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           */

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

* 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 or /dev/ttyUSB0. */

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_uint8 flashingTargetID = 0;

/* list of program names */

static sb_char *srecordFileNames[MAX_COUNT_FLASHING_PROGRAMS];

/* list of target ids */

static sb_uint8 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 %i\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 1.00. Performs firmware updates via the serial port\n");

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

{