ampfw_8cpp-source.html

来自「美国COPLEY驱动器,程序开发工具之一.」· HTML 代码 · 共 239 行 · 第 1/2 页

<a name="l00112"></a>00112       <a class="code" href="structCanFrame.html">CanFrame</a> frame;
<a name="l00113"></a>00113 
<a name="l00114"></a>00114       frame.<a class="code" href="structCanFrame.html#o1">id</a> = xmitId;
<a name="l00115"></a>00115       frame.<a class="code" href="structCanFrame.html#o0">type</a> = <a class="code" href="CML__Can_8h.html#a3a0">CAN_FRAME_DATA</a>;
<a name="l00116"></a>00116       frame.<a class="code" href="structCanFrame.html#o2">length</a> = 2 + 2*ct;
<a name="l00117"></a>00117 
<a name="l00118"></a>00118       frame.<a class="code" href="structCanFrame.html#o3">data</a>[0] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(cmd);
<a name="l00119"></a>00119       frame.<a class="code" href="structCanFrame.html#o3">data</a>[1] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(cmd&gt;&gt;8);
<a name="l00120"></a>00120 
<a name="l00121"></a>00121       <span class="keywordflow">for</span>( <a class="code" href="CML__Utils_8h.html#a8">uint16</a> i=0; i&lt;ct; i++ )
<a name="l00122"></a>00122       {
<a name="l00123"></a>00123     frame.<a class="code" href="structCanFrame.html#o3">data</a>[2*i+2] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(param[i]);
<a name="l00124"></a>00124     frame.<a class="code" href="structCanFrame.html#o3">data</a>[2*i+3] = <a class="code" href="CML__Utils_8h.html#a0">ByteCast</a>(param[i]&gt;&gt;8);
<a name="l00125"></a>00125       }
<a name="l00126"></a>00126 
<a name="l00127"></a>00127       err = <a class="code" href="classReceiver.html#p0">co</a>-&gt;<a class="code" href="classCanOpen.html#a5">Xmit</a>( frame );
<a name="l00128"></a>00128 
<a name="l00129"></a>00129       <span class="keywordflow">if</span>( !err ) err = sem.Get(timeout);
<a name="l00130"></a>00130 
<a name="l00131"></a>00131       <span class="keywordflow">return</span> err;
<a name="l00132"></a>00132    }
<a name="l00133"></a>00133 };
<a name="l00134"></a>00134 
<a name="l00135"></a>00135 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00136"></a>00136 <span class="comment">/**</span>
<a name="l00137"></a>00137 <span class="comment">Use a special protocol to update the firmware in Copley CANopen devices.</span>
<a name="l00138"></a>00138 <span class="comment">Note that this is not part of normal operation, but rather a special</span>
<a name="l00139"></a>00139 <span class="comment">utility function which allows the device firmware to be updated if</span>
<a name="l00140"></a>00140 <span class="comment">necessary.</span>
<a name="l00141"></a>00141 <span class="comment"></span>
<a name="l00142"></a>00142 <span class="comment">Only firmware files produced by Copley Controls Corp. should be used</span>
<a name="l00143"></a>00143 <span class="comment">to update Copley devices.  Attempting to update a device with incorrectly </span>
<a name="l00144"></a>00144 <span class="comment">formatted firmware files will render the it inoperable.</span>
<a name="l00145"></a>00145 <span class="comment"></span>
<a name="l00146"></a>00146 <span class="comment">If an error occurs during the download of new firmware, it may be necessary</span>
<a name="l00147"></a>00147 <span class="comment">to reprogram the device through it's serial port.  The CME-2 software </span>
<a name="l00148"></a>00148 <span class="comment">can be used to recover an device in this case.</span>
<a name="l00149"></a>00149 <span class="comment"></span>
<a name="l00150"></a>00150 <span class="comment">@param fw The firmware object holding the data to be programmed.</span>
<a name="l00151"></a>00151 <span class="comment">*/</span>
<a name="l00152"></a>00152 <span class="comment">/***************************************************************************/</span>
<a name="l00153"></a><a class="code" href="classCopleyNode.html#a3">00153</a> <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *<a class="code" href="classCopleyNode.html#a3">CopleyNode::FirmwareUpdate</a>( <a class="code" href="classFirmware.html">Firmware</a> &amp;fw )
<a name="l00154"></a>00154 {
<a name="l00155"></a>00155    <span class="keyword">const</span> <a class="code" href="classError.html">Error</a> *err;
<a name="l00156"></a>00156    <a class="code" href="CML__Utils_8h.html#a9">int32</a> magic;
<a name="l00157"></a>00157 
<a name="l00158"></a>00158    <span class="comment">// Upload the 'magic number' used to program firmware</span>
<a name="l00159"></a>00159    err = sdo.<a class="code" href="classSDO.html#a9">Upld32</a>( OBJID_FIRMWARE, 0, magic );
<a name="l00160"></a>00160 
<a name="l00161"></a>00161    <span class="comment">// Now, write that same value back to the amp.  This will</span>
<a name="l00162"></a>00162    <span class="comment">// put us in a special mode</span>
<a name="l00163"></a>00163    <span class="keywordflow">if</span>( !err ) err = sdo.<a class="code" href="classSDO.html#a8">Dnld32</a>( OBJID_FIRMWARE, 0, magic );
<a name="l00164"></a>00164    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00165"></a>00165 
<a name="l00166"></a>00166    FirmwareUpdater up( sdo );
<a name="l00167"></a>00167 
<a name="l00168"></a>00168    <span class="comment">// Disable the SDO object.  It's no longer useful</span>
<a name="l00169"></a>00169    err = sdo.<a class="code" href="classReceiver.html#a8">DisableReceiver</a>();
<a name="l00170"></a>00170    <span class="keywordflow">if</span>( !err ) err = up.EnableReceiver();
<a name="l00171"></a>00171 
<a name="l00172"></a>00172    <span class="comment">// Send a command telling the amp to erase it's program flash</span>
<a name="l00173"></a>00173    <span class="keywordflow">if</span>( !err ) err = up.SendCmd( 0x0101, 5000 );
<a name="l00174"></a>00174    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00175"></a>00175 
<a name="l00176"></a>00176    <span class="comment">// OK, the program flash in the amplifier is gone.  At this point</span>
<a name="l00177"></a>00177    <span class="comment">// if power fails, or the computer crashes, the amplifier will be</span>
<a name="l00178"></a>00178    <span class="comment">// unable to run.</span>
<a name="l00179"></a>00179    <span class="comment">//</span>
<a name="l00180"></a>00180    <span class="comment">// It should however be possible to reprogram the amplifier using</span>
<a name="l00181"></a>00181    <span class="comment">// the CME-2 program supplied by Copley Controls.  This program </span>
<a name="l00182"></a>00182    <span class="comment">// uses the RS-232 interface on the amplifier to reprogram the amp.</span>
<a name="l00183"></a>00183    <a class="code" href="CML__Utils_8h.html#a10">uint32</a> <a class="code" href="classThread.html#a3">start</a>  = fw.<a class="code" href="classFirmware.html#a4">getStart</a>();
<a name="l00184"></a>00184    <a class="code" href="CML__Utils_8h.html#a10">uint32</a> length = fw.<a class="code" href="classFirmware.html#a5">getLength</a>();
<a name="l00185"></a>00185    <a class="code" href="CML__Utils_8h.html#a8">uint16</a> *data  = fw.<a class="code" href="classFirmware.html#a6">getData</a>();
<a name="l00186"></a>00186 
<a name="l00187"></a>00187    <span class="keywordtype">int</span> errCt = 0;
<a name="l00188"></a>00188 
<a name="l00189"></a>00189    <span class="keywordflow">for</span>( <a class="code" href="CML__Utils_8h.html#a10">uint32</a> i=0; i&lt;length; )
<a name="l00190"></a>00190    {
<a name="l00191"></a>00191       <a class="code" href="CML__Utils_8h.html#a8">uint16</a> x[3];
<a name="l00192"></a>00192       x[0] = (<a class="code" href="CML__Utils_8h.html#a3">uint</a>)(start+i);
<a name="l00193"></a>00193       x[1] = data[i++];
<a name="l00194"></a>00194 
<a name="l00195"></a>00195       <span class="keywordflow">if</span>( i &lt; length )
<a name="l00196"></a>00196       {
<a name="l00197"></a>00197     x[2] = data[i++];
<a name="l00198"></a>00198     err = up.SendCmd( 0x103, 3, x, 500 );
<a name="l00199"></a>00199       }
<a name="l00200"></a>00200       <span class="keywordflow">else</span>
<a name="l00201"></a>00201     err = up.SendCmd( 0x103, 2, x, 500 );
<a name="l00202"></a>00202 
<a name="l00203"></a>00203       <span class="keywordflow">if</span>( !err ) 
<a name="l00204"></a>00204     errCt = 0;
<a name="l00205"></a>00205       <span class="keywordflow">else</span> <span class="keywordflow">if</span>( ++errCt &gt; 10 )
<a name="l00206"></a>00206     <span class="keywordflow">return</span> err;
<a name="l00207"></a>00207       <span class="keywordflow">else</span>
<a name="l00208"></a>00208     i = up.data - start;
<a name="l00209"></a>00209 
<a name="l00210"></a>00210       fw.<a class="code" href="classFirmware.html#a7">progress</a>( i );
<a name="l00211"></a>00211    }
<a name="l00212"></a>00212 
<a name="l00213"></a>00213    <span class="keywordflow">if</span>( !err ) err = up.SendCmd( 0x0104, 1000 );
<a name="l00214"></a>00214    <span class="keywordflow">if</span>( err ) <span class="keywordflow">return</span> err;
<a name="l00215"></a>00215 
<a name="l00216"></a>00216    up.SendCmd( 0x0100, 0 );
<a name="l00217"></a>00217    <span class="keywordflow">return</span> 0;
<a name="l00218"></a>00218 }
<a name="l00219"></a>00219 
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