summaryrefslogtreecommitdiff
path: root/target/linux/at91-2.6/image/dfboot/src/main.c
blob: c0705dec60897f497669e1fda0356cc11ebb4f57 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
/*----------------------------------------------------------------------------
 *         ATMEL Microcontroller Software Support  -  ROUSSET  -
 *----------------------------------------------------------------------------
 * The software is delivered "AS IS" without warranty or condition of any
 * kind, either express, implied or statutory. This includes without
 * limitation any warranty or condition with respect to merchantability or
 * fitness for any particular purpose, or against the infringements of
 * intellectual property rights of others.
 *----------------------------------------------------------------------------
 * File Name		: main.c
 * Object		: 
 * Creation		: HIi	10/10/2003
 * Modif		: HIi	15/06/2004 :	add crc32 to verify the download
 *                                          	from dataflash
 *			: HIi	21/09/2004 :	Set first PLLA to 180Mhz and MCK to
 *						60Mhz to speed up dataflash boot (15Mhz)
 *			: MLC	12/04/2005 :	Modify SetPLL() to avoid errata
 *			: USA	30/12/2005 :	Change to page Size 1056
 *						Change startaddress to C0008400
 *						Change SPI Speed to ~4 Mhz
 *						Add retry on CRC Error
 *----------------------------------------------------------------------------
 */
#include "config.h"
#include "stdio.h"
#include "AT91RM9200.h"
#include "lib_AT91RM9200.h"
#include "com.h"
#include "main.h"
#include "dataflash.h"
#include "AT91C_MCI_Device.h"

#define	DEBUGOUT
#define XMODEM
#define MEMDISP

#ifdef	PAGESZ_1056
#define	PAGESIZE	1056
#else
#define	PAGESIZE	1024
#endif

#define AT91C_SDRAM_START 0x20000000
#define AT91C_BOOT_ADDR 0x21F00000
#define AT91C_BOOT_SIZE 128*PAGESIZE
#ifdef	PAGESZ_1056
#define AT91C_BOOT_DATAFLASH_ADDR 0xC0008400
#else
#define AT91C_BOOT_DATAFLASH_ADDR 0xC0008000
#endif
#define AT91C_PLLA_VALUE 0x237A3E5A  // crystal= 18.432MHz - fixes BRG error at 115kbps
//#define AT91C_PLLA_VALUE 0x2026BE04	// crystal= 18.432MHz
//#define AT91C_PLLA_VALUE 0x202CBE01	// crystal= 4MHz



#define DISP_LINE_LEN 16

// Reason for boot failure
#define	IMAGE_BAD_SIZE			0
#define	IMAGE_READ_FAILURE	1
#define	IMAGE_CRC_ERROR		2
#define	IMAGE_ERROR			3
#define	SUCCESS				-1

/* prototypes*/
extern void AT91F_ST_ASM_HANDLER(void);
extern void Jump(unsigned int addr);

const char *menu_dataflash[] = {
#ifdef XMODEM
	"1: P DFboot\n",
	"2: P U-Boot\n",
#endif
	"3: P SDCard\n",
#ifdef	PAGESZ_1056
	"4: R UBOOT\n",
#else
	"4: R UBOOT\n",
#endif
#ifdef XMODEM
	"5: P DF [addr]\n",
#endif
	"6: RD DF [addr]\n",
	"7: E DF\n"
};
#ifdef XMODEM
#define	MAXMENU 7
#else
#define MAXMENU 4
#endif

char message[20];
#ifdef XMODEM
volatile char XmodemComplete = 0;
#endif
unsigned int StTick = 0;

AT91S_RomBoot const *pAT91;
#ifdef XMODEM
AT91S_SBuffer sXmBuffer;
AT91S_SvcXmodem svcXmodem;
AT91S_Pipe xmodemPipe;
#endif
AT91S_CtlTempo ctlTempo;


//*--------------------------------------------------------------------------------------
//* Function Name       : GetTickCount()
//* Object              : Return the number of systimer tick 
//* Input Parameters    :
//* Output Parameters   :
//*--------------------------------------------------------------------------------------
unsigned int GetTickCount(void)
{
	return StTick;
}

#ifdef XMODEM
//*--------------------------------------------------------------------------------------
//* Function Name       : AT91_XmodemComplete()
//* Object              : Perform the remap and jump to appli in RAM
//* Input Parameters    :
//* Output Parameters   :
//*--------------------------------------------------------------------------------------
static void AT91_XmodemComplete(AT91S_PipeStatus status, void *pVoid)
{
	/* stop the Xmodem tempo */
	svcXmodem.tempo.Stop(&(svcXmodem.tempo));
	XmodemComplete = 1;
}


//*--------------------------------------------------------------------------------------
//* Function Name       : AT91F_XmodemProtocol(AT91S_PipeStatus status, void *pVoid)
//* Object              : Xmodem dispatcher
//* Input Parameters    :
//* Output Parameters   :
//*--------------------------------------------------------------------------------------
static void XmodemProtocol(AT91S_PipeStatus status, void *pVoid)
{
	AT91PS_SBuffer pSBuffer = (AT91PS_SBuffer) xmodemPipe.pBuffer->pChild;
	AT91PS_USART   pUsart     = svcXmodem.pUsart;
			
	if (pSBuffer->szRdBuffer == 0) {
		/* Start a tempo to wait the Xmodem protocol complete */
		svcXmodem.tempo.Start(&(svcXmodem.tempo), 10, 0, AT91_XmodemComplete, pUsart);								
	}
}
#endif

//*--------------------------------------------------------------------------------------
//* Function Name       : irq1_c_handler()
//* Object              : C Interrupt handler for Interrutp source 1
//* Input Parameters    : none
//* Output Parameters   : none
//*--------------------------------------------------------------------------------------
void AT91F_ST_HANDLER(void)
{
	volatile unsigned int csr = *AT91C_DBGU_CSR;
#ifdef XMODEM
	unsigned int error;
#endif
	
	if (AT91C_BASE_ST->ST_SR & 0x01) {
		StTick++;
		ctlTempo.CtlTempoTick(&ctlTempo);
		return;
	}

#ifdef XMODEM
	error = AT91F_US_Error((AT91PS_USART)AT91C_BASE_DBGU);
	if (csr & error) {
		/* Stop previous Xmodem transmition*/
		*(AT91C_DBGU_CR) = AT91C_US_RSTSTA;
		AT91F_US_DisableIt((AT91PS_USART)AT91C_BASE_DBGU, AT91C_US_ENDRX);
		AT91F_US_EnableIt((AT91PS_USART)AT91C_BASE_DBGU, AT91C_US_RXRDY);

	}
	
	else if (csr & (AT91C_US_TXRDY | AT91C_US_ENDTX | AT91C_US_TXEMPTY | 
	                AT91C_US_RXRDY | AT91C_US_ENDRX | AT91C_US_TIMEOUT | 
	                AT91C_US_RXBUFF)) {
		if ( !(svcXmodem.eot) )
			svcXmodem.Handler(&svcXmodem, csr);
	}
#endif
}


//*-----------------------------------------------------------------------------
//* Function Name       : AT91F_DisplayMenu()
//* Object              : 
//* Input Parameters    : 
//* Return value		: 
//*-----------------------------------------------------------------------------
static int AT91F_DisplayMenu(void)
{
	int i, mci_present = 0;
	printf("\nDF LOADER %s %s %s\n",AT91C_VERSION,__DATE__,__TIME__);
	AT91F_DataflashPrintInfo();
	mci_present = AT91F_MCI_Init();
	for(i = 0; i < MAXMENU; i++) {
		puts(menu_dataflash[i]);
	}
	return mci_present;
}	


//*-----------------------------------------------------------------------------
//* Function Name       : AsciiToHex()
//* Object              : ascii to hexa conversion
//* Input Parameters    : 
//* Return value		: 
//*-----------------------------------------------------------------------------
static unsigned int AsciiToHex(char *s, unsigned int *val)
{
	int n;

	*val=0;
	
	if(s[0] == '0' && ((s[1] == 'x') || (s[1] == 'X')))
		s+=2;
	n = 0;	
	while((n < 8) && (s[n] !=0))
	{
		*val <<= 4;
		if ( (s[n] >= '0') && (s[n] <='9'))
			*val += (s[n] - '0');
		else	
			if ((s[n] >= 'a') && (s[n] <='f'))
				*val += (s[n] - 0x57);
			else
				if ((s[n] >= 'A') && (s[n] <='F'))
					*val += (s[n] - 0x37);
			else
				return 0;
		n++;
	}

	return 1;				
}


#ifdef MEMDISP
//*-----------------------------------------------------------------------------
//* Function Name       : AT91F_MemoryDisplay()
//* Object              : Display the content of the dataflash
//* Input Parameters    : 
//* Return value		: 
//*-----------------------------------------------------------------------------
static int AT91F_MemoryDisplay(unsigned int addr, unsigned int length)
{
	unsigned long	i, nbytes, linebytes;
	char	*cp;
//	unsigned int 	*uip;
//	unsigned short 	*usp;
	unsigned char 	*ucp;
	char linebuf[DISP_LINE_LEN];

//	nbytes = length * size;
	nbytes = length;
   	do
   	{
//   		uip = (unsigned int *)linebuf;
//   		usp = (unsigned short *)linebuf;
		ucp = (unsigned char *)linebuf;
		
		printf("%08x:", addr);
		linebytes = (nbytes > DISP_LINE_LEN)?DISP_LINE_LEN:nbytes;
                if((addr & 0xF0000000) == 0x20000000) {
			for(i = 0; i < linebytes; i ++) {
				linebuf[i] =  *(char *)(addr+i);
			}
		} else {
			read_dataflash(addr, linebytes, linebuf);
		}
		for (i=0; i<linebytes; i++)
		{
/*			if (size == 4) 
				printf(" %08x", *uip++);
			else if (size == 2)
				printf(" %04x", *usp++);
			else
*/
				printf(" %02x", *ucp++);
//			addr += size;
			addr++;
		}
		printf("    ");
		cp = linebuf;
		for (i=0; i<linebytes; i++) {
			if ((*cp < 0x20) || (*cp > 0x7e))
				printf(".");
			else
				printf("%c", *cp);
			cp++;
		}
		printf("\n");
		nbytes -= linebytes;
	} while (nbytes > 0);
	return 0;
}
#endif

//*--------------------------------------------------------------------------------------
//* Function Name       : AT91F_SetPLL
//* Object              : Set the PLLA to 180Mhz and Master clock to 60 Mhz
//* Input Parameters    :
//* Output Parameters   :
//*--------------------------------------------------------------------------------------
static unsigned int AT91F_SetPLL(void)
{
	AT91_REG tmp;
	AT91PS_PMC pPmc = AT91C_BASE_PMC;
	AT91PS_CKGR pCkgr = AT91C_BASE_CKGR;

	pPmc->PMC_IDR = 0xFFFFFFFF;

	/* -Setup the PLL A */
	pCkgr->CKGR_PLLAR = AT91C_PLLA_VALUE;

	while (!(*AT91C_PMC_SR & AT91C_PMC_LOCKA));
	
	/* - Switch Master Clock from PLLB to PLLA/3 */
	tmp = pPmc->PMC_MCKR;
	/* See Atmel Errata #27 and #28 */
	if (tmp & 0x0000001C) {
		tmp = (tmp & ~0x0000001C);
		pPmc->PMC_MCKR = tmp;
		while (!(*AT91C_PMC_SR & AT91C_PMC_MCKRDY));
	}
	if (tmp != 0x00000202) {
		pPmc->PMC_MCKR = 0x00000202;
		if ((tmp & 0x00000003) != 0x00000002)
			while (!(*AT91C_PMC_SR & AT91C_PMC_MCKRDY));
	}

	return 1;	
}


//*--------------------------------------------------------------------------------------
//* Function Name       : AT91F_ResetRegisters
//* Object              : Restore the initial state to registers
//* Input Parameters    :
//* Output Parameters   :
//*--------------------------------------------------------------------------------------
static unsigned int AT91F_ResetRegisters(void)
{
	volatile int i = 0;

	/* set the PIOs in input*/
	/* This disables the UART output, so dont execute for now*/

#ifndef	DEBUGOUT
	*AT91C_PIOA_ODR = 0xFFFFFFFF;	/* Disables all the output pins */
	*AT91C_PIOA_PER = 0xFFFFFFFF;	/* Enables the PIO to control all the pins */
#endif

	AT91F_AIC_DisableIt (AT91C_BASE_AIC, AT91C_ID_SYS);
	/* close all peripheral clocks */

#ifndef	DEBUGOUT
	AT91C_BASE_PMC->PMC_PCDR = 0xFFFFFFFC;
#endif
	/* Disable core interrupts and set supervisor mode */
	__asm__ ("msr CPSR_c, #0xDF"); //* ARM_MODE_SYS(0x1F) | I_BIT(0x80) | F_BIT(0x40)
	/* Clear all the interrupts */
	*AT91C_AIC_ICCR = 0xffffffff;

	/* read the AIC_IVR and AIC_FVR */
	i = *AT91C_AIC_IVR;
	i = *AT91C_AIC_FVR;

	/* write the end of interrupt control register */
	*AT91C_AIC_EOICR	= 0;

	return 1;
}


static int AT91F_LoadBoot(void)
{
//	volatile unsigned int crc1 = 0, crc2 = 0;
	volatile unsigned int SizeToDownload = 0x21400;
	volatile unsigned int AddressToDownload = AT91C_BOOT_ADDR;

#if 0
	/* Read vector 6 to extract size to load */	
	if (read_dataflash(AT91C_BOOT_DATAFLASH_ADDR, 32,
	                   (char *)AddressToDownload) != AT91C_DATAFLASH_OK)
	{
		printf("Bad Code Size\n");
		return IMAGE_BAD_SIZE;
	}
	/* calculate the size to download */
	SizeToDownload = *(int *)(AddressToDownload + AT91C_OFFSET_VECT6);
#endif
	
//	printf("\nLoad UBOOT from dataflash[%x] to SDRAM[%x]\n",
//	       AT91C_BOOT_DATAFLASH_ADDR, AT91C_BOOT_ADDR);
	if (read_dataflash(AT91C_BOOT_DATAFLASH_ADDR, SizeToDownload + 8,
	                   (char *)AddressToDownload) != AT91C_DATAFLASH_OK)
	{
		printf("F DF RD\n");
		return IMAGE_READ_FAILURE;
	}
#if 0
	pAT91->CRC32((const unsigned char *)AT91C_BOOT_ADDR,
	             (unsigned int)SizeToDownload , (unsigned int *)&crc2);
	crc1 = (int)(*(char *)(AddressToDownload + SizeToDownload)) +
	       (int)(*(char *)(AddressToDownload + SizeToDownload + 1) << 8) +
	       (int)(*(char *)(AddressToDownload + SizeToDownload + 2) << 16) +
	       (int)(*(char *)(AddressToDownload + SizeToDownload + 3) << 24);

	/* Restore the value of Vector 6 */
	*(int *)(AddressToDownload + AT91C_OFFSET_VECT6) =
		*(int *)(AddressToDownload + SizeToDownload + 4);
	
	if (crc1 != crc2) {
		printf("DF CRC bad %x != %x\n",crc1,crc2);
	 	return	IMAGE_CRC_ERROR;
	}
#endif
	return SUCCESS;
}

static int AT91F_StartBoot(void)
{
	int	sts;
	if((sts = AT91F_LoadBoot()) != SUCCESS) return sts;
//	printf("\n");
//	printf("PLLA[180MHz], MCK[60Mhz] ==> Start UBOOT\n");
	if (AT91F_ResetRegisters())
	{
		printf("Jump");
		Jump(AT91C_BOOT_ADDR);
//		LED_blink(0);
	}
	return	IMAGE_ERROR;
}

#if 0
static void	AT91F_RepeatedStartBoot(void)
{
	int	i;
	for(i = 0; i < CRC_RETRIES; i++) {
		if(AT91F_StartBoot() != IMAGE_CRC_ERROR){
//			LED_blink(1);
			return;
		}
	}
	return;
}
#endif

#define TRUE 1
#define FALSE 0
#define TRX_MAGIC 0x30524448  /* "HDR0" */
#define TRX_VERSION 1

struct trx_header {
	unsigned int magic;
	unsigned int len;
	unsigned int crc32;
	unsigned int flag_version;
	unsigned int offsets[3];
};

#define AT91C_MCI_TIMEOUT 1000000

extern AT91S_MciDevice MCI_Device;
extern void AT91F_MCIDeviceWaitReady(unsigned int);
extern int AT91F_MCI_ReadBlockSwab(AT91PS_MciDevice, int, unsigned int *, int);

int Program_From_MCI(void)
{
  int i;
  unsigned int Max_Read_DataBlock_Length;
  int block = 0;
  int buffer = AT91C_DOWNLOAD_BASE_ADDRESS;
  int bufpos = AT91C_DOWNLOAD_BASE_ADDRESS;
  int NbPage = 0;
  struct trx_header *p;

	p = (struct trx_header *)bufpos;

	Max_Read_DataBlock_Length = MCI_Device.pMCI_DeviceFeatures->Max_Read_DataBlock_Length;

	AT91F_MCIDeviceWaitReady(AT91C_MCI_TIMEOUT);

  AT91F_MCI_ReadBlockSwab(&MCI_Device, block*Max_Read_DataBlock_Length, (unsigned int *)bufpos, Max_Read_DataBlock_Length);

  if (p->magic != TRX_MAGIC) {
		printf("Inv IMG 0x%08x\n", p->magic);
		return FALSE;
		}

	printf("RDSD");
	AT91C_BASE_PIOC->PIO_CODR = AT91C_PIO_PC7 | AT91C_PIO_PC15 | AT91C_PIO_PC8 | AT91C_PIO_PC14;
	for (i=0; i<(p->len/512); i++) {
		AT91F_MCI_ReadBlockSwab(&MCI_Device, block*Max_Read_DataBlock_Length, (unsigned int *)bufpos, Max_Read_DataBlock_Length);
		block++;
		bufpos += Max_Read_DataBlock_Length;
		}

	NbPage = 0;
	i = dataflash_info[0].Device.pages_number;
	while(i >>= 1)
		NbPage++;
	i = ((p->offsets[1] - p->offsets[0])/ 512) + 1 + (NbPage << 13) + (dataflash_info[0].Device.pages_size << 17);
	*(int *)(buffer + p->offsets[0] + AT91C_OFFSET_VECT6) = i;

	printf(" WDFB");
	AT91C_BASE_PIOC->PIO_CODR = AT91C_PIO_PC7 | AT91C_PIO_PC15 | AT91C_PIO_PC14;
	AT91C_BASE_PIOC->PIO_SODR = AT91C_PIO_PC8;
	write_dataflash(0xc0000000, buffer + p->offsets[0], p->offsets[1] - p->offsets[0]);
	printf(" WUB");
	AT91C_BASE_PIOC->PIO_CODR = AT91C_PIO_PC7 | AT91C_PIO_PC15;
	AT91C_BASE_PIOC->PIO_SODR = AT91C_PIO_PC8 | AT91C_PIO_PC14;
	write_dataflash(0xc0008000, buffer + p->offsets[1], p->offsets[2] - p->offsets[1]);
	printf(" WKRFS");
	AT91C_BASE_PIOC->PIO_CODR = AT91C_PIO_PC8 | AT91C_PIO_PC15;
	AT91C_BASE_PIOC->PIO_SODR = AT91C_PIO_PC7 | AT91C_PIO_PC14;
	write_dataflash(0xc0042000, buffer + p->offsets[2], p->len - p->offsets[2]);
	AT91C_BASE_PIOC->PIO_CODR = AT91C_PIO_PC8 | AT91C_PIO_PC14;
	AT91C_BASE_PIOC->PIO_SODR = AT91C_PIO_PC7 | AT91C_PIO_PC15;
	return TRUE;
}

//*----------------------------------------------------------------------------
//* Function Name       : main
//* Object              : Main function
//* Input Parameters    : none
//* Output Parameters   : True
//*----------------------------------------------------------------------------
int main(void)
{
#ifdef XMODEM
	AT91PS_Buffer  		pXmBuffer;
	AT91PS_SvcComm 		pSvcXmodem;
#endif
	AT91S_SvcTempo 		svcBootTempo; 	 // Link to a AT91S_Tempo object
	unsigned int		ix;
	volatile unsigned int AddressToDownload, SizeToDownload;	
 	unsigned int DeviceAddress = 0;
	char command = 0;
#ifdef XMODEM
	volatile int i = 0;	
	unsigned int crc1 = 0, crc2 = 0;
	volatile int device;
	int NbPage;
#endif
	volatile int Nb_Device = 0;
	int mci_present = 0;

	pAT91 = AT91C_ROM_BOOT_ADDRESS;

	if (!AT91F_SetPLL())
	{
		printf("F SetPLL");
		while(1);
	}

	at91_init_uarts();

	/* Tempo Initialisation */
	pAT91->OpenCtlTempo(&ctlTempo, (void *) &(pAT91->SYSTIMER_DESC));
	ctlTempo.CtlTempoStart((void *) &(pAT91->SYSTIMER_DESC));
	
	// Attach the tempo to a tempo controler
	ctlTempo.CtlTempoCreate(&ctlTempo, &svcBootTempo);
//	LED_init();
//	LED_blink(2);

#ifdef XMODEM
	/* Xmodem Initialisation */
	pXmBuffer = pAT91->OpenSBuffer(&sXmBuffer);
	pSvcXmodem = pAT91->OpenSvcXmodem(&svcXmodem,
	             (AT91PS_USART)AT91C_BASE_DBGU, &ctlTempo);
	pAT91->OpenPipe(&xmodemPipe, pSvcXmodem, pXmBuffer);
#endif

	/* System Timer initialization */
	AT91F_AIC_ConfigureIt(
		AT91C_BASE_AIC,                        // AIC base address
		AT91C_ID_SYS,                          // System peripheral ID
		AT91C_AIC_PRIOR_HIGHEST,               // Max priority
		AT91C_AIC_SRCTYPE_INT_LEVEL_SENSITIVE, // Level sensitive
		AT91F_ST_ASM_HANDLER
	);
	/* Enable ST interrupt */
	AT91F_AIC_EnableIt(AT91C_BASE_AIC, AT91C_ID_SYS);

#ifndef PRODTEST
	/* Start tempo to start Boot in a delay of
	 * AT91C_DELAY_TO_BOOT sec if no key pressed */
	svcBootTempo.Start(&svcBootTempo, AT91C_DELAY_TO_BOOT,
	                   0, AT91F_StartBoot, NULL);
#endif

	while(1)
	{
		while(command == 0)
		{
			AddressToDownload = AT91C_DOWNLOAD_BASE_ADDRESS;
			SizeToDownload = AT91C_DOWNLOAD_MAX_SIZE;
			DeviceAddress = 0;
			
			/* try to detect Dataflash */
			if (!Nb_Device)
				Nb_Device = AT91F_DataflashInit();				
							
			mci_present = AT91F_DisplayMenu();

#ifdef PRODTEST
			if (mci_present) {
				if (Program_From_MCI())
					AT91F_StartBoot();
			}
#endif

			message[0] = 0;
			AT91F_ReadLine ("Enter: ", message);

#ifndef PRODTEST
			/* stop tempo ==> stop autoboot */
			svcBootTempo.Stop(&svcBootTempo);
#endif

			command = message[0];
			for(ix = 1; (message[ix] == ' ') && (ix < 12); ix++);	// Skip some whitespace
				
			if(!AsciiToHex(&message[ix], &DeviceAddress) )
				DeviceAddress = 0;			// Illegal DeviceAddress
				
			switch(command)
			{
#ifdef XMODEM
				case '1':
				case '2':
				case '5':
					if(command == '1') {
						DeviceAddress = 0xC0000000;
//						printf("Download DataflashBoot.bin to [0x%x]\n", DeviceAddress);
					} else if(command == '2') {
						DeviceAddress = AT91C_BOOT_DATAFLASH_ADDR;
//						printf("Download u-boot.bin to [0x%x]\n", DeviceAddress);
					} else {
//						printf("Download Dataflash to [0x%x]\n", DeviceAddress);
					}
					switch(DeviceAddress & 0xFF000000)
					{
						case CFG_DATAFLASH_LOGIC_ADDR_CS0:
							if (dataflash_info[0].id == 0){
								printf("No DF");
								AT91F_WaitKeyPressed();
								command = 0;
							}

							device = 0;
						break;
					
						case CFG_DATAFLASH_LOGIC_ADDR_CS3:
							if (dataflash_info[1].id == 0){
								printf("No DF");
								AT91F_WaitKeyPressed();
								command = 0;
							}
							device = 1;
						break;
					
						default:
							command = 0;
						break;
					}
				break;
#endif

				case '3':
					if (mci_present)
						Program_From_MCI();
					command = 0;
					break;

				case '4':
					AT91F_StartBoot();
					command = 0;
				break;

#ifdef MEMDISP
				case '6':
					do 
					{
						AT91F_MemoryDisplay(DeviceAddress, 256);
						AT91F_ReadLine (NULL, message);
						DeviceAddress += 0x100;
					}
					while(message[0] == '\0');
					command = 0;
				break;
#endif

				case '7':
					switch(DeviceAddress & 0xFF000000)
					{
						case CFG_DATAFLASH_LOGIC_ADDR_CS0:
							break;
						case CFG_DATAFLASH_LOGIC_ADDR_CS3:
							break;
						default:
							command = 0;
							break;
					}

					if (command != 0) {
						AT91F_ReadLine ("RDY ERA\nSure?",
								message);
						if(message[0] == 'Y' || message[0] == 'y') {
							erase_dataflash(DeviceAddress & 0xFF000000);
//							printf("Erase complete\n\n");
						}
//						else
//							printf("Erase aborted\n");
					}
					command = 0;

				break;

				default:
					command = 0;
				break;
			}
		}
#ifdef XMODEM
		for(i = 0; i <= AT91C_DOWNLOAD_MAX_SIZE; i++)
			*(unsigned char *)(AddressToDownload + i) = 0;
	
		xmodemPipe.Read(&xmodemPipe, (char *)AddressToDownload,
		                SizeToDownload, XmodemProtocol, 0);	
		while(XmodemComplete !=1);
		SizeToDownload = (unsigned int)((svcXmodem.pData) -
		                 (unsigned int)AddressToDownload);

		/* Modification of vector 6 */
		if ((DeviceAddress == CFG_DATAFLASH_LOGIC_ADDR_CS0)) {
			// Vector 6 must be compliant to the BootRom description (ref Datasheet)
	   		NbPage = 0;
	    	i = dataflash_info[device].Device.pages_number;
	    	while(i >>= 1)
	    		NbPage++;
			i = (SizeToDownload / 512)+1 + (NbPage << 13) +
			    (dataflash_info[device].Device.pages_size << 17); //+4 to add crc32
		    SizeToDownload = 512 * (i &0xFF);
		}	
		else
		{
			/* Save the contents of vector 6 ==> will be restored 
			 * at boot time (AT91F_StartBoot) */
			*(int *)(AddressToDownload + SizeToDownload + 4) =
				*(int *)(AddressToDownload + AT91C_OFFSET_VECT6);
			/* Modify Vector 6 to contain the size of the
			 * file to copy (Dataflash -> SDRAM)*/
			i = SizeToDownload;	
		}		

		*(int *)(AddressToDownload + AT91C_OFFSET_VECT6) = i;
//		printf("\nModification of Arm Vector 6 :%x\n", i);
			    
//		printf("\nWrite %d bytes in DataFlash [0x%x]\n",SizeToDownload, DeviceAddress);
		crc1 = 0;
		pAT91->CRC32((const unsigned char *)AddressToDownload, SizeToDownload , &crc1);

		/* Add the crc32 at the end of the code */
		*(char *)(AddressToDownload + SizeToDownload)     = (char)(crc1 & 0x000000FF);
		*(char *)(AddressToDownload + SizeToDownload + 1) = (char)((crc1 & 0x0000FF00) >> 8);
		*(char *)(AddressToDownload + SizeToDownload + 2) = (char)((crc1 & 0x00FF0000) >> 16);
		*(char *)(AddressToDownload + SizeToDownload + 3) = (char)((crc1 & 0xFF000000) >> 24);

		/* write dataflash */
		write_dataflash (DeviceAddress, AddressToDownload, (SizeToDownload + 8));

		/* clear the buffer before read */
		for(i=0; i <= SizeToDownload; i++)
			*(unsigned char *)(AddressToDownload + i) = 0;
					
		/* Read dataflash to check the validity of the data */
		read_dataflash (DeviceAddress, (SizeToDownload + 4), (char *)(AddressToDownload));

		printf("VFY: ");	
		crc2 = 0;
				
		pAT91->CRC32((const unsigned char *)AddressToDownload, SizeToDownload , &crc2);
 		crc1 = (int)(*(char *)(AddressToDownload + SizeToDownload))          +
			   (int)(*(char *)(AddressToDownload + SizeToDownload + 1) << 8) +
			   (int)(*(char *)(AddressToDownload + SizeToDownload + 2) << 16) +
			   (int)(*(char *)(AddressToDownload + SizeToDownload + 3) << 24);

		if (crc1 != crc2)
		 	printf("ERR");
		else
		 	printf("OK");
		 	
 		command = 0;
 		XmodemComplete = 0;
		AT91F_WaitKeyPressed();
#endif
 	}
}