private static bool parseInput(string instr)
{
if (instr.Equals("load")) {
Console.WriteLine("loading...");
//string filepath = "/home/arune/eclipse/c/AVR-App/main.hex";
string filepath = argHexfile;
hf = new HexFile();
if (hf.loadHex(filepath)) {
Console.WriteLine("done!");
Console.WriteLine("File "+filepath+" loaded.");
Console.WriteLine("Size: " + hf.getLength().ToString() + " bytes, end adress " + hf.getAddrUpper().ToString() + "(0x" + hf.getAddrUpper().ToString("X") + ").");
}
else Console.WriteLine("Error loading " + filepath + "!");
}
else if (instr.Equals("go")) {
Console.WriteLine("Connecting..");
sc = new SerialConnection();
try {
sc.setConfiguration(argBaud, System.IO.Ports.Parity.None, argPort, System.IO.Ports.StopBits.One, 8, false);
}
catch (Exception e) { Console.WriteLine("Error: " + e.Message); return true; }
if (!sc.open()) { Console.WriteLine("Error opening port."); return true; }
dl = new Downloader(hf, sc, argReceiverID, false);
if (!dl.go()) { Console.WriteLine("Error gooing..."); return true; }
sc.close();
}
else if (instr.Equals("go bios")) {
Console.WriteLine("Connecting..");
sc = new SerialConnection();
try {
sc.setConfiguration(argBaud, System.IO.Ports.Parity.None, argPort, System.IO.Ports.StopBits.One, 8, false);
}
catch (Exception e) { Console.WriteLine("Error: " + e.Message); return true; }
if (!sc.open()) { Console.WriteLine("Error opening port."); return true; }
dl = new Downloader(hf, sc, argReceiverID, true);
if (!dl.go()) { Console.WriteLine("Error gooing..."); return true; }
sc.close();
}
else if (instr.Equals("start")) {
Console.WriteLine("Starting..");
sc = new SerialConnection();
try {
sc.setConfiguration(argBaud, System.IO.Ports.Parity.None, argPort, System.IO.Ports.StopBits.One, 8, false);
}
catch (Exception e) { Console.WriteLine("Error: " + e.Message); return true; }
if (!sc.open()) { Console.WriteLine("Error opening port."); return true; }
byte[] data = new byte[8];
CanPacket cp = new CanPacket(CAN_NMT, CAN_NMT_START_APP, MY_ID, argReceiverID, 0, data);
sc.writePacket(cp);
sc.close();
}
else if (instr.Equals("reset")) {
Console.WriteLine("Resetting..");
sc = new SerialConnection();
try {
sc.setConfiguration(argBaud, System.IO.Ports.Parity.None, argPort, System.IO.Ports.StopBits.One, 8, false);
}
catch (Exception e) { Console.WriteLine("Error: " + e.Message); return true; }
if (!sc.open()) { Console.WriteLine("Error opening port."); return true; }
byte[] data = new byte[8];
CanPacket cp = new CanPacket(CAN_NMT, CAN_NMT_RESET, MY_ID, argReceiverID, 0, data);
sc.writePacket(cp);
sc.close();
}
else if (instr.Equals("abort")) {
if (dl != null) dl.abort();
}
else if (instr.Equals("exit")) {
return false;
}
else {
Console.WriteLine("Unknown command.");
}
return true;
}
public bool getPacket(out CanPacket cp)
{
cp = null;
if ((serial_conn != null) || (udpserver != null)) {
if (serial_conn != null) {
int bytesToRead = serial_conn.BytesToRead;
if (bytesToRead > 0) {
byte[] data = new byte[bytesToRead];
try {
serial_conn.Read(data, 0, data.Length);
} catch (Exception e) {
Console.WriteLine("Exception " + e + " occured.\n");
}
Array.Copy(data, 0, iBuff, iBuffPointer, data.Length);
iBuffPointer += bytesToRead;
}
} else if (udpserver != null) {
int bytesToRead = udpserver.Available;
if (udpserver.Available > 0) {
byte[] data = new byte[bytesToRead];
try {
EndPoint tmpRemote = (EndPoint)iep;
udpserver.ReceiveFrom(data, ref tmpRemote);
} catch (Exception e) {
Console.WriteLine("Exception " + e + " occured.\n");
}
int bytestomove = data.Length;
if (bytestomove ==18) {
bytestomove = data.Length -1;
}
Array.Copy(data, 0, iBuff, iBuffPointer, bytestomove);
iBuffPointer += bytestomove;
}
}
// N�r array st�rre eller lika med PACKET_LENGTH...
while (iBuffPointer >= PACKET_LENGTH) {
int startIndex = 0;
// S�k igenom efter start byte fr�n b�rjan.
for (int i = 0; i < iBuffPointer; i++) {
// Poppa alla bytes som inte �r startbyte.
if (iBuff[i] != UART_START_BYTE) startIndex++;
else {
// N�r startbyte hittas, kolla om �terst�ende l�ngd �r st�rre eller lika med PACKET_LENGTH (inkl startbyte)
if ((iBuffPointer - startIndex) >= PACKET_LENGTH) {
//om s�, kolla PACKET_LENGTH-1 byte fram.
if (iBuff[startIndex + PACKET_LENGTH - 1] == UART_END_BYTE) {
// Om byte PACKET_LENGTH-1 �r slutbyte s� extraktas startIndex till slutbyteindex.
CanPacket cm = new CanPacket(iBuff, (uint)startIndex + 1);
// S�tt ny startindex och avsluta loop.
startIndex += PACKET_LENGTH;
cp = cm;
// och i slutet g�ra en array copy.
// Flytta ner allt efter slutbyte till index 0 i array.
Array.Copy(iBuff, startIndex, iBuff, 0, iBuffPointer - PACKET_LENGTH);
iBuffPointer -= startIndex;
return true;
}
}
}
}
// och i slutet g�ra en array copy.
// Flytta ner allt efter slutbyte till index 0 i array.
Array.Copy(iBuff, startIndex, iBuff, 0, iBuffPointer - PACKET_LENGTH);
iBuffPointer -= startIndex;
}
return false;
} else {
return false;
}
}
public void downloader()
{
dState pgs = dState.SEND_START;
int t = 0;
CanPacket outCm = null;
CanPacket cm = null;
byte[] data = new byte[8];
uint byteSent = 0;
ulong currentAddress = 0;
bool done = false;
bool errorOccured = false;
try {
if (isBiosUpdate) {
dlOffset = hf.getAddrLower();
//Console.WriteLine(dlOffset);
//dlOffset = 200;
}
while (!done) {
bool hasMessage = sc.getPacket(out cm);
if (hasMessage) {
Array.Copy(cm.getData(), data, 8);
}
switch (pgs) {
case dState.SEND_START:
// Send boot start packet to target.
// and wait for ack.
currentAddress = hf.getAddrLower();
//data[RID_INDEX] = TARGET_ID;
data[ADDR0_INDEX] = (byte)((currentAddress-dlOffset) & 0x0000FF);
data[ADDR1_INDEX] = (byte)(((currentAddress-dlOffset) & 0x00FF00) >> 8);
data[ADDR2_INDEX] = (byte)(((currentAddress-dlOffset) & 0xFF0000) >> 16);
data[ADDR3_INDEX] = 0;
outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data);
sc.writePacket(outCm);
t = Environment.TickCount;
pgs = dState.WAIT_ACK_PRG;
timeStart = Environment.TickCount;
break;
case dState.WAIT_ACK_PRG:
// Check for timeout, resend start packet in that case..
if ((Environment.TickCount - t) > TIMEOUT_MS) {
Console.WriteLine("Timeout while waiting for start prg ack.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
Thread.Sleep(1);
// If received ack.
if (hasMessage && cm.getPktClass() == CAN_NMT && cm.getSid() == receiveID) {
// If no error
if (cm.getType() == CAN_NMT_PGM_ACK) {
// Start sending program data..
byteSent = 0;
pgs = dState.SEND_PGM_DATA;
}
else if (cm.getType() == CAN_NMT_PGM_NACK ) {
// else ..
Console.WriteLine("Nack on CAN_NMT_PGM_START.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
}
break;
case dState.SEND_PGM_DATA:
//Console.WriteLine("byteSent = "+byteSent);
Console.Write(".");
// Send program data.
byte datalength = 2;
for (ulong i = 0; i < 6; i++) {
// Populate data.
data[i+2] = hf.getByte(currentAddress + i + byteSent);
if (currentAddress + i + byteSent > hf.getAddrUpper()) {
break; //then done
}
datalength++;
}
data[0] = (byte)(byteSent & 0x00FF);
data[1] = (byte)((byteSent & 0xFF00) >> 8);
outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_DATA, MY_ID, receiveID, datalength, data);
sc.writePacket(outCm);
t = Environment.TickCount;
byteSent += 6;
pgs = dState.WAIT_ACK_DATA;
break;
case dState.WAIT_ACK_DATA:
// Wait for pgm ack.
if ((Environment.TickCount - t) > 2*TIMEOUT_MS) {
// Woops, error.
Console.WriteLine("Timeout while waiting for data ack.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
Thread.Sleep(1);
// If received ack.
if (hasMessage && cm.getPktClass() == CAN_NMT && cm.getSid() == receiveID) {
// If no error
if (cm.getType() == CAN_NMT_PGM_ACK) {
//currentAddress += 2;
// Check if end.
if (currentAddress + byteSent > hf.getAddrUpper()) {
// Yes, we are done, send done.
pgs = dState.SEND_DONE;
}
else {
// More to write.
//byteSent = 0;
pgs = dState.SEND_PGM_DATA;
}
}
else if (cm.getType() == CAN_NMT_PGM_NACK) {
// else ..
Console.WriteLine("Nack on CAN_NMT_PGM_DATA.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
}
break;
case dState.SEND_DONE:
// Send done
//data[0] = 0;
//data[1] = 0;
outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_END, MY_ID, receiveID, 0, data);
sc.writePacket(outCm);
t = Environment.TickCount;
pgs = dState.WAIT_DONE;
break;
case dState.WAIT_DONE:
// Check for timeout, resend done packet in that case..
if ((Environment.TickCount - t) > TIMEOUT_MS) {
Console.WriteLine("Timeout while waiting for end prg ack.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
Thread.Sleep(1);
// If received ack.
if (hasMessage && cm.getPktClass() == CAN_NMT && cm.getSid() == receiveID) {
// If no error
if (cm.getType() == CAN_NMT_PGM_ACK) {
Console.WriteLine("");
//
int crc = calcCRC(hf);
if (cm.getDataLength() == 2) {
byte[] cmdata = cm.getData();
if ((cmdata[0] == (crc & 0xFF)) && (cmdata[1] == (crc>>8))) {
if (!isBiosUpdate) {
Console.WriteLine("Done, successfully programmed application.");
pgs = dState.SEND_RESET;
} else {
Console.WriteLine("Done, successfully programmed bios to application space.");
pgs = dState.SEND_BIOS_UPDATE;
}
} else {
string nodecrc = String.Format("{0:x4}", (int)cmdata[0] + (int)(cmdata[1]<<8));
nodecrc = "0x"+nodecrc;
string realcrc = String.Format("{0:x4}", (int)(crc & 0xFF) + (int)(crc & 0xFF00));
realcrc = "0x"+realcrc;
Console.WriteLine("CRC failed. Node sent CRC "+nodecrc+" but should be "+realcrc+".");
errorOccured = true;
pgs = dState.SEND_RESET;
}
byteSent = 0;
}
//Console.WriteLine("crc: " + crc + " " + (crc>>8) + " " + (crc & 0xFF));
//Console.WriteLine("ACKpkg with CRC: " + cm.ToString());
//
}
else if (cm.getType() == CAN_NMT_PGM_NACK) {
// else resend addr..
Console.WriteLine("Nack on CAN_NMT_PGM_END.");
errorOccured = true;
pgs = dState.SEND_RESET;
}
}
break;
case dState.SEND_BIOS_UPDATE:
data[0] = (byte)(0 & 0x00FF);
data[1] = (byte)((0 & 0xFF00) >> 8);
data[2] = (byte)(dlOffset & 0x00FF);
data[3] = (byte)((dlOffset & 0xFF00) >> 8);
data[4] = (byte)((hf.getAddrUpper()-hf.getAddrLower()+1) & 0x00FF);
data[5] = (byte)(((hf.getAddrUpper()-hf.getAddrLower()+1) & 0xFF00) >> 8);
outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_COPY, MY_ID, receiveID, 6, data);
Console.WriteLine("Now say a prayer, moving bios");
sc.writePacket(outCm);
t = Environment.TickCount;
pgs = dState.DONE;
break;
case dState.SEND_RESET:
// Send reset
outCm = new CanPacket(CAN_NMT, CAN_NMT_RESET, MY_ID, receiveID, 0, data);
sc.writePacket(outCm);
t = Environment.TickCount;
pgs = dState.DONE;
break;
case dState.DONE:
done = true;
//down.Abort();
if (!errorOccured) {
long tsecs = ((Environment.TickCount - timeStart) / 1000);
double bitRate = hf.getLength() / ((double)(Environment.TickCount - timeStart) / 1000.0);
if (tsecs <= 0) tsecs = 1;
long mins = tsecs / 60;
long secs = tsecs % 60;
string pad = "";
if (secs < 10) {
pad = "0";
}
Console.WriteLine("Time spent: " + mins + ":" + pad + secs + ", " + Math.Round(bitRate, 2) + " bytes/s");
}
//Console.Write("> ");
break;
}
}
} catch(Exception) {
Console.WriteLine("Aborted or done.");
//Console.WriteLine(e);
//skriva ut antal bytes skrivna vore bra här, kanske nån annan form av hjälp för debug, något gick snett liksom
Console.Write("> ");
}
}
public bool writePacket(CanPacket cp)
{
if (serial_conn != null) {
if (serial_conn.IsOpen) {
byte[] bytes = new byte[PACKET_LENGTH];
Array.Copy(cp.getBytes(), 0, bytes, 1, PACKET_LENGTH - 2);
bytes[0] = UART_START_BYTE;
bytes[PACKET_LENGTH - 1] = UART_END_BYTE;
serial_conn.Write(bytes, 0, PACKET_LENGTH);
return true;
}
return false;
} else if (udpserver != null) {
byte[] bytes = new byte[PACKET_LENGTH];
Array.Copy(cp.getBytes(), 0, bytes, 1, PACKET_LENGTH - 2);
bytes[0] = UART_START_BYTE;
bytes[PACKET_LENGTH - 1] = UART_END_BYTE;
udpserver.SendTo(bytes, bytes.Length, SocketFlags.None, new IPEndPoint(IPAddress.Parse(remoteIP), remotePort));
return true;
} else {
return false;
}
}
