diff --git a/src/fw_downloader/fw_downloader.cpp b/src/fw_downloader/fw_downloader.cpp
index 2c08f8bed5fb1bc2ee5c12432f64fd38d0baa377..61f96dcbf7e8a8d8f9aca3e6f134d3e763ce2640 100755
--- a/src/fw_downloader/fw_downloader.cpp
+++ b/src/fw_downloader/fw_downloader.cpp
@@ -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