More modifications for public use of project

2 files changed, 577 insertions, 577 deletions

diff --git a/pwm_boot/Makefile b/pwm_boot/Makefile
index 1a98f84..fb401ea 100644
--- a/pwm_boot/Makefile
+++ b/pwm_boot/Makefile
@@ -1,102 +1,102 @@
-#

-# Copyright (C) 2010 Andreas Auras

-#

-# This file is part of the DF10CH Atmolight controller project.

-#

-# DF10CH Atmolight controller 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.

-#

-# DF10CH Atmolight controller 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110, USA

-#

-#

-###############################################################################

-# Makefile for the bootloader firmware of PWM processor

-###############################################################################

-

-## General Flags

-PROJECT = 10ch_pwm_boot

-MCU = atmega162

-TARGET = 10ch_pwm_boot.elf

-CC = avr-gcc

-AVRDUDE ?= avrdude -c stk500v2 -P avrdoper

-F_CPU ?= 16000000UL

-FIRMWARE_VERSION ?= 1

-

-## Options common to compile, link and assembly rules

-COMMON = -mmcu=$(MCU)

-

-## Compile options common for all C compilation units.

-CFLAGS = $(COMMON)

-CFLAGS += -Wall -gdwarf-2 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums

-CFLAGS += -DF_CPU=$(F_CPU) -DFIRMWARE_VERSION=$(FIRMWARE_VERSION)

-

-## Assembly specific flags

-ASMFLAGS = $(COMMON)

-ASMFLAGS += $(CFLAGS)

-ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2

-

-## Linker flags

-LDFLAGS = $(COMMON)

-LDFLAGS += -Wl,-Map=10ch_pwm_boot.map

-LDFLAGS += -Wl,-section-start=.text=0x3800

-

-

-## Intel Hex file production flags

-HEX_FLASH_FLAGS = -R .eeprom -R .fuse -R .lock -R .signature

-

-HEX_EEPROM_FLAGS = -j .eeprom

-HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"

-

-## Include Directories

-INCLUDES = -I. -I..

-

-## Objects that must be built in order to link

-OBJECTS = 10ch_pwm_boot.o

-

-## Objects explicitly added by the user

-LINKONLYOBJECTS = 

-

-## Build

-all: $(TARGET) 10ch_pwm_boot.hex 10ch_pwm_boot.lss size

-

-prog: flash

-	$(AVRDUDE) -p $(MCU) -u -Ulfuse:w:0xc0:m -Uhfuse:w:0xc8:m -Uefuse:w:0xf9:m -Ulock:w:0xef:m

-	

-flash: 10ch_pwm_boot.hex

-	$(AVRDUDE) -p $(MCU) -Uflash:w:10ch_pwm_boot.hex:i

-

-

-## Compile

-10ch_pwm_boot.o: 10ch_pwm_boot.c ../df10ch_usb_proto.h ../df10ch_common.h

-	$(CC) $(INCLUDES) $(CFLAGS) -c  $<

-

-##Link

-$(TARGET): $(OBJECTS)

-	 $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)

-

-%.hex: $(TARGET)

-	avr-objcopy -O ihex $(HEX_FLASH_FLAGS)  $< $@

-

-%.eep: $(TARGET)

-	-avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@ || exit 0

-

-%.lss: $(TARGET)

-	avr-objdump -h -S $< > $@

-

-size: ${TARGET}

-	@echo

-	@avr-size -C --mcu=${MCU} ${TARGET}

-

-## Clean target

-.PHONY: clean

-clean:

-	-rm -rf $(OBJECTS) 10ch_pwm_boot.elf 10ch_pwm_boot.hex 10ch_pwm_boot.eep 10ch_pwm_boot.lss 10ch_pwm_boot.map

+#
+# Copyright (C) 2010 Andreas Auras
+#
+# This file is part of the DF10CH Atmolight controller project.
+#
+# DF10CH Atmolight controller 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.
+#
+# DF10CH Atmolight controller 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110, USA
+#
+#
+###############################################################################
+# Makefile for the bootloader firmware of PWM processor
+###############################################################################
+
+## General Flags
+PROJECT = df10ch_pwm_boot
+MCU = atmega162
+TARGET = df10ch_pwm_boot.elf
+CC = avr-gcc
+AVRDUDE ?= avrdude -c stk500v2 -P avrdoper
+F_CPU ?= 16000000UL
+FIRMWARE_VERSION ?= 1
+
+## Options common to compile, link and assembly rules
+COMMON = -mmcu=$(MCU)
+
+## Compile options common for all C compilation units.
+CFLAGS = $(COMMON)
+CFLAGS += -Wall -gdwarf-2 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums
+CFLAGS += -DF_CPU=$(F_CPU) -DFIRMWARE_VERSION=$(FIRMWARE_VERSION)
+
+## Assembly specific flags
+ASMFLAGS = $(COMMON)
+ASMFLAGS += $(CFLAGS)
+ASMFLAGS += -x assembler-with-cpp -Wa,-gdwarf2
+
+## Linker flags
+LDFLAGS = $(COMMON)
+LDFLAGS += -Wl,-Map=df10ch_pwm_boot.map
+LDFLAGS += -Wl,-section-start=.text=0x3800
+
+
+## Intel Hex file production flags
+HEX_FLASH_FLAGS = -R .eeprom -R .fuse -R .lock -R .signature
+
+HEX_EEPROM_FLAGS = -j .eeprom
+HEX_EEPROM_FLAGS += --set-section-flags=.eeprom="alloc,load"
+
+## Include Directories
+INCLUDES = -I. -I..
+
+## Objects that must be built in order to link
+OBJECTS = df10ch_pwm_boot.o
+
+## Objects explicitly added by the user
+LINKONLYOBJECTS = 
+
+## Build
+all: $(TARGET) df10ch_pwm_boot.hex df10ch_pwm_boot.lss size
+
+prog: flash
+	$(AVRDUDE) -p $(MCU) -u -Ulfuse:w:0xc0:m -Uhfuse:w:0xc8:m -Uefuse:w:0xf9:m -Ulock:w:0xef:m
+	
+flash: df10ch_pwm_boot.hex
+	$(AVRDUDE) -p $(MCU) -Uflash:w:df10ch_pwm_boot.hex:i
+
+
+## Compile
+df10ch_pwm_boot.o: df10ch_pwm_boot.c ../df10ch_usb_proto.h ../df10ch_common.h
+	$(CC) $(INCLUDES) $(CFLAGS) -c  $<
+
+##Link
+$(TARGET): $(OBJECTS)
+	 $(CC) $(LDFLAGS) $(OBJECTS) $(LINKONLYOBJECTS) $(LIBDIRS) $(LIBS) -o $(TARGET)
+
+%.hex: $(TARGET)
+	avr-objcopy -O ihex $(HEX_FLASH_FLAGS)  $< $@
+
+%.eep: $(TARGET)
+	-avr-objcopy $(HEX_EEPROM_FLAGS) -O ihex $< $@ || exit 0
+
+%.lss: $(TARGET)
+	avr-objdump -h -S $< > $@
+
+size: ${TARGET}
+	@echo
+	@avr-size -C --mcu=${MCU} ${TARGET}
+
+## Clean target
+.PHONY: clean
+clean:
+	-rm -rf $(OBJECTS) df10ch_pwm_boot.elf df10ch_pwm_boot.hex df10ch_pwm_boot.eep df10ch_pwm_boot.lss df10ch_pwm_boot.map
diff --git a/pwm_boot/10ch_pwm_boot.c b/pwm_boot/df10ch_pwm_boot.c
index 787f5df..8795a5c 100644
--- a/pwm_boot/10ch_pwm_boot.c
+++ b/pwm_boot/df10ch_pwm_boot.c
@@ -1,475 +1,475 @@
-/*

- * Copyright (C) 2010 Andreas Auras

- *

- * This file is part of the DF10CH Atmolight controller project.

- *

- * DF10CH Atmolight controller 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.

- *

- * DF10CH Atmolight controller 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110, USA

- *

- */

-

-// ======================================================================

-// Bootloader firmware for PWM processor.

-//

-

-#include <stdint.h>

-#include <string.h>

-#include <avr/io.h>

-#include <avr/interrupt.h>

-#include <avr/wdt.h>

-#include <avr/pgmspace.h>

-#include <avr/eeprom.h>

-#include <avr/boot.h>

-

-#include "../df10ch_common.h"

-#include "../df10ch_usb_proto.h"

-

-

-// ---

-// Fuse-Bit settings for the flash programmer (Atmega 162):

-//

-//	M161C=1

-//	BODLEVEL2=1

-//	BODLEVEL1=0

-//	BODLEVEL0=0

-//

-//	OCDEN=1

-//	JTAGEN=1

-//	SPIEN=0

-//	WDTON=0

-//	EESAVE=1

-//	BOOTSZ1=0

-//	BOOTSZ0=0

-//	BOOTRST=0

-//

-//	CKDIV8=1

-//	CKOUT=1

-//	SUT1=0

-//	SUT0=1

-//	CKSEL3=1

-//	CKSEL2=1

-//	CKSEL1=1

-//	CKSEL0=1

-//

-// Memory-Lock Bits:

-//	BLB12=1, BLB11=0, BLB02=1, BLB01=1, LB2=1, LB1=1

-//

-FUSES = 

-{

-	.low = (FUSE_SUT1),

-	.high = (FUSE_SPIEN & FUSE_WDTON & FUSE_BOOTSZ1 & FUSE_BOOTSZ0 & FUSE_BOOTRST),

-	.extended = (FUSE_BODLEVEL1 & FUSE_BODLEVEL0),

-};

-LOCKBITS = (LB_MODE_1 & BLB0_MODE_1 & BLB1_MODE_2);

-//SIGNATURE_DATA = { SIGNATURE_2, SIGNATURE_1, SIGNATURE_0 } ;

-

-

-// ---

-// System clock related.

-// System clock is implemented with hardware timer 0

-//

-#define SYS_HWPRESCALE		64				// Hardware Prescaler

-#define SYS_PRESCALER			256				// Timer Prescaler

-

-	// useconds <-> timer ticks conversation

-#define US2TICKS(t)	((uint16_t)((double)(t) * (double)F_CPU / (1000000.0 * (double)SYS_HWPRESCALE * (double)SYS_PRESCALER) + 0.5))

-#define	TICKS2US(t)	(((t) / (F_CPU / (1000000UL * SYS_HWPRESCALE * SYS_PRESCALER))))

-

-static uint16_t sys_clock;

-

-

-// ---

-// Keep alive reply related

-//

-#define MIN_KEEP_ALIVE_PAUSE	US2TICKS(15000)

-

-static uint16_t last_keep_alive;

-

-   

-// ---

-// Request parser related variables

-//

-typedef union

-{

-	uint8_t bytes[REQ_HEADER_SIZE];

-	struct

-	{

-    uint8_t request_type;

- 		uint8_t request;

-   	bytes_word_t value;

-   	bytes_word_t index;

-   	bytes_word_t length;

-  };

-} pwm_request_t;

-

-static pwm_request_t actual_req;

-static uint8_t header_pos;

-static uint8_t payload_pos;

-static uint8_t payload_count;

-

-

-// ---

-// RX buffer related variables

-//

-#define RXBUF_SIZE (REQ_HEADER_SIZE + MAX_REQ_PAYLOAD_SIZE + 1)

-#if RXBUF_SIZE == 256

-#define CHECK_RXBUF_END(pos)

-#else

-#define CHECK_RXBUF_END(pos)	if ((pos) == RXBUF_SIZE) (pos) = 0

-#endif

-

-static uint8_t volatile rxrpos, rxwpos, rxspos, rx_err_status;

-static uint8_t rxbuf[RXBUF_SIZE] NOMEMINIT;

-

-

-// Status LED related

-#define STATUS_LED_PORT	PORTE

-#define STATUS_LED_BIT	1

-

-// Input pin for enable/disable of bootloader

-#define BL_SENSE_PIN	 	PINE

-#define BL_SENSE_BIT		0

-

-#define APPL_START_VECT	0x0000

-

-// ---

-// Definition of port direction and initial values.

-//

-#define PE_DDR	_BV(STATUS_LED_BIT)

-#define	PE_INIT	_BV(BL_SENSE_BIT)

-

-

-// ---

-// ISR handler for IRQ's that do not have a dedicated handler.

-//

-EMPTY_INTERRUPT(BADISR_vect)

-

-

-// ---

-// ISR for receiving data.

-//

-ISR(USART0_RXC_vect)

-{

-	do

-	{

-		uint8_t i = rxwpos;

-		uint8_t p = i + 1;

-		CHECK_RXBUF_END(p);

-

-		if (bit_is_set(UCSR0A, FE0))

-			set_bit(rx_err_status, COMM_ERR_FRAME);

-		else if (bit_is_set(UCSR0A, DOR0))

-			set_bit(rx_err_status, COMM_ERR_OVERRUN);

-		else if (p == rxrpos)

-			set_bit(rx_err_status, COMM_ERR_OVERFLOW);

-		else

-		{

-			if (bit_is_set(UCSR0B, RXB80))

-				rxspos = i;		// save start of request message

-			rxwpos = p;			// set data valid

-		}

-	  rxbuf[i] = UDR0;	// read data

-	}

-	while (bit_is_set(UCSR0A, RXC0));

-}

-

-

-// ---

-// Processing while waiting for a event.

-//

-static void background_processing(void)

-{

-	wdt_reset();

-

-		// count system clock

-	if (bit_is_set(TIFR, TOV0))

-	{

-		++sys_clock;

-		TIFR = _BV(TOV0);

-	}

-}

-

-

-// ---

-// Put data into transmit buffer.

-//

-static void send_reply_data(uint8_t c)

-{

-		// Wait until transmit buffer free

-	while (bit_is_clear(UCSR0A, UDRE0))

-		background_processing();

-

-	UDR0 = c;

-}

-

-

-// ---

-// Send reply start.

-//

-static void send_reply_start(uint8_t len)

-{

-		// Wait until transmit buffer free

-	while (bit_is_clear(UCSR0A, UDRE0))

-		background_processing();

-

-	uint8_t id = actual_req.request_type & PWMRQ_ID_MASK;

-	if (len)

-		id |= PWMRP_HAS_PAYLOAD;

-

-	set_bit(UCSR0B, TXB80);		// Set 9th bit for start of reply

-	UDR0 = id;								// Send reply id

-	clear_bit(UCSR0B, TXB80);

-

-	if (len)

-		send_reply_data(len);		// Send reply length

-

-	last_keep_alive = sys_clock;

-}

-

-

-// ---

-// Send keep alive reply.

-//

-static void send_keep_alive_reply(void)

-{

-	background_processing();

-	if ((sys_clock - last_keep_alive) > MIN_KEEP_ALIVE_PAUSE)

-	{

-			// Wait until transmit buffer free

-		while (bit_is_clear(UCSR0A, UDRE0))

-			background_processing();

-

-		set_bit(UCSR0B, TXB80);		// Set 9th bit for start of reply

-		UDR0 = PWMRP_KEEP_ALIVE;	// Send keep alive ID

-		clear_bit(UCSR0B, TXB80);

-

-		last_keep_alive = sys_clock;

-	}

-}

-

-

-// ---

-// Send reply packet from flash memory.

-//

-static void send_reply_read_flash(PGM_P p, uint16_t n)

-{

-	if (n > MAX_REPLY_PAYLOAD_SIZE)

-		n = 0;	// Send nothing!

-

-	send_reply_start((uint8_t)n);

-

-	while (n)

-	{

-		send_reply_data(pgm_read_byte(p));

-		++p;

-		--n;

-	} 

-}

-

-

-// ---

-// Process write flash page request.

-//

-static void req_write_flash_page(uint16_t page_address, uint16_t len)

-{

-	while (!eeprom_is_ready())

-		send_keep_alive_reply();

-

-  cli();

-  boot_page_erase(page_address);

-  sei();

-

-	while (boot_spm_busy())

-		send_keep_alive_reply();

-

-  uint8_t page_offset = 0;

-	uint8_t p = payload_pos;

-	while (len > 1 && page_offset < SPM_PAGESIZE)

-	{

-		bytes_word_t v;

-		v.bytes[0] = rxbuf[p++];

-		CHECK_RXBUF_END(p);

-		v.bytes[1] = rxbuf[p++];

-		CHECK_RXBUF_END(p);

-

-    cli();

-    boot_page_fill(page_address + page_offset, v.word);

-    sei();

-

-    page_offset += 2;

-		len -= 2;

-	}

-

-	cli();

-	boot_page_write(page_address);

-	sei();

-

-	while (boot_spm_busy())

-		send_keep_alive_reply();

-

-	if (boot_rww_busy())

-		boot_rww_enable();

-}

-

-

-// ---

-// Process received request.

-//

-static void process_request(void)

-{				 

-	pwm_request_t *r = &actual_req;

-	FIX_POINTER(r);

-

-	uint8_t req = r->request;

-

-	if (req == BL_PWM_REQ_WRITE_PAGE)

-		req_write_flash_page(r->index.word, r->length.word);

-	else if (req == BL_PWM_REQ_READ_FLASH)

-	{

-		send_reply_read_flash((PGM_P) r->index.word, r->length.word);

-		return;

-	}

-	else if (req == BL_PWM_REQ_GET_PAGE_SIZE)

-	{

-		send_reply_start(2);

-		send_reply_data(SPM_PAGESIZE & 0xFF);

-		send_reply_data(SPM_PAGESIZE >> 8);

-		return;

-	}

-	else if (req == BL_PWM_REQ_GET_REQUEST_ERR_STATUS)

-	{

-		send_reply_start(1);

-		send_reply_data(rx_err_status);

-		rx_err_status = 0;

-		return;

-	}

-	else if (req == PWM_REQ_GET_VERSION)

-	{

-		send_reply_start(2);

-		send_reply_data(PWM_VERS_BOOT);

-		send_reply_data(FIRMWARE_VERSION);

-		return;

-	}

-

-	send_reply_start(0);

-}

-

-

-// ---

-// Decode data byte of received data.

-//

-static void read_data(void)

-{

-	uint8_t p, c, is_req_start;

-

-		// Read data from RX buffer

-	p = rxrpos;

-	is_req_start = (p == rxspos);

-	c = rxbuf[p++];

-	CHECK_RXBUF_END(p);

-	rxrpos = p;

-

-	p = header_pos;

-	if (is_req_start)

-	{

-		if (p)

-			set_bit(rx_err_status, COMM_ERR_TIMEOUT);

-

-		p = 0;

-	}

-	else if (!p)

-		return;					// Discard garbage

-

-	if (p < sizeof(pwm_request_t))

-	{

-		pwm_request_t *r = &actual_req;

-		FIX_POINTER(r);

-

-		r->bytes[p++] = c;

-		header_pos = p;

-

-		if (p < sizeof(pwm_request_t))

-			return;

-

-			// Header complete

-		if (!(r->request_type & PWMRQ_DEVICE_TO_HOST) && r->length.word)

-		{

-			payload_pos = rxrpos;

-			payload_count = r->length.word;

-			return;

-		}

-	}	

-	else if (--payload_count)

-		return;	// Payload not complete

-

-	last_keep_alive = sys_clock;

-	process_request();

-	header_pos = 0;

-}

-

-

-// ---

-// Device initialization and main program loop.

-//

-void main(void) NORETURN;

-void main(void)

-{

-  wdt_enable(WDTO_30MS);	// Set watchdog timeout

-

-		// Port init, enable pull-up resistors for unused ports

-	PORTE = PE_INIT;

-	DDRE = PE_DDR;

-

-	if ((pgm_read_word(APPL_START_VECT) != 0xFFFF) &&			// Application reset vector programmed?

-									bit_is_set(BL_SENSE_PIN, BL_SENSE_BIT))

-	{			// boot loader disabled -> start application

-		void (*jump_to_app)(void) = APPL_START_VECT / 2;	// Need flash word address!

-		jump_to_app();

-	}

-

-	GICR = _BV(IVCE);	  	// enable change of interrupt vectors

-	GICR = _BV(IVSEL);		// move interrupts to boot flash section

-

-		// USART init

-		// 9 data bits, 1 stop bit, no parity, asynchron mode

-		// Enable TX, RX and RX Interrupts

-#include <util/setbaud.h>

-  UBRR0H = UBRRH_VALUE;

-  UBRR0L = UBRRL_VALUE;

-#if USE_2X

-  UCSR0A = _BV(U2X);

-#endif

-	UCSR0C = _BV(URSEL0) | _BV(UCSZ01) | _BV(UCSZ00);

-  UCSR0B = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0) | _BV(UCSZ02);

-

-		// Timer 0 is used for system clock

-		// Normal mode, Prescaler 64

-	TCCR0 = _BV(CS01) | _BV(CS00);

-

-	sei();

-

-		// Main loop

-  for (;;)

-  {	

-		background_processing();

-

-		if (rxrpos != rxwpos)

-			read_data();

-

-		if (header_pos)

-			clear_bit(STATUS_LED_PORT, STATUS_LED_BIT); // We are processing a request

-		else

-			set_bit(STATUS_LED_PORT, STATUS_LED_BIT);		// No request

-  }

-}

+/*
+ * Copyright (C) 2010 Andreas Auras
+ *
+ * This file is part of the DF10CH Atmolight controller project.
+ *
+ * DF10CH Atmolight controller 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.
+ *
+ * DF10CH Atmolight controller 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110, USA
+ *
+ */
+
+// ======================================================================
+// Bootloader firmware for PWM processor.
+//
+
+#include <stdint.h>
+#include <string.h>
+#include <avr/io.h>
+#include <avr/interrupt.h>
+#include <avr/wdt.h>
+#include <avr/pgmspace.h>
+#include <avr/eeprom.h>
+#include <avr/boot.h>
+
+#include "../df10ch_common.h"
+#include "../df10ch_usb_proto.h"
+
+
+// ---
+// Fuse-Bit settings for the flash programmer (Atmega 162):
+//
+//	M161C=1
+//	BODLEVEL2=1
+//	BODLEVEL1=0
+//	BODLEVEL0=0
+//
+//	OCDEN=1
+//	JTAGEN=1
+//	SPIEN=0
+//	WDTON=0
+//	EESAVE=1
+//	BOOTSZ1=0
+//	BOOTSZ0=0
+//	BOOTRST=0
+//
+//	CKDIV8=1
+//	CKOUT=1
+//	SUT1=0
+//	SUT0=1
+//	CKSEL3=1
+//	CKSEL2=1
+//	CKSEL1=1
+//	CKSEL0=1
+//
+// Memory-Lock Bits:
+//	BLB12=1, BLB11=0, BLB02=1, BLB01=1, LB2=1, LB1=1
+//
+FUSES = 
+{
+	.low = (FUSE_SUT1),
+	.high = (FUSE_SPIEN & FUSE_WDTON & FUSE_BOOTSZ1 & FUSE_BOOTSZ0 & FUSE_BOOTRST),
+	.extended = (FUSE_BODLEVEL1 & FUSE_BODLEVEL0),
+};
+LOCKBITS = (LB_MODE_1 & BLB0_MODE_1 & BLB1_MODE_2);
+//SIGNATURE_DATA = { SIGNATURE_2, SIGNATURE_1, SIGNATURE_0 } ;
+
+
+// ---
+// System clock related.
+// System clock is implemented with hardware timer 0
+//
+#define SYS_HWPRESCALE		64				// Hardware Prescaler
+#define SYS_PRESCALER			256				// Timer Prescaler
+
+	// useconds <-> timer ticks conversation
+#define US2TICKS(t)	((uint16_t)((double)(t) * (double)F_CPU / (1000000.0 * (double)SYS_HWPRESCALE * (double)SYS_PRESCALER) + 0.5))
+#define	TICKS2US(t)	(((t) / (F_CPU / (1000000UL * SYS_HWPRESCALE * SYS_PRESCALER))))
+
+static uint16_t sys_clock;
+
+
+// ---
+// Keep alive reply related
+//
+#define MIN_KEEP_ALIVE_PAUSE	US2TICKS(15000)
+
+static uint16_t last_keep_alive;
+
+   
+// ---
+// Request parser related variables
+//
+typedef union
+{
+	uint8_t bytes[REQ_HEADER_SIZE];
+	struct
+	{
+    uint8_t request_type;
+ 		uint8_t request;
+   	bytes_word_t value;
+   	bytes_word_t index;
+   	bytes_word_t length;
+  };
+} pwm_request_t;
+
+static pwm_request_t actual_req;
+static uint8_t header_pos;
+static uint8_t payload_pos;
+static uint8_t payload_count;
+
+
+// ---
+// RX buffer related variables
+//
+#define RXBUF_SIZE (REQ_HEADER_SIZE + MAX_REQ_PAYLOAD_SIZE + 1)
+#if RXBUF_SIZE == 256
+#define CHECK_RXBUF_END(pos)
+#else
+#define CHECK_RXBUF_END(pos)	if ((pos) == RXBUF_SIZE) (pos) = 0
+#endif
+
+static uint8_t volatile rxrpos, rxwpos, rxspos, rx_err_status;
+static uint8_t rxbuf[RXBUF_SIZE] NOMEMINIT;
+
+
+// Status LED related
+#define STATUS_LED_PORT	PORTE
+#define STATUS_LED_BIT	1
+
+// Input pin for enable/disable of bootloader
+#define BL_SENSE_PIN	 	PINE
+#define BL_SENSE_BIT		0
+
+#define APPL_START_VECT	0x0000
+
+// ---
+// Definition of port direction and initial values.
+//
+#define PE_DDR	_BV(STATUS_LED_BIT)
+#define	PE_INIT	_BV(BL_SENSE_BIT)
+
+
+// ---
+// ISR handler for IRQ's that do not have a dedicated handler.
+//
+EMPTY_INTERRUPT(BADISR_vect)
+
+
+// ---
+// ISR for receiving data.
+//
+ISR(USART0_RXC_vect)
+{
+	do
+	{
+		uint8_t i = rxwpos;
+		uint8_t p = i + 1;
+		CHECK_RXBUF_END(p);
+
+		if (bit_is_set(UCSR0A, FE0))
+			set_bit(rx_err_status, COMM_ERR_FRAME);
+		else if (bit_is_set(UCSR0A, DOR0))
+			set_bit(rx_err_status, COMM_ERR_OVERRUN);
+		else if (p == rxrpos)
+			set_bit(rx_err_status, COMM_ERR_OVERFLOW);
+		else
+		{
+			if (bit_is_set(UCSR0B, RXB80))
+				rxspos = i;		// save start of request message
+			rxwpos = p;			// set data valid
+		}
+	  rxbuf[i] = UDR0;	// read data
+	}
+	while (bit_is_set(UCSR0A, RXC0));
+}
+
+
+// ---
+// Processing while waiting for a event.
+//
+static void background_processing(void)
+{
+	wdt_reset();
+
+		// count system clock
+	if (bit_is_set(TIFR, TOV0))
+	{
+		++sys_clock;
+		TIFR = _BV(TOV0);
+	}
+}
+
+
+// ---
+// Put data into transmit buffer.
+//
+static void send_reply_data(uint8_t c)
+{
+		// Wait until transmit buffer free
+	while (bit_is_clear(UCSR0A, UDRE0))
+		background_processing();
+
+	UDR0 = c;
+}
+
+
+// ---
+// Send reply start.
+//
+static void send_reply_start(uint8_t len)
+{
+		// Wait until transmit buffer free
+	while (bit_is_clear(UCSR0A, UDRE0))
+		background_processing();
+
+	uint8_t id = actual_req.request_type & PWMRQ_ID_MASK;
+	if (len)
+		id |= PWMRP_HAS_PAYLOAD;
+
+	set_bit(UCSR0B, TXB80);		// Set 9th bit for start of reply
+	UDR0 = id;								// Send reply id
+	clear_bit(UCSR0B, TXB80);
+
+	if (len)
+		send_reply_data(len);		// Send reply length
+
+	last_keep_alive = sys_clock;
+}
+
+
+// ---
+// Send keep alive reply.
+//
+static void send_keep_alive_reply(void)
+{
+	background_processing();
+	if ((sys_clock - last_keep_alive) > MIN_KEEP_ALIVE_PAUSE)
+	{
+			// Wait until transmit buffer free
+		while (bit_is_clear(UCSR0A, UDRE0))
+			background_processing();
+
+		set_bit(UCSR0B, TXB80);		// Set 9th bit for start of reply
+		UDR0 = PWMRP_KEEP_ALIVE;	// Send keep alive ID
+		clear_bit(UCSR0B, TXB80);
+
+		last_keep_alive = sys_clock;
+	}
+}
+
+
+// ---
+// Send reply packet from flash memory.
+//
+static void send_reply_read_flash(PGM_P p, uint16_t n)
+{
+	if (n > MAX_REPLY_PAYLOAD_SIZE)
+		n = 0;	// Send nothing!
+
+	send_reply_start((uint8_t)n);
+
+	while (n)
+	{
+		send_reply_data(pgm_read_byte(p));
+		++p;
+		--n;
+	} 
+}
+
+
+// ---
+// Process write flash page request.
+//
+static void req_write_flash_page(uint16_t page_address, uint16_t len)
+{
+	while (!eeprom_is_ready())
+		send_keep_alive_reply();
+
+  cli();
+  boot_page_erase(page_address);
+  sei();
+
+	while (boot_spm_busy())
+		send_keep_alive_reply();
+
+  uint8_t page_offset = 0;
+	uint8_t p = payload_pos;
+	while (len > 1 && page_offset < SPM_PAGESIZE)
+	{
+		bytes_word_t v;
+		v.bytes[0] = rxbuf[p++];
+		CHECK_RXBUF_END(p);
+		v.bytes[1] = rxbuf[p++];
+		CHECK_RXBUF_END(p);
+
+    cli();
+    boot_page_fill(page_address + page_offset, v.word);
+    sei();
+
+    page_offset += 2;
+		len -= 2;
+	}
+
+	cli();
+	boot_page_write(page_address);
+	sei();
+
+	while (boot_spm_busy())
+		send_keep_alive_reply();
+
+	if (boot_rww_busy())
+		boot_rww_enable();
+}
+
+
+// ---
+// Process received request.
+//
+static void process_request(void)
+{				 
+	pwm_request_t *r = &actual_req;
+	FIX_POINTER(r);
+
+	uint8_t req = r->request;
+
+	if (req == BL_PWM_REQ_WRITE_PAGE)
+		req_write_flash_page(r->index.word, r->length.word);
+	else if (req == BL_PWM_REQ_READ_FLASH)
+	{
+		send_reply_read_flash((PGM_P) r->index.word, r->length.word);
+		return;
+	}
+	else if (req == BL_PWM_REQ_GET_PAGE_SIZE)
+	{
+		send_reply_start(2);
+		send_reply_data(SPM_PAGESIZE & 0xFF);
+		send_reply_data(SPM_PAGESIZE >> 8);
+		return;
+	}
+	else if (req == BL_PWM_REQ_GET_REQUEST_ERR_STATUS)
+	{
+		send_reply_start(1);
+		send_reply_data(rx_err_status);
+		rx_err_status = 0;
+		return;
+	}
+	else if (req == PWM_REQ_GET_VERSION)
+	{
+		send_reply_start(2);
+		send_reply_data(PWM_VERS_BOOT);
+		send_reply_data(FIRMWARE_VERSION);
+		return;
+	}
+
+	send_reply_start(0);
+}
+
+
+// ---
+// Decode data byte of received data.
+//
+static void read_data(void)
+{
+	uint8_t p, c, is_req_start;
+
+		// Read data from RX buffer
+	p = rxrpos;
+	is_req_start = (p == rxspos);
+	c = rxbuf[p++];
+	CHECK_RXBUF_END(p);
+	rxrpos = p;
+
+	p = header_pos;
+	if (is_req_start)
+	{
+		if (p)
+			set_bit(rx_err_status, COMM_ERR_TIMEOUT);
+
+		p = 0;
+	}
+	else if (!p)
+		return;					// Discard garbage
+
+	if (p < sizeof(pwm_request_t))
+	{
+		pwm_request_t *r = &actual_req;
+		FIX_POINTER(r);
+
+		r->bytes[p++] = c;
+		header_pos = p;
+
+		if (p < sizeof(pwm_request_t))
+			return;
+
+			// Header complete
+		if (!(r->request_type & PWMRQ_DEVICE_TO_HOST) && r->length.word)
+		{
+			payload_pos = rxrpos;
+			payload_count = r->length.word;
+			return;
+		}
+	}	
+	else if (--payload_count)
+		return;	// Payload not complete
+
+	last_keep_alive = sys_clock;
+	process_request();
+	header_pos = 0;
+}
+
+
+// ---
+// Device initialization and main program loop.
+//
+void main(void) NORETURN;
+void main(void)
+{
+  wdt_enable(WDTO_30MS);	// Set watchdog timeout
+
+		// Port init, enable pull-up resistors for unused ports
+	PORTE = PE_INIT;
+	DDRE = PE_DDR;
+
+	if ((pgm_read_word(APPL_START_VECT) != 0xFFFF) &&			// Application reset vector programmed?
+									bit_is_set(BL_SENSE_PIN, BL_SENSE_BIT))
+	{			// boot loader disabled -> start application
+		void (*jump_to_app)(void) = APPL_START_VECT / 2;	// Need flash word address!
+		jump_to_app();
+	}
+
+	GICR = _BV(IVCE);	  	// enable change of interrupt vectors
+	GICR = _BV(IVSEL);		// move interrupts to boot flash section
+
+		// USART init
+		// 9 data bits, 1 stop bit, no parity, asynchron mode
+		// Enable TX, RX and RX Interrupts
+#include <util/setbaud.h>
+  UBRR0H = UBRRH_VALUE;
+  UBRR0L = UBRRL_VALUE;
+#if USE_2X
+  UCSR0A = _BV(U2X);
+#endif
+	UCSR0C = _BV(URSEL0) | _BV(UCSZ01) | _BV(UCSZ00);
+  UCSR0B = _BV(RXEN0) | _BV(TXEN0) | _BV(RXCIE0) | _BV(UCSZ02);
+
+		// Timer 0 is used for system clock
+		// Normal mode, Prescaler 64
+	TCCR0 = _BV(CS01) | _BV(CS00);
+
+	sei();
+
+		// Main loop
+  for (;;)
+  {	
+		background_processing();
+
+		if (rxrpos != rxwpos)
+			read_data();
+
+		if (header_pos)
+			clear_bit(STATUS_LED_PORT, STATUS_LED_BIT); // We are processing a request
+		else
+			set_bit(STATUS_LED_PORT, STATUS_LED_BIT);		// No request
+  }
+}