/// <summary>
/// 扫描节点
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void scanNode(FormProgress sender, DoWorkEventArgs e)
{
for (int i = ScanStartAddr; i <= ScanEndAddr; i++)
{
int ret;
UInt32[] appVersion = new UInt32[1], appType = new UInt32[1];
ret = USB2CAN.CAN_BL_NodeCheck(DeviceIndex, CANIndex, (UInt16)i, appVersion, appType, 10);
if (ret == USB2CAN.CAN_SUCCESS)
{
this.listViewNodeList.BeginUpdate(); //数据更新，UI暂时挂起，直到EndUpdate绘制控件，可以有效避免闪烁并大大提高加载速度
ListViewItem lvi = new ListViewItem();
lvi.Text = i.ToString();
if (appType[0] == USB2CAN.CAN_BL_BOOT)
{
lvi.SubItems.Add("ROOT");
}
else
{
lvi.SubItems.Add("APP");
}
lvi.SubItems.Add(String.Format("v{0}.{1}", (((appVersion[0] >> 24) & 0xFF) * 10) + (appVersion[0] >> 16) & 0xFF, (((appVersion[0] >> 8) & 0xFF) * 10) + appVersion[0] & 0xFF));
this.listViewNodeList.Items.Add(lvi);
this.listViewNodeList.EndUpdate(); //结束数据处理，UI界面一次性绘制。
}
sender.SetProgress(i - ScanStartAddr + 1, "正在检测节点：" + i.ToString());
if (sender.CancellationPending)
{
e.Cancel = true;
return;
}
}
}
/// <summary>
/// 扫描节点
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
void scanNode(FormProgress sender, DoWorkEventArgs e)
{
bool GotNode = false;
for (int i = ScanStartAddr; i <= ScanEndAddr; i++)
{
int ret;
UInt32[] appVersion = new UInt32[1];
Byte[] FWType = new Byte[1];
ret = CAN_Bootloader.CAN_BOOT_GetFWInfo(DevHandles[DeviceIndex], CANIndex, (Byte)i, FWType, appVersion, 100);
if (ret == CAN_Bootloader.CAN_SUCCESS)
{
GotNode = true;
//Ctrl+F5启动程序这里运行正常，F5启动程序运行不正常，能扫描到节点，但是无法在界面上显示出来，原因不明
this.listViewNodeList.BeginUpdate(); //数据更新，UI暂时挂起，直到EndUpdate绘制控件，可以有效避免闪烁并大大提高加载速度
ListViewItem lvi = new ListViewItem();
lvi.Text = i.ToString(); //节点地址
if (FWType[0] == CAN_Bootloader.FW_TYPE_BOOT)
{
lvi.SubItems.Add("BOOT");
}
else
{
lvi.SubItems.Add("APP");
}
lvi.SubItems.Add(String.Format("v{0}.{1}.{2}.{3}", (((appVersion[0] >> 24) & 0xFF)), (appVersion[0] >> 16) & 0xFF, ((appVersion[0] >> 8) & 0xFF), appVersion[0] & 0xFF));
lvi.SubItems.Add("等待更新");
this.listViewNodeList.Items.Add(lvi);
this.listViewNodeList.EndUpdate(); //结束数据处理，UI界面一次性绘制。
}
else if (ret == CAN_Bootloader.CAN_BOOT_ERR_SEND)
{
e.Cancel = true;
String msg = "发送CAN数据失败！\r\n";
msg += "1，检查CAN总线波特率是否匹配？\r\n";
msg += "2，检查总线终端电阻是否接好？\r\n";
msg += "3，检查总线接线是否正确？\r\n";
msg += "4，请确定固件中CAN总线引脚配置跟硬件匹配！";
MessageBox.Show(this, msg, "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
sender.SetProgress(i - ScanStartAddr + 1, "正在检测节点：" + i.ToString());
if (sender.CancellationPending)
{
e.Cancel = true;
return;
}
}
if (!GotNode)
{
e.Cancel = true;
String msg = "没有扫描到节点！\r\n";
msg += "1，请确定节点地址是在设置的节点地址范围？\r\n";
msg += "2，请确定从节点是否按照协议要求格式返回节点信息？\r\n";
msg += "3，请确定软件上数据收发ID设置跟节点固件数据收发ID设置一致？\r\n";
msg += "4，请确定软件上数据收发ID类型跟节点固件数据收发ID类型一致？";
MessageBox.Show(this, msg, "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
}
void upgrateFirmware(FormProgress sender, DoWorkEventArgs e)
{
int FirmwareFileSize;
UInt16 NodeAddr;
int ret;
//如果文件不存在，就提示错误
if (File.Exists(this.textBoxFilePath.Text))
{
BinaryReader br;
FirmwareFileSize = (int)new FileInfo(this.textBoxFilePath.Text).Length;
try
{
//将固件文件读取到数据缓冲区中
br = new BinaryReader(new FileStream(this.textBoxFilePath.Text, FileMode.Open));
//判断当前所选择的节点
if (this.listViewNodeList.Items.Count <= 0)
{
//当前节点列表中没有节点
MessageBox.Show(this, "节点列表中无节点，请先扫描节点！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
else
{
if (this.checkBoxAllNode.Checked)
{
NodeAddr = 0;
}
else
{
if (this.listViewNodeList.SelectedIndices[0] < 0)
{
//没有选择任何节点
MessageBox.Show(this, "请先选择节点！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
else
{
NodeAddr = UInt16.Parse(this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[0].Text);
}
}
}
//MessageBox.Show(this, "NodeAddr = " + NodeAddr, "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
//发送跳转到Bootloader的命令
sender.SetProgress(0, "跳转到Bootloader...");
ret = USB2CAN.CAN_BL_Excute(DeviceIndex, CANIndex, NodeAddr, USB2CAN.CAN_BL_BOOT);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "执行固件跳转命令失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
//延时
System.Threading.Thread.Sleep(500);
//检测当前节点是否为Bootloader
if (!this.checkBoxAllNode.Checked)
{
UInt32[] appVersion = new UInt32[1], appType = new UInt32[1];
ret = USB2CAN.CAN_BL_NodeCheck(DeviceIndex, CANIndex, NodeAddr, appVersion, appType, 10);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "节点检测失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
else
{
if (appType[0] != USB2CAN.CAN_BL_BOOT)
{
MessageBox.Show(this, "当前节点固件类型不是Bootloader，请重新点击升级固件！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
}
}
//发送擦出固件命令
sender.SetProgress(0, "擦出固件...");
ret = USB2CAN.CAN_BL_Erase(DeviceIndex, CANIndex, NodeAddr, (UInt32)FirmwareFileSize, 10000);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "擦出固件失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
if (this.checkBoxAllNode.Checked)
{
System.Threading.Thread.Sleep(1000);
}
//循环发送数据
UInt32 AddrOffset = 0;
UInt32 PackSize = 512;
byte[] DataBuffer = new byte[PackSize];
for (AddrOffset = 0; AddrOffset < FirmwareFileSize; AddrOffset += PackSize)
{
UInt32 read_data_num = (UInt32)br.Read(DataBuffer, 0, (int)PackSize);
ret = USB2CAN.CAN_BL_Write(DeviceIndex, CANIndex, NodeAddr, AddrOffset, DataBuffer, read_data_num, 1000);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "写数据失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
if (this.checkBoxAllNode.Checked)
{
System.Threading.Thread.Sleep(20);
}
sender.SetProgress((int)(AddrOffset + read_data_num), "正在发送固件数据...");
}
//执行固件
ret = USB2CAN.CAN_BL_Excute(DeviceIndex, CANIndex, NodeAddr, USB2CAN.CAN_BL_APP);
if (ret != USB2CAN.CAN_SUCCESS)
{
MessageBox.Show(this, "执行固件跳转命令失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
System.Threading.Thread.Sleep(100);
//获取固件信息
if (!this.checkBoxAllNode.Checked)
{
UInt32[] appVersion = new UInt32[1], appType = new UInt32[1];
ret = USB2CAN.CAN_BL_NodeCheck(DeviceIndex, CANIndex, NodeAddr, appVersion, appType, 10);
if (ret == USB2CAN.CAN_SUCCESS)
{
string AppTypeStr;
if (appType[0] == USB2CAN.CAN_BL_BOOT)
{
AppTypeStr = "BOOT";
}
else
{
AppTypeStr = "APP";
}
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[1].Text = AppTypeStr;
string AppVersionStr;
AppVersionStr = String.Format("v{0}.{1}", (((appVersion[0] >> 24) & 0xFF) * 10) + (appVersion[0] >> 16) & 0xFF, (((appVersion[0] >> 8) & 0xFF) * 10) + appVersion[0] & 0xFF);
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[2].Text = AppVersionStr;
}
}
br.Close();
}
catch (IOException ep)
{
MessageBox.Show(this, ep.Message, "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
}
else
{
MessageBox.Show(this, "无法打开固件文件，是否选择了固件文件？", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
}
void upgrateFirmware(FormProgress sender, DoWorkEventArgs e)
{
int FirmwareFileSize;
Byte NodeAddr;
int ret;
//如果文件不存在，就提示错误
if (File.Exists(this.textBoxFilePath.Text))
{
BinaryReader br;
FirmwareFileSize = (int)new FileInfo(this.textBoxFilePath.Text).Length;
try
{
//将固件文件读取到数据缓冲区中
br = new BinaryReader(new FileStream(this.textBoxFilePath.Text, FileMode.Open));
//判断当前所选择的节点
if (this.listViewNodeList.Items.Count <= 0)
{
//当前节点列表中没有节点
MessageBox.Show(this, "节点列表中无节点，请先扫描节点！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
else
{
if (this.listViewNodeList.SelectedIndices[0] < 0)
{
//没有选择任何节点
MessageBox.Show(this, "请先选择节点！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
else
{
NodeAddr = Byte.Parse(this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[0].Text);
}
}
//检测当前固件信息
sender.SetProgress(0, "跳转到Bootloader...");
UInt32[] FWVersion = new UInt32[1];
Byte[] FWType = new Byte[1];
ret = CAN_Bootloader.CAN_BOOT_GetFWInfo(DevHandles[DeviceIndex], CANIndex, NodeAddr, FWType, FWVersion, 50);
if (ret == CAN_Bootloader.CAN_SUCCESS)
{
if (FWType[0] != CAN_Bootloader.FW_TYPE_BOOT)
{
//跳转到Bootloader
ret = CAN_Bootloader.CAN_BOOT_EnterBootMode(DevHandles[DeviceIndex], CANIndex, NodeAddr);
if (ret != CAN_Bootloader.CAN_SUCCESS)
{
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[3].Text = "进入BOOT模式失败！";
return;
}
else
{
//延时一段时间，保证设备成功进入BOOT模式
System.Threading.Thread.Sleep(300);
//再次确认固件信息
ret = CAN_Bootloader.CAN_BOOT_GetFWInfo(DevHandles[DeviceIndex], CANIndex, NodeAddr, FWType, FWVersion, 50);
if (ret != CAN_Bootloader.CAN_SUCCESS)
{
MessageBox.Show(this, "获取固件信息失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
else if (FWType[0] != CAN_Bootloader.FW_TYPE_BOOT)
{
MessageBox.Show(this, "进入BOOT模式失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
}
}
}
else
{
MessageBox.Show(this, "获取固件信息失败！", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
br.Close();
return;
}
//成功进入BOOT模式，开始升级固件
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[3].Text = "开始擦除固件，该操作可能比较耗时...";
ret = CAN_Bootloader.CAN_BOOT_EraseApp(DevHandles[DeviceIndex], CANIndex, NodeAddr, (UInt32)FirmwareFileSize, 10000);
if (ret != CAN_Bootloader.CAN_SUCCESS)
{
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[3].Text = "执行固件擦除指令失败！\r\n" + GetErrorString(ret);
br.Close();
return;
}
else
{
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[3].Text = "固件擦除成功！";
}
//循环发送固件数据
UInt32 AddrOffset = 0;
byte[] DataBuffer;
UInt16[] BufferSize = new UInt16[1];
for (AddrOffset = 0; AddrOffset < FirmwareFileSize;)
{
//设置写数据偏移地址
ret = CAN_Bootloader.CAN_BOOT_SetAddrOffset(DevHandles[DeviceIndex], CANIndex, NodeAddr, AddrOffset, BufferSize, 50);
if (ret != CAN_Bootloader.CAN_SUCCESS)
{
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[3].Text = "设置地址偏移失败！\r\n" + GetErrorString(ret);
br.Close();
return;
}
if (BufferSize[0] <= 0)
{
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[3].Text = "获取数据缓冲区大小为0！";
}
DataBuffer = new Byte[BufferSize[0]];
UInt16[] CRC16 = new UInt16[1];
UInt32 read_data_num = (UInt32)br.Read(DataBuffer, 0, (int)BufferSize[0]);
//发送数据
ret = CAN_Bootloader.CAN_BOOT_SendAppData(DevHandles[DeviceIndex], CANIndex, NodeAddr, DataBuffer, (UInt16)read_data_num, CRC16);
if (ret != CAN_Bootloader.CAN_SUCCESS)
{
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[3].Text = "发送数据失败！\r\n" + GetErrorString(ret);
br.Close();
return;
}
//将数据写入内部程序存储器
ret = CAN_Bootloader.CAN_BOOT_WriteAppData(DevHandles[DeviceIndex], CANIndex, NodeAddr, CRC16[0], 1000);
if (ret != CAN_Bootloader.CAN_SUCCESS)
{
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[3].Text = "写数据失败！\r\n" + GetErrorString(ret);
br.Close();
return;
}
sender.SetProgress((int)(AddrOffset + read_data_num), "正在发送固件数据...");
AddrOffset += read_data_num;
}
//执行固件
ret = CAN_Bootloader.CAN_BOOT_ExecuteApp(DevHandles[DeviceIndex], CANIndex, NodeAddr);
if (ret != CAN_Bootloader.CAN_SUCCESS)
{
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[3].Text = "发送执行固件指令失败！\r\n" + GetErrorString(ret);
br.Close();
return;
}
System.Threading.Thread.Sleep(300);
//再次获取固件信息，判断固件是否更新成功
ret = CAN_Bootloader.CAN_BOOT_GetFWInfo(DevHandles[DeviceIndex], CANIndex, NodeAddr, FWType, FWVersion, 100);
if (ret == CAN_Bootloader.CAN_SUCCESS)
{
//Ctrl+F5启动程序这里运行正常，F5启动程序运行不正常，能扫描到节点，但是无法在界面上显示出来，原因不明
this.listViewNodeList.BeginUpdate(); //数据更新，UI暂时挂起，直到EndUpdate绘制控件，可以有效避免闪烁并大大提高加载速度
if (FWType[0] == CAN_Bootloader.FW_TYPE_BOOT)
{
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[1].Text = "BOOT";
}
else
{
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[1].Text = "APP";
}
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[2].Text = String.Format("v{0}.{1}.{2}.{3}", (((FWVersion[0] >> 24) & 0xFF)), (FWVersion[0] >> 16) & 0xFF, ((FWVersion[0] >> 8) & 0xFF), FWVersion[0] & 0xFF);
this.listViewNodeList.EndUpdate(); //结束数据处理，UI界面一次性绘制。
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[3].Text = "固件更新成功！";
}
else
{
this.listViewNodeList.Items[this.listViewNodeList.SelectedIndices[0]].SubItems[3].Text = "固件执行失败！";
}
br.Close();
}
catch (IOException ep)
{
MessageBox.Show(this, ep.Message, "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
}
else
{
MessageBox.Show(this, "无法打开固件文件，是否选择了固件文件？", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
}
}