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Commit c649cd5b authored by Sergi Hernandez's avatar Sergi Hernandez
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Improved version of the firmware downloader tool for the robotis devices. 

Improved download speed.
Addes support for more devices.
parent 3c43253d
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src/fw_downloader/CMakeLists.txt
+ 6
− 0
View file @ c649cd5b
...@@ -18,3 +18,9 @@ ADD_EXECUTABLE(fw_downloader ${sources}) ...@@ -18,3 +18,9 @@ ADD_EXECUTABLE(fw_downloader ${sources})
# link necessary libraries # link necessary libraries
TARGET_LINK_LIBRARIES(fw_downloader ${iriutils_LIBRARY}) TARGET_LINK_LIBRARIES(fw_downloader ${iriutils_LIBRARY})
TARGET_LINK_LIBRARIES(fw_downloader ${comm_LIBRARY}) TARGET_LINK_LIBRARIES(fw_downloader ${comm_LIBRARY})
INSTALL(TARGETS fw_downloader
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iridrivers
ARCHIVE DESTINATION lib/iridrivers)
src/fw_downloader/fw_downloader.cpp
+ 122
− 284
View file @ c649cd5b
...@@ -10,11 +10,26 @@ ...@@ -10,11 +10,26 @@
#include <iostream> #include <iostream>
const unsigned char bootloader_ping='#'; const unsigned char bootloader_ping='#';
const unsigned char bootloader_ack[]="\n"; const unsigned char bootloader_ack='\n';
//const unsigned char bootloader_load_hex[]="l 0x08003000\n"; const unsigned char bootloader_load='l';
const unsigned char bootloader_load_hex[]="l"; const unsigned char bootloader_go='g';
const unsigned char bootloader_load_motion[]="l 0x08060000\n";
const unsigned char bootloader_go[]="\ngo\n"; 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[]) int main(int argc,char *argv[])
{ {
...@@ -25,34 +40,19 @@ int main(int argc,char *argv[]) ...@@ -25,34 +40,19 @@ int main(int argc,char *argv[])
TRS232_config serial_config; TRS232_config serial_config;
long int num_data=0,i=0; long int num_data=0,i=0;
bool end=false; bool end=false;
// input arguments parser variables int option;
static struct option long_options[] = {{"h", no_argument, 0, 0},// display help message std::string opt_device,opt_fw_file;
{"help", no_argument, 0, 0}, protocol_t protocol;
{"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;
// binary file variables // binary file variables
unsigned char binary_file[MEMORY_MAXSIZE]; 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 start_address=0;
long int binary_size=0; long int binary_size=0;
int block_size=0,count=0,small_block_size=0; int block_size=0,count=0;
// bootloader variables // bootloader variables
unsigned char bootloader_data[MEMORY_MAXSIZE]; unsigned char bootloader_data[MEMORY_MAXSIZE];
bool bootloader_connected=false,error=false; bool bootloader_connected=false;
unsigned char checksum=0x00; unsigned char checksum=0x00;
char load_hex_address[32];
// motion file variables
FILE *motion_fd;
// configuration information for the serial device // configuration information for the serial device
serial_config.baud=57600; serial_config.baud=57600;
...@@ -60,58 +60,47 @@ int main(int argc,char *argv[]) ...@@ -60,58 +60,47 @@ int main(int argc,char *argv[])
serial_config.parity=none; serial_config.parity=none;
serial_config.stop_bits=1; serial_config.stop_bits=1;
for(i=0;i<MEMORY_MAXSIZE;i++) memset(binary_file,0xFF,MEMORY_MAXSIZE);
binary_file[i]=0xFF;
// parse the input arguments // parse the input arguments
do{ while((option = getopt(argc, argv, "hd:f:p:")) != -1)
opt_status=getopt_long_only(argc,argv,"",long_options,&opt_index); {
if(opt_status!=-1) switch(option)
{ {
if(opt_status=='?')// option not recognized or argument missing case 'h':// show help message
{ show_help(argv[0]);
printf("Unknown option \n"); break;
return 0; case 'd':// select serial device
/* handle the error and exit */ std::cout << "Output device: " << optarg << std::endl;
} opt_device=std::string(optarg);
else// process the argument break;
{ case 'f':// select firmware file
switch(opt_index) 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: std::cout << "Unsupported protocol" << std::endl;
case 1: /* display the help information and exit */ show_help(argv[0]);
break; return 0;
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;
} }
} break;
} }
}while(opt_status!=-1); }
// check that the two arguments have been entered // check that the two arguments have been entered
if(opt_device.size()!=0) if(opt_device.size()!=0)
{ {
if(opt_fw_file.size()!=0 && opt_motion_file.size()!=0) if(opt_fw_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)
{ {
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; return 0;
} }
else else
...@@ -129,77 +118,55 @@ int main(int argc,char *argv[]) ...@@ -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) if(hex2bin((char *)opt_fw_file.c_str(), binary_file, &start_address, &binary_size) == false)
{ {
serial_port.close(); serial_port.close();
printf("Error converting the firmware hex file.\n"); std::cout << "Error converting the firmware hex file" << std::endl;
return 0; 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 try{
motion_fd = fopen(opt_motion_file.c_str(), "r"); event_server->wait_all(events,20);
if (!motion_fd) num_data=serial_port.get_num_data();
{ serial_port.read((unsigned char *)bootloader_data,num_data);
printf("Can not find file!\n"); bootloader_data[num_data]='\0';
return 0; printf("%s",bootloader_data);
} fflush(stdout);
fseek(motion_fd, 0, SEEK_END ); for(i=0;i<num_data;i++)
if(ftell(motion_fd)!=(long)(MEMORY_MAXSIZE/2)) {
{ if(protocol==new_protocol)
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++)
{ {
if(servo_model=="mx28") if(bootloader_data[i]=='#')
{ {
if(bootloader_data[i]=='#') count++;
{ if(count==5)
count++; bootloader_connected=true;
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)
count++; bootloader_connected=true;
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) while(!end)
{ {
try{ try{
event_server->wait_all(events,3000); event_server->wait_all(events,300);
num_data=serial_port.get_num_data(); num_data=serial_port.get_num_data();
serial_port.read(bootloader_data,num_data); serial_port.read(bootloader_data,num_data);
bootloader_data[num_data]='\0'; bootloader_data[num_data]='\0';
...@@ -210,15 +177,16 @@ int main(int argc,char *argv[]) ...@@ -210,15 +177,16 @@ int main(int argc,char *argv[])
end=true; end=true;
} }
} }
end=false;
} }
sleep(1);
end=false;
// start the download // 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) while(!end)
{ {
try{ try{
event_server->wait_all(events,3000); event_server->wait_all(events,300);
num_data=serial_port.get_num_data(); num_data=serial_port.get_num_data();
serial_port.read(bootloader_data,num_data); serial_port.read(bootloader_data,num_data);
bootloader_data[num_data]='\0'; bootloader_data[num_data]='\0';
...@@ -229,126 +197,6 @@ int main(int argc,char *argv[]) ...@@ -229,126 +197,6 @@ int main(int argc,char *argv[])
end=true; 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 // compute the binary file checksum
for(i=0;i<binary_size;i++) for(i=0;i<binary_size;i++)
checksum+=binary_file[start_address+i]; checksum+=binary_file[start_address+i];
...@@ -356,31 +204,22 @@ int main(int argc,char *argv[]) ...@@ -356,31 +204,22 @@ int main(int argc,char *argv[])
while(downloaded_size < binary_size) while(downloaded_size < binary_size)
{ {
usleep(1000); 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; block_size=binary_size-downloaded_size;
// if(block_size>64) if(block_size>64)
// block_size=64; block_size=64;
block_size=binary_size;
serial_port.write(&binary_file[start_address+downloaded_size],block_size); serial_port.write(&binary_file[start_address+downloaded_size],block_size);
downloaded_size+=block_size; downloaded_size+=block_size;
printf("\rDownloading Firmware (%ld/%ld byte)", downloaded_size, binary_size); printf("\rDownloading Firmware (%ld/%ld byte)", downloaded_size, binary_size);
sync(); fflush(stdout);
} }
// send the checksum // send the checksum
serial_port.write(&checksum,1); serial_port.write(&checksum,1);
sleep(1); std::cout << std::endl << "Download complete" << std::endl;
printf("\nDownload complete\n");
end=false; end=false;
/* while(!end) while(!end)
{ {
try{ try{
event_server->wait_all(events,3000); event_server->wait_all(events,300);
// there has been an error // there has been an error
num_data=serial_port.get_num_data(); num_data=serial_port.get_num_data();
serial_port.read(bootloader_data,num_data); serial_port.read(bootloader_data,num_data);
...@@ -390,37 +229,36 @@ int main(int argc,char *argv[]) ...@@ -390,37 +229,36 @@ int main(int argc,char *argv[])
// no error to report // no error to report
end=true; end=true;
} }
}*/ }
return 0; // start the loaded program
if(opt_fw_file.size()!=0) 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 try{
serial_port.write((unsigned char *)bootloader_go,4); event_server->wait_all(events,300);
end=false; // there has been an error
while(!end) num_data=serial_port.get_num_data();
{ serial_port.read(bootloader_data,num_data);
try{ bootloader_data[num_data]='\0';
event_server->wait_all(events,1000); printf("%s",bootloader_data);
// there has been an error }catch(CEventTimeoutException &e){
num_data=serial_port.get_num_data(); // no error to report
serial_port.read(bootloader_data,num_data); end=true;
bootloader_data[num_data]='\0';
printf("%s",bootloader_data);
}catch(CEventTimeoutException &e){
// no error to report
end=true;
}
} }
} }
serial_port.close(); serial_port.close();
}catch(CException &e){ }catch(CException &e){
/* handle exceptions */ /* handle exceptions */
printf("%s\n",e.what().c_str()); std::cout << e.what() << std::endl;
} }
} }
} }
else else
{ {
/* display the help information and exit */ std::cout << "No serial device specified" << std::endl;
show_help(argv[0]);
} }
} }
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