WebSVN – HomeAutomation – Blame – /branches/modules/PcSoftware/csharp-lib/Downloader.cs

Rev	Author	Line No.	Line
453	arune	1	using System;
		2	using System.Collections.Generic;
		3	using System.Text;
		4	using System.Threading;
		5
		6	//this class should probably be integrated into canNMT instead
		7
		8	public class Downloader {
		9	private HexFile hf;
		10	private DaemonConnection dc;
		11	private bool isBiosUpdate;
		12	private ulong dlOffset = 0;
		13	//private Thread down;
		14	private byte receiveID;
770	arune	15	private uint hwid;
		16	private bool HWID_INUSE;
453	arune	17
586	arune	18	private enum dState { SEND_START, WAIT_ACK_PRG, SEND_PGM_DATA, WAIT_ACK_DATA, RESEND_ADDR, WAIT_DONE, SEND_DONE, SEND_BIOS_UPDATE, SEND_RESET, DONE, DEBUG_STATE2, WAIT_BOOT, SEND_EMPTY_START, WAIT_ACK_PRG_EMPTY, SEND_EMPTY_DATA, WAIT_ACK_EMPTY_DATA, SEND_DONE_EMPTY, WAIT_DONE_EMPTY};
453	arune	19
		20	private const byte CAN_NMT = 0x00;
		21
		22	private const byte CAN_NMT_RESET = 0x04;
		23	private const byte CAN_NMT_BIOS_START = 0x08;
		24	private const byte CAN_NMT_PGM_START = 0x0C;
		25	private const byte CAN_NMT_PGM_DATA = 0x10;
		26	private const byte CAN_NMT_PGM_END = 0x14;
		27	private const byte CAN_NMT_PGM_COPY = 0x18;
		28	private const byte CAN_NMT_PGM_ACK = 0x1C;
		29	private const byte CAN_NMT_PGM_NACK = 0x20;
		30	private const byte CAN_NMT_START_APP = 0x24;
		31	private const byte CAN_NMT_APP_START = 0x28;
		32	private const byte CAN_NMT_HEARTBEAT = 0x2C;
		33
		34	private const byte MY_ID = 0x00;
		35	//private const byte TARGET_ID = 0x78;
		36	private const byte MY_NID = 0x0;
		37	private const byte ADDR0_INDEX = 0;
		38	private const byte ADDR1_INDEX = 1;
		39	private const byte ADDR2_INDEX = 2;
		40	private const byte ADDR3_INDEX = 3;
770	arune	41
		42	private const byte HWID0_INDEX = 4;
		43	private const byte HWID1_INDEX = 5;
		44	private const byte HWID2_INDEX = 6;
		45	private const byte HWID3_INDEX = 7;
453	arune	46
632	arune	47	private const int TIMEOUT_MS = 1000;
		48	private const int TIMEOUT_SHORT_MS = 200;
453	arune	49
		50	private long timeStart = 0;
		51
770	arune	52	public Downloader(HexFile hf, DaemonConnection dc, byte receiveID, bool isBiosUpdate, bool HWID_INUSE, uint hwid) {
453	arune	53	this.hf = hf;
		54	this.dc = dc;
		55	this.receiveID = receiveID;
		56	this.isBiosUpdate = isBiosUpdate;
770	arune	57	this.hwid = hwid;
		58	this.HWID_INUSE = HWID_INUSE;
453	arune	59	}
		60
		61	public int calcCRC(HexFile hf) {
		62	int crc=0;
		63	for (ulong i=hf.getAddrLower(); i <= hf.getAddrUpper(); i++) {
		64	crc = crc16_update(crc, hf.getByte(i));
		65	}
		66	return crc;
		67	}
		68
		69	public int crc16_update(int crc, byte a) {
		70	int i;
		71	crc ^= a;
		72	for (i = 0; i < 8; ++i) {
		73	if ((crc & 1) != 0)
		74	crc = (crc >> 1) ^ 0xA001;
		75	else
		76	crc = (crc >> 1);
		77	}
		78	return crc;
		79	}
		80
		81	public bool go() {
		82	if (dc==null \|\| hf==null \|\| hf.getLength()==0) return false;
		83	return downloader();
		84	}
		85
		86	public void abort() {
		87	//if (down != null && down.IsAlive) down.Abort();
		88	}
		89
		90	public bool downloader() {
		91	dState pgs = dState.SEND_START;
		92	int t = 0;
632	arune	93	int t2 = 0;
453	arune	94	CanPacket outCm = null;
		95	CanPacket cm = null;
		96	byte[] data = new byte[8];
		97	uint byteSent = 0;
		98	ulong currentAddress = 0;
		99	bool done = false;
		100	bool errorOccured = false;
		101
		102	try {
		103	if (isBiosUpdate) {
		104	dlOffset = hf.getAddrLower();
		105	//Console.WriteLine(dlOffset);
		106	//dlOffset = 200;
		107	}
		108
770	arune	109	CanNMT cpn = new CanNMT(HWID_INUSE);
453	arune	110	cpn.setReceiver(receiveID);
		111	bool hasMessage = false;
		112
		113	while (!done) {
		114	Thread.Sleep(1);
		115
		116	switch (pgs) {
		117	case dState.SEND_START:
		118	// Send boot start packet to target.
		119	// and wait for ack.
		120	currentAddress = hf.getAddrLower();
		121	//data[RID_INDEX] = TARGET_ID;
		122	data[ADDR0_INDEX] = (byte)((currentAddress-dlOffset) & 0x0000FF);
		123	data[ADDR1_INDEX] = (byte)(((currentAddress-dlOffset) & 0x00FF00) >> 8);
		124	data[ADDR2_INDEX] = (byte)(((currentAddress-dlOffset) & 0xFF0000) >> 16);
		125	data[ADDR3_INDEX] = 0;
770	arune	126	if (HWID_INUSE) {
		127	data[HWID0_INDEX] = (byte)((hwid) & 0xFF);
		128	data[HWID1_INDEX] = (byte)((hwid>>8) & 0xFF);
		129	data[HWID2_INDEX] = (byte)((hwid>>16) & 0xFF);
		130	data[HWID3_INDEX] = (byte)((hwid>>24) & 0xFF);
		131	}
453	arune	132	//outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data);
		133	outCm = cpn.getPgmStartPacket(data);
		134	dc.sendCanPacket(outCm);
		135	t = Environment.TickCount;
632	arune	136	t2 = Environment.TickCount;
453	arune	137	pgs = dState.WAIT_ACK_PRG;
		138	timeStart = Environment.TickCount;
		139	break;
		140
		141
		142	case dState.WAIT_ACK_PRG:
		143	// Check for timeout, resend start packet in that case..
		144	if ((Environment.TickCount - t) > TIMEOUT_MS) {
		145	Console.WriteLine("Timeout while waiting for start prg ack.");
		146	errorOccured = true;
		147	pgs = dState.SEND_RESET;
		148	}
467	arune	149	//Thread.Sleep(1);
453	arune	150	// If received ack.
		151	hasMessage = dc.getData(out cm);
		152	if (hasMessage) {
770	arune	153	CanNMT cpnin = new CanNMT(cm, HWID_INUSE);
		154	if (cpnin.isNMTPacket()) {
		155	//if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
453	arune	156	// If no error
		157	if (cpnin.getType() == CAN_NMT_PGM_ACK) {
		158	// Start sending program data..
		159	byteSent = 0;
		160	pgs = dState.SEND_PGM_DATA;
		161	}
		162	else if (cpnin.getType() == CAN_NMT_PGM_NACK ) {
		163	// else ..
		164	Console.WriteLine("Nack on CAN_NMT_PGM_START.");
		165	errorOccured = true;
		166	pgs = dState.SEND_RESET;
		167	}
		168	}
		169	}
		170	break;
		171
		172	case dState.SEND_PGM_DATA:
		173	//Console.WriteLine("byteSent = "+byteSent);
		174	Console.Write(".");
		175	// Send program data.
		176	byte datalength = 2;
		177	for (ulong i = 0; i < 6; i++) {
		178	// Populate data.
		179	data[i+2] = hf.getByte(currentAddress + i + byteSent);
		180	if (currentAddress + i + byteSent > hf.getAddrUpper()) {
		181	break; //then done
		182	}
		183	datalength++;
		184	}
		185	data[0] = (byte)(byteSent & 0x00FF);
		186	data[1] = (byte)((byteSent & 0xFF00) >> 8);
		187
		188	outCm = cpn.getPgmDataPacket(data, datalength);
		189	dc.sendCanPacket(outCm);
		190
		191	t = Environment.TickCount;
632	arune	192	t2 = Environment.TickCount;
453	arune	193	byteSent += 6;
		194	pgs = dState.WAIT_ACK_DATA;
		195	break;
		196
		197
		198	case dState.WAIT_ACK_DATA:
		199	// Wait for pgm ack.
632	arune	200	if ((Environment.TickCount - t) > TIMEOUT_MS) {
453	arune	201	// Woops, error.
		202	Console.WriteLine("Timeout while waiting for data ack.");
		203	errorOccured = true;
		204	pgs = dState.SEND_RESET;
		205	}
634	arune	206	else if ((Environment.TickCount - t2) > TIMEOUT_SHORT_MS) {
632	arune	207	// Woops, error.
		208	Console.Write(":");
		209	byteSent -= 6;
		210	pgs = dState.SEND_PGM_DATA;
		211	break;
		212	}
467	arune	213	//Thread.Sleep(1);
453	arune	214	// If received ack.
		215	hasMessage = dc.getData(out cm);
		216	if (hasMessage) {
770	arune	217	CanNMT cpnin = new CanNMT(cm, HWID_INUSE);
		218	if (cpnin.isNMTPacket()) {
		219	//if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
453	arune	220	// If no error
		221	if (cpnin.getType() == CAN_NMT_PGM_ACK) {
		222	//currentAddress += 2;
		223	// Check if end.
		224	if (currentAddress + byteSent > hf.getAddrUpper()) {
		225	// Yes, we are done, send done.
		226	pgs = dState.SEND_DONE;
		227	}
		228	else {
		229	// More to write.
		230	//byteSent = 0;
		231	pgs = dState.SEND_PGM_DATA;
		232	}
		233	}
		234	else if (cpnin.getType() == CAN_NMT_PGM_NACK ) {
		235	// else ..
		236	Console.WriteLine("Nack on CAN_NMT_PGM_DATA.");
		237	errorOccured = true;
		238	pgs = dState.SEND_RESET;
		239	}
		240	}
		241	}
		242	break;
		243
		244	case dState.SEND_DONE:
		245	// Send done
		246	outCm = cpn.getPgmEndPacket();
		247	dc.sendCanPacket(outCm);
		248
		249	t = Environment.TickCount;
632	arune	250	t2 = Environment.TickCount;
453	arune	251	pgs = dState.WAIT_DONE;
		252	break;
		253
		254
		255	case dState.WAIT_DONE:
		256	// Check for timeout, resend done packet in that case..
		257	if ((Environment.TickCount - t) > TIMEOUT_MS) {
		258	Console.WriteLine("Timeout while waiting for end prg ack.");
		259	errorOccured = true;
		260	pgs = dState.SEND_RESET;
		261	}
467	arune	262	//Thread.Sleep(1);
453	arune	263
		264	hasMessage = dc.getData(out cm);
		265	if (hasMessage) {
770	arune	266	CanNMT cpnin = new CanNMT(cm, HWID_INUSE);
		267	if (cpnin.isNMTPacket()) {
		268	//if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
453	arune	269	// If no error
		270	if (cpnin.getType() == CAN_NMT_PGM_ACK) {
		271	Console.WriteLine("");
		272	//
		273	int crc = calcCRC(hf);
		274
		275	if (cm.getDataLength() == 2) {
		276	byte[] cmdata = cm.getData();
		277	if ((cmdata[0] == (crc & 0xFF)) && (cmdata[1] == (crc>>8))) {
		278	if (!isBiosUpdate) {
		279	Console.WriteLine("Done, successfully programmed application.");
		280	pgs = dState.SEND_RESET;
		281	} else {
		282	Console.WriteLine("Done, successfully programmed bios to application space.");
		283	pgs = dState.SEND_BIOS_UPDATE;
		284	}
		285	} else {
		286	string nodecrc = String.Format("{0:x4}", (int)cmdata[0] + (int)(cmdata[1]<<8));
		287	nodecrc = "0x"+nodecrc;
		288	string realcrc = String.Format("{0:x4}", (int)(crc & 0xFF) + (int)(crc & 0xFF00));
		289	realcrc = "0x"+realcrc;
		290	Console.WriteLine("CRC failed. Node sent CRC "+nodecrc+" but should be "+realcrc+".");
		291	errorOccured = true;
		292	pgs = dState.SEND_RESET;
		293	}
		294
		295	byteSent = 0;
		296	}
		297	//Console.WriteLine("crc: " + crc + " " + (crc>>8) + " " + (crc & 0xFF));
		298	//Console.WriteLine("ACKpkg with CRC: " + cm.ToString());
		299	//
		300	}
		301	else if (cpnin.getType() == CAN_NMT_PGM_NACK) {
		302	// else resend addr..
		303	Console.WriteLine("Nack on CAN_NMT_PGM_END.");
		304	errorOccured = true;
		305	pgs = dState.SEND_RESET;
		306	}
		307	}
		308	}
		309	break;
		310
		311	case dState.SEND_BIOS_UPDATE:
		312	data[0] = (byte)(0 & 0x00FF);
		313	data[1] = (byte)((0 & 0xFF00) >> 8);
		314	data[2] = (byte)(dlOffset & 0x00FF);
		315	data[3] = (byte)((dlOffset & 0xFF00) >> 8);
		316	data[4] = (byte)((hf.getAddrUpper()-hf.getAddrLower()+1) & 0x00FF);
		317	data[5] = (byte)(((hf.getAddrUpper()-hf.getAddrLower()+1) & 0xFF00) >> 8);
		318
		319	outCm = cpn.getPgmCopyPacket(data);
		320	Console.WriteLine("Now say a prayer, moving bios");
		321	dc.sendCanPacket(outCm);
		322	t = Environment.TickCount;
632	arune	323	t2 = Environment.TickCount;
586	arune	324	pgs = dState.WAIT_BOOT;
		325	//pgs = dState.DONE;
453	arune	326	break;
586	arune	327
		328	case dState.WAIT_BOOT:
		329	// Wait for node reset answer (boot msg).
637	arune	330	if ((Environment.TickCount - t) > 3*TIMEOUT_MS) {
586	arune	331	// Woops, error.
		332	Console.WriteLine("Timeout while waiting for node to boot.");
		333	errorOccured = true;
		334	pgs = dState.SEND_DONE;
		335	}
		336	//Thread.Sleep(1);
		337	// If received boot msg.
		338	hasMessage = dc.getData(out cm);
		339	if (hasMessage) {
770	arune	340	CanNMT cpnin = new CanNMT(cm, HWID_INUSE);
		341	if (cpnin.isNMTPacket()) {
		342	//if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
586	arune	343	// If no error
		344	if (cpnin.getType() == CAN_NMT_BIOS_START) {
		345	pgs = dState.SEND_EMPTY_START;
		346	}
		347	else {
		348	// else ..
		349	}
		350	}
		351	}
		352	break;
453	arune	353
586	arune	354	case dState.SEND_EMPTY_START:
		355	// Send boot start packet to target.
		356	// and wait for ack.
		357
		358	//data[RID_INDEX] = TARGET_ID;
		359	data[ADDR0_INDEX] = (byte)((0) & 0x0000FF);
		360	data[ADDR1_INDEX] = (byte)(((0) & 0x00FF00) >> 8);
		361	data[ADDR2_INDEX] = (byte)(((0) & 0xFF0000) >> 16);
		362	data[ADDR3_INDEX] = 0;
770	arune	363	if (HWID_INUSE) {
		364	data[HWID0_INDEX] = (byte)((hwid) & 0xFF);
		365	data[HWID1_INDEX] = (byte)((hwid>>8) & 0xFF);
		366	data[HWID2_INDEX] = (byte)((hwid>>16) & 0xFF);
		367	data[HWID3_INDEX] = (byte)((hwid>>24) & 0xFF);
		368	}
586	arune	369	//outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data);
		370	outCm = cpn.getPgmStartPacket(data);
		371	dc.sendCanPacket(outCm);
		372	t = Environment.TickCount;
632	arune	373	t2 = Environment.TickCount;
586	arune	374	pgs = dState.WAIT_ACK_PRG_EMPTY;
		375	break;
		376
		377
		378	case dState.WAIT_ACK_PRG_EMPTY:
		379	// Check for timeout, resend start packet in that case..
637	arune	380	if ((Environment.TickCount - t) > 3*TIMEOUT_MS) {
770	arune	381	Console.WriteLine("Timeout while waiting for start prg ack during empty-first-block-cycle.");
586	arune	382	errorOccured = true;
		383	pgs = dState.SEND_RESET;
		384	}
		385	//Thread.Sleep(1);
		386	// If received ack.
		387	hasMessage = dc.getData(out cm);
		388	if (hasMessage) {
770	arune	389	CanNMT cpnin = new CanNMT(cm, HWID_INUSE);
		390	if (cpnin.isNMTPacket()) {
		391	//if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
586	arune	392	// If no error
		393	if (cpnin.getType() == CAN_NMT_PGM_ACK) {
		394	// Start sending program data..
		395	byteSent = 0;
		396	pgs = dState.SEND_EMPTY_DATA;
		397	}
		398	else if (cpnin.getType() == CAN_NMT_PGM_NACK ) {
		399	// else ..
		400	Console.WriteLine("Nack on CAN_NMT_PGM_START.");
		401	errorOccured = true;
		402	pgs = dState.SEND_RESET;
		403	}
		404	}
		405	}
		406	break;
		407
		408	case dState.SEND_EMPTY_DATA:
		409	// Send program data.
		410	data[0] = 0;
		411	data[1] = 0;
		412	data[2] = 0xff;
		413	data[3] = 0xff;
		414
		415	outCm = cpn.getPgmDataPacket(data, 4);
		416	dc.sendCanPacket(outCm);
		417
		418	t = Environment.TickCount;
632	arune	419	t2 = Environment.TickCount;
586	arune	420	byteSent += 6;
		421	pgs = dState.WAIT_ACK_EMPTY_DATA;
		422	break;
		423
		424
		425	case dState.WAIT_ACK_EMPTY_DATA:
		426	// Wait for pgm ack.
		427	if ((Environment.TickCount - t) > 2*TIMEOUT_MS) {
		428	// Woops, error.
		429	Console.WriteLine("Timeout while waiting for data ack.");
		430	errorOccured = true;
		431	pgs = dState.SEND_RESET;
		432	}
		433	//Thread.Sleep(1);
		434	// If received ack.
		435	hasMessage = dc.getData(out cm);
		436	if (hasMessage) {
770	arune	437	CanNMT cpnin = new CanNMT(cm, HWID_INUSE);
		438	if (cpnin.isNMTPacket()) {
		439	//if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
586	arune	440	// If no error
		441	if (cpnin.getType() == CAN_NMT_PGM_ACK) {
		442	pgs = dState.SEND_DONE_EMPTY;
		443	}
		444	else if (cpnin.getType() == CAN_NMT_PGM_NACK ) {
		445	// else ..
		446	Console.WriteLine("Nack on CAN_NMT_PGM_DATA.");
		447	errorOccured = true;
		448	pgs = dState.SEND_RESET;
		449	}
		450	}
		451	}
		452	break;
		453
		454	case dState.SEND_DONE_EMPTY:
		455	// Send done
		456	outCm = cpn.getPgmEndPacket();
		457	dc.sendCanPacket(outCm);
		458
		459	t = Environment.TickCount;
632	arune	460	t2 = Environment.TickCount;
586	arune	461	pgs = dState.WAIT_DONE_EMPTY;
		462	break;
		463
		464
		465	case dState.WAIT_DONE_EMPTY:
		466	// Check for timeout, resend done packet in that case..
		467	if ((Environment.TickCount - t) > TIMEOUT_MS) {
		468	Console.WriteLine("Timeout while waiting for end prg ack.");
		469	errorOccured = true;
		470	pgs = dState.SEND_RESET;
		471	}
		472	//Thread.Sleep(1);
		473
		474	hasMessage = dc.getData(out cm);
		475	if (hasMessage) {
770	arune	476	CanNMT cpnin = new CanNMT(cm, HWID_INUSE);
		477	if (cpnin.isNMTPacket()) {
		478	//if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
586	arune	479	// If no error
		480	if (cpnin.getType() == CAN_NMT_PGM_ACK) {
		481	Console.WriteLine("");
		482	//
		483	Console.WriteLine("Done, successfully cleaned application flash.");
		484	pgs = dState.SEND_RESET;
		485	}
		486	else if (cpnin.getType() == CAN_NMT_PGM_NACK) {
		487	// else resend addr..
		488	Console.WriteLine("Nack on CAN_NMT_PGM_END.");
		489	errorOccured = true;
		490	pgs = dState.SEND_RESET;
		491	}
		492	}
		493	}
		494	break;
453	arune	495	case dState.SEND_RESET:
		496	// Send reset
770	arune	497	cpn.doReset(dc, receiveID, hwid);
453	arune	498	t = Environment.TickCount;
632	arune	499	t2 = Environment.TickCount;
453	arune	500	pgs = dState.DONE;
		501	break;
		502
		503
		504	case dState.DONE:
		505	done = true;
		506	//down.Abort();
		507	if (!errorOccured) {
		508	long tsecs = ((Environment.TickCount - timeStart) / 1000);
		509	double bitRate = hf.getLength() / ((double)(Environment.TickCount - timeStart) / 1000.0);
		510
		511	if (tsecs <= 0) tsecs = 1;
		512	long mins = tsecs / 60;
		513	long secs = tsecs % 60;
		514	string pad = "";
		515	if (secs < 10) {
		516	pad = "0";
		517	}
		518	Console.WriteLine("Time spent: " + mins + ":" + pad + secs + ", " + Math.Round(bitRate, 2) + " bytes/s");
		519	}
		520	//Console.Write("> ");
		521	break;
		522	}
		523	}
		524
		525	} catch(Exception) {
		526	Console.WriteLine("Exception occured");
		527	//Console.WriteLine(e);
		528	//skriva ut antal bytes skrivna vore bra här, kanske nån annan form av hjälp för debug, något gick snett liksom
		529
		530	}
		531
		532	return !errorOccured;
		533	}
		534	}

Subversion Repositories HomeAutomation

(root)/branches/modules/PcSoftware/csharp-lib/Downloader.cs – Rev 800