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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 450 | arune | 1 | using System.Threading; |
| 2 | using System; |
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| 3 | |||
| 4 | public class CanNMT { |
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| 5 | private const byte CAN_NMT = 0x00; |
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| 6 | |||
| 7 | private const byte CAN_NMT_RESET = 0x04; |
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| 8 | private const byte CAN_NMT_BIOS_START = 0x08; |
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| 9 | private const byte CAN_NMT_PGM_START = 0x0C; |
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| 10 | private const byte CAN_NMT_PGM_DATA = 0x10; |
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| 11 | private const byte CAN_NMT_PGM_END = 0x14; |
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| 12 | private const byte CAN_NMT_PGM_COPY = 0x18; |
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| 13 | private const byte CAN_NMT_PGM_ACK = 0x1C; |
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| 14 | private const byte CAN_NMT_PGM_NACK = 0x20; |
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| 15 | private const byte CAN_NMT_START_APP = 0x24; |
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| 16 | private const byte CAN_NMT_APP_START = 0x28; |
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| 17 | private const byte CAN_NMT_HEARTBEAT = 0x2C; |
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| 18 | |||
| 19 | CanPacket cp; |
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| 20 | private bool running = false; |
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| 21 | |||
| 22 | public CanNMT() { |
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| 23 | cp = new CanPacket(); |
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| 24 | cp.setExt(1); |
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| 25 | } |
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| 453 | arune | 26 | |
| 27 | public CanNMT(CanPacket cp) { |
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| 28 | this.cp = cp; |
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| 29 | this.cp.setExt(1); |
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| 30 | } |
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| 450 | arune | 31 | |
| 453 | arune | 32 | public byte getSender() { |
| 33 | return (byte)((cp.getId()>>8)&0xFF); |
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| 34 | } |
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| 35 | |||
| 36 | public bool isNMTPacket() { |
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| 37 | if (((cp.getId()>>24)&0xFF) == 0) { |
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| 38 | return true; |
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| 39 | } |
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| 40 | return false; |
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| 41 | } |
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| 42 | |||
| 43 | public byte getType() { |
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| 44 | return (byte)((cp.getId()>>16)&0xFF); |
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| 45 | } |
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| 46 | |||
| 47 | public byte getReceiver() { |
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| 48 | return (byte)((cp.getId()>>0)&0xFF); |
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| 49 | } |
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| 50 | |||
| 450 | arune | 51 | public void setSender(byte id) { |
| 52 | cp.setId( ( ( cp.getId()&0x00FF00FF )|((uint)id<<8) ) ); |
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| 53 | } |
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| 54 | public void setReceiver(byte id) { |
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| 55 | cp.setId( ( ( cp.getId()&0x00FFFF00 )|((uint)id) ) ); |
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| 56 | } |
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| 57 | |||
| 58 | public CanPacket getResetPacket() { |
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| 59 | cp.setId( ( cp.getId()&0x0000FFFF )|( CAN_NMT_RESET<<16 ) ); |
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| 60 | cp.setDataLength(0); |
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| 61 | return cp; |
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| 62 | } |
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| 63 | |||
| 64 | public CanPacket getStartPacket() { |
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| 65 | cp.setId( ( cp.getId()&0x0000FFFF )|( CAN_NMT_START_APP<<16 ) ); |
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| 66 | cp.setDataLength(0); |
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| 67 | return cp; |
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| 68 | } |
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| 453 | arune | 69 | |
| 70 | public CanPacket getPgmStartPacket(byte[] data) { |
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| 71 | cp.setId( ( cp.getId()&0x0000FFFF )|( CAN_NMT_PGM_START<<16 ) ); |
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| 72 | cp.setData(data); |
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| 73 | cp.setDataLength(4); |
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| 74 | return cp; |
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| 75 | } |
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| 76 | |||
| 77 | public CanPacket getPgmDataPacket(byte[] data, byte datalen) { |
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| 78 | cp.setId( ( cp.getId()&0x0000FFFF )|( CAN_NMT_PGM_DATA<<16 ) ); |
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| 79 | cp.setData(data); |
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| 80 | cp.setDataLength(datalen); |
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| 81 | return cp; |
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| 82 | } |
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| 83 | |||
| 84 | public CanPacket getPgmEndPacket() { |
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| 85 | cp.setId( ( cp.getId()&0x0000FFFF )|( CAN_NMT_PGM_END<<16 ) ); |
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| 86 | cp.setDataLength(0); |
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| 87 | return cp; |
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| 88 | } |
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| 89 | |||
| 90 | public CanPacket getPgmCopyPacket(byte[] data) { |
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| 91 | cp.setId( ( cp.getId()&0x0000FFFF )|( CAN_NMT_PGM_COPY<<16 ) ); |
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| 92 | cp.setData(data); |
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| 93 | cp.setDataLength(6); |
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| 94 | return cp; |
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| 95 | } |
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| 450 | arune | 96 | |
| 97 | public bool isBiosStart(CanPacket cp, byte sender) { |
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| 98 | bool returnval = false; |
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| 99 | uint id = cp.getId(); |
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| 100 | if ((id&0x00FF0000) == (CAN_NMT_BIOS_START<<16) && (id&0x0000FF00) == (sender<<8)) { |
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| 101 | returnval = true; |
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| 102 | byte[] data = cp.getData(); |
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| 103 | string appinfo = "Application installed"; |
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| 104 | if (data[2] == 0) { |
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| 105 | appinfo = "No application installed"; |
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| 106 | } |
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| 107 | Console.WriteLine("Bios started on node 0x" + String.Format("{0:x2}", sender) + |
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| 108 | ", bios version 0x" + String.Format("{0:x2}", data[1]) + String.Format("{0:x2}", data[0]) + |
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| 109 | ", " + appinfo |
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| 110 | ); |
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| 111 | } |
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| 112 | return returnval; |
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| 113 | } |
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| 114 | |||
| 115 | public bool doStart(DaemonConnection dc, byte receiver) { |
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| 116 | return doStart(dc, receiver, 0); |
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| 117 | } |
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| 118 | |||
| 119 | public bool doStart(DaemonConnection dc, byte receiver, byte sender) { |
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| 120 | bool success = true; |
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| 121 | |||
| 122 | setReceiver(receiver); |
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| 123 | dc.sendCanPacket(getStartPacket()); |
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| 124 | return success; |
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| 125 | } |
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| 126 | |||
| 127 | public bool doReset(DaemonConnection dc, byte receiver) { |
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| 128 | return doReset(dc, receiver, 0); |
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| 129 | } |
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| 130 | |||
| 131 | public bool doReset(DaemonConnection dc, byte receiver, byte sender) { |
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| 132 | bool success = false; |
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| 133 | |||
| 134 | setReceiver(receiver); |
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| 135 | dc.sendCanPacket(getResetPacket()); |
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| 136 | CanPacket getcp; |
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| 137 | running = true; |
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| 138 | dc.flushData(); |
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| 139 | for (int i = 0; i < 150; i++) { |
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| 140 | Thread.Sleep(50); |
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| 141 | if (dc.getData(out getcp)) { |
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| 142 | if (isBiosStart(getcp, receiver)) { |
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| 143 | success = true; |
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| 144 | break; |
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| 145 | } |
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| 146 | } |
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| 147 | |||
| 148 | if (!running) { |
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| 149 | break; |
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| 150 | } |
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| 151 | } |
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| 152 | if (!success) { |
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| 153 | Console.WriteLine("Timed out while waiting for node to reset"); |
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| 154 | } |
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| 155 | return success; |
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| 156 | } |
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| 157 | |||
| 158 | public void stop() { |
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| 159 | running = false; |
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| 160 | } |
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| 161 | |||
| 162 | } |