diff --git a/src/fw_downloader/fw_downloader.cpp b/src/fw_downloader/fw_downloader.cpp
index 82ed684111d60fb33a57fc1d6cb77e4828775cec..0387134c8677131678bbef93dfddd54d792f0270 100755
--- a/src/fw_downloader/fw_downloader.cpp
+++ b/src/fw_downloader/fw_downloader.cpp
@@ -25,13 +25,14 @@ 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 << " -p protocol Communication protocol to be used" << 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 << " - ax - for the AX servo family" << std::endl;
+ std::cout << " - rx - for the 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 << " - cm510 - for the CM510 controller" << std::endl;
+ std::cout << " - mx - for the MX servo family" << std::endl;
+ std::cout << " - cm730 - for the cm730 controller" << 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;
@@ -48,13 +49,17 @@ int main(int argc,char *argv[])
bool end=false;
int option;
std::string opt_device,opt_fw_file,eeprom_file;
+ std::string device;
protocol_t protocol;
// binary file variables
unsigned char binary_file[MEMORY_MAXSIZE];
long int downloaded_size=0;
long int start_address=0;
long int binary_size=0;
+ long int written_size=0;
+ long int write_size=0;
int block_size=0,count=0;
+ std::stringstream base_address;
// bootloader variables
unsigned char bootloader_data[MEMORY_MAXSIZE];
bool bootloader_connected=false;
@@ -93,10 +98,16 @@ int main(int argc,char *argv[])
break;
case 'p':// select protocol
std::cout << "Selected protocol: " << optarg << std::endl;
- if(std::string(optarg)=="original")
+ if(std::string(optarg)=="ax" || std::string(optarg)=="rx")
+ {
protocol=original_protocol;
- else if(std::string(optarg)=="new")
- protocol=new_protocol;
+ device=optarg;
+ }
+ else if(std::string(optarg)=="cm510" || std::string(optarg)=="mx" || std::string(optarg)=="cm730")
+ {
+ protocol=new_protocol;
+ device=optarg;
+ }
else
{
std::cout << "Unsupported protocol" << std::endl;
@@ -209,59 +220,74 @@ int main(int argc,char *argv[])
}
}
// 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{
- 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);
+ do{
+ base_address.str("");
+ if(device=="cm730" || device=="mx")
+ base_address << "l " << std::hex << 0x08003000 + written_size << std::endl;
+ else
+ base_address << "l" << std::endl;
+ serial_port.write((unsigned char *)base_address.str().c_str(),base_address.str().size()-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,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){
+ end=true;
+ }
+ }
+ if((binary_size-written_size)>1024*20)
+ write_size=1024*20;
+ else
+ write_size=binary_size-written_size;
+ // compute the binary file checksum
+ checksum=0;
+ for(i=0;i<write_size;i++)
+ checksum+=binary_file[start_address+i];
+ // send the binary file in 64 byte segments
+ while(downloaded_size < write_size)
+ {
+ usleep(1000);
+ block_size=write_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, write_size);
fflush(stdout);
- }catch(CEventTimeoutException &e){
- 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;
+ // send the checksum
+ serial_port.write(&checksum,1);
+ 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;
+ }
}
- }
+ written_size+=write_size;
+ start_address+=write_size;
+ downloaded_size=0;
+ }while(written_size<binary_size);
+ std::cout << std::endl << "Download complete" << std::endl;
}
}
else if(read_eeprom)
@@ -359,22 +385,25 @@ int main(int argc,char *argv[])
}
}
// go to application mode
- serial_port.write((unsigned char *)&bootloader_app,1);
- if(protocol==new_protocol)
- serial_port.write((unsigned char *)&bootloader_ack,1);
- end=false;
- while(!end)
+ if(device=="ax")
{
- 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.write((unsigned char *)&bootloader_app,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;
+ }
}
}
// start the loaded program