diff --git a/src/fw_downloader/fw_downloader.cpp b/src/fw_downloader/fw_downloader.cpp
index 39eb7e3ea81bba88c15f16b015f297f56ed56b19..a89ef02db34fd11fe61b1793d4c39662dee75b77 100755
--- a/src/fw_downloader/fw_downloader.cpp
+++ b/src/fw_downloader/fw_downloader.cpp
@@ -11,7 +11,7 @@
const unsigned char bootloader_ping='#';
const unsigned char bootloader_ack[]="\n";
-const unsigned char bootloader_load_hex[]="l\n";
+const unsigned char bootloader_load_hex[]="l 0x08003000\n";
const unsigned char bootloader_load_motion[]="l 0x08060000\n";
const unsigned char bootloader_go[]="\ngo\n";
@@ -41,14 +41,15 @@ int main(int argc,char *argv[])
std::string opt_device,opt_fw_file,opt_motion_file,servo_model;
// binary file variables
unsigned char binary_file[MEMORY_MAXSIZE];
- long int downloaded_size=0;
+ long int downloaded_size=0,downloaded_block_size=0;
long int start_address=0;
long int binary_size=0;
- int block_size=0,count=0;
+ int block_size=0,count=0,small_block_size=0;
// bootloader variables
unsigned char bootloader_data[MEMORY_MAXSIZE];
- bool bootloader_connected=false;
+ bool bootloader_connected=false,error=false;
unsigned char checksum=0x00;
+ char load_hex_address[32];
// motion file variables
FILE *motion_fd;
@@ -58,6 +59,9 @@ int main(int argc,char *argv[])
serial_config.parity=none;
serial_config.stop_bits=1;
+ for(i=0;i<MEMORY_MAXSIZE;i++)
+ binary_file[i]=0xFF;
+
// parse the input arguments
do{
opt_status=getopt_long_only(argc,argv,"",long_options,&opt_index);
@@ -192,7 +196,7 @@ int main(int argc,char *argv[])
while(!end)
{
try{
- event_server->wait_all(events,1000);
+ event_server->wait_all(events,3000);
num_data=serial_port.get_num_data();
serial_port.read(bootloader_data,num_data);
bootloader_data[num_data]='\0';
@@ -206,14 +210,11 @@ int main(int argc,char *argv[])
sleep(1);
end=false;
// start the download
-// if(opt_fw_file.size()!=0)
- serial_port.write((unsigned char *)bootloader_load_hex,1);
-// else
-// serial_port.write((unsigned char *)bootloader_load_motion,13);
+ serial_port.write((unsigned char *)bootloader_load_hex,13);
while(!end)
{
try{
- event_server->wait_all(events,1000);
+ event_server->wait_all(events,3000);
num_data=serial_port.get_num_data();
serial_port.read(bootloader_data,num_data);
bootloader_data[num_data]='\0';
@@ -225,7 +226,7 @@ int main(int argc,char *argv[])
}
}
sleep(1);
- if(servo_model=="mx28")
+/* if(servo_model=="mx28")
{
end=false;
serial_port.write((unsigned char *)bootloader_ack, 1);
@@ -244,8 +245,106 @@ int main(int argc,char *argv[])
}
}
sleep(1);
- }
- end=false;
+ }*/
+/* end=false;
+ while(downloaded_size < binary_size)
+ {
+ sleep(1);
+ end=false;
+ sprintf(load_hex_address,"l 0x%08x\n",(int)(0x08000000+start_address+downloaded_size));
+ serial_port.write((unsigned char *)load_hex_address, strlen(load_hex_address));
+ while(!end)
+ {
+ try{
+ event_server->wait_all(events,1000);
+ error=true;
+ num_data=serial_port.get_num_data();
+ serial_port.read(bootloader_data,num_data);
+ bootloader_data[num_data]='\0';
+ printf("%s",bootloader_data);
+ fflush(stdout);
+ }catch(CEventTimeoutException &e){
+ // the flash has been properly erased
+ if(error)
+ {
+ serial_port.close();
+ return 0;
+ }
+ else
+ end=true;
+ }
+ }
+ sleep(1);
+ if(servo_model=="mx28")
+ {
+ error=false;
+ end=false;
+ serial_port.write((unsigned char *)bootloader_ack, 1);
+ while(!end)
+ {
+ try{
+ event_server->wait_all(events,3000);
+ num_data=serial_port.get_num_data();
+ serial_port.read(bootloader_data,num_data);
+ bootloader_data[num_data]='\0';
+ printf("%s",bootloader_data);
+ fflush(stdout);
+ }catch(CEventTimeoutException &e){
+ // the flash has been properly erased
+ if(error)
+ {
+ serial_port.close();
+ return 0;
+ }
+ else
+ end=true;
+ }
+ }
+ sleep(1);
+ }
+ block_size=binary_size-downloaded_size;
+ if(block_size>64*1024)
+ block_size=64*1024;
+ // compute the binary file checksum
+ checksum=0;
+ for(i=0;i<block_size;i++)
+ checksum+=binary_file[start_address+downloaded_size+i];
+ downloaded_block_size=0;
+ while(downloaded_block_size < block_size)
+ {
+ usleep(1000);
+ small_block_size=block_size-downloaded_block_size;
+ if(small_block_size>64)
+ small_block_size=64;
+ serial_port.write(&binary_file[start_address+downloaded_size+downloaded_block_size],small_block_size);
+ downloaded_block_size+=small_block_size;
+ printf("\rDownloading Firmware (%ld/%ld byte)", downloaded_block_size, block_size);
+ }
+ downloaded_size+=block_size;
+ serial_port.write(&checksum,1);
+ sleep(1);
+ end=false;
+ while(!end)
+ {
+ try{
+ event_server->wait_all(events,3000);
+ // there has been an error
+ num_data=serial_port.get_num_data();
+ serial_port.read(bootloader_data,num_data);
+ bootloader_data[num_data]='\0';
+ printf("%s",bootloader_data);
+ }catch(CEventTimeoutException &e){
+ // no error to report
+ if(error)
+ {
+ serial_port.close();
+ return 0;
+ }
+ else
+ end=true;
+ }
+ }
+ }*/
// compute the binary file checksum
for(i=0;i<binary_size;i++)
checksum+=binary_file[start_address+i];
diff --git a/src/fw_downloader/hex2bin.cpp b/src/fw_downloader/hex2bin.cpp
index 256e190ec2a093f1628eaface2a820eae1c7080c..f556c72d674e820725cd952a64e9923f9696b04f 100755
--- a/src/fw_downloader/hex2bin.cpp
+++ b/src/fw_downloader/hex2bin.cpp
@@ -82,9 +82,8 @@ bool hex2bin(char *hexFile, unsigned char *pBinBuffer, long *StartAddress, long
case 0:
Address = First_Word;
Phys_Addr = ((Segment << 4) & ADDRESS_MASK) + Address + Ext_Addr;
-
/* Check that the physical address stays in the buffer's range. */
- if ((Phys_Addr + Nb_Bytes) <= MEMORY_MAXSIZE -1)
+ if ((Phys_Addr + Nb_Bytes) <= MEMORY_MAXSIZE )//-1)
{
/* Set the lowest address as base pointer. */
if(Lowest_Address > Phys_Addr)
diff --git a/src/fw_downloader/hex2bin.h b/src/fw_downloader/hex2bin.h
index d51e0eefdc1abba7876491eac622130f6315f074..f486e96e1df0f5568cae8e512a624bf45914c660 100755
--- a/src/fw_downloader/hex2bin.h
+++ b/src/fw_downloader/hex2bin.h
@@ -5,7 +5,7 @@
extern "C" {
#endif
-#define MEMORY_MAXSIZE 256*1024 /* size in bytes */
+#define MEMORY_MAXSIZE 512*1024 /* size in bytes */
bool hex2bin(char *hexFile, unsigned char *pBinBuffer, long *StartAddress, long *pBufSize);
#ifdef __cplusplus
diff --git a/src/robotis_bin_file/CMakeLists.txt b/src/robotis_bin_file/CMakeLists.txt
index 772e4c9d97c4a6b1480859d30ed7ec768b329789..63160c67298e2298a8fb9d3f496ed0e8897e4ee8 100644
--- a/src/robotis_bin_file/CMakeLists.txt
+++ b/src/robotis_bin_file/CMakeLists.txt
@@ -3,15 +3,16 @@ SET(sources robotis_bin_parser.cpp)
# application header files
SET(headers robotis_bin_parser.h)
# locate the necessary dependencies
-FIND_PACKAGE(robotis_mtn REQUIRED)
# add the necessary include directories
INCLUDE_DIRECTORIES(.)
-INCLUDE_DIRECTORIES(${robotis_mtn_INCLUDE_DIR})
+include_directories(../robotis_mtn)
+
# create the shared library
ADD_LIBRARY(robotis_bin_parser SHARED ${sources})
-TARGET_LINK_LIBRARIES(robotis_bin_parser ${robotis_mtn_LIBRARY})
+target_link_libraries(robotis_bin_parser robotis_mtn)
+
# link necessary libraries
INSTALL(TARGETS robotis_bin_parser
RUNTIME DESTINATION bin
diff --git a/src/robotis_mtn_file/CMakeLists.txt b/src/robotis_mtn_file/CMakeLists.txt
index 2be43f12d2f251fd780ec02326289ae5cf8fef73..6004dc34912f75f4d6d91a88296a697318989d4d 100644
--- a/src/robotis_mtn_file/CMakeLists.txt
+++ b/src/robotis_mtn_file/CMakeLists.txt
@@ -1,7 +1,6 @@
# Create target for the parser
FIND_PACKAGE(BISON REQUIRED)
FIND_PACKAGE(FLEX REQUIRED)
-FIND_PACKAGE(robotis_mtn REQUIRED)
SET(BisonOutput mtn_parser.cpp)
IF(BISON_FOUND)
@@ -30,12 +29,12 @@ SET(sources mtn_file_parser.cpp)
SET(headers mtn_file_parser.hpp mtn_file_scanner.hpp)
include_directories(.)
-include_directories(${robotis_mtn_INCLUDE_DIR})
+include_directories(../robotis_mtn)
include_directories(${CMAKE_CURRENT_BINARY_DIR})
add_library(robotis_mtn_parser SHARED ${BisonOutput} ${FlexOutput} ${sources})
-target_link_libraries(robotis_mtn_parser ${robotis_mtn_LIBRARY})
+target_link_libraries(robotis_mtn_parser robotis_mtn)
INSTALL(TARGETS robotis_mtn_parser
RUNTIME DESTINATION bin