/// <summary>
/// 防滑分析设置界面用户输入完成之后点击“设置完成”按钮产生的事件
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void Confirm_Button_Click(object sender, RoutedEventArgs e)
{
try
{
canHelper = new CanHelper();
//set_bit(Byte_0x91[0], 1, true);
Byte_0x91[0] = 0x01;
SaveValue();
for (int i = 0; i < 10; i++)
{
canHelper.Send_0x91(Byte_0x91);
canHelper.Send_0x92(Byte_0x92);
canHelper.Send_0x93(Byte_0x93);
canHelper.Send_0x94(Byte_0x94);
}
bSend = true;
}
catch (Exception)
{
MessageBox.Show("数据发送失败！");
bSend = false;
}
if (bSend == true)
{
MessageBox.Show("数据发送成功！");
}
}
/// <summary>
/// 发送逻辑
/// </summary>
private void Send()
{
canHelper = new CanHelper();
for (int i = 0; i < transData.Count; i++)
{
canHelper.Send(transData[i]);
}
}
// 主函数需要指定文件路径、MRH地址、设备的RecieveID
//! filePath ip_desc receiveId
static void Main(string[] args)
{
// 参数为空
if (args == null || args.Length != 3)
{
Console.WriteLine("error:you need input three params!");
return;
}
FilePath = args[0];
Ip = args[1];
RecieveId = Convert.ToUInt32(args[2]);
//FilePath = C:\\Users\\DINGJIANWEI\\Desktop\\Sinanju Update\\MRQMV(Software)Update(Normal)_00.00.02.00.03.upd;
//Ip = TCPIP0::169.254.1.2::inst0::INSTR;
//RecieveId = 384;
// 搜索-T
Comm = new Communication("MRH-T");
if (Comm.OpenCan(Ip) == 0)
{
Console.WriteLine("Notify:Open MRH-T Success");
}
else
{
Console.WriteLine("Notify:Open MRH-T Failed");
return;
}
// 切换模式
string cmd = $"SYSTEM:MODE:SWITCH 0\n";
CanHelper.VCI_Write(Comm.currentDeviceType, Comm.selectedDeviceIndex, Encoding.Default.GetBytes(cmd),
(uint)cmd.Length);
// 搜索设备
if (!SearchDevices())
{
return;
}
// 检查设备类型
if (!CheckDevices())
{
return;
}
// 开始升级
StartUpdate();
}
private void CanForm_Load(object sender, EventArgs e)
{
canHelper = new CanHelper();
canHelper.ReceviedData += CanHelper_ReceviedData;
}
private static bool UpdateFpga1()
{
if (fileHeader.Fpga1Len == 0)
{
Console.WriteLine("Notify:No FPGA1 !");
return(true);
}
Console.WriteLine("Notify:Prepare to update FPGA1 !");
if (!restart)
{
// 发送升级命令
SendData(RecieveId, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.START,
null, (byte)UpdateType.APP);
Thread.Sleep(100);
// 先重启
Console.WriteLine("Notify:Prepare to reload !");
int tryTimes = 0;
while (tryTimes <= 50)
{
SendData(RecieveId, (byte)DriveControllerMainCommand.Link,
(byte)LinkSubCommand.INTFCQuery);
Thread.Sleep(100);
var result = Comm.ReceiveData((byte)DriveControllerMainCommand.Link,
(byte)LinkSubCommand.INTFCQuery);
if (result.Count != DeviceList.Count)
{
Thread.Sleep(100);
}
else
{
Console.WriteLine("Notify:Reload successfully!");
break;
}
tryTimes++;
}
if (tryTimes >= 50)
{
Console.WriteLine("Error:Reload failed!");
return(false);
}
restart = true;
}
int sendCount = 0;
int preValue = 0;
for (int i = 0; i < fileHeader.Fpga1BlockCount; i++)
{
BlockHeader header = new BlockHeader();
header.HeaderLen = BReader.ReadUInt32();
header.Index = BReader.ReadUInt32();
header.Len = BReader.ReadUInt32();
byte[] blockHash = new byte[16];
for (int j = 0; j < blockHash.Length; j++)
{
blockHash[j] = BReader.ReadByte();
}
header.BlockHash = blockHash;
if (header.Len > 0)
{
var buffer = BReader.ReadBytes((int)header.Len);
MD5 md5 = new MD5CryptoServiceProvider();
var hashBytes = md5.ComputeHash(buffer.ToArray());
if (hashBytes.Where((t, k) => t != header.BlockHash[k]).Any())
{
Console.WriteLine("Error:FPGA1 file has validation error, file may be corrupted,Stop updating!");
return(false);
}
if (i == 0)
{
var addr = fileHeader.Fpga1Addr;
SendData(RecieveId, (byte)DriveControllerMainCommand.Update,
(byte)UpdateSubCommand.FPGAADDR,
BitConverter.GetBytes(addr));
Thread.Sleep(10);
// 发送升级命令
SendData(RecieveId, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.START,
null, (byte)UpdateType.FPGA);
Thread.Sleep(100);
CanHelper.VCI_ClearBuffer(Comm.currentDeviceType, Comm.selectedDeviceIndex, 0);
Console.WriteLine("Notify:Prepare to erase the FLASH !");
byte[] len = BitConverter.GetBytes(768 * 1024);
// 擦除fpga命令
SendData(RecieveId, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.ERASE,
len, (byte)UpdateType.FPGA);
if (!CheckState(DeviceList, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.ERASE))
{
Console.WriteLine("Error:Erase the FLASH failed!");
return(false);
}
// 下发数据
Console.WriteLine("Notify:Send FPGA1 data,please wait for a moment...");
}
for (int j = 0; j < 4; j++)
{
byte[] param = new byte[4];
Array.Copy(header.BlockHash, 4 * j, param, 0, 4);
byte index = (byte)(((j + 1) << 4) + 4);
// 发送哈希校验
SendData(RecieveId, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.MD5, param, index);
}
int sendBytes;
for (int j = 0; j < (int)header.Len; j += sendBytes)
{
if (j + MaxLen > header.Len)
{
sendBytes = (int)header.Len - j;
}
else
{
sendBytes = MaxLen;
}
byte[] sendData = new byte[sendBytes];
Array.Copy(buffer, j, sendData, 0, sendBytes);
//SendData(RecieveId, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.DATA,
// sendData);
SendData(RecieveId, (byte)DriveControllerMainCommand.Data, sendData);
sendCount += sendBytes;
var value = (int)(sendCount * 1.0 / fileHeader.Fpga1Len * 100);
if (preValue != value)
{
Console.WriteLine($"Progress:{value}%");
}
preValue = value;
}
// 发送完成
SendData(RecieveId, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.END);
if (!CheckState(DeviceList, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.END))
{
Console.WriteLine("Error:Does not respond");
return(false);
}
}
}
Console.WriteLine("FPGA1 data download completed !");
return(true);
}
private static bool UpdateBoot(List <DeviceInfo> list)
{
BlockHeader blockHeader = new BlockHeader
{
HeaderLen = BReader.ReadUInt32(),
Index = BReader.ReadUInt32(),
Len = BReader.ReadUInt32()
};
var tempHash = new byte[16];
for (int i = 0; i < tempHash.Length; i++)
{
tempHash[i] = BReader.ReadByte();
}
blockHeader.BlockHash = tempHash;
if (blockHeader.Len > 0)
{
var buff = BReader.ReadBytes((int)blockHeader.Len);
MD5 md5 = new MD5CryptoServiceProvider();
var hashBytes = md5.ComputeHash(buff.ToArray());
if (hashBytes.Where((t, i) => t != fileHeader.BootBlockHash[i]).Any())
{
Console.WriteLine("Error:ARM file has validation error, file may be corrupted,Stop updating!");
return(false);
}
;
// 发送升级命令
SendData(RecieveId, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.START,
null, (byte)UpdateType.BOOT);
if (!CheckState(list, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.START))
{
return(false);
}
byte[] len = BitConverter.GetBytes(32 * 1024);
// 擦除BOOT命令
SendData(RecieveId, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.ERASE,
len, (byte)UpdateType.BOOT);
if (!CheckState(list, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.ERASE))
{
return(false);
}
// 下发数据
Console.WriteLine("Notify:Send BOOT data,please wait for a moment...");
for (int j = 0; j < 4; j++)
{
byte[] param = new byte[4];
Array.Copy(blockHeader.BlockHash, 4 * j, param, 0, 4);
byte index = (byte)(((j + 1) << 4) + 4);
// 发送哈希校验
SendData(RecieveId, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.MD5,
param, index);
}
Thread.Sleep(10);
int sendBytes;
int sendCount = 0;
int preValue = 0;
int tempCount = 0;
for (int i = 0; i < (int)blockHeader.Len; i += sendBytes)
{
if (i + bootMaxLen > blockHeader.Len)
{
sendBytes = (int)blockHeader.Len - i;
}
else
{
sendBytes = bootMaxLen;
}
byte[] sendData = new byte[sendBytes];
Array.Copy(buff, i, sendData, 0, sendBytes);
SendData(RecieveId, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.DATA,
sendData);
sendCount += sendBytes;
tempCount += sendBytes;
var value = (int)(sendCount * 1.0 / fileHeader.BootLen * 100);
if (preValue != value)
{
Console.WriteLine($"Progress:{value}%");
}
preValue = value;
if (tempCount >= 2048)
{
Thread.Sleep(100);
tempCount -= 2048;
}
}
Thread.Sleep(100);
CanHelper.VCI_ClearBuffer(Comm.currentDeviceType, Comm.selectedDeviceIndex, 0);
Thread.Sleep(100);
SendData(RecieveId, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.END);
if (!CheckState(list, (byte)DriveControllerMainCommand.Update, (byte)UpdateSubCommand.END))
{
Console.WriteLine("Error:BOOT data download failed !");
return(false);
}
// 等待返回
Console.WriteLine("Notify:BOOT data download complete !");
}
else
{
Console.WriteLine("Notify:No boot !");
}
return(true);
}
private static bool CheckVer()
{
bool armFlg, fpgaFlg;
//读取boot版本号
CanHelper.VCI_ClearBuffer(Comm.currentDeviceType, Comm.selectedDeviceIndex, 0);
Thread.Sleep(100);
SendData(RecieveId, (byte)DriveControllerMainCommand.System, (byte)SystemSubCommand.BOOTVERQuery);
var result = Comm.ReceiveData((byte)DriveControllerMainCommand.System, (byte)SystemSubCommand.BOOTVERQuery);
if (result.Count == 0 || result.Count != DeviceList.Count)
{
Console.WriteLine("Error:Cannot get the BOOT version!");
return(false);
}
int mainVer, subVer, branchVer, childVer1, childVer2, childVer3;
bootIndex = 3;
for (int j = 0; j < result.Count; j++)
{
mainVer = result[j].Result[2];
subVer = result[j].Result[3];
if (mainVer <= 2)
{
bootIndex = 4;
break;
}
if (mainVer < fileHeader.BootVersion[0])
{
bootIndex = 3;
break;
}
if (mainVer > fileHeader.BootVersion[0])
{
bootIndex = 0;
break;
}
if (subVer > fileHeader.BootVersion[1])
{
bootIndex = 2;
break;
}
bootIndex = subVer < fileHeader.BootVersion[1] ? 3 : 1;
}
//读取Arm版本号
SendData(RecieveId, (byte)DriveControllerMainCommand.Factory, 2);
result = Comm.ReceiveData((byte)DriveControllerMainCommand.Factory, 2);
armIndex = 3;
if (result.Count == 0 || result.Count != DeviceList.Count)
{
armFlg = false;
}
else
{
armFlg = true;
for (int j = 0; j < result.Count; j++)
{
mainVer = result[j].Result[2];
subVer = result[j].Result[3];
branchVer = result[j].Result[4];
childVer1 = result[j].Result[5];
if (result[j].Result.Length <= 6)
{
childVer2 = 0;
}
else
{
childVer2 = result[j].Result[6];
}
if (branchVer < fileHeader.ArmVersion[2])
{
armIndex = 3;
break;
}
if (branchVer > fileHeader.ArmVersion[2])
{
armIndex = 2;
break;
}
if (childVer1 < fileHeader.ArmVersion[3])
{
armIndex = 3;
break;
}
if (childVer1 > fileHeader.ArmVersion[3])
{
armIndex = 2;
break;
}
if (childVer2 < fileHeader.ArmVersion[4])
{
armIndex = 3;
break;
}
if (childVer2 > fileHeader.ArmVersion[4])
{
armIndex = 2;
break;
}
if (mainVer != fileHeader.ArmVersion[0])
{
armIndex = 3;
break;
}
armIndex = 1;
}
}
//读取fpga版本号
SendData(RecieveId, (byte)DriveControllerMainCommand.System, (byte)SystemSubCommand.FPGAVERQuery);
result = Comm.ReceiveData((byte)DriveControllerMainCommand.System, (byte)SystemSubCommand.FPGAVERQuery);
fpga1Index = 3;
fpga2Index = 3;
if (result.Count == 0 || result.Count != DeviceList.Count)
{
fpgaFlg = false;
}
else
{
fpgaFlg = true;
for (int j = 0; j < result.Count; j++)
{
mainVer = result[j].Result[2];
subVer = result[j].Result[3];
branchVer = result[j].Result[4];
childVer1 = result[j].Result[5];
childVer2 = result[j].Result[6];
childVer3 = result[j].Result[7];
if (j % 2 == 0)
{
if (mainVer != fileHeader.Fpga1Version[0] || subVer != fileHeader.Fpga1Version[1] ||
branchVer != fileHeader.Fpga1Version[2] ||
childVer1 != fileHeader.Fpga1Version[3] || childVer2 != fileHeader.Fpga1Version[4] ||
childVer3 != fileHeader.Fpga1Version[5])
{
fpga1Index = 0;
break;
}
fpga1Index = 1;
}
else
{
if (mainVer != fileHeader.Fpga2Version[0] || subVer != fileHeader.Fpga2Version[1] ||
branchVer != fileHeader.Fpga2Version[2] ||
childVer1 != fileHeader.Fpga2Version[3] || childVer2 != fileHeader.Fpga2Version[4] ||
childVer3 != fileHeader.Fpga2Version[5])
{
fpga2Index = 0;
break;
}
fpga2Index = 1;
}
}
}
if (!armFlg && !fpgaFlg)
{
updateType = 1;
}
else
{
updateType = 0;
}
return(true);
}