private bool SendHexDate(Stm8HexData hd, int row)
{
int retryCnt = 0;
while (retryCnt < 5)
{
UpdateProgress(String.Format(" {0:X2}:", hd.Page));
if (hd == null)
{
UpdateLog(String.Format("\r\n\r\n第 {0} 筆資料錯誤, 燒錄停止......\r\n", row));
return(false);
}
else
{
byte servoResponse;
if (!WriteStm8HexData(hd, out servoResponse))
{
UpdateLog("\r\n\r\n燒錄失敗......\r\n", true);
// This case may retry
// return false;
}
else
{
if (servoResponse == 0xA0)
{
break;
}
// retry for any case even A1
/*
* if (servoResponse != 0xA1)
* {
* UpdateLog("\r\n\r\n回傳不正常, 燒錄停止......\r\n", true);
* // return false;
* }
*/
}
}
UpdateProgress("ERR ");
retryCnt++;
}
if (retryCnt >= 5)
{
UpdateLog(String.Format("\r\n\r\n第 {0} 筆資料多次傳送錯誤, 燒錄停止......\r\n", row));
return(false);
}
UpdateProgress("OK ");
return(true);
}
public bool ReadFile(List <string> txtData)
{
data = new List <Stm8HexData>();
if (txtData.Count == 0)
{
return(true);
}
string r1 = txtData[0];
int page, offset, dataLen;
if (!Stm8HexData.GetPage(r1, out page, out offset, out dataLen))
{
return(false);
}
if (offset != 0)
{
return(false);
}
startPage = (byte)page;
dataRowCnt = 0;
int line = 0;
int cmdPage = startPage;
bool goNext = true;
while (goNext && (line < txtData.Count))
{
Stm8HexData hd = new Stm8HexData(cmdPage);
int dataRow = 0;
if (hd.ReadData(line, txtData, out dataRow))
{
dataRowCnt += dataRow;
data.Add(hd);
}
else
{
goNext = false;
break;
}
cmdPage++;
line += 4;
}
return(true);
}
private bool WriteStm8HexData(Stm8HexData hd, out byte servoReturn)
{
UpdateLog("\r\n=> ");
receiveBuffer.Clear();
byte[] startCode = { 0xA7, hd.Page };
SerialSendByte(startCode);
if (receiveBuffer.Count > 0)
{
// unexpected return;
byte[] b = ShowReceiveBuffer();
servoReturn = b[b.Length - 1]; // just check the last one is enqugh
return(false);
}
for (int i = 0; i < 64; i++)
{
SerialSendByte(hd.Data(i));
if (ServoReturned(out servoReturn))
{
return(false);
}
}
SerialSendByte(hd.CheckSum);
return(WaitServoReturn(out servoReturn));
}
private bool WriteEmptyPage(byte page, out byte servoReturn)
{
Stm8HexData hd = new Stm8HexData(page);
return(WriteStm8HexData(hd, out servoReturn));
}
private void GoBurn()
{
UpdateInfo("偵測舵機");
UpdateLog("偵測舵機.\r\n=> ", true);
bool waitReply = true;
int sendCnt = 0;
int maxSend = 500;
byte lastByte = 0;
while (waitReply)
{
if (sendCnt > maxSend)
{
UpdateLog("\r\n\r\n偵測超時: 舵機沒回應", true);
UpdateInfo("偵測超時: 舵機沒回應", UTIL.InfoType.error);
return;
}
SerialSendByte(0xA5, true);
Thread.Sleep(10);
sendCnt++;
while (receiveBuffer.Count > 0)
{
UpdateLog("\r\n<= ", true);
lastByte = receiveBuffer[0];
UpdateLog(String.Format(" {0:X2}", lastByte), true);
// Just for safety, differnt response from servo, A0 & A1 may cause by previous incomplete write
if ((lastByte == 0xA9) || (lastByte == 0xE9) || (lastByte == 0xA1) || (lastByte == 0xA0))
{
waitReply = false;
}
receiveBuffer.RemoveAt(0);
}
}
if ((lastByte == 0xA0) || (lastByte == 0xA1))
{
string s1 = "偵測到之前燒錄未完成";
string s2 = "安全起見, 請重置舵機, 再次重新燒錄.";
UpdateLog(string.Format("\r\n\r\n!!!! {0} !!!!\r\n{1}", s1, s2), true);
MessageBox.Show(s2, s1);
return;
}
UpdateInfo("燒錄進行中, 請耐心等待......");
UpdateLog("\r\n\r\n開始燒錄......\r\n", true);
double nPage = sendData.Count;
byte endPage = sendData.EndPage;
if (endPage < 0x7F)
{
nPage += (0x7F - endPage);
}
for (int i = 0; i < sendData.Count; i++)
{
Stm8HexData hd = sendData.GetHexData(i);
if (!SendHexDate(hd, i))
{
return;
}
UpdatePorgress((double)100.0 * i / nPage);
}
for (int i = endPage + 1; i < 0x80; i++)
{
Stm8HexData hd = new Stm8HexData(i);
hd.Reset();
if (!SendHexDate(hd, 999))
{
return;
}
UpdatePorgress((double)100.0 * (sendData.Count + i) / nPage);
}
UpdatePorgress(100);
UpdateLog("\r\n=> ");
SerialSendByte(0xA9);
if (WaitServoReturn(out lastByte))
{
if (lastByte == 0xA0)
{
UpdateLog("\r\n\r\n燒錄完成\r\n", true);
UpdateInfo("燒錄順利完成");
return;
}
}
UpdateLog("\r\n\r\n燒錄完成, 但終結的 0xA9 沒回傳 A0\r\n", true);
UpdateInfo("燒錄完成, 但終結的 0xA9 沒回傳");
return;
}
private void GoBurn()
{
writeSend = true;
UpdateInfo("偵測舵機");
UpdateLog("偵測舵機.\r\n=> ", true);
bool waitReply = true;
int sendCnt = 0;
int maxSend = 500;
byte lastByte = 0;
receiveBuffer.Clear();
while (waitReply)
{
if (sendCnt > maxSend)
{
UpdateLog("\r\n\r\n偵測超時: 舵機沒回應", true);
UpdateInfo("偵測超時: 舵機沒回應", MyUtil.UTIL.InfoType.error);
return;
}
if (!writeSend)
{
writeSend = true;
UpdateLog("\r\n=> ", true);
}
SerialSendByte(0xA5, true);
Thread.Sleep(10);
sendCnt++;
while (receiveBuffer.Count > 0)
{
writeSend = false;
UpdateLog("\r\n<= ", true);
lastByte = receiveBuffer[0];
UpdateLog(String.Format(" {0:X2}", lastByte), true);
receiveBuffer.RemoveAt(0);
if ((lastByte == 0xA9) || (lastByte == 0xA1) || (lastByte == 0xA0))
{
waitReply = false;
break;
}
}
}
// cleanup buffer, just for safety
Thread.Sleep(1000);
if (receiveBuffer.Count > 0)
{
for (int i = 0; i < receiveBuffer.Count; i++)
{
UpdateLog(String.Format(" {0:X2}", receiveBuffer[i]), true);
}
}
receiveBuffer.Clear();
// for very very very rare case, the data can complete a previous transaction, and got a A0 return.
// It's almost mission impossible, just keep the logic for safety check
if (lastByte == 0xA0)
{
string s1 = "偵測到之前燒錄未完成";
string s2 = "安全起見, 請重置舵機, 再次重新燒錄.";
UpdateLog(string.Format("\r\n\r\n!!!! {0} !!!!\r\n{1}", s1, s2), true);
MessageBox.Show(s2, s1);
return;
}
UpdateInfo("燒錄進行中, 請耐心等待......");
UpdateLog("\r\n\r\n開始燒錄......\r\n", true);
double nPage = sendData.Count;
byte endPage = sendData.EndPage;
if (endPage < 0x7F)
{
nPage += (0x7F - endPage);
}
for (int i = 0; i < sendData.Count; i++)
{
Stm8HexData hd = sendData.GetHexData(i);
if (!SendHexDate(hd, i))
{
UpdateInfo(string.Format("Error sending page {0}", i));
return;
}
UpdatePorgress((double)100.0 * i / nPage);
}
for (int i = endPage + 1; i < 0x80; i++)
{
Stm8HexData hd = new Stm8HexData(i);
hd.Reset();
if (!SendHexDate(hd, 999))
{
UpdateInfo("Error sending last page");
return;
}
UpdatePorgress((double)100.0 * (sendData.Count + i) / nPage);
}
UpdatePorgress(100);
UpdateLog("\r\n=> ");
SerialSendByte(0xA9);
/*
* if (WaitServoReturn(out lastByte))
* {
* if (lastByte == 0xA0)
* {
* UpdateLog("\r\n\r\n燒錄順利完成\r\n", true);
* UpdateInfo("燒錄順利完成");
* return;
* }
* }
*/
UpdateLog("\r\n\r\n燒錄完成\r\n", true);
UpdateInfo("燒錄完成");
return;
}
