private static async Task PerformFirmwareUpdate()
{
// Notify clients that we are now installing a firmware update
using (await Model.Provider.AccessReadWriteAsync())
{
Model.Provider.Get.State.Status = MachineStatus.Updating;
}
// Get the CRC16 checksum of the firmware binary
byte[] firmwareBlob = new byte[_firmwareStream.Length];
await _firmwareStream.ReadAsync(firmwareBlob, 0, (int)_firmwareStream.Length);
ushort crc16 = CRC16.Calculate(firmwareBlob);
// Send the IAP binary to the firmware
Console.Write("[info] Flashing IAP binary");
bool dataSent;
do
{
dataSent = DataTransfer.WriteIapSegment(_iapStream);
DataTransfer.PerformFullTransfer();
Console.Write('.');
}while (dataSent);
Console.WriteLine();
_iapStream.Close();
_iapStream = null;
// Start the IAP binary
DataTransfer.StartIap();
// Send the firmware binary to the IAP program
int numRetries = 0;
do
{
if (numRetries != 0)
{
Console.WriteLine("Error");
}
Console.Write("[info] Flashing RepRapFirmware");
_firmwareStream.Seek(0, SeekOrigin.Begin);
while (DataTransfer.FlashFirmwareSegment(_firmwareStream))
{
Console.Write('.');
}
Console.WriteLine();
Console.Write("[info] Verifying checksum... ");
}while (++numRetries < 3 && !DataTransfer.VerifyFirmwareChecksum(_firmwareStream.Length, crc16));
if (numRetries == 3)
{
Console.WriteLine("Error");
// Failed to flash the firmware
await Utility.Logger.LogOutput(MessageType.Error, "Could not flash the firmware binary after 3 attempts. Please install it manually via bossac.");
Program.CancelSource.Cancel();
}
else
{
Console.WriteLine("OK");
// Wait for the IAP binary to restart the controller
DataTransfer.WaitForIapReset();
Console.WriteLine("[info] Firmware update successful!");
}
_firmwareStream.Close();
_firmwareStream = null;
using (_firmwareUpdateLock.Lock())
{
_firmwareUpdateRequest.SetResult(null);
_firmwareUpdateRequest = null;
}
}
/// <summary>
/// Perform a full data transfer synchronously
/// </summary>
/// <param name="mustSucceed">Keep retrying until the transfer succeeds</param>
/// <returns>Whether new data could be transferred</returns>
public static bool PerformFullTransfer(bool mustSucceed = true)
{
_lastTransferNumber = _rxHeader.SequenceNumber;
// Reset RX transfer header
_rxHeader.FormatCode = Communication.Consts.InvalidFormatCode;
_rxHeader.NumPackets = 0;
_rxHeader.ProtocolVersion = 0;
_rxHeader.DataLength = 0;
_rxHeader.ChecksumData = 0;
_rxHeader.ChecksumHeader = 0;
// Set up TX transfer header
_txHeader.NumPackets = _packetId;
_txHeader.SequenceNumber++;
_txHeader.DataLength = (ushort)_txPointer;
_txHeader.ChecksumData = CRC16.Calculate(_txBuffers[_txBufferIndex].Slice(0, _txPointer).Span);
MemoryMarshal.Write(_txHeaderBuffer.Span, ref _txHeader);
_txHeader.ChecksumHeader = CRC16.Calculate(_txHeaderBuffer.Slice(0, Marshal.SizeOf(_txHeader) - Marshal.SizeOf(typeof(ushort))).Span);
MemoryMarshal.Write(_txHeaderBuffer.Span, ref _txHeader);
do
{
try
{
// Exchange transfer headers. This also deals with transfer responses
if (!ExchangeHeader())
{
continue;
}
// Exchange data if there is anything to transfer
if ((_rxHeader.DataLength != 0 || _txPointer != 0) && !ExchangeData())
{
continue;
}
// Deal with timeouts
if (_hadTimeout)
{
using (Model.Provider.AccessReadWrite())
{
if (Model.Provider.Get.State.Status == MachineStatus.Off)
{
Model.Provider.Get.State.Status = MachineStatus.Idle;
}
Model.Provider.Get.Messages.Add(new Message(MessageType.Success, "Connection to Duet established"));
Console.WriteLine("[info] Connection to Duet established");
}
_hadTimeout = _resetting = false;
}
// Deal with the first transmission
if (!_started)
{
_lastTransferNumber = (ushort)(_rxHeader.SequenceNumber - 1);
_started = true;
}
// Transfer OK
Interlocked.Increment(ref _numMeasuredTransfers);
_txBufferIndex = (_txBufferIndex == 0) ? 1 : 0;
_rxPointer = _txPointer = 0;
_packetId = 0;
// Deal with reset requests
if (_resetting)
{
_waitingForFirstTransfer = _hadTimeout = true;
return(PerformFullTransfer(mustSucceed));
}
return(true);
}
catch (OperationCanceledException e)
{
if (!Program.CancelSource.IsCancellationRequested && !_hadTimeout && _started)
{
// If this is the first unexpected timeout event, report it unless the firmware is being updated
using (Model.Provider.AccessReadWrite())
{
if (Model.Provider.Get.State.Status == MachineStatus.Updating)
{
_waitingForFirstTransfer = _hadTimeout = true;
Model.Provider.Get.State.Status = MachineStatus.Off;
Model.Provider.Get.Messages.Add(new Message(MessageType.Warning, $"Lost connection to Duet ({e.Message})"));
Console.WriteLine($"[warn] Lost connection to Duet ({e.Message})");
}
}
}
}
} while (mustSucceed && !Program.CancelSource.IsCancellationRequested);
return(false);
}
/// <summary>
/// Perform the firmware update internally
/// </summary>
/// <returns>Asynchronous task</returns>
private static async Task PerformFirmwareUpdate()
{
using (await Model.Provider.AccessReadWriteAsync())
{
Model.Provider.Get.State.Status = MachineStatus.Updating;
}
DataTransfer.Updating = true;
try
{
// Get the CRC16 checksum of the firmware binary
byte[] firmwareBlob = new byte[_firmwareStream.Length];
await _firmwareStream.ReadAsync(firmwareBlob, 0, (int)_firmwareStream.Length);
ushort crc16 = CRC16.Calculate(firmwareBlob);
// Send the IAP binary to the firmware
_logger.Info("Flashing IAP binary");
bool dataSent;
do
{
dataSent = DataTransfer.WriteIapSegment(_iapStream);
DataTransfer.PerformFullTransfer();
if (_logger.IsDebugEnabled)
{
Console.Write('.');
}
}while (dataSent);
if (_logger.IsDebugEnabled)
{
Console.WriteLine();
}
// Start the IAP binary
DataTransfer.StartIap();
// Send the firmware binary to the IAP program
int numRetries = 0;
do
{
if (numRetries != 0)
{
_logger.Error("Firmware checksum verification failed");
}
_logger.Info("Flashing RepRapFirmware");
_firmwareStream.Seek(0, SeekOrigin.Begin);
while (DataTransfer.FlashFirmwareSegment(_firmwareStream))
{
if (_logger.IsDebugEnabled)
{
Console.Write('.');
}
}
if (_logger.IsDebugEnabled)
{
Console.WriteLine();
}
_logger.Info("Verifying checksum");
}while (++numRetries < 3 && !DataTransfer.VerifyFirmwareChecksum(_firmwareStream.Length, crc16));
if (numRetries == 3)
{
// Failed to flash the firmware
await Logger.LogOutput(MessageType.Error, "Could not flash the firmware binary after 3 attempts. Please install it manually via bossac.");
Program.CancelSource.Cancel();
}
else
{
// Wait for the IAP binary to restart the controller
await DataTransfer.WaitForIapReset();
_logger.Info("Firmware update successful");
}
}
finally
{
DataTransfer.Updating = false;
// Machine state is reset when the next status response is processed
}
}