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104 lines
2.3 KiB
104 lines
2.3 KiB
2 years ago
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// -*- mode: c++ -*-
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#include <stdint.h> // for uint16_t, uint8_t
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#include "pins_and_ports.h" // IWYU pragma: keep
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#include <avr/wdt.h>
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extern "C" {
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#include "adns5050.h"
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}
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#define BOOTLOADER_RESET_KEY 0xB007B007
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static uint32_t reset_key __attribute__((section(".noinit")));
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/*
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* This function runs before main(), and jumps to the bootloader after a reset
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* initiated by .resetDevice().
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*/
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static void _bootloader_jump_after_watchdog_reset()
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__attribute__((used, naked, section(".init3")));
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static void _bootloader_jump_after_watchdog_reset() {
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if ((MCUSR & (1 << WDRF)) && reset_key == BOOTLOADER_RESET_KEY) {
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reset_key = 0;
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((void (*)(void))(((FLASHEND + 1L) - 4096) >> 1))();
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}
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}
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void rebootBootloader() {
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reset_key = BOOTLOADER_RESET_KEY;
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wdt_enable(WDTO_250MS);
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while (true) {} // This infinite loop ensures nothing else
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// happens before the watchdog reboots us
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}
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static constexpr uint8_t direct_pins[5] = {PIN_D4, PIN_D2, PIN_E6, PIN_B6, PIN_D7};
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static constexpr uint8_t unused_pins[12] = {PIN_B5, PIN_C7, PIN_D0, PIN_D1, PIN_D3, PIN_D5, PIN_D6, PIN_F1, PIN_F3, PIN_F5, PIN_F6, PIN_F7};
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void mcuSetup() {
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wdt_disable();
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// disable jtag
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MCUCR |= (1 << JTD);
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MCUCR |= (1 << JTD);
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// disable clock division
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CLKPR = (1 << CLKPCE);
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CLKPR = (0 << CLKPS3) | (0 << CLKPS2) | (0 << CLKPS1) | (0 << CLKPS0);
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}
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void buttonSetup() {
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// Initialize keyscanner
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for (uint8_t i = 0; i < sizeof(unused_pins); i++) {
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DDR_OUTPUT(unused_pins[i]);
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DISABLE_PULLUP(unused_pins[i]);
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}
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for (uint8_t i = 0; i < sizeof(direct_pins); i++) {
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DDR_INPUT(direct_pins[i]);
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ENABLE_PULLUP(direct_pins[i]);
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}
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}
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void setup() {
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mcuSetup();
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Serial.begin(9600);
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buttonSetup();
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adns5050_init();
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adns5050_sync();
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while (!Serial);
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uint8_t pid = adns5050_read_reg(0x00);
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uint8_t rid = adns5050_read_reg(0x01);
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uint8_t pid2 = adns5050_read_reg(0x3e);
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Serial.print("pid=");
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Serial.print(pid, HEX);
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Serial.print("; rid=");
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Serial.print(rid, HEX);
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Serial.print("; pid2=");
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Serial.println(pid2);
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}
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void handleSerial() {
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if (Serial.available() == 0) return;
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uint8_t b = Serial.read();
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if (b == 'r') rebootBootloader();
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Serial.flush();
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}
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void loop() {
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handleSerial();
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//report_adns5050_t r = adns505
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delay(250);
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}
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