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

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