8_t ch;

#if LED_START_FLASHES > 0
  // Set up Timer 1 for timeout counter
  TCCR1B = _BV(CS12) | _BV(CS10); // div 1024
#endif
#ifndef SOFT_UART
  UCSR0A = _BV(U2X0); //Double speed mode USART0
  UCSR0B = _BV(RXEN0) | _BV(TXEN0);
  UCSR0C = _BV(UCSZ00) | _BV(UCSZ01);
  UBRR0L = (uint8_t)( (F_CPU + BAUD_RATE * 4L) / (BAUD_RATE * 8L) - 1 );
#endif

  // Adaboot no-wait mod
  ch = MCUSR;
  MCUSR = 0;
  if (!(ch & _BV(EXTRF))) appStart();

  // Set up watchdog to trigger after 500ms
  watchdogConfig(WATCHDOG_500MS);

  /* Set LED pin as output */
  LED_DDR |= _BV(LED);

#ifdef SOFT_UART
  /* Set TX pin as output */
  UART_DDR |= _BV(UART_TX_BIT);
#endif

#if LED_START_FLASHES > 0
  /* Flash onboard LED to signal entering of bootloader */
  flash_led(LED_START_FLASHES * 2);
#endif

  /* Forever loop */
  for (;;) {
    /* get character from UART */
    ch = getch();

    if(ch == STK_GET_PARAMETER) {
      // GET PARAMETER returns a generic 0x03 reply - enough to keep Avrdude happy
      getNch(1);
      putch(0x03);
    }
    else if(ch == STK_SET_DEVICE) {
      // SET DEVICE is ignored
      getNch(20);
    }
    else if(ch == STK_SET_DEVICE_EXT) {
      // SET DEVICE EXT is ignored
      getNch(5);
    }
    else if(ch == STK_LOAD_ADDRESS) {
      // LOAD ADDRESS
      address = getch();
      address = (address & 0xff) | (getch() << 8);
      address += address; // Convert from word address to byte address
      verifySpace();
    }
    else if(ch == STK_UNIVERSAL) {
      // UNIVERSAL command is ignored
      getNch(4);
      putch(0x00);
    }
    /* Write memory, length is big endian and is in bytes  */
    else if(ch == STK_PROG_PAGE) {
      // PROGRAM PAGE - we support flash programming only, not EEPROM
      uint8_t *bufPtr;
      uint16_t addrPtr;

      getLen();

      // Immediately start page erase - this will 4.5ms
      boot_page_erase((uint16_t)(void*)address);

      // While that is going on, read in page contents
      bufPtr = buff;
      do *bufPtr++ = getch();
      while (--length);

      // Read command terminator, start reply
      verifySpace();
      
      // If only a partial page is to be programmed, the erase might not be complete.
      // So check that here
      boot_spm_busy_wait();

#ifdef VIRTUAL_BOOT_PARTITION
      if ((uint16_t)(void*)address == 0) {
        // This is the reset vector page. We need to live-patch the code so the
        // bootloader runs.
        //
        // Move RESET vector to WDT vector
        uint16_t vect = buff[0] | (buff[1]<<8);
        rstVect = vect;
        wdtVect = buff[10] | (buff[11]<<8);
        vect -= 4; // Instruction is a relative jump (rjmp), so recalculate.
        buff[10] = vect & 0xff;
        buff[11] = vect >> 8;

        // Add jump to bootloader at RESET vector
        buff[0] = 0x7f;
        buff[1] = 0xce; // rjmp 0x1d00 instruction
      }
#endif

      // Copy buffer into programming buffer
      bufPtr = buff;
      addrPtr = (uint16_t)(void*)address;
      ch = SPM_PAGESIZE / 2;
      do {
        uint16_t a;
        a = *bufPtr++;
        a |= (*bufPtr++) << 8;
        boot_page_fill((uint16_t)(void*)addrPtr,a);
        addrPtr += 2;
      } while (--ch);
      
      // Write from programming buffer
      boot_page_write((uint16_t)(void*)address);
      boot_spm_busy_wait();

#if defined(RWWSRE)
      // Reenable read access to flash
      boot_rww_enable();
#endif

    }
    /* Read memory block mode, length is big endian.  */
    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"
  );
}