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;
		15
586	arune	16	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	17
		18	private const byte CAN_NMT = 0x00;
		19
		20	private const byte CAN_NMT_RESET = 0x04;
		21	private const byte CAN_NMT_BIOS_START = 0x08;
		22	private const byte CAN_NMT_PGM_START = 0x0C;
		23	private const byte CAN_NMT_PGM_DATA = 0x10;
		24	private const byte CAN_NMT_PGM_END = 0x14;
		25	private const byte CAN_NMT_PGM_COPY = 0x18;
		26	private const byte CAN_NMT_PGM_ACK = 0x1C;
		27	private const byte CAN_NMT_PGM_NACK = 0x20;
		28	private const byte CAN_NMT_START_APP = 0x24;
		29	private const byte CAN_NMT_APP_START = 0x28;
		30	private const byte CAN_NMT_HEARTBEAT = 0x2C;
		31
		32	private const byte MY_ID = 0x00;
		33	//private const byte TARGET_ID = 0x78;
		34	private const byte MY_NID = 0x0;
		35	private const byte ADDR0_INDEX = 0;
		36	private const byte ADDR1_INDEX = 1;
		37	private const byte ADDR2_INDEX = 2;
		38	private const byte ADDR3_INDEX = 3;
		39
		40	private const int TIMEOUT_MS = 2000;
		41
		42	private long timeStart = 0;
		43
		44	public Downloader(HexFile hf, DaemonConnection dc, byte receiveID, bool isBiosUpdate) {
		45	this.hf = hf;
		46	this.dc = dc;
		47	this.receiveID = receiveID;
		48	this.isBiosUpdate = isBiosUpdate;
		49	}
		50
		51	public int calcCRC(HexFile hf) {
		52	int crc=0;
		53	for (ulong i=hf.getAddrLower(); i <= hf.getAddrUpper(); i++) {
		54	crc = crc16_update(crc, hf.getByte(i));
		55	}
		56	return crc;
		57	}
		58
		59	public int crc16_update(int crc, byte a) {
		60	int i;
		61	crc ^= a;
		62	for (i = 0; i < 8; ++i) {
		63	if ((crc & 1) != 0)
		64	crc = (crc >> 1) ^ 0xA001;
		65	else
		66	crc = (crc >> 1);
		67	}
		68	return crc;
		69	}
		70
		71	public bool go() {
		72	if (dc==null \|\| hf==null \|\| hf.getLength()==0) return false;
		73	return downloader();
		74	}
		75
		76	public void abort() {
		77	//if (down != null && down.IsAlive) down.Abort();
		78	}
		79
		80	public bool downloader() {
		81	dState pgs = dState.SEND_START;
		82	int t = 0;
		83	CanPacket outCm = null;
		84	CanPacket cm = null;
		85	byte[] data = new byte[8];
		86	uint byteSent = 0;
		87	ulong currentAddress = 0;
		88	bool done = false;
		89	bool errorOccured = false;
		90
		91	try {
		92	if (isBiosUpdate) {
		93	dlOffset = hf.getAddrLower();
		94	//Console.WriteLine(dlOffset);
		95	//dlOffset = 200;
		96	}
		97
		98	CanNMT cpn = new CanNMT();
		99	cpn.setReceiver(receiveID);
		100	bool hasMessage = false;
		101
		102	while (!done) {
		103	Thread.Sleep(1);
		104
		105	switch (pgs) {
		106	case dState.SEND_START:
		107	// Send boot start packet to target.
		108	// and wait for ack.
		109	currentAddress = hf.getAddrLower();
		110	//data[RID_INDEX] = TARGET_ID;
		111	data[ADDR0_INDEX] = (byte)((currentAddress-dlOffset) & 0x0000FF);
		112	data[ADDR1_INDEX] = (byte)(((currentAddress-dlOffset) & 0x00FF00) >> 8);
		113	data[ADDR2_INDEX] = (byte)(((currentAddress-dlOffset) & 0xFF0000) >> 16);
		114	data[ADDR3_INDEX] = 0;
		115	//outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data);
		116	outCm = cpn.getPgmStartPacket(data);
		117	dc.sendCanPacket(outCm);
		118	t = Environment.TickCount;
		119	pgs = dState.WAIT_ACK_PRG;
		120	timeStart = Environment.TickCount;
		121	break;
		122
		123
		124	case dState.WAIT_ACK_PRG:
		125	// Check for timeout, resend start packet in that case..
		126	if ((Environment.TickCount - t) > TIMEOUT_MS) {
		127	Console.WriteLine("Timeout while waiting for start prg ack.");
		128	errorOccured = true;
		129	pgs = dState.SEND_RESET;
		130	}
467	arune	131	//Thread.Sleep(1);
453	arune	132	// If received ack.
		133	hasMessage = dc.getData(out cm);
		134	if (hasMessage) {
		135	CanNMT cpnin = new CanNMT(cm);
		136	if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
		137	// If no error
		138	if (cpnin.getType() == CAN_NMT_PGM_ACK) {
		139	// Start sending program data..
		140	byteSent = 0;
		141	pgs = dState.SEND_PGM_DATA;
		142	}
		143	else if (cpnin.getType() == CAN_NMT_PGM_NACK ) {
		144	// else ..
		145	Console.WriteLine("Nack on CAN_NMT_PGM_START.");
		146	errorOccured = true;
		147	pgs = dState.SEND_RESET;
		148	}
		149
		150	}
		151	}
		152	break;
		153
		154	case dState.SEND_PGM_DATA:
		155	//Console.WriteLine("byteSent = "+byteSent);
		156	Console.Write(".");
		157	// Send program data.
		158	byte datalength = 2;
		159	for (ulong i = 0; i < 6; i++) {
		160	// Populate data.
		161	data[i+2] = hf.getByte(currentAddress + i + byteSent);
		162	if (currentAddress + i + byteSent > hf.getAddrUpper()) {
		163	break; //then done
		164	}
		165	datalength++;
		166	}
		167	data[0] = (byte)(byteSent & 0x00FF);
		168	data[1] = (byte)((byteSent & 0xFF00) >> 8);
		169
		170	outCm = cpn.getPgmDataPacket(data, datalength);
		171	dc.sendCanPacket(outCm);
		172
		173	t = Environment.TickCount;
		174	byteSent += 6;
		175	pgs = dState.WAIT_ACK_DATA;
		176	break;
		177
		178
		179	case dState.WAIT_ACK_DATA:
		180	// Wait for pgm ack.
		181	if ((Environment.TickCount - t) > 2*TIMEOUT_MS) {
		182	// Woops, error.
		183	Console.WriteLine("Timeout while waiting for data ack.");
		184	errorOccured = true;
		185	pgs = dState.SEND_RESET;
		186	}
467	arune	187	//Thread.Sleep(1);
453	arune	188	// If received ack.
		189	hasMessage = dc.getData(out cm);
		190	if (hasMessage) {
		191	CanNMT cpnin = new CanNMT(cm);
		192	if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
		193	// If no error
		194	if (cpnin.getType() == CAN_NMT_PGM_ACK) {
		195	//currentAddress += 2;
		196	// Check if end.
		197	if (currentAddress + byteSent > hf.getAddrUpper()) {
		198	// Yes, we are done, send done.
		199	pgs = dState.SEND_DONE;
		200	}
		201	else {
		202	// More to write.
		203	//byteSent = 0;
		204	pgs = dState.SEND_PGM_DATA;
		205	}
		206	}
		207	else if (cpnin.getType() == CAN_NMT_PGM_NACK ) {
		208	// else ..
		209	Console.WriteLine("Nack on CAN_NMT_PGM_DATA.");
		210	errorOccured = true;
		211	pgs = dState.SEND_RESET;
		212	}
		213
		214	}
		215	}
		216	break;
		217
		218	case dState.SEND_DONE:
		219	// Send done
		220	outCm = cpn.getPgmEndPacket();
		221	dc.sendCanPacket(outCm);
		222
		223	t = Environment.TickCount;
		224	pgs = dState.WAIT_DONE;
		225	break;
		226
		227
		228	case dState.WAIT_DONE:
		229	// Check for timeout, resend done packet in that case..
		230	if ((Environment.TickCount - t) > TIMEOUT_MS) {
		231	Console.WriteLine("Timeout while waiting for end prg ack.");
		232	errorOccured = true;
		233	pgs = dState.SEND_RESET;
		234	}
467	arune	235	//Thread.Sleep(1);
453	arune	236
		237	hasMessage = dc.getData(out cm);
		238	if (hasMessage) {
		239	CanNMT cpnin = new CanNMT(cm);
		240	if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
		241	// If no error
		242	if (cpnin.getType() == CAN_NMT_PGM_ACK) {
		243	Console.WriteLine("");
		244	//
		245	int crc = calcCRC(hf);
		246
		247	if (cm.getDataLength() == 2) {
		248	byte[] cmdata = cm.getData();
		249	if ((cmdata[0] == (crc & 0xFF)) && (cmdata[1] == (crc>>8))) {
		250	if (!isBiosUpdate) {
		251	Console.WriteLine("Done, successfully programmed application.");
		252	pgs = dState.SEND_RESET;
		253	} else {
		254	Console.WriteLine("Done, successfully programmed bios to application space.");
		255	pgs = dState.SEND_BIOS_UPDATE;
		256	}
		257	} else {
		258	string nodecrc = String.Format("{0:x4}", (int)cmdata[0] + (int)(cmdata[1]<<8));
		259	nodecrc = "0x"+nodecrc;
		260	string realcrc = String.Format("{0:x4}", (int)(crc & 0xFF) + (int)(crc & 0xFF00));
		261	realcrc = "0x"+realcrc;
		262	Console.WriteLine("CRC failed. Node sent CRC "+nodecrc+" but should be "+realcrc+".");
		263	errorOccured = true;
		264	pgs = dState.SEND_RESET;
		265	}
		266
		267	byteSent = 0;
		268	}
		269	//Console.WriteLine("crc: " + crc + " " + (crc>>8) + " " + (crc & 0xFF));
		270	//Console.WriteLine("ACKpkg with CRC: " + cm.ToString());
		271	//
		272	}
		273	else if (cpnin.getType() == CAN_NMT_PGM_NACK) {
		274	// else resend addr..
		275	Console.WriteLine("Nack on CAN_NMT_PGM_END.");
		276	errorOccured = true;
		277	pgs = dState.SEND_RESET;
		278	}
		279	}
		280	}
		281	break;
		282
		283	case dState.SEND_BIOS_UPDATE:
		284	data[0] = (byte)(0 & 0x00FF);
		285	data[1] = (byte)((0 & 0xFF00) >> 8);
		286	data[2] = (byte)(dlOffset & 0x00FF);
		287	data[3] = (byte)((dlOffset & 0xFF00) >> 8);
		288	data[4] = (byte)((hf.getAddrUpper()-hf.getAddrLower()+1) & 0x00FF);
		289	data[5] = (byte)(((hf.getAddrUpper()-hf.getAddrLower()+1) & 0xFF00) >> 8);
		290
		291	outCm = cpn.getPgmCopyPacket(data);
		292	Console.WriteLine("Now say a prayer, moving bios");
		293	dc.sendCanPacket(outCm);
		294	t = Environment.TickCount;
586	arune	295	pgs = dState.WAIT_BOOT;
		296	//pgs = dState.DONE;
453	arune	297	break;
586	arune	298
		299	case dState.WAIT_BOOT:
		300	// Wait for node reset answer (boot msg).
		301	if ((Environment.TickCount - t) > 2*TIMEOUT_MS) {
		302	// Woops, error.
		303	Console.WriteLine("Timeout while waiting for node to boot.");
		304	errorOccured = true;
		305	pgs = dState.SEND_DONE;
		306	}
		307	//Thread.Sleep(1);
		308	// If received boot msg.
		309	hasMessage = dc.getData(out cm);
		310	if (hasMessage) {
		311	CanNMT cpnin = new CanNMT(cm);
		312	if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
		313	// If no error
		314	if (cpnin.getType() == CAN_NMT_BIOS_START) {
		315	pgs = dState.SEND_EMPTY_START;
		316	}
		317	else {
		318	// else ..
		319	}
		320	}
		321	}
		322	break;
453	arune	323
586	arune	324	case dState.SEND_EMPTY_START:
		325	// Send boot start packet to target.
		326	// and wait for ack.
		327
		328	//data[RID_INDEX] = TARGET_ID;
		329	data[ADDR0_INDEX] = (byte)((0) & 0x0000FF);
		330	data[ADDR1_INDEX] = (byte)(((0) & 0x00FF00) >> 8);
		331	data[ADDR2_INDEX] = (byte)(((0) & 0xFF0000) >> 16);
		332	data[ADDR3_INDEX] = 0;
		333	//outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data);
		334	outCm = cpn.getPgmStartPacket(data);
		335	dc.sendCanPacket(outCm);
		336	t = Environment.TickCount;
		337	pgs = dState.WAIT_ACK_PRG_EMPTY;
		338	timeStart = Environment.TickCount;
		339	break;
		340
		341
		342	case dState.WAIT_ACK_PRG_EMPTY:
		343	// Check for timeout, resend start packet in that case..
		344	if ((Environment.TickCount - t) > TIMEOUT_MS) {
		345	Console.WriteLine("Timeout while waiting for start prg ack.");
		346	errorOccured = true;
		347	pgs = dState.SEND_RESET;
		348	}
		349	//Thread.Sleep(1);
		350	// If received ack.
		351	hasMessage = dc.getData(out cm);
		352	if (hasMessage) {
		353	CanNMT cpnin = new CanNMT(cm);
		354	if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
		355	// If no error
		356	if (cpnin.getType() == CAN_NMT_PGM_ACK) {
		357	// Start sending program data..
		358	byteSent = 0;
		359	pgs = dState.SEND_EMPTY_DATA;
		360	}
		361	else if (cpnin.getType() == CAN_NMT_PGM_NACK ) {
		362	// else ..
		363	Console.WriteLine("Nack on CAN_NMT_PGM_START.");
		364	errorOccured = true;
		365	pgs = dState.SEND_RESET;
		366	}
		367
		368	}
		369	}
		370	break;
		371
		372	case dState.SEND_EMPTY_DATA:
		373	// Send program data.
		374	data[0] = 0;
		375	data[1] = 0;
		376	data[2] = 0xff;
		377	data[3] = 0xff;
		378
		379	outCm = cpn.getPgmDataPacket(data, 4);
		380	dc.sendCanPacket(outCm);
		381
		382	t = Environment.TickCount;
		383	byteSent += 6;
		384	pgs = dState.WAIT_ACK_EMPTY_DATA;
		385	break;
		386
		387
		388	case dState.WAIT_ACK_EMPTY_DATA:
		389	// Wait for pgm ack.
		390	if ((Environment.TickCount - t) > 2*TIMEOUT_MS) {
		391	// Woops, error.
		392	Console.WriteLine("Timeout while waiting for data ack.");
		393	errorOccured = true;
		394	pgs = dState.SEND_RESET;
		395	}
		396	//Thread.Sleep(1);
		397	// If received ack.
		398	hasMessage = dc.getData(out cm);
		399	if (hasMessage) {
		400	CanNMT cpnin = new CanNMT(cm);
		401	if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
		402	// If no error
		403	if (cpnin.getType() == CAN_NMT_PGM_ACK) {
		404	pgs = dState.SEND_DONE_EMPTY;
		405	}
		406	else if (cpnin.getType() == CAN_NMT_PGM_NACK ) {
		407	// else ..
		408	Console.WriteLine("Nack on CAN_NMT_PGM_DATA.");
		409	errorOccured = true;
		410	pgs = dState.SEND_RESET;
		411	}
		412
		413	}
		414	}
		415	break;
		416
		417	case dState.SEND_DONE_EMPTY:
		418	// Send done
		419	outCm = cpn.getPgmEndPacket();
		420	dc.sendCanPacket(outCm);
		421
		422	t = Environment.TickCount;
		423	pgs = dState.WAIT_DONE_EMPTY;
		424	break;
		425
		426
		427	case dState.WAIT_DONE_EMPTY:
		428	// Check for timeout, resend done packet in that case..
		429	if ((Environment.TickCount - t) > TIMEOUT_MS) {
		430	Console.WriteLine("Timeout while waiting for end prg ack.");
		431	errorOccured = true;
		432	pgs = dState.SEND_RESET;
		433	}
		434	//Thread.Sleep(1);
		435
		436	hasMessage = dc.getData(out cm);
		437	if (hasMessage) {
		438	CanNMT cpnin = new CanNMT(cm);
		439	if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) {
		440	// If no error
		441	if (cpnin.getType() == CAN_NMT_PGM_ACK) {
		442	Console.WriteLine("");
		443	//
		444	Console.WriteLine("Done, successfully cleaned application flash.");
		445	pgs = dState.SEND_RESET;
		446	}
		447	else if (cpnin.getType() == CAN_NMT_PGM_NACK) {
		448	// else resend addr..
		449	Console.WriteLine("Nack on CAN_NMT_PGM_END.");
		450	errorOccured = true;
		451	pgs = dState.SEND_RESET;
		452	}
		453	}
		454	}
		455	break;
453	arune	456	case dState.SEND_RESET:
		457	// Send reset
		458	cpn.doReset(dc, receiveID);
		459	t = Environment.TickCount;
		460	pgs = dState.DONE;
		461	break;
		462
		463
		464	case dState.DONE:
		465	done = true;
		466	//down.Abort();
		467	if (!errorOccured) {
		468	long tsecs = ((Environment.TickCount - timeStart) / 1000);
		469	double bitRate = hf.getLength() / ((double)(Environment.TickCount - timeStart) / 1000.0);
		470
		471	if (tsecs <= 0) tsecs = 1;
		472	long mins = tsecs / 60;
		473	long secs = tsecs % 60;
		474	string pad = "";
		475	if (secs < 10) {
		476	pad = "0";
		477	}
		478	Console.WriteLine("Time spent: " + mins + ":" + pad + secs + ", " + Math.Round(bitRate, 2) + " bytes/s");
		479	}
		480	//Console.Write("> ");
		481	break;
		482	}
		483	}
		484
		485	} catch(Exception) {
		486	Console.WriteLine("Exception occured");
		487	//Console.WriteLine(e);
		488	//skriva ut antal bytes skrivna vore bra här, kanske nån annan form av hjälp för debug, något gick snett liksom
		489
		490	}
		491
		492	return !errorOccured;
		493	}
		494	}

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(root)/branches/modules/PcSoftware/csharp-lib/Downloader.cs @ 1663 – Rev 586