void SendFirmwareBlock(byte[] data, int length)
{
int i = 0;
int part = 0;
byte[] crc16;
Console.WriteLine("sending block 0x{0:X02} 0x{1:X04} 0x{2:X04}", LastBinBlock + CurrentUpdateFiles[CurrentUpdateFileIndex].blockOffset, LastBinBlock * CurrentUpdateFiles[CurrentUpdateFileIndex].blockSize, length);
for (i = 0; i < length; i += 8)
{
//build Message Id containing current part number
LastSentFrame = new CANMessage(BuildCANId(CANMaerklinCommand.Bootloader, 0x0300) + (byte)part, new byte[] { 0x00, 0x00, 0x00, 0x00, 0x88, 0x00, 0x00, 0x00 });
part++;
Array.Copy(data, i, LastSentFrame.Data, 0, 8);
serialCAN.SendCAN(LastSentFrame);
}
LastSentFrame = new CANMessage(BuildCANId(CANMaerklinCommand.Bootloader, CS2AddressHash), new byte[] { 0x00, 0x00, 0x00, 0x00, 0x88, 0x00, 0x00 });
Array.Copy(CurrentDeviceId.HexStringToByteArray(), 0, LastSentFrame.Data, 0, 4);
Crc16Ccitt crc16Ccitt = new Crc16Ccitt(InitialCrcValue.NonZero1);
crc16 = crc16Ccitt.ComputeChecksumBytes(data.Take(length).ToArray()).ToBigEndian();
LastSentFrame.Data[5] = crc16[0];
LastSentFrame.Data[6] = crc16[1];
Console.WriteLine("block checksum 0x{0}", crc16.ByteArrayToHexString());
serialCAN.SendCAN(LastSentFrame);
}
private void SerialCAN_CANMessageReceived(object sender, CANMessageReceivedEventArgs e)
{
int requestedBlockIndex;
if (UpdateRunning)
{
switch ((CANMaerklinCommand)(e.CANMessage.Id & 0xFFFF0000UL))
{
case (CANMaerklinCommand.Ping):
Console.WriteLine("received CAN Ping {0}\n", e.CANMessage);
if (CurrentDeviceHash == (e.CANMessage.Id & 0x00FFFF))
{
if (!FileUpdateRunning)
{
//Ping received from update device so we expect the File update has been completed
Console.WriteLine("UPDATE COMPLETE");
UpdateCompletedAutoResetEvent.Set();
UpdateRunning = false;
}
}
break;
case (CANMaerklinCommand.PingRsp):
Console.WriteLine("received CAN Ping answer from Device {0}\n", (DeviceType)(e.CANMessage.Data[0]));
if ((e.CANMessage.Data.Length == 8) && (e.CANMessage.Data[0] == (byte)DeviceType))
{
string deviceVersion = string.Format("{0}.{1}", e.CANMessage.Data[4], e.CANMessage.Data[5]);
switch ((DeviceType)e.CANMessage.Data[0])
{
case DeviceType.GB2:
Console.WriteLine("found Gleisbox with ID 0x{0} Version {1}\n", CurrentDeviceId, deviceVersion);
CurrentDeviceId = GetDeviceIdFromCanMessage(e.CANMessage);
CurrentDeviceHash = e.CANMessage.Id & 0x00FFFF;
PingReceived = true;
break;
case DeviceType.MS2:
Console.WriteLine("found MS2 with ID 0x{0} Version {1}\n", CurrentDeviceId, deviceVersion);
CurrentDeviceId = GetDeviceIdFromCanMessage(e.CANMessage);
CurrentDeviceHash = e.CANMessage.Id & 0x00FFFF;
PingReceived = true;
break;
}
if (IsFirmwareUpdate)
{
StartFirmwareUpdateProcedure(deviceVersion);
}
else
{
StartConfigFileSend();
}
}
break;
case CANMaerklinCommand.BootloaderRsp:
//Firmware update process
if (PingReceived)
{
if (e.CANMessage.Data.Length == 8 && GetDeviceIdFromCanMessage(e.CANMessage) == CurrentDeviceId && ((e.CANMessage.Data[7] == 0x10) || (e.CANMessage.Data[7] == 0x32)))
{
Console.WriteLine("Send initial block id");
SendInitialBlockId(e.CANMessage);
}
else
{
/* first data block */
if (LastSentFrame == null || e.CANMessage.Data.ByteArrayEquals(LastSentFrame.Data) && LastBinBlock == TotalBlocksToSend)
{
Console.WriteLine("Send first data block");
SendFirmwareBlock(DataBytesToSendWithPadding.Skip(LastBinBlock * (int)CurrentUpdateFiles[CurrentUpdateFileIndex].blockSize).ToArray(), DataBytesToSendWithPadding.Length - TotalBlocksToSend * (int)CurrentUpdateFiles[CurrentUpdateFileIndex].blockSize);
LastBinBlock--;
}
else
{
//there seems to be different NACK types : 0xF1 and 0xF2
if (CheckFrameNack != null && e.CANMessage.Data.Length >= 5 && CheckFrameNack.Data.Length >= 5 &&
e.CANMessage.Id == CheckFrameNack.Id && e.CANMessage.Data.Take(4).ToArray().ByteArrayEquals(CheckFrameNack.Data.Take(4).ToArray()) &&
(e.CANMessage.Data[4] == 0xF1 || e.CANMessage.Data[4] == 0xF2)
)
{
Console.WriteLine("Aiiee got NACK. Aborting");
UpdateCompletedAutoResetEvent.Set();
UpdateRunning = false;
}
//MS2 may use 0x0000 as hash -> compare CheckFrameBlockId full 8 bytes
if (CheckFrameBlockId != null && e.CANMessage.Data.ByteArrayEquals(CheckFrameBlockId.Data))
{
SendFirmwareBlock(DataBytesToSendWithPadding.Skip(LastBinBlock * (int)CurrentUpdateFiles[CurrentUpdateFileIndex].blockSize).ToArray(), (int)CurrentUpdateFiles[CurrentUpdateFileIndex].blockSize);
//firmware flashing has to be sent in reversed order
LastBinBlock--;
}
//MS2 may use 0x0000 as hash -> compare CheckFrame full 8 bytes
if (CheckFrame != null && e.CANMessage.Data.Length == CheckFrame.Data.Length && e.CANMessage.Data.Take(5).ToArray().ByteArrayEquals(CheckFrame.Data.Take(5).ToArray()))
{
if ((LastBinBlock >= 0))
{
SendNextBlockId((byte)(LastBinBlock + CurrentUpdateFiles[CurrentUpdateFileIndex].blockOffset));
}
else
{
if (DeviceType == DeviceType.MS2)
{
Console.WriteLine("Reboot MS2 - be patient...");
//end of update
LastSentFrame = new CANMessage(BuildCANId(CANMaerklinCommand.Bootloader, CS2AddressHash), new byte[] { 0x00, 0x00, 0x00, 0x00, 0xf5 });
Array.Copy(CurrentDeviceId.HexStringToByteArray(), 0, LastSentFrame.Data, 0, 4);
serialCAN.SendCAN(LastSentFrame);
Thread.Sleep(1000);
//soft reset
LastSentFrame = new CANMessage(BuildCANId(CANMaerklinCommand.Bootloader, CS2AddressHash), new byte[] { 0x00, 0x00, 0x00, 0x00, 0x11 });
Array.Copy(CurrentDeviceId.HexStringToByteArray(), 0, LastSentFrame.Data, 0, 4);
serialCAN.SendCAN(LastSentFrame);
Thread.Sleep(13000);
//Start updating MS2 files
StartConfigFileSend();
}
else
{
Console.WriteLine("UPDATE COMPLETE");
UpdateCompletedAutoResetEvent.Set();
UpdateRunning = false;
}
}
}
}
}
}
break;
case CANMaerklinCommand.ConfigDataQuery:
//Send/Update CONFIG DATA
if (e.CANMessage.Data.ByteArrayToHexString() == "6666666666666666")
{
if (RequestedConfigNameData.EndsWith("ver"))
{
if (AckconfigFileRequestFrame != null)
{
serialCAN.SendCAN(AckconfigFileRequestFrame);
}
//Send config data
LastBinBlock = 0;
PrepareCS2FileVersionInfoToSend(CurrentUpdateFiles[CurrentUpdateFileIndex]);
byte[] fileSizeBytes = BitConverter.GetBytes(FileLength).ToBigEndian();
Array.Copy(fileSizeBytes, LastSentFrame.Data, 4);
Crc16Ccitt crc16Ccitt = new Crc16Ccitt(InitialCrcValue.NonZero1);
LastSentFrame.Id = BuildCANId(CANMaerklinCommand.ConfigDataStream, e.CANMessage.Id & 0x00FFFF);
var crc16 = crc16Ccitt.ComputeChecksumBytes(DataBytesToSendWithPadding).ToBigEndian();
LastSentFrame.Data[4] = crc16[0];
LastSentFrame.Data[5] = crc16[1];
Console.WriteLine("block checksum 0x{0}", crc16.ByteArrayToHexString());
serialCAN.SendCAN(LastSentFrame);
//send all data
for (int i = 0; i < DataBytesToSendWithPadding.Length; i += 8)
{
LastSentFrame.Data = new byte[8];
Array.Copy(DataBytesToSendWithPadding, i, LastSentFrame.Data, 0, 8);
serialCAN.SendCAN(LastSentFrame);
}
Console.WriteLine("Data sent.");
}
}
else if (e.CANMessage.Data.ByteArrayToHexString().Substring(6) == "0000000000" && int.TryParse(Encoding.ASCII.GetString(e.CANMessage.Data).Trim('\0'), out requestedBlockIndex))
{
FileUpdateRunning = true;
if (!string.IsNullOrEmpty(RequestedConfigNameData))
{
Console.WriteLine("Request file {0} block {1}", RequestedConfigNameData, requestedBlockIndex);
byte[] bytesToSend = DataBytesToSendWithPadding.Skip(requestedBlockIndex * CurrentUpdateFiles[CurrentUpdateFileIndex].blockSize).Take(CurrentUpdateFiles[CurrentUpdateFileIndex].blockSize).ToArray();
//check if requested block is last block
if (DataBytesToSendWithPadding.Length / CurrentUpdateFiles[CurrentUpdateFileIndex].blockSize == requestedBlockIndex)
{
FileUpdateRunning = false;
}
byte[] fileSizeBytes = BitConverter.GetBytes(bytesToSend.Length).ToBigEndian();
//Prepare messages for later sending (FFFFFF... message)
AckconfigFileRequestFrame = e.CANMessage.Clone();
AckconfigFileRequestFrame.Id = BuildCANId(CANMaerklinCommand.ConfigDataQueryRsp, CS2AddressHash);
serialCAN.SendCAN(AckconfigFileRequestFrame);
Array.Copy(fileSizeBytes, LastSentFrame.Data, 4);
Crc16Ccitt crc16Ccitt = new Crc16Ccitt(InitialCrcValue.NonZero1);
LastSentFrame.Id = BuildCANId(CANMaerklinCommand.ConfigDataStream, e.CANMessage.Id & 0x00FFFF);
var crc16 = crc16Ccitt.ComputeChecksumBytes(bytesToSend).ToBigEndian();
LastSentFrame.Data[4] = crc16[0];
LastSentFrame.Data[5] = crc16[1];
Console.WriteLine("block checksum 0x{0}", crc16.ByteArrayToHexString());
Thread.Sleep(100);
serialCAN.SendCAN(LastSentFrame);
//send block
LastSentFrame.Id = BuildCANId(CANMaerklinCommand.ConfigDataStream, e.CANMessage.Id & 0x00FFFF);
for (int i = 0; i < bytesToSend.Length; i += 8)
{
LastSentFrame.Data = new byte[8];
Array.Copy(bytesToSend, i, LastSentFrame.Data, 0, 8);
serialCAN.SendCAN(LastSentFrame);
}
}
}
else
{
RequestedConfigNameData = Encoding.ASCII.GetString(e.CANMessage.Data).Trim('\0');
CurrentUpdateFileIndex = Array.FindIndex(ms2_update_data, x => x.versionName == RequestedConfigNameData);
if (Array.Exists(ms2_update_data, x => x.versionName == RequestedConfigNameData))
{
//CS2 version string request
Console.WriteLine("Request .CS2 fileinfo {0}", RequestedConfigNameData);
CurrentUpdateFileIndex = Array.FindIndex(ms2_update_data, x => x.versionName == RequestedConfigNameData);
LastSentFrame = new CANMessage(BuildCANId(CANMaerklinCommand.ConfigDataStream, CS2AddressHash), new byte[] { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 });
//Prepare messages for later sending (FFFFFF... message)
AckconfigFileRequestFrame = e.CANMessage.Clone();
AckconfigFileRequestFrame.Id = BuildCANId(CANMaerklinCommand.ConfigDataQueryRsp, CS2AddressHash);
}
else if (Array.Exists(ms2_update_data, x => x.name == RequestedConfigNameData))
{
//File data request
Console.WriteLine("Request file {0}", RequestedConfigNameData);
CurrentUpdateFileIndex = Array.FindIndex(ms2_update_data, x => x.name == RequestedConfigNameData);
ReadFirmwareFile(CurrentUpdateFiles[CurrentUpdateFileIndex], false);
LastSentFrame = new CANMessage(BuildCANId(CANMaerklinCommand.ConfigDataStream, CS2AddressHash), new byte[] { 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 });
AckconfigFileRequestFrame = e.CANMessage.Clone();
AckconfigFileRequestFrame.Id = BuildCANId(CANMaerklinCommand.ConfigDataStreamRsp, CS2AddressHash);
}
else
{
Console.WriteLine("Couldn't find requested file {0}", RequestedConfigNameData);
}
}
break;
default:
break;
}
}
}