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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..."); |
| 877 | arune | 143 | Console.Write(" 0%"); |
| 453 | arune | 144 | break; |
| 145 | |||
| 146 | |||
| 147 | case dState.WAIT_ACK_PRG: |
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| 148 | // Check for timeout, resend start packet in that case.. |
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| 149 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
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| 150 | Console.WriteLine("Timeout while waiting for start prg ack."); |
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| 151 | errorOccured = true; |
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| 152 | pgs = dState.SEND_RESET; |
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| 153 | } |
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| 467 | arune | 154 | //Thread.Sleep(1); |
| 453 | arune | 155 | // If received ack. |
| 156 | hasMessage = dc.getData(out cm); |
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| 157 | if (hasMessage) { |
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| 770 | arune | 158 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 159 | if (cpnin.isNMTPacket()) { |
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| 160 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
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| 453 | arune | 161 | // If no error |
| 162 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
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| 163 | // Start sending program data.. |
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| 164 | byteSent = 0; |
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| 165 | pgs = dState.SEND_PGM_DATA; |
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| 166 | } |
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| 167 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
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| 168 | // else .. |
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| 169 | Console.WriteLine("Nack on CAN_NMT_PGM_START."); |
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| 170 | errorOccured = true; |
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| 171 | pgs = dState.SEND_RESET; |
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| 172 | } |
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| 173 | } |
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| 174 | } |
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| 175 | break; |
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| 176 | |||
| 177 | case dState.SEND_PGM_DATA: |
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| 178 | //Console.WriteLine("byteSent = "+byteSent); |
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| 876 | arune | 179 | //disable Console.Write("."); |
| 180 | //Console.Write("\b"); |
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| 181 | //int curleft = Console.CursorLeft; |
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| 182 | //int curtop = Console.CursorTop; |
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| 183 | //Console.SetCursorPosition(curleft, curtop-1); |
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| 184 | |||
| 185 | //if (rotstate==0) { |
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| 186 | // Console.Write("-"); |
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| 187 | // rotstate=1; |
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| 188 | //} else if (rotstate==1) { |
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| 189 | // Console.Write("\\"); |
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| 190 | // rotstate=2; |
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| 191 | //} else if (rotstate==2) { |
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| 192 | // Console.Write("|"); |
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| 193 | // rotstate=3; |
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| 194 | //} else if (rotstate==3) { |
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| 195 | // Console.Write("/"); |
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| 196 | // rotstate=0; |
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| 197 | //} |
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| 198 | //Console.Write("\r"); |
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| 199 | //dldisplaystate |
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| 200 | |||
| 201 | //FULHACK deulx |
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| 202 | ulong percent = byteSent*100/(hf.getAddrUpper()-currentAddress); |
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| 203 | |||
| 204 | if (percent>9 && dldisplaystate==0) { |
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| 205 | Console.Write("\r"); |
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| 877 | arune | 206 | Console.Write(" "+percent+"%"); |
| 876 | arune | 207 | dldisplaystate=1; |
| 208 | } else if (percent>19 && dldisplaystate==1) { |
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| 209 | Console.Write("\r"); |
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| 877 | arune | 210 | Console.Write(" "+percent+"%"); |
| 876 | arune | 211 | dldisplaystate=2; |
| 212 | } else if (percent>29 && dldisplaystate==2) { |
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| 213 | Console.Write("\r"); |
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| 877 | arune | 214 | Console.Write(" "+percent+"%"); |
| 876 | arune | 215 | dldisplaystate=3; |
| 216 | } else if (percent>39 && dldisplaystate==3) { |
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| 217 | Console.Write("\r"); |
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| 877 | arune | 218 | Console.Write(" "+percent+"%"); |
| 876 | arune | 219 | dldisplaystate=4; |
| 220 | } else if (percent>49 && dldisplaystate==4) { |
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| 221 | Console.Write("\r"); |
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| 877 | arune | 222 | Console.Write(" "+percent+"%"); |
| 876 | arune | 223 | dldisplaystate=5; |
| 224 | } else if (percent>59 && dldisplaystate==5) { |
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| 225 | Console.Write("\r"); |
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| 877 | arune | 226 | Console.Write(" "+percent+"%"); |
| 876 | arune | 227 | dldisplaystate=6; |
| 228 | } else if (percent>69 && dldisplaystate==6) { |
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| 229 | Console.Write("\r"); |
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| 877 | arune | 230 | Console.Write(" "+percent+"%"); |
| 876 | arune | 231 | dldisplaystate=7; |
| 232 | } else if (percent>79 && dldisplaystate==7) { |
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| 233 | Console.Write("\r"); |
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| 877 | arune | 234 | Console.Write(" "+percent+"%"); |
| 876 | arune | 235 | dldisplaystate=8; |
| 236 | } else if (percent>89 && dldisplaystate==8) { |
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| 237 | Console.Write("\r"); |
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| 877 | arune | 238 | Console.Write(" "+percent+"%"); |
| 876 | arune | 239 | dldisplaystate=9; |
| 240 | } else if (percent>99 && dldisplaystate==9) { |
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| 241 | Console.Write("\r"); |
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| 877 | arune | 242 | Console.Write(" "+percent+"%"); |
| 876 | arune | 243 | dldisplaystate=10; |
| 244 | } |
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| 877 | arune | 245 | Console.Write("."); |
| 876 | arune | 246 | |
| 453 | arune | 247 | // Send program data. |
| 248 | byte datalength = 2; |
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| 249 | for (ulong i = 0; i < 6; i++) { |
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| 250 | // Populate data. |
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| 251 | data[i+2] = hf.getByte(currentAddress + i + byteSent); |
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| 252 | if (currentAddress + i + byteSent > hf.getAddrUpper()) { |
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| 253 | break; //then done |
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| 254 | } |
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| 255 | datalength++; |
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| 256 | } |
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| 257 | data[0] = (byte)(byteSent & 0x00FF); |
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| 258 | data[1] = (byte)((byteSent & 0xFF00) >> 8); |
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| 259 | |||
| 260 | outCm = cpn.getPgmDataPacket(data, datalength); |
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| 261 | dc.sendCanPacket(outCm); |
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| 262 | |||
| 263 | t = Environment.TickCount; |
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| 632 | arune | 264 | t2 = Environment.TickCount; |
| 453 | arune | 265 | byteSent += 6; |
| 266 | pgs = dState.WAIT_ACK_DATA; |
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| 267 | break; |
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| 268 | |||
| 269 | |||
| 270 | case dState.WAIT_ACK_DATA: |
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| 271 | // Wait for pgm ack. |
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| 632 | arune | 272 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
| 453 | arune | 273 | // Woops, error. |
| 274 | Console.WriteLine("Timeout while waiting for data ack."); |
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| 275 | errorOccured = true; |
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| 276 | pgs = dState.SEND_RESET; |
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| 277 | } |
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| 634 | arune | 278 | else if ((Environment.TickCount - t2) > TIMEOUT_SHORT_MS) { |
| 632 | arune | 279 | // Woops, error. |
| 876 | arune | 280 | //disable Console.Write(":"); |
| 632 | arune | 281 | byteSent -= 6; |
| 282 | pgs = dState.SEND_PGM_DATA; |
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| 283 | break; |
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| 284 | } |
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| 467 | arune | 285 | //Thread.Sleep(1); |
| 453 | arune | 286 | // If received ack. |
| 287 | hasMessage = dc.getData(out cm); |
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| 288 | if (hasMessage) { |
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| 770 | arune | 289 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 290 | if (cpnin.isNMTPacket()) { |
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| 291 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
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| 453 | arune | 292 | // If no error |
| 293 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
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| 294 | //currentAddress += 2; |
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| 295 | // Check if end. |
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| 296 | if (currentAddress + byteSent > hf.getAddrUpper()) { |
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| 297 | // Yes, we are done, send done. |
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| 298 | pgs = dState.SEND_DONE; |
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| 299 | } |
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| 300 | else { |
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| 301 | // More to write. |
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| 302 | //byteSent = 0; |
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| 303 | pgs = dState.SEND_PGM_DATA; |
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| 304 | } |
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| 305 | } |
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| 306 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
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| 307 | // else .. |
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| 308 | Console.WriteLine("Nack on CAN_NMT_PGM_DATA."); |
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| 309 | errorOccured = true; |
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| 310 | pgs = dState.SEND_RESET; |
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| 311 | } |
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| 312 | } |
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| 313 | } |
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| 314 | break; |
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| 315 | |||
| 316 | case dState.SEND_DONE: |
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| 876 | arune | 317 | Console.Write("\r"); |
| 318 | Console.Write("100%"); |
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| 453 | arune | 319 | // Send done |
| 320 | outCm = cpn.getPgmEndPacket(); |
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| 321 | dc.sendCanPacket(outCm); |
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| 322 | |||
| 323 | t = Environment.TickCount; |
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| 632 | arune | 324 | t2 = Environment.TickCount; |
| 453 | arune | 325 | pgs = dState.WAIT_DONE; |
| 326 | break; |
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| 327 | |||
| 328 | |||
| 329 | case dState.WAIT_DONE: |
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| 330 | // Check for timeout, resend done packet in that case.. |
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| 331 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
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| 332 | Console.WriteLine("Timeout while waiting for end prg ack."); |
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| 333 | errorOccured = true; |
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| 334 | pgs = dState.SEND_RESET; |
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| 335 | } |
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| 467 | arune | 336 | //Thread.Sleep(1); |
| 453 | arune | 337 | |
| 338 | hasMessage = dc.getData(out cm); |
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| 339 | if (hasMessage) { |
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| 770 | arune | 340 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 341 | if (cpnin.isNMTPacket()) { |
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| 342 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
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| 453 | arune | 343 | // If no error |
| 344 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
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| 345 | Console.WriteLine(""); |
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| 346 | // |
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| 347 | int crc = calcCRC(hf); |
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| 348 | |||
| 349 | if (cm.getDataLength() == 2) { |
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| 350 | byte[] cmdata = cm.getData(); |
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| 351 | if ((cmdata[0] == (crc & 0xFF)) && (cmdata[1] == (crc>>8))) { |
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| 352 | if (!isBiosUpdate) { |
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| 353 | Console.WriteLine("Done, successfully programmed application."); |
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| 354 | pgs = dState.SEND_RESET; |
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| 355 | } else { |
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| 356 | Console.WriteLine("Done, successfully programmed bios to application space."); |
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| 357 | pgs = dState.SEND_BIOS_UPDATE; |
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| 358 | } |
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| 359 | } else { |
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| 360 | string nodecrc = String.Format("{0:x4}", (int)cmdata[0] + (int)(cmdata[1]<<8)); |
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| 361 | nodecrc = "0x"+nodecrc; |
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| 362 | string realcrc = String.Format("{0:x4}", (int)(crc & 0xFF) + (int)(crc & 0xFF00)); |
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| 363 | realcrc = "0x"+realcrc; |
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| 364 | Console.WriteLine("CRC failed. Node sent CRC "+nodecrc+" but should be "+realcrc+"."); |
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| 365 | errorOccured = true; |
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| 366 | pgs = dState.SEND_RESET; |
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| 367 | } |
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| 368 | |||
| 369 | byteSent = 0; |
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| 370 | } |
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| 371 | //Console.WriteLine("crc: " + crc + " " + (crc>>8) + " " + (crc & 0xFF)); |
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| 372 | //Console.WriteLine("ACKpkg with CRC: " + cm.ToString()); |
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| 373 | // |
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| 374 | } |
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| 375 | else if (cpnin.getType() == CAN_NMT_PGM_NACK) { |
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| 376 | // else resend addr.. |
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| 377 | Console.WriteLine("Nack on CAN_NMT_PGM_END."); |
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| 378 | errorOccured = true; |
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| 379 | pgs = dState.SEND_RESET; |
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| 380 | } |
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| 381 | } |
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| 382 | } |
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| 383 | break; |
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| 384 | |||
| 385 | case dState.SEND_BIOS_UPDATE: |
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| 386 | data[0] = (byte)(0 & 0x00FF); |
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| 387 | data[1] = (byte)((0 & 0xFF00) >> 8); |
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| 388 | data[2] = (byte)(dlOffset & 0x00FF); |
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| 389 | data[3] = (byte)((dlOffset & 0xFF00) >> 8); |
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| 390 | data[4] = (byte)((hf.getAddrUpper()-hf.getAddrLower()+1) & 0x00FF); |
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| 391 | data[5] = (byte)(((hf.getAddrUpper()-hf.getAddrLower()+1) & 0xFF00) >> 8); |
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| 392 | |||
| 393 | outCm = cpn.getPgmCopyPacket(data); |
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| 394 | Console.WriteLine("Now say a prayer, moving bios"); |
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| 395 | dc.sendCanPacket(outCm); |
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| 396 | t = Environment.TickCount; |
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| 632 | arune | 397 | t2 = Environment.TickCount; |
| 586 | arune | 398 | pgs = dState.WAIT_BOOT; |
| 399 | //pgs = dState.DONE; |
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| 453 | arune | 400 | break; |
| 586 | arune | 401 | |
| 402 | case dState.WAIT_BOOT: |
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| 403 | // Wait for node reset answer (boot msg). |
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| 637 | arune | 404 | if ((Environment.TickCount - t) > 3*TIMEOUT_MS) { |
| 586 | arune | 405 | // Woops, error. |
| 406 | Console.WriteLine("Timeout while waiting for node to boot."); |
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| 407 | errorOccured = true; |
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| 408 | pgs = dState.SEND_DONE; |
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| 409 | } |
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| 410 | //Thread.Sleep(1); |
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| 411 | // If received boot msg. |
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| 412 | hasMessage = dc.getData(out cm); |
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| 413 | if (hasMessage) { |
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| 770 | arune | 414 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 415 | if (cpnin.isNMTPacket()) { |
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| 416 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
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| 586 | arune | 417 | // If no error |
| 418 | if (cpnin.getType() == CAN_NMT_BIOS_START) { |
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| 419 | pgs = dState.SEND_EMPTY_START; |
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| 420 | } |
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| 421 | else { |
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| 422 | // else .. |
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| 423 | } |
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| 424 | } |
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| 425 | } |
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| 426 | break; |
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| 453 | arune | 427 | |
| 586 | arune | 428 | case dState.SEND_EMPTY_START: |
| 429 | // Send boot start packet to target. |
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| 430 | // and wait for ack. |
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| 431 | |||
| 432 | //data[RID_INDEX] = TARGET_ID; |
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| 433 | data[ADDR0_INDEX] = (byte)((0) & 0x0000FF); |
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| 434 | data[ADDR1_INDEX] = (byte)(((0) & 0x00FF00) >> 8); |
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| 435 | data[ADDR2_INDEX] = (byte)(((0) & 0xFF0000) >> 16); |
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| 436 | data[ADDR3_INDEX] = 0; |
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| 770 | arune | 437 | if (HWID_INUSE) { |
| 438 | data[HWID0_INDEX] = (byte)((hwid) & 0xFF); |
||
| 439 | data[HWID1_INDEX] = (byte)((hwid>>8) & 0xFF); |
||
| 440 | data[HWID2_INDEX] = (byte)((hwid>>16) & 0xFF); |
||
| 441 | data[HWID3_INDEX] = (byte)((hwid>>24) & 0xFF); |
||
| 442 | } |
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| 586 | arune | 443 | //outCm = new CanPacket(CAN_NMT, CAN_NMT_PGM_START, MY_ID, receiveID, 4, data); |
| 444 | outCm = cpn.getPgmStartPacket(data); |
||
| 445 | dc.sendCanPacket(outCm); |
||
| 446 | t = Environment.TickCount; |
||
| 632 | arune | 447 | t2 = Environment.TickCount; |
| 586 | arune | 448 | pgs = dState.WAIT_ACK_PRG_EMPTY; |
| 449 | break; |
||
| 450 | |||
| 451 | |||
| 452 | case dState.WAIT_ACK_PRG_EMPTY: |
||
| 453 | // Check for timeout, resend start packet in that case.. |
||
| 637 | arune | 454 | if ((Environment.TickCount - t) > 3*TIMEOUT_MS) { |
| 770 | arune | 455 | Console.WriteLine("Timeout while waiting for start prg ack during empty-first-block-cycle."); |
| 586 | arune | 456 | errorOccured = true; |
| 457 | pgs = dState.SEND_RESET; |
||
| 458 | } |
||
| 459 | //Thread.Sleep(1); |
||
| 460 | // If received ack. |
||
| 461 | hasMessage = dc.getData(out cm); |
||
| 462 | if (hasMessage) { |
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| 770 | arune | 463 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 464 | if (cpnin.isNMTPacket()) { |
||
| 465 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
||
| 586 | arune | 466 | // If no error |
| 467 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
||
| 468 | // Start sending program data.. |
||
| 469 | byteSent = 0; |
||
| 470 | pgs = dState.SEND_EMPTY_DATA; |
||
| 471 | } |
||
| 472 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
||
| 473 | // else .. |
||
| 474 | Console.WriteLine("Nack on CAN_NMT_PGM_START."); |
||
| 475 | errorOccured = true; |
||
| 476 | pgs = dState.SEND_RESET; |
||
| 477 | } |
||
| 478 | } |
||
| 479 | } |
||
| 480 | break; |
||
| 481 | |||
| 482 | case dState.SEND_EMPTY_DATA: |
||
| 483 | // Send program data. |
||
| 484 | data[0] = 0; |
||
| 485 | data[1] = 0; |
||
| 486 | data[2] = 0xff; |
||
| 487 | data[3] = 0xff; |
||
| 488 | |||
| 489 | outCm = cpn.getPgmDataPacket(data, 4); |
||
| 490 | dc.sendCanPacket(outCm); |
||
| 491 | |||
| 492 | t = Environment.TickCount; |
||
| 632 | arune | 493 | t2 = Environment.TickCount; |
| 586 | arune | 494 | byteSent += 6; |
| 495 | pgs = dState.WAIT_ACK_EMPTY_DATA; |
||
| 496 | break; |
||
| 497 | |||
| 498 | |||
| 499 | case dState.WAIT_ACK_EMPTY_DATA: |
||
| 500 | // Wait for pgm ack. |
||
| 501 | if ((Environment.TickCount - t) > 2*TIMEOUT_MS) { |
||
| 502 | // Woops, error. |
||
| 503 | Console.WriteLine("Timeout while waiting for data ack."); |
||
| 504 | errorOccured = true; |
||
| 505 | pgs = dState.SEND_RESET; |
||
| 506 | } |
||
| 507 | //Thread.Sleep(1); |
||
| 508 | // If received ack. |
||
| 509 | hasMessage = dc.getData(out cm); |
||
| 510 | if (hasMessage) { |
||
| 770 | arune | 511 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 512 | if (cpnin.isNMTPacket()) { |
||
| 513 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
||
| 586 | arune | 514 | // If no error |
| 515 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
||
| 516 | pgs = dState.SEND_DONE_EMPTY; |
||
| 517 | } |
||
| 518 | else if (cpnin.getType() == CAN_NMT_PGM_NACK ) { |
||
| 519 | // else .. |
||
| 520 | Console.WriteLine("Nack on CAN_NMT_PGM_DATA."); |
||
| 521 | errorOccured = true; |
||
| 522 | pgs = dState.SEND_RESET; |
||
| 523 | } |
||
| 524 | } |
||
| 525 | } |
||
| 526 | break; |
||
| 527 | |||
| 528 | case dState.SEND_DONE_EMPTY: |
||
| 529 | // Send done |
||
| 530 | outCm = cpn.getPgmEndPacket(); |
||
| 531 | dc.sendCanPacket(outCm); |
||
| 532 | |||
| 533 | t = Environment.TickCount; |
||
| 632 | arune | 534 | t2 = Environment.TickCount; |
| 586 | arune | 535 | pgs = dState.WAIT_DONE_EMPTY; |
| 536 | break; |
||
| 537 | |||
| 538 | |||
| 539 | case dState.WAIT_DONE_EMPTY: |
||
| 540 | // Check for timeout, resend done packet in that case.. |
||
| 541 | if ((Environment.TickCount - t) > TIMEOUT_MS) { |
||
| 542 | Console.WriteLine("Timeout while waiting for end prg ack."); |
||
| 543 | errorOccured = true; |
||
| 544 | pgs = dState.SEND_RESET; |
||
| 545 | } |
||
| 546 | //Thread.Sleep(1); |
||
| 547 | |||
| 548 | hasMessage = dc.getData(out cm); |
||
| 549 | if (hasMessage) { |
||
| 770 | arune | 550 | CanNMT cpnin = new CanNMT(cm, HWID_INUSE); |
| 551 | if (cpnin.isNMTPacket()) { |
||
| 552 | //if (cpnin.isNMTPacket() && (cpnin.getSender() == receiveID)) { |
||
| 586 | arune | 553 | // If no error |
| 554 | if (cpnin.getType() == CAN_NMT_PGM_ACK) { |
||
| 555 | Console.WriteLine(""); |
||
| 556 | // |
||
| 557 | Console.WriteLine("Done, successfully cleaned application flash."); |
||
| 558 | pgs = dState.SEND_RESET; |
||
| 559 | } |
||
| 560 | else if (cpnin.getType() == CAN_NMT_PGM_NACK) { |
||
| 561 | // else resend addr.. |
||
| 562 | Console.WriteLine("Nack on CAN_NMT_PGM_END."); |
||
| 563 | errorOccured = true; |
||
| 564 | pgs = dState.SEND_RESET; |
||
| 565 | } |
||
| 566 | } |
||
| 567 | } |
||
| 568 | break; |
||
| 453 | arune | 569 | case dState.SEND_RESET: |
| 570 | // Send reset |
||
| 770 | arune | 571 | cpn.doReset(dc, receiveID, hwid); |
| 453 | arune | 572 | t = Environment.TickCount; |
| 632 | arune | 573 | t2 = Environment.TickCount; |
| 453 | arune | 574 | pgs = dState.DONE; |
| 575 | break; |
||
| 576 | |||
| 577 | |||
| 578 | case dState.DONE: |
||
| 579 | done = true; |
||
| 580 | //down.Abort(); |
||
| 581 | if (!errorOccured) { |
||
| 582 | long tsecs = ((Environment.TickCount - timeStart) / 1000); |
||
| 583 | double bitRate = hf.getLength() / ((double)(Environment.TickCount - timeStart) / 1000.0); |
||
| 584 | |||
| 585 | if (tsecs <= 0) tsecs = 1; |
||
| 586 | long mins = tsecs / 60; |
||
| 587 | long secs = tsecs % 60; |
||
| 588 | string pad = ""; |
||
| 589 | if (secs < 10) { |
||
| 590 | pad = "0"; |
||
| 591 | } |
||
| 592 | Console.WriteLine("Time spent: " + mins + ":" + pad + secs + ", " + Math.Round(bitRate, 2) + " bytes/s"); |
||
| 593 | } |
||
| 594 | //Console.Write("> "); |
||
| 595 | break; |
||
| 596 | } |
||
| 597 | } |
||
| 598 | |||
| 599 | } catch(Exception) { |
||
| 600 | Console.WriteLine("Exception occured"); |
||
| 601 | //Console.WriteLine(e); |
||
| 602 | //skriva ut antal bytes skrivna vore bra här, kanske nån annan form av hjälp för debug, något gick snett liksom |
||
| 603 | |||
| 604 | } |
||
| 605 | |||
| 606 | return !errorOccured; |
||
| 607 | } |
||
| 608 | } |