[D
/Init [B
/ProgFlag exch def
ProgFlag [B
/FilePath 'FirmwareFiles\FirmwareE1100\OS\BootStrapOS_RS\' def
]
[B
/FilePath '' def
] ifelse
'PackInst' nknown not [B 'PackInst' import ] if
'RelInfo3R8' nknown not [B 'RelInfo3R8' import ] if
/ReleaseVersion RelInfo3R8:RelVer def
/ReleaseSubVersion RelInfo3R8:RelSubVer def
/ReleaseBuildInfo RelInfo3R8:RelInfoStr def
/LogMemo Create:LogMemo def
/Log [B LogMemo.Log ] def
10 LogMemo.SetFontSize
LogMemo.Show
% Define constants
/BootModeRequest '@00' def
/BootModeResponse '@C5' def
/FlashErase '@00' def
/BaudRate 115200 def
/BufferSize 100 def
/TimeOut 10000 def
/EraseTimeOut 60000 def
/PreloaderName FilePath 'PL_E1100.dat' add def
/LoaderName FilePath 'LD_E1100.dat' add def
/Controllers [A
%E1100MP
[D
/Name 'E1100-MP'
/TypeID $411
/TypeSupported 0
]
%E1100MPHC
[D
/Name 'E1100-MP-HC'
/TypeID $421
/TypeSupported 0
]
%E1100MT
[D
/Name 'E1100-MT'
/TypeID $431
/TypeSupported 0
]
%E1100MTHC
[D
/Name 'E1100-MT-HC'
/TypeID $441
/TypeSupported 0
]
%E1100GP
[D
/Name 'E1100-GP'
/TypeID $451
/TypeSupported 1
/SupportedHWVersions [A
$0102
$0103
$0104
]
/SupportedDSWVersions [A
[D /DSWVersion $2 /SWFileName 'BootE1100_S2_GPLC.H86']
]
/PowerExtension 'LC'
]
%E1100GPHC
[D
/Name 'E1100-GP-HC'
/TypeID $461
/TypeSupported 1
/SupportedHWVersions [A
$0102
$0103
$0104
]
/SupportedDSWVersions [A
[D /DSWVersion $2 /SWFileName 'BootE1100_S2_GPHC.H86']
]
/PowerExtension 'HC'
]
%E1100RS
[D
/Name 'E1100-RS'
/TypeID $471
/TypeSupported 1
/SupportedHWVersions [A
$0102
$0103
$0104
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_RSLC.H86']
]
/PowerExtension 'LC'
]
%E1100RSHC
[D
/Name 'E1100-RS-HC'
/TypeID $481
/TypeSupported 1
/SupportedHWVersions [A
$0102
$0103
$0104
$0105
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_RSHC.H86']
]
/PowerExtension 'HC'
]
%E1100RSXC
[D
/Name 'E1100-RS-XC'
/TypeID $511
/TypeSupported 1
/SupportedHWVersions [A
$0104
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_RSXC.H86']
]
/PowerExtension 'XC'
]
%E1100DN
[D
/Name 'E1100-DN'
/TypeID $491
/TypeSupported 1
/SupportedHWVersions [A
$0104
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_DNLC.H86']
]
/PowerExtension 'LC'
]
%E1100DNHC
[D
/Name 'E1100-DN-HC'
/TypeID $4A1
/TypeSupported 1
/SupportedHWVersions [A
$0104
$0105
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_DNHC.H86']
]
/PowerExtension 'HC'
]
%E1100DNXC
[D
/Name 'E1100-DN-XC'
/TypeID $521
/TypeSupported 1
/SupportedHWVersions [A
$0104
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_DNXC.H86']
]
/PowerExtension 'XC'
]
%E1100CO
[D
/Name 'E1100-CO'
/TypeID $4B1
/TypeSupported 1
/SupportedHWVersions [A
$0104
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_COLC.H86']
]
/PowerExtension 'LC'
]
%E1100COHC
[D
/Name 'E1100-CO-HC'
/TypeID $4C1
/TypeSupported 1
/SupportedHWVersions [A
$0104
$0105
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_COHC.H86']
]
/PowerExtension 'HC'
]
%E1100COXC
[D
/Name 'E1100-CO-XC'
/TypeID $4F1
/TypeSupported 1
/SupportedHWVersions [A
$0104
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_COXC.H86']
]
/PowerExtension 'XC'
]
%E1130DP
[D
/Name 'E1130-DP'
/TypeID $4D1
/TypeSupported 1
/SupportedHWVersions [A
$0104
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_DPLC.H86']
]
/PowerExtension 'LC'
]
%E1130DPHC
[D
/Name 'E1130-DP-HC'
/TypeID $4E1
/TypeSupported 1
/SupportedHWVersions [A
$0104
$0105
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_DPHC.H86']
]
/PowerExtension 'HC'
]
%E1130DPXC
[D
/Name 'E1130-DP-XC'
/TypeID $531
/TypeSupported 1
/SupportedHWVersions [A
$0104
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_DPXC.H86']
]
/PowerExtension 'XC'
]
%E1130DPHV
[D
/Name 'E1130-DP-HV'
/TypeID $501
/TypeSupported 1
/SupportedHWVersions [A
$0104
$0106
$0107
]
/SupportedDSWVersions [A
[D /DSWVersion $4 /SWFileName 'BootE1100_S4_DPHV.H86']
]
/PowerExtension 'HCHV'
]
] def
/GetEloType [B
$200680 1 BlockRd.ReadBlock
BlockRd.GetResult 0 ne [B /Msg 'BlockRd.ReadBlock: Error while reading' raisese] if
BlockRd.GetData 0 get
] def
/GetEloVersion [B
$200682 1 BlockRd.ReadBlock
BlockRd.GetResult 0 ne [B /Msg 'BlockRd.ReadBlock: Error while reading' raisese] if
BlockRd.GetData 0 get
] def
/GetEloSWVersion [B
$20102A 1 BlockRd.ReadBlock
BlockRd.GetResult 0 ne [B /Msg 'BlockRd.ReadBlock: Error while reading' raisese] if
BlockRd.GetData 0 get
] def
/GetEloDictIndex [P
[A /Type ]
/Index -1 def
/CurrentIndex -1 def
Controllers [B
/CurrentIndex CurrentIndex 1 add def
/TempEloDict exch def
TempEloDict.TypeID Type eq [B
/Index CurrentIndex def
Exitloop
] if
] forall
[A /Index]
] def
/LoadBinFile [P
[A /FileName ]
FileName fileexist [B
/LogFile Create:LogFile def
% Open the file with the mode = 0 (read only)
FileName 0 LogFile.Open
% Create the data container
/Data 0 carr def
[B
LogFile.Eof [B ExitLoop ] if
% Read 100 characters from LogFile (or less if end of file occurs).
Data 100 LogFile.ReadChars add
] loop
LogFile.Close
]
[B
FileName ' does not exist.' add raisese
] ifelse
[A /Data ]
] def
/LoadTextFile [P
[A /FileName ]
FileName fileexist [B
/LogFile Create:LogFile def
% Open the file with the mode = 0 (read only)
FileName 0 LogFile.Open
% Create the data container
/Data 0 carr def
[B
LogFile.Eof [B ExitLoop ] if
% Read line
Data LogFile.ReadLine add
] loop
LogFile.Close
]
[B
FileName ' does not exist.' add raisese
] ifelse
[A /Data ]
] def
] %%%%% End Init
/BootSW [P
[A ]
/Result #0 def
% Chose the serial port for the communication with the servo controller
/ComSelected #0 def
ProgFlag [B
/ComPort 'COM' HWConfig:EloComPort cvs add def
/ComSelected #1 def
][B
PackInst:_SelectCommPort [B
/PortType exch def
/ComPort exch def
/ComSelected #1 def
] if
] ifelse
ComSelected [B
[B
%/PortType exch def
%/ComPort exch def
% Configure and open the serial port
/Dialog 'Controller Bootstrap!' 250 100 Create:Form def
'Ok' '' 'Ok' 1 20 30 Dialog.AddButton
'BootLabel' '' 'Press the boot strap button on the controller!' 5 5 Dialog.AddLabel
'Cancel' '' 'Cancel' 2 120 30 Dialog.AddButton
Dialog.Execute 2 eq [B 'Firmware download aborted!' raisese ] if
/Comm Create:Comm def
ComPort BaudRate Comm.Open
% Create a buffer for receive the data
/RxBuf BufferSize Comm.CreateBuffer def
RxBuf Comm.ClearBuffer
100 wait
'Sending null character...' log
BootModeRequest Comm.SendString
'Waiting response to null character...' log
RxBuf TimeOut BootModeResponse Comm.WaitForChar
Comm.GetExpired
[B
RxBuf Comm.GetBuffer log
'Error: processor is not in bootstrap mode. Installation aborted.' log
Comm.Close
]
[B
PreloaderName LoadBinFile
/Data exch def
'Sending preloader...' log
Data [B Comm.SendString ] forall
100 wait
LoaderName LoadBinFile
/Data exch def
'Sending loader...' log
Data [B Comm.SendString ] forall
RxBuf Comm.ClearBuffer
'Waiting response from loader...' log
RxBuf EraseTimeOut FlashErase Comm.WaitForChar
Comm.GetExpired [B
'Wrong response from loader (flash problem?). Installation aborted.' log
]
[B
Comm.Close
/Device Create:Device def
/DeviceName 'LinMotInstall' def
'PortName' ComPort
'BaudRate' BaudRate cvs 2 DeviceName 'LinMotInstall' Device.CreateDevice
/BlockRd DeviceName Create:BlockReader def
/BlockWr DeviceName Create:BlockWriter def
DeviceName /PackInst:OnMessageCallback PackInst:Init
[B
% Check if controller type is supported
/EloType GetEloType def
/EloVersion GetEloVersion def
/EloSWVersion GetEloSWVersion def
/Index EloType GetEloDictIndex def
Index -1 eq [B 'Controller type not supported!' raisese ] if
/EloDict Controllers Index get def
% Check if the version is supported
/SupHWVer EloDict /SupportedHWVersions get def
/Supported #0 def
SupHWVer [A
/Version exch def
Version EloVersion eq [B
/Supported #1 def
Exitloop
] if
] forall
Supported not [B 'Controller version not supported!' raisese ] if
% Get the SW file name
/SupDSWVer EloDict /SupportedDSWVersions get def
/Supported #0 def
SupDSWVer [A
/VerDict exch def
/DSWVer VerDict /DSWVersion get def
DSWVer EloSWVersion eq [B
/Supported #1 def
/SWFileName VerDict /SWFileName get def
Exitloop
] if
] forall
Supported not [B 'Software version not supported!' raisese ] if
/SWFileName FilePath SWFileName add def
% load monitor file
/Data SWFileName LoadTextFile def
'Sending firmware...' log
Data SWFileName PackInst:DownloadH86File
% write release info
/ReleaseInfoAddr $200748 def
/ReleaseVersionAddr $2007A8 def
/ReleaseSubVersionAddr $2007AA def
/ReleaseString ReleaseVersion cvs '.' add ReleaseSubVersion cvs add ' ' add ReleaseBuildInfo add def
[B
ReleaseString length 32 lt [B
/ReleaseString ReleaseString ' ' add def
]
[B
exitloop
] ifelse
] loop
/ReleaseStr '' def
0 1 ReleaseString length 1 sub [B
/Index exch def
/ReleaseStr ReleaseStr ReleaseString Index 1 getsubstr ord 16 cvrs add def
] for
ReleaseInfoAddr ReleaseStr #0 BlockWr.WriteBlock
ReleaseVersionAddr ReleaseVersion PackInst:WriteMemory
ReleaseSubVersionAddr ReleaseSubVersion PackInst:WriteMemory
PackInst:ResetDevice
'Firmware loaded successfully.' log
/Result #1 def
% LogMemo.Hide
] if
Device.DestroyDevice
] ifelse
] ifelse
]
[B
/Dict exch def
Dict.Msg ' Installation aborted!' add log
] tryexcept
] if
LogMemo.Remain
[A /Result ]
]
]