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Commit fcb1f4a1 authored by Sergi Hernandez's avatar Sergi Hernandez
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Changed the firmware bootloader to take into account the type of the target device. 

  - send the application command for the ax devices.
  - split the binary file when it is bigger than a given value for the cm730 and mx devices.
parent 8de040ea
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src/fw_downloader/fw_downloader.cpp
+ 101
− 72
View file @ fcb1f4a1
......@@ -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
......
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