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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 453 | arune | 1 | using System; |
| 2 | using System.Collections.Generic; |
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| 3 | using System.Text; |
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| 4 | using System.Threading; |
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| 5 | |||
| 6 | //this class should probably be integrated into canNMT instead |
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| 7 | |||
| 8 | public class Downloader { |
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| 9 | private HexFile hf; |
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| 10 | private DaemonConnection dc; |
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| 11 | private bool isBiosUpdate; |
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| 12 | private ulong dlOffset = 0; |
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| 13 | //private Thread down; |
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| 14 | private byte receiveID; |
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| 770 | arune | 15 | private uint hwid; |
| 16 | private bool HWID_INUSE; |
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| 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; |
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| 21 | |||
| 22 | private const byte CAN_NMT_RESET = 0x04; |
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| 23 | private const byte CAN_NMT_BIOS_START = 0x08; |
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| 24 | private const byte CAN_NMT_PGM_START = 0x0C; |
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| 25 | private const byte CAN_NMT_PGM_DATA = 0x10; |
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| 26 | private const byte CAN_NMT_PGM_END = 0x14; |
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| 27 | private const byte CAN_NMT_PGM_COPY = 0x18; |
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| 28 | private const byte CAN_NMT_PGM_ACK = 0x1C; |
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| 29 | private const byte CAN_NMT_PGM_NACK = 0x20; |
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| 30 | private const byte CAN_NMT_START_APP = 0x24; |
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| 31 | private const byte CAN_NMT_APP_START = 0x28; |
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| 32 | private const byte CAN_NMT_HEARTBEAT = 0x2C; |
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| 33 | |||
| 34 | private const byte MY_ID = 0x00; |
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| 35 | //private const byte TARGET_ID = 0x78; |
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| 36 | private const byte MY_NID = 0x0; |
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| 37 | private const byte ADDR0_INDEX = 0; |
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| 38 | private const byte ADDR1_INDEX = 1; |
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| 39 | private const byte ADDR2_INDEX = 2; |
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| 40 | private const byte ADDR3_INDEX = 3; |
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| 770 | arune | 41 | |
| 42 | private const byte HWID0_INDEX = 4; |
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| 43 | private const byte HWID1_INDEX = 5; |
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| 44 | private const byte HWID2_INDEX = 6; |
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| 45 | private const byte HWID3_INDEX = 7; |
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| 453 | arune | 46 | |
| 632 | arune | 47 | private const int TIMEOUT_MS = 1000; |
| 48 | private const int TIMEOUT_SHORT_MS = 200; |
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| 453 | arune | 49 | |
| 50 | private long timeStart = 0; |
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| 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; |
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| 55 | this.receiveID = receiveID; |
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| 56 | this.isBiosUpdate = isBiosUpdate; |
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| 770 | arune | 57 | this.hwid = hwid; |
| 58 | this.HWID_INUSE = HWID_INUSE; |
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| 453 | arune | 59 | } |
| 60 | |||
| 61 | public int calcCRC(HexFile hf) { |
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| 62 | int crc=0; |
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| 63 | for (ulong i=hf.getAddrLower(); i <= hf.getAddrUpper(); i++) { |
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| 64 | crc = crc16_update(crc, hf.getByte(i)); |
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| 65 | } |
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| 66 | return crc; |
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| 67 | } |
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| 68 | |||
| 69 | public int crc16_update(int crc, byte a) { |
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| 70 | int i; |
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| 71 | crc ^= a; |
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| 72 | for (i = 0; i < 8; ++i) { |
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| 73 | if ((crc & 1) != 0) |
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| 74 | crc = (crc >> 1) ^ 0xA001; |
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| 75 | else |
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| 76 | crc = (crc >> 1); |
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| 77 | } |
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| 78 | return crc; |
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| 79 | } |
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| 80 | |||
| 81 | public bool go() { |
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| 82 | if (dc==null || hf==null || hf.getLength()==0) return false; |
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| 83 | return downloader(); |
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| 84 | } |
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| 85 | |||
| 86 | public void abort() { |
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| 87 | //if (down != null && down.IsAlive) down.Abort(); |
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| 88 | } |
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| 89 | |||
| 90 | public bool downloader() { |
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| 91 | dState pgs = dState.SEND_START; |
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| 92 | int t = 0; |
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| 632 | arune | 93 | int t2 = 0; |
| 453 | arune | 94 | CanPacket outCm = null; |
| 95 | CanPacket cm = null; |
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| 96 | byte[] data = new byte[8]; |
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| 97 | uint byteSent = 0; |
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| 98 | ulong currentAddress = 0; |
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| 99 | bool done = false; |
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| 100 | bool errorOccured = false; |
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| 101 | |||
| 876 | arune | 102 | //int rotstate=0; |
| 103 | int dldisplaystate=0; |
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| 104 | |||
| 453 | arune | 105 | try { |
| 106 | if (isBiosUpdate) { |
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| 107 | dlOffset = hf.getAddrLower(); |
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| 108 | //Console.WriteLine(dlOffset); |
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| 109 | //dlOffset = 200; |
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| 110 | } |
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| 111 | |||
| 770 | arune | 112 | CanNMT cpn = new CanNMT(HWID_INUSE); |
| 453 | arune | 113 | cpn.setReceiver(receiveID); |
| 114 | bool hasMessage = false; |
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| 115 | |||
| 116 | while (!done) { |
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| 117 | Thread.Sleep(1); |
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| 118 | |||
| 119 | switch (pgs) { |
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| 120 | case dState.SEND_START: |
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| 121 | // Send boot start packet to target. |
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| 122 | // and wait for ack. |
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| 123 | currentAddress = hf.getAddrLower(); |
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| 124 | //data[RID_INDEX] = TARGET_ID; |
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| 125 | data[ADDR0_INDEX] = (byte)((currentAddress-dlOffset) & 0x0000FF); |
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| 126 | data[ADDR1_INDEX] = (byte)(((currentAddress-dlOffset) & 0x00FF00) >> 8); |
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| 127 | data[ADDR2_INDEX] = (byte)(((currentAddress-dlOffset) & 0xFF0000) >> 16); |
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| 128 | data[ADDR3_INDEX] = 0; |
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| 770 | arune | 129 | if (HWID_INUSE) { |
| 130 | data[HWID0_INDEX] = (byte)((hwid) & 0xFF); |
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| 131 | data[HWID1_INDEX] = (byte)((hwid>>8) & 0xFF); |
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| 132 | data[HWID2_INDEX] = (byte)((hwid>>16) & 0xFF); |
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| 133 | data[HWID3_INDEX] = (byte)((hwid>>24) & 0xFF); |
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| 134 | } |
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| 453 | arune | 135 | //outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data); |
| 136 | outCm = cpn.getPgmStartPacket(data); |
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| 137 | dc.sendCanPacket(outCm); |
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| 138 | t = Environment.TickCount; |
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| 632 | arune | 139 | t2 = Environment.TickCount; |
| 453 | arune | 140 | pgs = dState.WAIT_ACK_PRG; |
| 141 | timeStart = Environment.TickCount; |
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| 876 | arune | 142 | Console.WriteLine("Downloading..."); |
| 453 | arune | 143 | break; |
| 144 | |||
| 145 | |||
| 146 | case dState.WAIT_ACK_PRG: |
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| 147 | // Check for timeout, resend start packet in that case.. |
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| 148 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
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| 149 | Console.WriteLine("Timeout while waiting for start prg ack."); |
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| 150 | errorOccured = true; |
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| 151 | pgs = dState.SEND_RESET; |
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| 152 | } |
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| 467 | arune | 153 | //Thread.Sleep(1); |
| 453 | arune | 154 | // If received ack. |
| 155 | hasMessage = dc.getData(out cm); |
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| 156 | if (hasMessage) { |
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| 770 | arune | 157 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 158 | if (cpnin.isNMTPacket()) { |
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| 159 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
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| 453 | arune | 160 | // If no error |
| 161 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
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| 162 | // Start sending program data.. |
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| 163 | byteSent = 0; |
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| 164 | pgs = dState.SEND_PGM_DATA; |
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| 165 | } |
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| 166 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
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| 167 | // else .. |
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| 168 | Console.WriteLine("Nack on CAN_NMT_PGM_START."); |
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| 169 | errorOccured = true; |
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| 170 | pgs = dState.SEND_RESET; |
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| 171 | } |
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| 172 | } |
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| 173 | } |
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| 174 | break; |
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| 175 | |||
| 176 | case dState.SEND_PGM_DATA: |
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| 177 | //Console.WriteLine("byteSent = "+byteSent); |
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| 876 | arune | 178 | //disable Console.Write("."); |
| 179 | //Console.Write("\b"); |
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| 180 | //int curleft = Console.CursorLeft; |
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| 181 | //int curtop = Console.CursorTop; |
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| 182 | //Console.SetCursorPosition(curleft, curtop-1); |
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| 183 | |||
| 184 | //if (rotstate==0) { |
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| 185 | // Console.Write("-"); |
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| 186 | // rotstate=1; |
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| 187 | //} else if (rotstate==1) { |
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| 188 | // Console.Write("\\"); |
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| 189 | // rotstate=2; |
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| 190 | //} else if (rotstate==2) { |
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| 191 | // Console.Write("|"); |
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| 192 | // rotstate=3; |
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| 193 | //} else if (rotstate==3) { |
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| 194 | // Console.Write("/"); |
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| 195 | // rotstate=0; |
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| 196 | //} |
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| 197 | //Console.Write("\r"); |
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| 198 | //dldisplaystate |
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| 199 | |||
| 200 | //FULHACK deulx |
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| 201 | ulong percent = byteSent*100/(hf.getAddrUpper()-currentAddress); |
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| 202 | |||
| 203 | if (percent>9 && dldisplaystate==0) { |
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| 204 | Console.Write("\r"); |
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| 205 | Console.Write(percent+"%"); |
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| 206 | dldisplaystate=1; |
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| 207 | } else if (percent>19 && dldisplaystate==1) { |
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| 208 | Console.Write("\r"); |
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| 209 | Console.Write(percent+"%"); |
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| 210 | dldisplaystate=2; |
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| 211 | } else if (percent>29 && dldisplaystate==2) { |
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| 212 | Console.Write("\r"); |
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| 213 | Console.Write(percent+"%"); |
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| 214 | dldisplaystate=3; |
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| 215 | } else if (percent>39 && dldisplaystate==3) { |
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| 216 | Console.Write("\r"); |
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| 217 | Console.Write(percent+"%"); |
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| 218 | dldisplaystate=4; |
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| 219 | } else if (percent>49 && dldisplaystate==4) { |
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| 220 | Console.Write("\r"); |
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| 221 | Console.Write(percent+"%"); |
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| 222 | dldisplaystate=5; |
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| 223 | } else if (percent>59 && dldisplaystate==5) { |
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| 224 | Console.Write("\r"); |
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| 225 | Console.Write(percent+"%"); |
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| 226 | dldisplaystate=6; |
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| 227 | } else if (percent>69 && dldisplaystate==6) { |
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| 228 | Console.Write("\r"); |
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| 229 | Console.Write(percent+"%"); |
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| 230 | dldisplaystate=7; |
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| 231 | } else if (percent>79 && dldisplaystate==7) { |
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| 232 | Console.Write("\r"); |
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| 233 | Console.Write(percent+"%"); |
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| 234 | dldisplaystate=8; |
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| 235 | } else if (percent>89 && dldisplaystate==8) { |
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| 236 | Console.Write("\r"); |
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| 237 | Console.Write(percent+"%"); |
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| 238 | dldisplaystate=9; |
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| 239 | } else if (percent>99 && dldisplaystate==9) { |
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| 240 | Console.Write("\r"); |
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| 241 | Console.Write(percent+"%"); |
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| 242 | dldisplaystate=10; |
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| 243 | } |
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| 244 | |||
| 453 | arune | 245 | // Send program data. |
| 246 | byte datalength = 2; |
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| 247 | for (ulong i = 0; i < 6; i++) { |
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| 248 | // Populate data. |
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| 249 | data[i+2] = hf.getByte(currentAddress + i + byteSent); |
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| 250 | if (currentAddress + i + byteSent > hf.getAddrUpper()) { |
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| 251 | break; //then done |
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| 252 | } |
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| 253 | datalength++; |
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| 254 | } |
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| 255 | data[0] = (byte)(byteSent & 0x00FF); |
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| 256 | data[1] = (byte)((byteSent & 0xFF00) >> 8); |
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| 257 | |||
| 258 | outCm = cpn.getPgmDataPacket(data, datalength); |
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| 259 | dc.sendCanPacket(outCm); |
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| 260 | |||
| 261 | t = Environment.TickCount; |
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| 632 | arune | 262 | t2 = Environment.TickCount; |
| 453 | arune | 263 | byteSent += 6; |
| 264 | pgs = dState.WAIT_ACK_DATA; |
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| 265 | break; |
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| 266 | |||
| 267 | |||
| 268 | case dState.WAIT_ACK_DATA: |
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| 269 | // Wait for pgm ack. |
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| 632 | arune | 270 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
| 453 | arune | 271 | // Woops, error. |
| 272 | Console.WriteLine("Timeout while waiting for data ack."); |
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| 273 | errorOccured = true; |
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| 274 | pgs = dState.SEND_RESET; |
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| 275 | } |
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| 634 | arune | 276 | else if ((Environment.TickCount - t2) > TIMEOUT_SHORT_MS) { |
| 632 | arune | 277 | // Woops, error. |
| 876 | arune | 278 | //disable Console.Write(":"); |
| 632 | arune | 279 | byteSent -= 6; |
| 280 | pgs = dState.SEND_PGM_DATA; |
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| 281 | break; |
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| 282 | } |
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| 467 | arune | 283 | //Thread.Sleep(1); |
| 453 | arune | 284 | // If received ack. |
| 285 | hasMessage = dc.getData(out cm); |
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| 286 | if (hasMessage) { |
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| 770 | arune | 287 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 288 | if (cpnin.isNMTPacket()) { |
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| 289 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
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| 453 | arune | 290 | // If no error |
| 291 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
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| 292 | //currentAddress += 2; |
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| 293 | // Check if end. |
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| 294 | if (currentAddress + byteSent > hf.getAddrUpper()) { |
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| 295 | // Yes, we are done, send done. |
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| 296 | pgs = dState.SEND_DONE; |
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| 297 | } |
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| 298 | else { |
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| 299 | // More to write. |
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| 300 | //byteSent = 0; |
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| 301 | pgs = dState.SEND_PGM_DATA; |
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| 302 | } |
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| 303 | } |
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| 304 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
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| 305 | // else .. |
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| 306 | Console.WriteLine("Nack on CAN_NMT_PGM_DATA."); |
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| 307 | errorOccured = true; |
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| 308 | pgs = dState.SEND_RESET; |
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| 309 | } |
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| 310 | } |
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| 311 | } |
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| 312 | break; |
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| 313 | |||
| 314 | case dState.SEND_DONE: |
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| 876 | arune | 315 | Console.Write("\r"); |
| 316 | Console.Write("100%"); |
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| 453 | arune | 317 | // Send done |
| 318 | outCm = cpn.getPgmEndPacket(); |
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| 319 | dc.sendCanPacket(outCm); |
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| 320 | |||
| 321 | t = Environment.TickCount; |
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| 632 | arune | 322 | t2 = Environment.TickCount; |
| 453 | arune | 323 | pgs = dState.WAIT_DONE; |
| 324 | break; |
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| 325 | |||
| 326 | |||
| 327 | case dState.WAIT_DONE: |
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| 328 | // Check for timeout, resend done packet in that case.. |
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| 329 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
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| 330 | Console.WriteLine("Timeout while waiting for end prg ack."); |
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| 331 | errorOccured = true; |
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| 332 | pgs = dState.SEND_RESET; |
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| 333 | } |
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| 467 | arune | 334 | //Thread.Sleep(1); |
| 453 | arune | 335 | |
| 336 | hasMessage = dc.getData(out cm); |
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| 337 | if (hasMessage) { |
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| 770 | arune | 338 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 339 | if (cpnin.isNMTPacket()) { |
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| 340 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
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| 453 | arune | 341 | // If no error |
| 342 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
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| 343 | Console.WriteLine(""); |
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| 344 | // |
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| 345 | int crc = calcCRC(hf); |
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| 346 | |||
| 347 | if (cm.getDataLength() == 2) { |
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| 348 | byte[] cmdata = cm.getData(); |
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| 349 | if ((cmdata[0] == (crc & 0xFF)) && (cmdata[1] == (crc>>8))) { |
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| 350 | if (!isBiosUpdate) { |
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| 351 | Console.WriteLine("Done, successfully programmed application."); |
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| 352 | pgs = dState.SEND_RESET; |
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| 353 | } else { |
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| 354 | Console.WriteLine("Done, successfully programmed bios to application space."); |
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| 355 | pgs = dState.SEND_BIOS_UPDATE; |
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| 356 | } |
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| 357 | } else { |
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| 358 | string nodecrc = String.Format("{0:x4}", (int)cmdata[0] + (int)(cmdata[1]<<8)); |
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| 359 | nodecrc = "0x"+nodecrc; |
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| 360 | string realcrc = String.Format("{0:x4}", (int)(crc & 0xFF) + (int)(crc & 0xFF00)); |
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| 361 | realcrc = "0x"+realcrc; |
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| 362 | Console.WriteLine("CRC failed. Node sent CRC "+nodecrc+" but should be "+realcrc+"."); |
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| 363 | errorOccured = true; |
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| 364 | pgs = dState.SEND_RESET; |
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| 365 | } |
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| 366 | |||
| 367 | byteSent = 0; |
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| 368 | } |
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| 369 | //Console.WriteLine("crc: " + crc + " " + (crc>>8) + " " + (crc & 0xFF)); |
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| 370 | //Console.WriteLine("ACKpkg with CRC: " + cm.ToString()); |
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| 371 | // |
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| 372 | } |
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| 373 | else if (cpnin.getType() == CAN_NMT_PGM_NACK) { |
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| 374 | // else resend addr.. |
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| 375 | Console.WriteLine("Nack on CAN_NMT_PGM_END."); |
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| 376 | errorOccured = true; |
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| 377 | pgs = dState.SEND_RESET; |
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| 378 | } |
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| 379 | } |
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| 380 | } |
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| 381 | break; |
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| 382 | |||
| 383 | case dState.SEND_BIOS_UPDATE: |
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| 384 | data[0] = (byte)(0 & 0x00FF); |
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| 385 | data[1] = (byte)((0 & 0xFF00) >> 8); |
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| 386 | data[2] = (byte)(dlOffset & 0x00FF); |
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| 387 | data[3] = (byte)((dlOffset & 0xFF00) >> 8); |
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| 388 | data[4] = (byte)((hf.getAddrUpper()-hf.getAddrLower()+1) & 0x00FF); |
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| 389 | data[5] = (byte)(((hf.getAddrUpper()-hf.getAddrLower()+1) & 0xFF00) >> 8); |
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| 390 | |||
| 391 | outCm = cpn.getPgmCopyPacket(data); |
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| 392 | Console.WriteLine("Now say a prayer, moving bios"); |
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| 393 | dc.sendCanPacket(outCm); |
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| 394 | t = Environment.TickCount; |
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| 632 | arune | 395 | t2 = Environment.TickCount; |
| 586 | arune | 396 | pgs = dState.WAIT_BOOT; |
| 397 | //pgs = dState.DONE; |
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| 453 | arune | 398 | break; |
| 586 | arune | 399 | |
| 400 | case dState.WAIT_BOOT: |
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| 401 | // Wait for node reset answer (boot msg). |
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| 637 | arune | 402 | if ((Environment.TickCount - t) > 3*TIMEOUT_MS) { |
| 586 | arune | 403 | // Woops, error. |
| 404 | Console.WriteLine("Timeout while waiting for node to boot."); |
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| 405 | errorOccured = true; |
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| 406 | pgs = dState.SEND_DONE; |
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| 407 | } |
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| 408 | //Thread.Sleep(1); |
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| 409 | // If received boot msg. |
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| 410 | hasMessage = dc.getData(out cm); |
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| 411 | if (hasMessage) { |
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| 770 | arune | 412 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 413 | if (cpnin.isNMTPacket()) { |
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| 414 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
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| 586 | arune | 415 | // If no error |
| 416 | if (cpnin.getType() == CAN_NMT_BIOS_START) { |
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| 417 | pgs = dState.SEND_EMPTY_START; |
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| 418 | } |
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| 419 | else { |
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| 420 | // else .. |
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| 421 | } |
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| 422 | } |
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| 423 | } |
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| 424 | break; |
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| 453 | arune | 425 | |
| 586 | arune | 426 | case dState.SEND_EMPTY_START: |
| 427 | // Send boot start packet to target. |
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| 428 | // and wait for ack. |
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| 429 | |||
| 430 | //data[RID_INDEX] = TARGET_ID; |
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| 431 | data[ADDR0_INDEX] = (byte)((0) & 0x0000FF); |
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| 432 | data[ADDR1_INDEX] = (byte)(((0) & 0x00FF00) >> 8); |
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| 433 | data[ADDR2_INDEX] = (byte)(((0) & 0xFF0000) >> 16); |
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| 434 | data[ADDR3_INDEX] = 0; |
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| 770 | arune | 435 | if (HWID_INUSE) { |
| 436 | data[HWID0_INDEX] = (byte)((hwid) & 0xFF); |
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| 437 | data[HWID1_INDEX] = (byte)((hwid>>8) & 0xFF); |
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| 438 | data[HWID2_INDEX] = (byte)((hwid>>16) & 0xFF); |
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| 439 | data[HWID3_INDEX] = (byte)((hwid>>24) & 0xFF); |
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| 440 | } |
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| 586 | arune | 441 | //outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data); |
| 442 | outCm = cpn.getPgmStartPacket(data); |
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| 443 | dc.sendCanPacket(outCm); |
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| 444 | t = Environment.TickCount; |
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| 632 | arune | 445 | t2 = Environment.TickCount; |
| 586 | arune | 446 | pgs = dState.WAIT_ACK_PRG_EMPTY; |
| 447 | break; |
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| 448 | |||
| 449 | |||
| 450 | case dState.WAIT_ACK_PRG_EMPTY: |
||
| 451 | // Check for timeout, resend start packet in that case.. |
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| 637 | arune | 452 | if ((Environment.TickCount - t) > 3*TIMEOUT_MS) { |
| 770 | arune | 453 | Console.WriteLine("Timeout while waiting for start prg ack during empty-first-block-cycle."); |
| 586 | arune | 454 | errorOccured = true; |
| 455 | pgs = dState.SEND_RESET; |
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| 456 | } |
||
| 457 | //Thread.Sleep(1); |
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| 458 | // If received ack. |
||
| 459 | hasMessage = dc.getData(out cm); |
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| 460 | if (hasMessage) { |
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| 770 | arune | 461 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 462 | if (cpnin.isNMTPacket()) { |
||
| 463 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
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| 586 | arune | 464 | // If no error |
| 465 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
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| 466 | // Start sending program data.. |
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| 467 | byteSent = 0; |
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| 468 | pgs = dState.SEND_EMPTY_DATA; |
||
| 469 | } |
||
| 470 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
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| 471 | // else .. |
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| 472 | Console.WriteLine("Nack on CAN_NMT_PGM_START."); |
||
| 473 | errorOccured = true; |
||
| 474 | pgs = dState.SEND_RESET; |
||
| 475 | } |
||
| 476 | } |
||
| 477 | } |
||
| 478 | break; |
||
| 479 | |||
| 480 | case dState.SEND_EMPTY_DATA: |
||
| 481 | // Send program data. |
||
| 482 | data[0] = 0; |
||
| 483 | data[1] = 0; |
||
| 484 | data[2] = 0xff; |
||
| 485 | data[3] = 0xff; |
||
| 486 | |||
| 487 | outCm = cpn.getPgmDataPacket(data, 4); |
||
| 488 | dc.sendCanPacket(outCm); |
||
| 489 | |||
| 490 | t = Environment.TickCount; |
||
| 632 | arune | 491 | t2 = Environment.TickCount; |
| 586 | arune | 492 | byteSent += 6; |
| 493 | pgs = dState.WAIT_ACK_EMPTY_DATA; |
||
| 494 | break; |
||
| 495 | |||
| 496 | |||
| 497 | case dState.WAIT_ACK_EMPTY_DATA: |
||
| 498 | // Wait for pgm ack. |
||
| 499 | if ((Environment.TickCount - t) > 2*TIMEOUT_MS) { |
||
| 500 | // Woops, error. |
||
| 501 | Console.WriteLine("Timeout while waiting for data ack."); |
||
| 502 | errorOccured = true; |
||
| 503 | pgs = dState.SEND_RESET; |
||
| 504 | } |
||
| 505 | //Thread.Sleep(1); |
||
| 506 | // If received ack. |
||
| 507 | hasMessage = dc.getData(out cm); |
||
| 508 | if (hasMessage) { |
||
| 770 | arune | 509 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 510 | if (cpnin.isNMTPacket()) { |
||
| 511 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
||
| 586 | arune | 512 | // If no error |
| 513 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
||
| 514 | pgs = dState.SEND_DONE_EMPTY; |
||
| 515 | } |
||
| 516 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
||
| 517 | // else .. |
||
| 518 | Console.WriteLine("Nack on CAN_NMT_PGM_DATA."); |
||
| 519 | errorOccured = true; |
||
| 520 | pgs = dState.SEND_RESET; |
||
| 521 | } |
||
| 522 | } |
||
| 523 | } |
||
| 524 | break; |
||
| 525 | |||
| 526 | case dState.SEND_DONE_EMPTY: |
||
| 527 | // Send done |
||
| 528 | outCm = cpn.getPgmEndPacket(); |
||
| 529 | dc.sendCanPacket(outCm); |
||
| 530 | |||
| 531 | t = Environment.TickCount; |
||
| 632 | arune | 532 | t2 = Environment.TickCount; |
| 586 | arune | 533 | pgs = dState.WAIT_DONE_EMPTY; |
| 534 | break; |
||
| 535 | |||
| 536 | |||
| 537 | case dState.WAIT_DONE_EMPTY: |
||
| 538 | // Check for timeout, resend done packet in that case.. |
||
| 539 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
||
| 540 | Console.WriteLine("Timeout while waiting for end prg ack."); |
||
| 541 | errorOccured = true; |
||
| 542 | pgs = dState.SEND_RESET; |
||
| 543 | } |
||
| 544 | //Thread.Sleep(1); |
||
| 545 | |||
| 546 | hasMessage = dc.getData(out cm); |
||
| 547 | if (hasMessage) { |
||
| 770 | arune | 548 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 549 | if (cpnin.isNMTPacket()) { |
||
| 550 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
||
| 586 | arune | 551 | // If no error |
| 552 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
||
| 553 | Console.WriteLine(""); |
||
| 554 | // |
||
| 555 | Console.WriteLine("Done, successfully cleaned application flash."); |
||
| 556 | pgs = dState.SEND_RESET; |
||
| 557 | } |
||
| 558 | else if (cpnin.getType() == CAN_NMT_PGM_NACK) { |
||
| 559 | // else resend addr.. |
||
| 560 | Console.WriteLine("Nack on CAN_NMT_PGM_END."); |
||
| 561 | errorOccured = true; |
||
| 562 | pgs = dState.SEND_RESET; |
||
| 563 | } |
||
| 564 | } |
||
| 565 | } |
||
| 566 | break; |
||
| 453 | arune | 567 | case dState.SEND_RESET: |
| 568 | // Send reset |
||
| 770 | arune | 569 | cpn.doReset(dc, receiveID, hwid); |
| 453 | arune | 570 | t = Environment.TickCount; |
| 632 | arune | 571 | t2 = Environment.TickCount; |
| 453 | arune | 572 | pgs = dState.DONE; |
| 573 | break; |
||
| 574 | |||
| 575 | |||
| 576 | case dState.DONE: |
||
| 577 | done = true; |
||
| 578 | //down.Abort(); |
||
| 579 | if (!errorOccured) { |
||
| 580 | long tsecs = ((Environment.TickCount - timeStart) / 1000); |
||
| 581 | double bitRate = hf.getLength() / ((double)(Environment.TickCount - timeStart) / 1000.0); |
||
| 582 | |||
| 583 | if (tsecs <= 0) tsecs = 1; |
||
| 584 | long mins = tsecs / 60; |
||
| 585 | long secs = tsecs % 60; |
||
| 586 | string pad = ""; |
||
| 587 | if (secs < 10) { |
||
| 588 | pad = "0"; |
||
| 589 | } |
||
| 590 | Console.WriteLine("Time spent: " + mins + ":" + pad + secs + ", " + Math.Round(bitRate, 2) + " bytes/s"); |
||
| 591 | } |
||
| 592 | //Console.Write("> "); |
||
| 593 | break; |
||
| 594 | } |
||
| 595 | } |
||
| 596 | |||
| 597 | } catch(Exception) { |
||
| 598 | Console.WriteLine("Exception occured"); |
||
| 599 | //Console.WriteLine(e); |
||
| 600 | //skriva ut antal bytes skrivna vore bra här, kanske nån annan form av hjälp för debug, något gick snett liksom |
||
| 601 | |||
| 602 | } |
||
| 603 | |||
| 604 | return !errorOccured; |
||
| 605 | } |
||
| 606 | } |