diff --git a/src/fw_downloader/CMakeLists.txt b/src/fw_downloader/CMakeLists.txt
index 969571b2a1ea8a07471304992d780861da89a94c..cab8f0f4fe5be61c790ce05b0d51fc5c0f24edf0 100755
--- a/src/fw_downloader/CMakeLists.txt
+++ b/src/fw_downloader/CMakeLists.txt
@@ -18,3 +18,9 @@ ADD_EXECUTABLE(fw_downloader ${sources})
# link necessary libraries
TARGET_LINK_LIBRARIES(fw_downloader ${iriutils_LIBRARY})
TARGET_LINK_LIBRARIES(fw_downloader ${comm_LIBRARY})
+
+INSTALL(TARGETS fw_downloader
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib/iridrivers
+ ARCHIVE DESTINATION lib/iridrivers)
+
diff --git a/src/fw_downloader/fw_downloader.cpp b/src/fw_downloader/fw_downloader.cpp
index f41efc83e46febd1b57c24bac8db40c97e385400..633665f1968f1274f43fbc717f5020c7f1d5799f 100755
--- a/src/fw_downloader/fw_downloader.cpp
+++ b/src/fw_downloader/fw_downloader.cpp
@@ -10,11 +10,26 @@
#include <iostream>
const unsigned char bootloader_ping='#';
-const unsigned char bootloader_ack[]="\n";
-//const unsigned char bootloader_load_hex[]="l 0x08003000\n";
-const unsigned char bootloader_load_hex[]="l";
-const unsigned char bootloader_load_motion[]="l 0x08060000\n";
-const unsigned char bootloader_go[]="\ngo\n";
+const unsigned char bootloader_ack='\n';
+const unsigned char bootloader_load='l';
+const unsigned char bootloader_go='g';
+
+typedef enum {original_protocol=0,new_protocol=1} protocol_t;
+
+void show_help(char *name)
+{
+ std::cout << "Usage: " << name << "-d <serial device> -f <firmware file> -p <protocol> [-h]" << std::endl;
+ std::cout << " -d serial_device Linux serial device used to communicate" << std::endl;
+ std::cout << " -f firmware_file desired firmware file in Intel Hex format" << std::endl;
+ std::cout << " -p protocol Communication protocol to be used (original or new)" << std::endl;
+ std::cout << " devices supported by the original protocol:" << std::endl;
+ std::cout << " - ax servo family" << std::endl;
+ std::cout << " - rx servo family" << std::endl;
+ std::cout << " devices supported by the new protocol:" << std::endl;
+ std::cout << " - cm510" << std::endl;
+ std::cout << " - mx servo family" << std::endl;
+ std::cout << " -h shows this help" << std::endl;
+}
int main(int argc,char *argv[])
{
@@ -25,34 +40,19 @@ int main(int argc,char *argv[])
TRS232_config serial_config;
long int num_data=0,i=0;
bool end=false;
- // input arguments parser variables
- static struct option long_options[] = {{"h", no_argument, 0, 0},// display help message
- {"help", no_argument, 0, 0},
- {"d", required_argument, 0, 0},// select the desired output device
- {"device", required_argument, 0, 0},
- {"f", required_argument, 0, 0},// select the desired firmware file
- {"firmware", required_argument, 0, 0},
- {"m", required_argument, 0, 0},// select the desired motion file
- {"motion", required_argument, 0, 0},
- {"s", required_argument, 0, 0},// select the desired servo model
- {"servo", required_argument, 0, 0},
- {0, 0, 0, 0}
- };
- int opt_status,opt_index;
- std::string opt_device,opt_fw_file,opt_motion_file,servo_model;
+ int option;
+ std::string opt_device,opt_fw_file;
+ protocol_t protocol;
// binary file variables
unsigned char binary_file[MEMORY_MAXSIZE];
- long int downloaded_size=0,downloaded_block_size=0;
+ long int downloaded_size=0;
long int start_address=0;
long int binary_size=0;
- int block_size=0,count=0,small_block_size=0;
+ int block_size=0,count=0;
// bootloader variables
unsigned char bootloader_data[MEMORY_MAXSIZE];
- bool bootloader_connected=false,error=false;
+ bool bootloader_connected=false;
unsigned char checksum=0x00;
- char load_hex_address[32];
- // motion file variables
- FILE *motion_fd;
// configuration information for the serial device
serial_config.baud=57600;
@@ -60,58 +60,47 @@ 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;
+ memset(binary_file,0xFF,MEMORY_MAXSIZE);
// parse the input arguments
- do{
- opt_status=getopt_long_only(argc,argv,"",long_options,&opt_index);
- if(opt_status!=-1)
+ while((option = getopt(argc, argv, "hd:f:p:")) != -1)
+ {
+ switch(option)
{
- if(opt_status=='?')// option not recognized or argument missing
- {
- printf("Unknown option \n");
- return 0;
- /* handle the error and exit */
- }
- else// process the argument
- {
- switch(opt_index)
+ case 'h':// show help message
+ show_help(argv[0]);
+ break;
+ case 'd':// select serial device
+ std::cout << "Output device: " << optarg << std::endl;
+ opt_device=std::string(optarg);
+ break;
+ case 'f':// select firmware file
+ std::cout << "Firmware file: " << optarg << std::endl;
+ opt_fw_file=std::string(optarg);
+ break;
+ case 'p':// select protocol
+ std::cout << "Selected protocol: " << optarg << std::endl;
+ if(std::string(optarg)=="original")
+ protocol=original_protocol;
+ else if(std::string(optarg)=="new")
+ protocol=new_protocol;
+ else
{
- case 0:
- case 1: /* display the help information and exit */
- break;
- case 2:
- case 3: printf("output device: %s\n",optarg);
- opt_device=std::string(optarg);
- break;
- case 4:
- case 5: printf("Hex file: %s\n", optarg);
- opt_fw_file=std::string(optarg);
- break;
- case 6:
- case 7: printf("Motion file: %s\n",optarg);
- opt_motion_file=std::string(optarg);
- break;
- case 8:
- case 9: printf("servo model: %s\n",optarg);
- servo_model=std::string(optarg);
- break;
+ std::cout << "Unsupported protocol" << std::endl;
+ show_help(argv[0]);
+ return 0;
}
- }
+ break;
}
- }while(opt_status!=-1);
+ }
+
// check that the two arguments have been entered
if(opt_device.size()!=0)
{
- if(opt_fw_file.size()!=0 && opt_motion_file.size()!=0)
- {
- printf("Only one file can be download at a time.\n");
- return 0;
- }
- else if(opt_fw_file.size()==0 && opt_motion_file.size()==0)
+ if(opt_fw_file.size()==0)
{
- printf("At least one file have to be specified.\n");
+ std::cout << "No firmware file has been specified" << std::endl;
+ show_help(argv[0]);
return 0;
}
else
@@ -129,77 +118,55 @@ int main(int argc,char *argv[])
if(hex2bin((char *)opt_fw_file.c_str(), binary_file, &start_address, &binary_size) == false)
{
serial_port.close();
- printf("Error converting the firmware hex file.\n");
+ std::cout << "Error converting the firmware hex file" << std::endl;
return 0;
- /* throw an exception */
}
}
- else
+ std::cout << "Switch off device power and turn it on" << std::endl;
+ // ping the device
+ while(!bootloader_connected)
{
- // the motion file is already a binary file
- motion_fd = fopen(opt_motion_file.c_str(), "r");
- if (!motion_fd)
- {
- printf("Can not find file!\n");
- return 0;
- }
- fseek(motion_fd, 0, SEEK_END );
- if(ftell(motion_fd)!=(long)(MEMORY_MAXSIZE/2))
- {
- printf("The motion file is too short or too large.\n");
- return 0;
- }
- rewind(motion_fd);
- // read the contents of the file
- fread(binary_file,1,MEMORY_MAXSIZE/2,motion_fd);
- start_address=0;
- binary_size=MEMORY_MAXSIZE/2;
- // close the file
- fclose(motion_fd);
- }
- printf("Press DARwIn-OP's Reset button to start...\n");
- if(servo_model!="cm9")
- {
- while(!bootloader_connected)
- {
- try{
- event_server->wait_all(events,20);
- num_data=serial_port.get_num_data();
- serial_port.read((unsigned char *)bootloader_data,num_data);
- bootloader_data[num_data]='\0';
- printf("%s",bootloader_data);
- fflush(stdout);
- for(i=0;i<num_data;i++)
+ try{
+ event_server->wait_all(events,20);
+ num_data=serial_port.get_num_data();
+ serial_port.read((unsigned char *)bootloader_data,num_data);
+ bootloader_data[num_data]='\0';
+ printf("%s",bootloader_data);
+ fflush(stdout);
+ for(i=0;i<num_data;i++)
+ {
+ if(protocol==new_protocol)
{
- if(servo_model=="mx28")
+ if(bootloader_data[i]=='#')
{
- if(bootloader_data[i]=='#')
- {
- count++;
- if(count==5)
- bootloader_connected=true;
- }
+ count++;
+ if(count==5)
+ bootloader_connected=true;
}
- else if(servo_model=="ax12" || servo_model=="rx28")
+ }
+ else
+ {
+ if(bootloader_data[i]=='*')
{
- if(bootloader_data[i]=='*')
- {
- count++;
- if(count==5)
- bootloader_connected=true;
- }
+ count++;
+ if(count==5)
+ bootloader_connected=true;
}
}
- }catch(CEventTimeoutException &e){
- // do nothing and retry
- serial_port.write((unsigned char *)&bootloader_ping, 1);
}
+ }catch(CEventTimeoutException &e){
+ // do nothing and retry
+ serial_port.write((unsigned char *)&bootloader_ping, 1);
}
- serial_port.write((unsigned char *)bootloader_ack, 1);
+ }
+ if(protocol==new_protocol)
+ {
+ /* send acknowledgment to the device*/
+ serial_port.write((unsigned char *)&bootloader_ack, 1);
while(!end)
{
try{
- event_server->wait_all(events,3000);
+ event_server->wait_all(events,300);
num_data=serial_port.get_num_data();
serial_port.read(bootloader_data,num_data);
bootloader_data[num_data]='\0';
@@ -210,15 +177,16 @@ int main(int argc,char *argv[])
end=true;
}
}
+ end=false;
}
- sleep(1);
- end=false;
// start the download
- serial_port.write((unsigned char *)bootloader_load_hex,1);
+ serial_port.write((unsigned char *)&bootloader_load,1);
+ if(protocol==new_protocol)
+ serial_port.write((unsigned char *)&bootloader_ack,1);
while(!end)
{
try{
- event_server->wait_all(events,3000);
+ event_server->wait_all(events,300);
num_data=serial_port.get_num_data();
serial_port.read(bootloader_data,num_data);
bootloader_data[num_data]='\0';
@@ -229,126 +197,6 @@ int main(int argc,char *argv[])
end=true;
}
}
- sleep(1);
-/* if(servo_model=="mx28")
- {
- 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
- end=true;
- }
- }
- sleep(1);
- }*/
-/* 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];
@@ -356,31 +204,22 @@ int main(int argc,char *argv[])
while(downloaded_size < binary_size)
{
usleep(1000);
- if((num_data=serial_port.get_num_data())!=0)
- {
- serial_port.read(bootloader_data,num_data);
- bootloader_data[num_data]='\0';
- printf("%s",bootloader_data);
- return 0;
- }
block_size=binary_size-downloaded_size;
-// if(block_size>64)
-// block_size=64;
- block_size=binary_size;
+ if(block_size>64)
+ block_size=64;
serial_port.write(&binary_file[start_address+downloaded_size],block_size);
downloaded_size+=block_size;
printf("\rDownloading Firmware (%ld/%ld byte)", downloaded_size, binary_size);
- sync();
+ fflush(stdout);
}
// send the checksum
serial_port.write(&checksum,1);
- sleep(1);
- printf("\nDownload complete\n");
+ std::cout << std::endl << "Download complete" << std::endl;
end=false;
-/* while(!end)
+ while(!end)
{
try{
- event_server->wait_all(events,3000);
+ event_server->wait_all(events,300);
// there has been an error
num_data=serial_port.get_num_data();
serial_port.read(bootloader_data,num_data);
@@ -390,37 +229,36 @@ int main(int argc,char *argv[])
// no error to report
end=true;
}
- }*/
- return 0;
- if(opt_fw_file.size()!=0)
+ }
+ // start the loaded program
+ serial_port.write((unsigned char *)&bootloader_go,1);
+ if(protocol==new_protocol)
+ serial_port.write((unsigned char *)&bootloader_ack,1);
+ end=false;
+ while(!end)
{
- // start the loaded program
- serial_port.write((unsigned char *)bootloader_go,4);
- end=false;
- while(!end)
- {
- try{
- event_server->wait_all(events,1000);
- // 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
- end=true;
- }
+ try{
+ event_server->wait_all(events,300);
+ // 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
+ end=true;
}
}
serial_port.close();
}catch(CException &e){
/* handle exceptions */
- printf("%s\n",e.what().c_str());
+ std::cout << e.what() << std::endl;
}
}
}
else
{
- /* display the help information and exit */
+ std::cout << "No serial device specified" << std::endl;
+ show_help(argv[0]);
}
}