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Commit e1d736c6 authored by Sergi Hernandez's avatar Sergi Hernandez
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Added functions to read and erase the eeprom memory.

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src/fw_downloader/fw_downloader.cpp
+ 213
− 93
View file @ e1d736c6
......@@ -8,11 +8,14 @@
#include <string.h>
#include <stdio.h>
#include <iostream>
#include <fstream>
const unsigned char bootloader_ping='#';
const unsigned char bootloader_ack='\n';
const unsigned char bootloader_load='l';
const unsigned char bootloader_go='g';
const unsigned char bootloader_dump='d';
const unsigned char bootloader_clear='c';
typedef enum {original_protocol=0,new_protocol=1} protocol_t;
......@@ -28,6 +31,8 @@ void show_help(char *name)
std::cout << " devices supported by the new protocol:" << std::endl;
std::cout << " - cm510" << std::endl;
std::cout << " - mx servo family" << std::endl;
std::cout << " -c clear eeprom memory" << std::endl;
std::cout << " -r eeprom_file read eeprom memory to file" << std::endl;
std::cout << " -h shows this help" << std::endl;
}
......@@ -41,7 +46,7 @@ int main(int argc,char *argv[])
long int num_data=0,i=0;
bool end=false;
int option;
std::string opt_device,opt_fw_file;
std::string opt_device,opt_fw_file,eeprom_file;
protocol_t protocol;
// binary file variables
unsigned char binary_file[MEMORY_MAXSIZE];
......@@ -52,7 +57,11 @@ int main(int argc,char *argv[])
// bootloader variables
unsigned char bootloader_data[MEMORY_MAXSIZE];
bool bootloader_connected=false;
bool write_fw=false;
unsigned char checksum=0x00;
// eeprom variables
std::ofstream ee_file;
bool read_eeprom=false,clear_eeprom=false;
// configuration information for the serial device
serial_config.baud=57600;
......@@ -63,7 +72,7 @@ int main(int argc,char *argv[])
memset(binary_file,0xFF,MEMORY_MAXSIZE);
// parse the input arguments
while((option = getopt(argc, argv, "hd:f:p:")) != -1)
while((option = getopt(argc, argv, "hd:f:p:cr:")) != -1)
{
switch(option)
{
......@@ -76,6 +85,9 @@ int main(int argc,char *argv[])
break;
case 'f':// select firmware file
std::cout << "Firmware file: " << optarg << std::endl;
write_fw=true;
read_eeprom=false;
clear_eeprom=false;
opt_fw_file=std::string(optarg);
break;
case 'p':// select protocol
......@@ -91,79 +103,115 @@ int main(int argc,char *argv[])
return 0;
}
break;
case 'c':
write_fw=false;
read_eeprom=false;
clear_eeprom=true;
break;
case 'r':// read eeprom memory
write_fw=false;
read_eeprom=true;
clear_eeprom=false;
eeprom_file=std::string(optarg);
break;
}
}
// check that the two arguments have been entered
if(opt_device.size()!=0)
{
if(opt_fw_file.size()==0)
{
std::cout << "No firmware file has been specified" << std::endl;
show_help(argv[0]);
return 0;
}
else
{
try{
// open the serial port
serial_port.open((void *)&opt_device);
// configure the serial port
serial_port.config(&serial_config);
// get the recevice event
events.push_back(serial_port.get_rx_event_id());
// convert the hex file to a binary file
if(opt_fw_file.size()!=0)
{
if(hex2bin((char *)opt_fw_file.c_str(), binary_file, &start_address, &binary_size) == false)
try{
// open the serial port
serial_port.open((void *)&opt_device);
// configure the serial port
serial_port.config(&serial_config);
// get the recevice event
events.push_back(serial_port.get_rx_event_id());
// connect to the bootloader
std::cout << "Switch off device power and turn it on" << std::endl;
while(!bootloader_connected)
{
try{
if((num_data=serial_port.get_num_data()==0))
event_server->wait_all(events,100);
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++)
{
serial_port.close();
std::cout << "Error converting the firmware hex file" << std::endl;
return 0;
if(protocol==new_protocol)
{
if(bootloader_data[i]=='#')
{
count++;
if(count==5)
bootloader_connected=true;
}
}
else
{
if(bootloader_data[i]=='*')
{
count++;
if(count==5)
bootloader_connected=true;
}
}
}
}catch(CEventTimeoutException &e){
// do nothing and retry
serial_port.write((unsigned char *)&bootloader_ping, 1);
}
std::cout << "Switch off device power and turn it on" << std::endl;
// ping the device
while(!bootloader_connected)
}
// ping the device
if(protocol==new_protocol)
{
/* send acknowledgment to the device*/
serial_port.write((unsigned char *)&bootloader_ack, 1);
end=false;
while(!end)
{
try{
if((num_data=serial_port.get_num_data()==0))
event_server->wait_all(events,20);
event_server->wait_all(events,300);
num_data=serial_port.get_num_data();
serial_port.read((unsigned char *)bootloader_data,num_data);
serial_port.read(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(bootloader_data[i]=='#')
{
count++;
if(count==5)
bootloader_connected=true;
}
}
else
{
if(bootloader_data[i]=='*')
{
count++;
if(count==5)
bootloader_connected=true;
}
}
}
}catch(CEventTimeoutException &e){
// do nothing and retry
serial_port.write((unsigned char *)&bootloader_ping, 1);
end=true;
}
}
if(protocol==new_protocol)
}
sleep(1);
// convert the hex file to a binary file
if(write_fw)
{
if(opt_fw_file.size()==0)
{
std::cout << "No firmware file has been specified" << std::endl;
show_help(argv[0]);
return 0;
}
else
{
/* send acknowledgment to the device*/
serial_port.write((unsigned char *)&bootloader_ack, 1);
if(opt_fw_file.size()!=0)
{
if(hex2bin((char *)opt_fw_file.c_str(), binary_file, &start_address, &binary_size) == false)
{
serial_port.close();
std::cout << "Error converting the firmware hex file" << std::endl;
return 0;
}
}
// start the download
serial_port.write((unsigned char *)&bootloader_load,1);
if(protocol==new_protocol)
serial_port.write((unsigned char *)&bootloader_ack,1);
end=false;
while(!end)
{
try{
......@@ -175,17 +223,91 @@ int main(int argc,char *argv[])
printf("%s",bootloader_data);
fflush(stdout);
}catch(CEventTimeoutException &e){
// the flash has been properly erased
end=true;
}
}
// compute the binary file checksum
for(i=0;i<binary_size;i++)
checksum+=binary_file[start_address+i];
// send the binary file in 64 byte segments
while(downloaded_size < binary_size)
{
usleep(1000);
block_size=binary_size-downloaded_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);
fflush(stdout);
}
usleep(1000);
// send the checksum
serial_port.write(&checksum,1);
std::cout << std::endl << "Download complete" << std::endl;
end=false;
while(!end)
{
try{
if((num_data=serial_port.get_num_data()==0))
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;
}
}
}
}
else if(read_eeprom)
{
if(eeprom_file.size()==0)
{
std::cout << "No file has been specified" << std::endl;
show_help(argv[0]);
return 0;
}
sleep(1);
// start the download
serial_port.write((unsigned char *)&bootloader_load,1);
else
{
ee_file.open (eeprom_file.c_str(), std::ofstream::out | std::ofstream::trunc);
if(ee_file.fail())
{
std::cout << "Imposible to create eeprom file" << std::endl;
return 0;
}
else
{
serial_port.write((unsigned char *)&bootloader_dump,1);
if(protocol==new_protocol)
serial_port.write((unsigned char *)&bootloader_ack,1);
end=false;
while(!end)
{
try{
if((num_data=serial_port.get_num_data()==0))
event_server->wait_all(events,1000);
num_data=serial_port.get_num_data();
serial_port.read(bootloader_data,num_data);
ee_file.write((char *)bootloader_data,num_data);
}catch(CEventTimeoutException &e){
end=true;
}
}
ee_file.close();
}
}
}
else if(clear_eeprom)
{
serial_port.write((unsigned char *)&bootloader_clear,1);
if(protocol==new_protocol)
serial_port.write((unsigned char *)&bootloader_ack,1);
// wait for the command ack
end=false;
while(!end)
{
try{
......@@ -197,69 +319,67 @@ int main(int argc,char *argv[])
printf("%s",bootloader_data);
fflush(stdout);
}catch(CEventTimeoutException &e){
// the flash has been properly erased
end=true;
}
}
// compute the binary file checksum
for(i=0;i<binary_size;i++)
checksum+=binary_file[start_address+i];
// send the binary file in 64 byte segments
while(downloaded_size < binary_size)
{
usleep(1000);
block_size=binary_size-downloaded_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);
fflush(stdout);
}
usleep(1000);
// send the checksum
serial_port.write(&checksum,1);
std::cout << std::endl << "Download complete" << std::endl;
// wait for the command to end
end=false;
while(!end)
{
try{
if((num_data=serial_port.get_num_data()==0))
event_server->wait_all(events,300);
// there has been an error
event_server->wait_all(events,5000);
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);
end=true;
}catch(CEventTimeoutException &e){
// no error to report
std::cout << "Erase operation did not finish in time" << std::endl;
end=true;
}
}
// start the loaded program
serial_port.write((unsigned char *)&bootloader_go,1);
if(protocol==new_protocol)
serial_port.write((unsigned char *)&bootloader_ack,1);
// read any remaining data
end=false;
while(!end)
{
try{
event_server->wait_all(events,300);
// there has been an error
if((num_data=serial_port.get_num_data()==0))
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';
printf("%s",bootloader_data);
fflush(stdout);
}catch(CEventTimeoutException &e){
// no error to report
end=true;
}
}
serial_port.close();
}catch(CException &e){
/* handle exceptions */
std::cout << e.what() << std::endl;
}
// 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)
{
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 */
std::cout << e.what() << std::endl;
}
}
else
......
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