AMiRo-OS

/************************************************************************************//**

* \file         main.c

* \brief        SerialBoot command line demonstration program for OpenBLT.

* \ingroup      SerialBoot

* \internal

*----------------------------------------------------------------------------------------

*                          C O P Y R I G H T

*----------------------------------------------------------------------------------------

*   Copyright (c) 2014  by Feaser    http://www.feaser.com    All rights reserved

*

*----------------------------------------------------------------------------------------

*                            L I C E N S E

*----------------------------------------------------------------------------------------

* This file is part of OpenBLT. OpenBLT is free software: you can redistribute it and/or

* modify it under the terms of the GNU General Public License as published by the Free

* Software Foundation, either version 3 of the License, or (at your option) any later

* version.

*

* OpenBLT is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;

* without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR

* PURPOSE. See the GNU General Public License for more details.

*

* You should have received a copy of the GNU General Public License along with OpenBLT.

* If not, see <http://www.gnu.org/licenses/>.

*

* A special exception to the GPL is included to allow you to distribute a combined work

* that includes OpenBLT without being obliged to provide the source code for any

* proprietary components. The exception text is included at the bottom of the license

* file <license.html>.

*

* \endinternal

****************************************************************************************/

/****************************************************************************************

* Include files

****************************************************************************************/

#include <assert.h>                                   /* assertion module              */

#include <sb_types.h>                                 /* C types                       */

#include <stdio.h>                                    /* standard I/O library          */

#include <string.h>                                   /* string library                */

#include "xcpmaster.h"                                /* XCP master protocol module    */

#include "srecord.h"                                  /* S-record file handling        */

#include "timeutil.h"                                 /* time utility module           */

#include "stdlib.h"                                   /* ascii to integral conversion  */

/****************************************************************************************

* Function prototypes

****************************************************************************************/

static void     DisplayProgramInfo(void);

static void     DisplayProgramUsage(void);

static void     DisplayProgramInput(void);

static void     printErrors(void);

static sb_uint8 ParseCommandLine(sb_int32 argc, sb_char *argv[]);

static sb_int32 startFlashMode(void);

static sb_int32 flashProgram(void);

static sb_int32 startUserProgram(void);

static sb_int32 originalMainPart(void);

static sb_int32 openSerialPort(void);

static sb_int32 openSerialPortConnect(sb_uint8 start);

static sb_int32 closeSerialPort(void);

static sb_int32 buildConnection(sb_uint8 start);

static sb_int32 closeConnection(sb_file *hSrecord);

static sb_int32 closeConnectionWithReset(sb_file *hSrecord);

static sb_int32 prepareProgrammingSession(sb_file *hSrecord, tSrecordParseResults *fileParseResults);

static sb_int32 programCode(sb_file *hSrecord, tSrecordParseResults *fileParseResults, tSrecordLineParseResults *lineParseResults);

/****************************************************************************************

* Macro definitions

****************************************************************************************/

/** \brief Program return code if all went ok. */

#define PROG_RESULT_OK    (0)

/** \brief Program return code if an error occurred. */

#define PROG_RESULT_ERROR (1)

/* mode definitions of the program status */

#define PROGSTATE_ORIGIN           0

#define PROGSTATE_STARTFLASHMODE   1

#define PROGSTATE_RESET            2

#define PROGSTATE_FLASHPROGRAM     3

#define PROGSTATE_SETFLAGS         4

/* error definitions */

#define ERROR_NO                   0

#define ERROR_FILE                 1

#define ERROR_DEVICE               2

#define ERROR_UNKNOWN              255

/* maximal space for flashing programs */

#define MAX_COUNT_FLASHING_PROGRAMS 5

/****************************************************************************************

* Local data declarations

****************************************************************************************/

/** \brief Name of the serial device, such as COM4, /dev/ttyUSB0 or /dev/ttyAMiRo0. */

static sb_char serialDeviceName[32];

/** \brief Id of the bluetooth device, such as 01:23:45:67:89:AB. */

static sb_char bluetoothID[18];

/** \brief Serial communication speed in bits per second. */

static sb_uint32 serialBaudrate;

/** \brief Name of the S-record file. */

static sb_char *srecordFileName;

/* program status */

static sb_uint8 prog_state = 1;

/* id of flashing target */

static sb_uint32 flashingTargetID = 0;

/* list of program names */

static sb_char *srecordFileNames[MAX_COUNT_FLASHING_PROGRAMS];

/* list of target ids */

static sb_uint32 flashingTargetIDs[MAX_COUNT_FLASHING_PROGRAMS];

/* list of errors */

static sb_uint8 errors[MAX_COUNT_FLASHING_PROGRAMS];

/* last error */

static sb_uint8 errorDetected = ERROR_NO;

/* program counter */

static sb_uint8 countFlashingPrograms = 0;

/* RTS register value */

static sb_uint8 registerRTSvalue = 0;

/* Type of communication is about UART, not Bluetooth */

static sb_uint8 comIsUart = SB_TRUE;

/************************************************************************************//**

** \brief     Program entry point.

** \param     argc Number of program parameters.

** \param     argv array to program parameter strings.

** \return    0 on success, > 0 on error.

**

****************************************************************************************/

sb_int32 main(sb_int32 argc, sb_char *argv[])

{

  /* disable buffering for the standard output to make sure printf does not wait until

   * a newline character is detected before outputting text on the console.

   */

  setbuf(stdout, SB_NULL);

  /* inform user about the program */

  DisplayProgramInfo();

  /* start out by making sure program was started with the correct parameters */

  if (ParseCommandLine(argc, argv) == SB_FALSE)

  {

    /* parameters invalid. inform user about how this program works */

    DisplayProgramUsage();

    return PROG_RESULT_ERROR;

  }

  DisplayProgramInput();

  if (openSerialPortConnect(0) == PROG_RESULT_ERROR) {

    return PROG_RESULT_ERROR;

  }

  /* initialize errors */

  sb_uint8 errorIdx;

  for (errorIdx=0; errorIdx<MAX_COUNT_FLASHING_PROGRAMS; errorIdx++) {

    errors[errorIdx] = ERROR_NO;

  }

  flashingTargetID = 0;

  if (startFlashMode() == PROG_RESULT_ERROR) {

    return PROG_RESULT_ERROR;

  }

  sb_uint8 flashIdx;

  for (flashIdx=0; flashIdx<countFlashingPrograms; flashIdx++) {

    errorDetected = ERROR_NO;

    flashingTargetID = flashingTargetIDs[flashIdx];

    srecordFileName = srecordFileNames[flashIdx];

    printf("\nFlash %i: Flashing %s on device 0x%08X\n\n", flashIdx+1, srecordFileName, flashingTargetID);

    if (flashProgram() == PROG_RESULT_ERROR) {

      closeSerialPort();

      openSerialPortConnect(0);

    }

    errors[flashIdx] = errorDetected;

  }

  flashingTargetID = 0;

  if (startUserProgram() == PROG_RESULT_ERROR) {

    return PROG_RESULT_ERROR;

  }

  printErrors();

  return PROG_RESULT_OK;

} /*** end of main ***/

/************************************************************************************//**

** \brief     Outputs information to the user about this program.

** \return    none.

**

****************************************************************************************/

static void DisplayProgramInfo(void)

{

  printf("---------------------------------------------------------------------------\n");

  printf("SerialBoot version 1.01. Performs firmware updates via the serial port     \n");

  printf("for a microcontroller based system that runs the OpenBLT bootloader.       \n");

  printf("                                                                           \n");

  printf("Copyright (c) by Feaser  http://www.feaser.com                             \n");

  printf("---------------------------------------------------------------------------\n");

  printf("This tool was modified for the 'Autonomous Mini Robot' - AMiRo.            \n");

  printf("Copyright (c) 2016..2018  Marvin Barther, Thomas Schoepping, and Stefan    \n");

  printf("                          Herbrechtsmeier                                  \n");

  printf("This is free software; see the source for copying conditions. There is NO  \n");

  printf("warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.\n");

  printf("The development of this software was supported by the Excellence Cluster   \n");

  printf("EXC 227 Cognitive Interaction Technology. The Excellence Cluster EXC 227 is\n");

  printf("a grant of the Deutsche Forschungsgemeinschaft (DFG) in the context of the \n");

  printf("German Excellence Initiative.                                              \n");

  printf("---------------------------------------------------------------------------\n");

} /*** end of DisplayProgramInfo ***/

/************************************************************************************//**

** \brief     Outputs information to the user about how to use this program.

** \return    none.

**

****************************************************************************************/

static void DisplayProgramUsage(void)

{

  printf("Usage: SerialBoot -d<device> -b<baudrate> <s-record file>/(-T<flash-id> <s-record file>)\n\n");

  printf("Example 1:  SerialBoot -h\n");

#ifdef PLATFORM_WIN32

  printf("Example 2:  SerialBoot -dCOM4 -b57600 -T3 firmware.srec\n");

  printf("Example 3:  SerialBoot -dCOM4 -b57600 -T0 firm1.srec -T3 firm2.srec\n");

  printf("Example 4:  SerialBoot -dCOM4 -b57600 firmware.srec\n\n");

  printf("WARNING: SerialBoot is not really functional with windows! Please use\n");

  printf("         the Linux version.\n\n");

  printf("  -> In all four cases it connects to COM4.\n");

#else

  printf("Example 2:  SerialBoot -d/dev/ttyAMiRo0 -b57600 -T3 firmware.srec\n");

  printf("Example 3:  SerialBoot -d/dev/ttyAMiRo0 -b57600 -T0 firm1.srec -T3 firm2.srec\n");

  printf("Example 4:  SerialBoot -d/dev/ttyAMiRo0 -b57600 firmware.srec\n\n");

  printf("  -> In all four cases it connects to '/dev/ttyAMiRo0' alias '/dev/ttyUSB0'.\n");

#endif

  printf("  -> In all four cases a communication speed of 57600 bits/second is configured.\n");

  printf("     The bootloaders will be set into flashing mode and will be reset after\n");

  printf("     flashing the last binary file.\n");

  printf("  -> In the first example this help will be opened\n");

  printf("  -> In the second example the binary file 'firmware.srec' will be flashed on\n");

  printf("     device 0x03.\n");

  printf("  -> In the third example the binary file 'firm1.srec' will be flashed on\n");

  printf("     device 0x00 and the other binary file 'firm2.srec' on device 0x03.\n");

  printf("  -> In the last example the standard configuration is shown. The binary file\n");

  printf("     'firmware.srec' will be flashed on device 0x00. It equals the\n");

  printf("     configuration '-T0 firmware.srec'.\n");

  printf("  -> Don't forget that you always have to give the parameters -d and -b.\n");

  printf("  -> There is also the parameter -a for giving an address for bluetooth\n");

  printf("     communication, but this part is not functional yet.\n");

  printf("--------------------------------------------------------------------------------\n");

} /*** end of DisplayProgramUsage ***/

static void DisplayProgramInput(void) {

#ifdef PLATFORM_WIN32

  printf("WARNING: SerialBoot is designed for Linux. While using Windows the correct\n");

  printf("         functionality can not be guaranteed! Please use Linux for using best\n");

  printf("         performance and savety.\n");

  printf("\n--------------------------------------------------------------------------------\n\n");

#endif

  printf("\nOpen device at %s @ %u bits/s and RTS=%i\n\n", serialDeviceName, serialBaudrate, registerRTSvalue);

  printf("Programming will start immediately in following order:\n");

  sb_uint8 idx;

  for (idx=0; idx<countFlashingPrograms; idx++) {

    printf("  %i) device 0x%08X: %s\n", idx+1, flashingTargetIDs[idx], srecordFileNames[idx]);

  }

}

/************************************************************************************//**

** \brief     Parses the command line arguments. A fixed amount of arguments is expected.

**            The program should be called as:

**              SerialBoot -d[device] -b[baudrate] [s-record file]

** \param     argc Number of program parameters.

** \param     argv array to program parameter strings.

** \return    SB_TRUE on success, SB_FALSE otherwise.

**

****************************************************************************************/

static sb_uint8 ParseCommandLine(sb_int32 argc, sb_char *argv[])

{

  sb_uint8 paramIdx;

  sb_uint8 paramAfound = SB_FALSE;

  sb_uint8 paramDfound = SB_FALSE;

  sb_uint8 paramBfound = SB_FALSE;

  sb_uint8 paramTfound = SB_FALSE;

  sb_uint8 paramRTSfound = SB_FALSE;

  sb_uint8 paramXfound = SB_FALSE;

  sb_uint8 srecordfound = SB_FALSE;

  /* make sure the right amount of arguments are given */

  if (argc < 4 || argc > 14)

  {

    return SB_FALSE;

  }

  /* loop through all the command lina parameters, just skip the 1st one because this

   * is the name of the program, which we are not interested in.

   */

  for (paramIdx=1; paramIdx<argc; paramIdx++)

  {

    /* is this the device name? */

    if ( (argv[paramIdx][0] == '-') && (argv[paramIdx][1] == 'd') && (paramDfound == SB_FALSE) && (paramTfound == SB_FALSE) && (paramAfound == SB_FALSE))

    {

      /* copy the device name and set flag that this parameter was found */

      strcpy(serialDeviceName, &argv[paramIdx][2]);

      paramDfound = SB_TRUE;

      comIsUart = SB_TRUE;

    }

    /* is this the bluetooth id? */

/*

    else if ( (argv[paramIdx][0] == '-') && (argv[paramIdx][1] == 'a') && (paramDfound == SB_FALSE) && (paramTfound == SB_FALSE) && (paramAfound == SB_FALSE))

    {

      if ((argv[paramIdx][4] != ':') || (argv[paramIdx][7] != ':') || (argv[paramIdx][10] != ':') || (argv[paramIdx][13] != ':') || (argv[paramIdx][16] != ':')) {

        printf("The bluetooth ID %s has not the format xx:xx:xx:xx:xx:xx\n", &argv[paramIdx][2]);

        return SB_FALSE;

      }

      // copy the bluetooth id and set flag that this parameter was found

      strcpy(serialDeviceName, &argv[paramIdx][2]);

      paramAfound = SB_TRUE;

      comIsUart = SB_FALSE;

      // TODO accept bluetooth communication

      printf("Bluetooth communication is not available yet!");

      return SB_FALSE;

    }

*/

    /* is this the baudrate? */

    else if ( (argv[paramIdx][0] == '-') && (argv[paramIdx][1] == 'b') && (paramBfound == SB_FALSE) && (paramTfound == SB_FALSE) )

    {

      /* extract the baudrate and set flag that this parameter was found */

      sscanf(&argv[paramIdx][2], "%u", &serialBaudrate);

      paramBfound = SB_TRUE;

    }

    /* is this the RTS flag? */

    else if ( (argv[paramIdx][0] == '-') && (argv[paramIdx][1] == 'R') && (argv[paramIdx][2] == 'T') && (argv[paramIdx][3] == 'S') && (paramRTSfound == SB_FALSE) && (paramTfound == SB_FALSE) )

    {

      /* extract RTS flag [0,1] and set that this parameter was found */

      sb_char setValue[2];

      strcpy(setValue, &argv[paramIdx][4]);

      if (setValue[0] == 0x0) {

        registerRTSvalue = 0;

      } else {

        registerRTSvalue = ((int)setValue[0])-48;

      }

      if (registerRTSvalue > 1 || registerRTSvalue < 0 || setValue[1] != 0x0) {

        registerRTSvalue = 0;

        printf("Not allowed value for RTS register. RTS=[0,1]\n");

        return SB_FALSE;

      }

      paramRTSfound = SB_TRUE;

    }

    /* is this the target number? */

    else if ( (argv[paramIdx][0] == '-') && (argv[paramIdx][1] == 'T') && (paramTfound == SB_FALSE) && (paramXfound == SB_FALSE) && (paramDfound == SB_TRUE) && (paramBfound == SB_TRUE) )

    {

      if (countFlashingPrograms >= MAX_COUNT_FLASHING_PROGRAMS) {

        printf("too many programs to flash (-T)\n");

        return SB_FALSE;

      }

      /* prog status has to be set in flashing mode */

      paramTfound = SB_TRUE;

      prog_state = PROGSTATE_FLASHPROGRAM;

      sb_char choosenID[128];

      strcpy(choosenID, &argv[paramIdx][2]);

      /* Transform ascii numbers in string to an integer */

      flashingTargetID = 0;

      if (choosenID[0] == '0' && (choosenID[1] < '0' || choosenID[1] > '9')) {  // if the ID is something like "0x..." or "0o..."

        switch (choosenID[1]) {

          case 'x':

          case 'X':

            flashingTargetID = strtoul(&choosenID[2], NULL, 16);

            break;

          case 'o':

          case 'O':

            flashingTargetID = strtoul(&choosenID[2], NULL, 8);

            break;

          case 'b':

          case 'B':

            flashingTargetID = strtoul(&choosenID[2], NULL, 2);

            break;

          case 'd':

          case 'D':

            flashingTargetID = strtoul(&choosenID[2], NULL, 10);

            break;

          default:

            printf("could not interprete target ID\n");

            return SB_FALSE;

            break;

        }

      } else {

        flashingTargetID = strtoul(choosenID, NULL, 10);

      }

      if (flashingTargetID == 0) {

        printf("target ID invalid (0x%08X)\n", flashingTargetID);

        return SB_FALSE;

      }

      flashingTargetIDs[countFlashingPrograms] = flashingTargetID;

    }

    /* is this a srec file (a parameter without "-" in the beginning) */

    else if (argv[paramIdx][0] != '-')

    {

      if (countFlashingPrograms >= MAX_COUNT_FLASHING_PROGRAMS) {

        printf("too many programs to flash (without -T)\n");

        return SB_FALSE;

      }

      /* srecord file has been found */

      if (paramTfound == SB_FALSE) {

        paramTfound = SB_TRUE;

        flashingTargetIDs[countFlashingPrograms] = 0;

        prog_state = PROGSTATE_ORIGIN;

      }

      srecordFileNames[countFlashingPrograms] = &(argv[paramIdx][0]);

      countFlashingPrograms++;

      paramTfound = SB_FALSE;

      srecordfound = SB_TRUE;

    }

  }

  /* verify if all parameters were found */

  if ( ( ((paramDfound == SB_FALSE) || (paramBfound == SB_FALSE)) && (paramAfound == SB_FALSE)) || (srecordfound == SB_FALSE) )

  {

    printf("-a, -d, -b or srecord file missing, remember that you can only choose -a or -d\n");

    return SB_FALSE;

  }

  /* still here so the parsing was successful */

  return SB_TRUE;

} /*** end of ParseCommandLine ***/

static void printErrors(void) {

  sb_uint8 detected = 0;

  sb_uint8 errorIdx;

  for (errorIdx=0; errorIdx<MAX_COUNT_FLASHING_PROGRAMS; errorIdx++) {

    if (errors[errorIdx] != ERROR_NO) {

      detected++;

    }

  }

  if (detected == 0) {

    printf("\nEvery firmware successfully updated.\nSerialBoot finished without any errors.\n\n");

  } else {

    if (detected < countFlashingPrograms) {

      printf("\n%i ERRORs detected!\nOnly in the following %i cases SerialBoot updated the firmware:\n", detected, countFlashingPrograms-detected);

      for (errorIdx=0; errorIdx<countFlashingPrograms; errorIdx++) {

        if (errors[errorIdx] == ERROR_NO) {

          printf(" * Flash %i: %s on device 0x%08X\n", errorIdx+1, srecordFileNames[errorIdx], flashingTargetIDs[errorIdx]);

        }

      }

      printf("In the following %i cases SerialBoot could not update the firmware:\n", detected);

    } else {

      printf("\nERRORs detected!\nEvery firmware update by SerialBoot failed:\n");

    }

    for (errorIdx=0; errorIdx<countFlashingPrograms; errorIdx++) {

      if (errors[errorIdx] != ERROR_NO) {

        printf(" * ERROR in Flash %i: ", errorIdx+1);

        switch (errors[errorIdx]) {

          case ERROR_FILE:

            printf("The file %s couldn't be read!\n", srecordFileNames[errorIdx]); break;

          case ERROR_DEVICE:

            printf("No connection to device 0x%08X!\n", flashingTargetIDs[errorIdx]); break;

          default:

            printf("Couldn't specify the error. Please check output above!\n"); break;

        }

      }

    }

    printf("Please check the errors before trying to update again.\n\n");

  }

}

static sb_int32 startFlashMode(void) {

  /* -------------------- start flashing mode ---------------------------------------- */

  printf("Set main device on flashing mode\n");

  /* -------------------- open connection -------------------------------------------- */

  if (buildConnection(1) == PROG_RESULT_ERROR) {

    return PROG_RESULT_ERROR;

  }

  //printf("close...");

  /* -------------------- close connection ------------------------------------------- */

  if(closeConnection(NULL) == PROG_RESULT_ERROR) {

    return PROG_RESULT_ERROR;

  }

  /* all done */

  printf("Main device is now in flashing mode!\n\n");

  return PROG_RESULT_OK;

}

static sb_int32 flashProgram(void) {

  sb_file hSrecord;

  tSrecordParseResults fileParseResults;

  tSrecordLineParseResults lineParseResults;

  /* -------------------- start the firmware update procedure ------------------------ */

  printf("Starting firmware update for \"%s\" on device 0x%08X\n", srecordFileName, flashingTargetID);

  printf("Using %s @ %u bits/s\n", serialDeviceName, serialBaudrate);

  /* -------------------- prepare programming session -------------------------------- */

  if (prepareProgrammingSession(&hSrecord, &fileParseResults) == PROG_RESULT_ERROR) {

    errorDetected = ERROR_FILE;

    return PROG_RESULT_ERROR;

  }

  /* -------------------- open connection -------------------------------------------- */

  if (buildConnection(0) == PROG_RESULT_ERROR) {

    errorDetected = ERROR_DEVICE;

    return PROG_RESULT_ERROR;

  }

  /* -------------------- programming code ------------------------------------------- */

  if (programCode(&hSrecord, &fileParseResults, &lineParseResults) == PROG_RESULT_ERROR) {

    errorDetected = ERROR_UNKNOWN;

    return PROG_RESULT_ERROR;

  }

  /* -------------------- close connection ------------------------------------------- */

  if (closeConnection(&hSrecord) == PROG_RESULT_ERROR) {

    errorDetected = ERROR_UNKNOWN;

    return PROG_RESULT_ERROR;

  }

  /* -------------------- close the S-record file ------------------------------------ */

  SrecordClose(hSrecord);

  printf("Closed S-record file \"%s\"\n", srecordFileName);

  /* all done */

  printf("Firmware successfully updated!\n\n");

  return PROG_RESULT_OK;

}

static sb_int32 startUserProgram(void) {

  /* -------------------- start the user program ------------------------------------- */

  printf("Resetting all using %s @ %u bits/s\n", serialDeviceName, serialBaudrate);

  /* -------------------- open connection -------------------------------------------- */

  if (buildConnection(0) == PROG_RESULT_ERROR) {

    return PROG_RESULT_ERROR;

  }

  /* -------------------- close connection and reset --------------------------------- */

  if (closeConnectionWithReset(NULL) == PROG_RESULT_ERROR) {

    return PROG_RESULT_ERROR;

  }

  /* all done */

  printf("User programs have been started!\n\n");

  return PROG_RESULT_OK;

}

static sb_int32 originalMainPart(void) {

  sb_file hSrecord;

  tSrecordParseResults fileParseResults;

  tSrecordLineParseResults lineParseResults;

  /* -------------------- start the firmware update procedure ------------------------ */

  printf("Starting firmware update for \"%s\" using %s @ %u bits/s\n", srecordFileName, serialDeviceName, serialBaudrate);

  /* -------------------- prepare programming session -------------------------------- */

  if (prepareProgrammingSession(&hSrecord, &fileParseResults) == PROG_RESULT_ERROR) {

    return PROG_RESULT_ERROR;

  }

  /* -------------------- open serial port and open connection ----------------------- */

  if (openSerialPortConnect(0) == PROG_RESULT_ERROR) {

    return PROG_RESULT_ERROR;

  }

  /* -------------------- open connection -------------------------------------------- */

//  if (buildConnection(0) == PROG_RESULT_ERROR) {

//    return PROG_RESULT_ERROR;

//  }

  /* -------------------- programming code ------------------------------------------- */

  if (programCode(&hSrecord, &fileParseResults, &lineParseResults) == PROG_RESULT_ERROR) {

    return PROG_RESULT_ERROR;

  }

  /* -------------------- close connection and reset --------------------------------- */

  if (closeConnectionWithReset(&hSrecord) == PROG_RESULT_ERROR) {

    return PROG_