OctoClock firmware upgrade, added host driver

* OctoClock can communicate with UHD over Ethernet
* Can read NMEA strings from GPSDO and send to host
* Added multi_usrp_clock class for clock devices
* uhd::device can now filter to return only USRP devices or clock devices
* New OctoClock bootloader can accept firmware download over Ethernet
* Added octoclock_burn_eeprom,octoclock_firmware_burner utilities
* Added test_clock_synch example to show clock API

2 files changed, 289 insertions, 0 deletions

diff --git a/firmware/octoclock/bootloader/CMakeLists.txt b/firmware/octoclock/bootloader/CMakeLists.txt
new file mode 100644
index 000000000..eecb87002
--- /dev/null
+++ b/firmware/octoclock/bootloader/CMakeLists.txt
@@ -0,0 +1,56 @@
+#
+# Copyright 2014 Ettus Research LLC
+#
+# 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 3 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, see <http://www.gnu.org/licenses/>.
+#
+set(bootloader_sources
+    ../lib/init.c
+    ../lib/enc28j60.c
+    ../lib/network.c
+    ../lib/arp_cache.c
+    main.c
+)
+
+add_executable(octoclock_bootloader.elf ${bootloader_sources})
+
+#
+# The __AVR_LIBC_DEPRECATED_ENABLE__ flag is necessary because of a bug in some versions of avr-libc
+# where including <avr/boot.h> when using an atmega128 will cause a compiler error.
+#
+# Details: http://savannah.nongnu.org/bugs/?36410
+#
+set_target_properties(octoclock_bootloader.elf PROPERTIES
+    COMPILE_FLAGS "${CMAKE_C_FLAGS} -Os -D__AVR_LIBC_DEPRECATED_ENABLE__ -Wall"
+    LINK_FLAGS "-Os -Wl,--relax,--section-start=.text=0x1E000,-Map=octoclock_bootloader.map,--cref"
+)
+
+
+add_custom_command(
+    OUTPUT ${CMAKE_BINARY_DIR}/octoclock_bootloader.hex
+    DEPENDS octoclock_bootloader.elf
+    COMMENT "Generating octoclock_bootloader.hex"
+    COMMAND ${AVR_OBJCOPY} -O ihex ${CMAKE_CURRENT_BINARY_DIR}/octoclock_bootloader.elf ${CMAKE_BINARY_DIR}/octoclock_bootloader.hex
+)
+add_custom_target(
+    octoclock_bootloader_hex ALL
+    DEPENDS ${CMAKE_BINARY_DIR}/octoclock_bootloader.hex
+)
+
+add_custom_target(
+    upload_bootloader
+    ${AVRDUDE} -p atmega128 -c ${PROGRAMMER} -P usb -U efuse:w:0xFF:m -U hfuse:w:0x80:m -U lfuse:w:0xFF:m -U flash:w:octoclock_bootloader.hex:i
+    WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+    DEPENDS octoclock_bootloader_hex
+    COMMENT "Uploading OctoClock bootloader to device with ${PROGRAMMER}"
+)
diff --git a/firmware/octoclock/bootloader/main.c b/firmware/octoclock/bootloader/main.c
new file mode 100644
index 000000000..b2f6730ac
--- /dev/null
+++ b/firmware/octoclock/bootloader/main.c
@@ -0,0 +1,233 @@
+/*
+ * Copyright 2014 Ettus Research LLC
+ *
+ * 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 3 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, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include <avr/boot.h>
+#include <avr/eeprom.h>
+#include <avr/io.h>
+#include <avr/pgmspace.h>
+
+#include <octoclock.h>
+#include <debug.h>
+#include <network.h>
+
+#include <net/enc28j60.h>
+
+#include "octoclock/common.h"
+
+#define wait() for(uint16_t u=4000; u; u--) asm("nop");
+#define TIME_PASSED (TCNT1 > FIVE_SECONDS || (TIFR & _BV(TOV1)))
+
+//States
+static bool received_cmd = false;
+static bool done_burning = false;
+
+typedef struct {
+    uint16_t fw_len;
+    uint16_t fw_crc;
+} crc_info_t;
+
+static crc_info_t crc_info;
+
+static void boot_program_page(uint8_t *buf, uint16_t page){
+    uint16_t i;
+
+    eeprom_busy_wait();
+
+    boot_page_erase(page);
+    boot_spm_busy_wait(); // Wait until the memory is erased.
+
+    for(i = 0; i < SPM_PAGESIZE; i += 2){
+        // Set up little-endian word.
+        uint16_t w = *buf++;
+        w += ((*buf++) << 8);
+
+        boot_page_fill(page + i, w);
+    }
+
+    boot_page_write(page); // Store buffer in flash page.
+    boot_spm_busy_wait(); // Wait until the memory is written.
+
+    // Reenable RWW-section again. We need this if we want to jump back
+    // to the application after bootloading.
+    boot_rww_enable();
+}
+
+static void read_firmware(uint16_t addr, octoclock_packet_t *pkt_out){
+    for(size_t i = 0; i < SPM_PAGESIZE; i++){
+        pkt_out->data[i] = pgm_read_byte(addr+i);
+    }
+}
+
+void handle_udp_query_packet(
+    struct socket_address src, struct socket_address dst,
+    unsigned char *payload, int payload_len
+){
+    const octoclock_packet_t *pkt_in = (octoclock_packet_t*)payload;
+
+    //Respond to query packets
+    if(pkt_in->proto_ver == OCTOCLOCK_FW_COMPAT_NUM &&
+       pkt_in->code == OCTOCLOCK_QUERY_CMD){
+        octoclock_packet_t pkt_out;
+        pkt_out.proto_ver = OCTOCLOCK_BOOTLOADER_PROTO_VER;
+        pkt_out.sequence = pkt_in->sequence;
+        pkt_out.code = OCTOCLOCK_QUERY_ACK;
+        pkt_out.len = 0;
+        send_udp_pkt(OCTOCLOCK_UDP_CTRL_PORT, src, (void*)&pkt_out, sizeof(octoclock_packet_t));
+    }
+}
+
+static void calculate_crc(uint16_t *crc, uint16_t len){
+    *crc = 0xFFFF;
+
+    for(size_t i = 0; i < len; i++){
+        *crc ^= pgm_read_byte(i);
+        for(uint8_t j = 0; j < 8; ++j){
+            if(*crc & 1) *crc = (*crc >> 1) ^ 0xA001;
+            else *crc = (*crc >> 1);
+        }
+    }
+}
+
+static bool valid_app(){
+    crc_info_t crc_eeprom_info;
+    eeprom_read_block(&crc_eeprom_info, (void*)OCTOCLOCK_EEPROM_APP_LEN, 4);
+
+    calculate_crc(&(crc_info.fw_crc), crc_eeprom_info.fw_len);
+    return (crc_info.fw_crc == crc_eeprom_info.fw_crc);
+}
+
+void handle_udp_fw_packet(
+    struct socket_address src, struct socket_address dst,
+    unsigned char *payload, int payload_len
+){
+    octoclock_packet_t *pkt_in = (octoclock_packet_t*)payload;
+    octoclock_packet_t pkt_out;
+    pkt_out.proto_ver = OCTOCLOCK_BOOTLOADER_PROTO_VER;
+    pkt_out.sequence = pkt_in->sequence;
+    pkt_out.len = 0;
+
+    switch(pkt_in->code){
+        case PREPARE_FW_BURN_CMD:
+            received_cmd = true;
+            done_burning = false;
+            crc_info.fw_len = pkt_in->len;
+            pkt_out.code = FW_BURN_READY_ACK;
+            break;
+
+        case FILE_TRANSFER_CMD:
+            boot_program_page(pkt_in->data, pkt_in->addr);
+            wait(); //Necessary for some reason
+            pkt_out.code = FILE_TRANSFER_ACK;
+            break;
+
+        case READ_FW_CMD:
+            pkt_out.code = READ_FW_ACK;
+            read_firmware(pkt_in->addr, &pkt_out);
+            break;
+
+        case FINALIZE_BURNING_CMD:
+            //With stuff verified, burn values into EEPROM
+            done_burning = true;
+            calculate_crc(&(crc_info.fw_crc), crc_info.fw_len);
+            eeprom_write_block(&crc_info, (void*)OCTOCLOCK_EEPROM_APP_LEN, 4);
+            pkt_out.code = FINALIZE_BURNING_ACK;
+            break;
+
+        default:
+            break;
+    }
+    send_udp_pkt(OCTOCLOCK_UDP_FW_PORT, src, (void*)&pkt_out, sizeof(octoclock_packet_t));
+}
+
+void handle_udp_eeprom_packet(
+    struct socket_address src, struct socket_address dst,
+    unsigned char *payload, int payload_len
+){
+    octoclock_packet_t *pkt_in = (octoclock_packet_t*)payload;
+    octoclock_packet_t pkt_out;
+    pkt_out.proto_ver = OCTOCLOCK_BOOTLOADER_PROTO_VER;
+    pkt_out.sequence = pkt_in->sequence;
+    pkt_out.len = 0;
+
+    if(pkt_in->proto_ver == OCTOCLOCK_FW_COMPAT_NUM){
+        switch(pkt_in->code){
+            case CLEAR_EEPROM_CMD:
+                received_cmd = true;
+                uint8_t blank_eeprom[103];
+                memset(blank_eeprom, 0xFF, 103);
+                eeprom_write_block(blank_eeprom, 0, 103);
+                pkt_out.code = CLEAR_EEPROM_ACK;
+                send_udp_pkt(OCTOCLOCK_UDP_EEPROM_PORT, src, (void*)&pkt_out, sizeof(octoclock_packet_t));
+                break;
+
+            default:
+                break;
+        }
+    }
+}
+
+int main(void){
+
+    asm("cli");
+
+    //Initialization
+    setup_atmel_io_ports();
+    network_init();
+    init_udp_listeners();
+    register_udp_listener(OCTOCLOCK_UDP_CTRL_PORT, handle_udp_query_packet);
+    register_udp_listener(OCTOCLOCK_UDP_FW_PORT, handle_udp_fw_packet);
+    register_udp_listener(OCTOCLOCK_UDP_EEPROM_PORT, handle_udp_eeprom_packet);
+
+    /*
+     * Initialize AVR timer. This will be used to detect how much time has gone
+     * by with no contact from the octoclock_burn_firmware utility. If 5 seconds go by
+     * with no PREPARE_FW_BURN_CMD packet, the bootloader will jump into the
+     * existing application.
+     *
+     * This timer is polled by the main loop with each iteration instead of using
+     * an interrupt.
+     */
+    TCCR1B = (1 << CS12) | (1 << CS10);
+    TCNT1 = 0;
+    bool app_checked = false;
+
+    while(true){
+        if(done_burning){
+            if(valid_app()) break;
+            else done_burning = false; //Burning somehow failed and wasn't caught
+        }
+        if(!app_checked && !received_cmd && TIME_PASSED){
+            app_checked = true;
+            if(valid_app()) break;
+        }
+
+        size_t recv_len = enc28j60PacketReceive(512, buf_in);
+        if(recv_len > 0) handle_eth_packet(recv_len);
+    }
+
+    /*
+     * Whether the bootloader reaches here through five seconds of inactivity
+     * or after a firmware burn just finished, it can be assumed that the application
+     * is valid.
+     */
+    asm("jmp 0000");
+    return 0; //Will never get here, but AVR-GCC needs it
+}