diff --git a/.eslintrc.js b/.eslintrc.js index 4a29ef1..9442069 100644 --- a/.eslintrc.js +++ b/.eslintrc.js @@ -5,7 +5,7 @@ module.exports = { }, 'extends': 'eslint:recommended', 'parserOptions': { - 'ecmaVersion': 6 + 'ecmaVersion': 8 }, 'rules': { 'indent': [ diff --git a/can-factory.js b/can-factory.js new file mode 100644 index 0000000..30144d8 --- /dev/null +++ b/can-factory.js @@ -0,0 +1,131 @@ +const os = require('os'); + +class CanInterface { + constructor() { + } + + async open() { + throw new Error('Not implemented.'); + } + + // eslint-disable-next-line no-unused-vars + onMessage(callback) { + throw new Error('Not implemented.'); + } + + // eslint-disable-next-line no-unused-vars + async send(msg) { + throw new Error('Not implemented.'); + } + + close() { + throw new Error('Not implemented.'); + } +} + +class CanInterfaceWindows extends CanInterface { + constructor(iface, bitrate) { + super(); + this.iface = iface; + this.can = new (require('@csllc/cs-pcan-usb'))({canRate: bitrate * 1000}); + } + + async open() { + const devices = await this.can.list(); + if (devices.length === 0) + throw new Error('No CAN devices found.'); + + let device = devices[0]; + + if (this.iface) { + device = devices.find(device => device.device_name === this.iface); + + if (!device) + throw new Error(`CAN device with name '${this.iface}' was not found.`); + } + + console.log('Using device:', {name: device.device_name, id: device.device_id, path: device.path}); + await this.can.open(device.path); + } + + onMessage(callback) { + this.can.on('data', (msg) => { + callback({ + id: msg.id, + data: msg.buf, + }); + }); + } + + async send(msg) { + this.can.write({ + id: msg.id, + ext: msg.ext, + buf: msg.data, + }); + } + + async close() { + // For some weird reason, some PCAN USB devices are sending `PCAN_ERROR_INITIALIZE` error if closing is not delayed by one tick. + await new Promise(resolve => setTimeout(resolve, 0)); + await this.can.close(); + } +} + +class CanInterfaceLinux extends CanInterface { + constructor(iface) { + super(); + this.can = require('socketcan').createRawChannel(iface, true); + + } + + open() { + return new Promise((resolve, reject) => { + try { + resolve(this.can.start()); + } catch (error) { + reject(error); + } + }); + } + + onMessage(callback) { + this.can.addListener('onMessage', callback); + } + + async send(msg) { + return new Promise((resolve, reject) => { + try { + resolve(this.can.send(msg)); + } catch (error) { + reject(error); + } + }); + } + + async close() { + return new Promise((resolve, reject) => { + try { + resolve(this.can.stop()); + } catch (error) { + reject(error); + } + }); + } +} + +class CanFactory { + static create(args) { + switch (os.platform()) { + case 'linux': + return new CanInterfaceLinux(args.iface); + case 'win32': + return new CanInterfaceWindows(args.iface, args.bitrate); + default: + throw new Error('Unsupported platform'); + } + } +} + +module.exports = CanFactory; + diff --git a/flash-app.js b/flash-app.js index 3913c9f..60e87b0 100755 --- a/flash-app.js +++ b/flash-app.js @@ -12,9 +12,11 @@ const fs = require('fs'); const yargs = require('yargs'); -const socketcan = require('socketcan'); const MemoryMap = require('nrf-intel-hex'); const cliProgress = require('cli-progress'); +const os = require('os'); + +const CanFactory = require('./can-factory'); const BOOTLOADER_CMD_VERSION = 0x01; @@ -66,17 +68,26 @@ class FlashApp { alias: 'i', description: 'CAN interface to use', type: 'string', - default: 'can0', - requiresArg: true - }) + default: os.platform() === 'linux' ? 'can0' : undefined, + requiresArg: os.platform() === 'linux' + }); - .option('partno', { - alias: 'p', - description: 'Specific AVR device like in avrdude', - type: 'string', - demandOption: true, + if (os.platform() === 'win32') + this.args = this.args.option('bitrate', { + alias: 'b', + description: 'CAN interface bitrate', + type: 'number', + default: '500', requiresArg: true - }) + }); + + this.args = this.args.option('partno', { + alias: 'p', + description: 'Specific AVR device like in avrdude', + type: 'string', + demandOption: true, + requiresArg: true + }) .option('mcuid', { alias: 'm', @@ -104,7 +115,7 @@ class FlashApp { }) .option('F', { - description: 'Force flashing, even if the bootloader version missmatched', + description: 'Force flashing, even if the bootloader version mismatched', type: 'boolean' }) @@ -132,7 +143,7 @@ class FlashApp { }) .option('sff', { - description: 'Use Standad Frame Format (SFF) instead of the default Extended Frame Format (EFF) for the CAN-IDs', + description: 'Use Standard Frame Format (SFF) instead of the default Extended Frame Format (EFF) for the CAN-IDs', type: 'boolean' }) @@ -182,98 +193,105 @@ https://github.com/crycode-de/mcp-can-boot`) this.deviceFlashSize = 0; this.loadDeviceInfo(this.args.partno); - if (!this.doRead) { - // load from file if we are not only reading the flash - if (!fs.existsSync(this.args.file)) { - console.log(`Input file ${this.args.file} does not exist!`); - this.exit(1); - } - const intelHexString = fs.readFileSync(this.args.file, 'latin1'); - this.memMap = MemoryMap.fromHex(intelHexString); + (async () => { + if (!this.doRead) { + // load from file if we are not only reading the flash + if (!fs.existsSync(this.args.file)) { + console.log(`Input file ${this.args.file} does not exist!`); + await this.exit(1); + } + const intelHexString = fs.readFileSync(this.args.file, 'latin1'); + this.memMap = MemoryMap.fromHex(intelHexString); - } else { - // we are only reading the flash... init an empty memory map - this.memMap = new MemoryMap(); + } else { + // we are only reading the flash... init an empty memory map + this.memMap = new MemoryMap(); - // check if output file exists - if (this.args.file !== '-' && fs.existsSync(this.args.file)) { - console.log(`Output file ${this.args.file} already exists!`); - this.exit(1); + // check if output file exists + if (this.args.file !== '-' && fs.existsSync(this.args.file)) { + console.log(`Output file ${this.args.file} already exists!`); + await this.exit(1); + } } - } - - this.memMapKeys = this.memMap.keys(); // load all keys of the memory map - this.memMapCurrentKey = null; // set current key to null to begin new key on flash ready - this.memMapCurrentDataIdx = 0; - this.memMapTotalBytes = 0; - // compute input file size in bytes - for (const block of this.memMap.values()) { - this.memMapTotalBytes += block.length; - } - this.curAddr = 0x0000; // current flash address - - this.readDataArr = []; + this.memMapKeys = this.memMap.keys(); // load all keys of the memory map + this.memMapCurrentKey = null; // set current key to null to begin new key on flash ready + this.memMapCurrentDataIdx = 0; + this.memMapTotalBytes = 0; + // compute input file size in bytes + for (const block of this.memMap.values()) { + this.memMapTotalBytes += block.length; + } - this.can = socketcan.createRawChannel(this.args.iface, true); - this.can.addListener('onMessage', this.handleCanMsg.bind(this)); - this.can.start(); + this.curAddr = 0x0000; // current flash address - // send can message to reset the mcu? - if (this.args.reset) { - const [canIdStr, dataStr] = this.args.reset.split('#'); + this.readDataArr = []; - const canId = parseInt(canIdStr, 16); - if ((canIdStr.length !== 3 && canIdStr.length !== 8) || isNaN(canId)) { - console.log(`Reset message format error!\nThe can_id is not valid. A three digits standard frame or eight digits extended frame hex id must be provided.`); - this.exit(1); + try { + this.can = CanFactory.create(this.args); + await this.can.open(); + } catch (e) { + console.log(`Failed to initialize CAN interface:`, e); + await this.exit(1); } + this.can.onMessage(this.handleCanMsg.bind(this)); - const data = dataStr ? dataStr.match(/../g).map((d) => { - const n = parseInt(d, 16); - if (isNaN(n)) { - console.log(`Reset message format error!\nThe data bytes must be provided as hex numbers.`); - this.exit(1); - } - return n; - }) : []; - - this.can.send({ - id: canId, - ext: (canIdStr.length > 3), - rtr: false, - data: Buffer.from(data) - }); + // send can message to reset the mcu? + if (this.args.reset) { + const [canIdStr, dataStr] = this.args.reset.split('#'); - console.log(`Reset message send to the MCU.`); - } + const canId = parseInt(canIdStr, 16); + if ((canIdStr.length !== 3 && canIdStr.length !== 8) || isNaN(canId)) { + console.log(`Reset message format error!\nThe can_id is not valid. A three digits standard frame or eight digits extended frame hex id must be provided.`); + await this.exit(1); + } - // send ping messages? - if (this.args.ping) { - console.log(`Sending a ping message every ${this.args.pings} ms.`); - this.pingInterval = setInterval(() => { - this.can.send({ - id: this.args.canIdRemote, - ext: !this.args.sff, + const data = dataStr ? dataStr.match(/../g).map((d) => { + const n = parseInt(d, 16); + if (isNaN(n)) { + console.log(`Reset message format error!\nThe data bytes must be provided as hex numbers.`); + this.exit(1); + } + return n; + }) : []; + + await this.can.send({ + id: canId, + ext: (canIdStr.length > 3), rtr: false, - data: Buffer.from([ - this.mcuId[0], - this.mcuId[1], - CMD_PING, - 0x00, - 0x00, - 0x00, - 0x00, - 0x00 - ]) + data: Buffer.from(data) }); - }, this.args.ping); - } - console.log(`Waiting for bootloader start message for MCU ID ${this.hexString(this.args.mcuid, 4)} ...`); + console.log(`Reset message send to the MCU.`); + } + + // send ping messages? + if (this.args.ping) { + console.log(`Sending a ping message every ${this.args.pings} ms.`); + this.pingInterval = setInterval(async () => { + await this.can.send({ + id: this.args.canIdRemote, + ext: !this.args.sff, + rtr: false, + data: Buffer.from([ + this.mcuId[0], + this.mcuId[1], + CMD_PING, + 0x00, + 0x00, + 0x00, + 0x00, + 0x00 + ]) + }); + }, this.args.ping); + } + + console.log(`Waiting for bootloader start message for MCU ID ${this.hexString(this.args.mcuid, 4)} ...`); + })(); } - handleCanMsg (msg) { + async handleCanMsg(msg) { if (msg.data.length !== 8) return; if (msg.id !== this.args.canIdMcu) return; @@ -290,7 +308,7 @@ https://github.com/crycode-de/mcp-can-boot`) case CMD_BOOTLOADER_START: // check device signature if (msg.data[4] !== this.deviceSignature[0] || msg.data[5] !== this.deviceSignature[1] || msg.data[6] !== this.deviceSignature[2]) { - console.log('Error: Got bootloader start message but device signature missmatched!'); + console.log('Error: Got bootloader start message but device signature mismatched!'); console.log(`Expected ${this.hexString(this.deviceSignature[0])} ${this.hexString(this.deviceSignature[1])} ${this.hexString(this.deviceSignature[2])} for ${this.args.partno}, got ${this.hexString(msg.data[4])} ${this.hexString(msg.data[5])} ${this.hexString(msg.data[6])}`); return; } @@ -313,7 +331,7 @@ https://github.com/crycode-de/mcp-can-boot`) console.log(`Stopped sending of ping messages.`); } this.flashStartTs = Date.now(); - this.can.send({ + await this.can.send({ id: this.args.canIdRemote, ext: !this.args.sff, rtr: false, @@ -336,14 +354,14 @@ https://github.com/crycode-de/mcp-can-boot`) console.log('Querying bootloader size ...'); // determine size of bootloader section by trying to set the // flash address to 0xFFFFFFFF (huge address that's out of bounds). - // bootloader will repond with CMD_FLASH_ADDRESS_ERROR that will + // bootloader will respond with CMD_FLASH_ADDRESS_ERROR that will // inform us of FLASHEND_BL (last address of the program space). // we can use that value and the known size of the chip's flash // memory to determine the bootloader size. - this.sendSetFlashAddress(0xFFFFFFFF); + await this.sendSetFlashAddress(0xFFFFFFFF); } else if (this.doErase) { console.log('Got flash ready message, erasing flash ...'); - this.can.send({ + await this.can.send({ id: this.args.canIdRemote, ext: !this.args.sff, rtr: false, @@ -362,7 +380,7 @@ https://github.com/crycode-de/mcp-can-boot`) } else { console.log('Got flash ready message, begin flashing ...'); this.state = STATE_FLASHING; - this.onFlashReady(msg.data); + await this.onFlashReady(msg.data); } break; @@ -390,7 +408,7 @@ https://github.com/crycode-de/mcp-can-boot`) } this.progressStart(readSizeBytes, 0); this.state = STATE_READING; - this.can.send({ + await this.can.send({ id: this.args.canIdRemote, ext: !this.args.sff, rtr: false, @@ -436,13 +454,13 @@ https://github.com/crycode-de/mcp-can-boot`) this.progressIncrement(byteCount); this.curAddr += byteCount; this.memMapCurrentDataIdx += byteCount; - this.onFlashReady(msg.data); + await this.onFlashReady(msg.data); break; case CMD_START_APP: console.log(`Flash done in ${(Date.now() - this.flashStartTs)} ms.`); console.log('MCU is starting the app. :-)'); - this.exit(0); + await this.exit(0); break; default: @@ -462,7 +480,7 @@ https://github.com/crycode-de/mcp-can-boot`) this.memMapCurrentKey = null; // set current key to null to begin new key on flash read this.memMapCurrentDataIdx = 0; - this.readForVerify (); + await this.readForVerify(); break; @@ -473,7 +491,7 @@ https://github.com/crycode-de/mcp-can-boot`) if (this.curAddr & 0b00011111 !== addrPart) { console.log('Got an unexpected address of read data from MCU!'); console.log('Will now abort and exit the bootloader ...'); - this.sendStartApp(); + await this.sendStartApp(); return; } @@ -489,14 +507,14 @@ https://github.com/crycode-de/mcp-can-boot`) && this.memMap.get(this.memMapCurrentKey)[this.memMapCurrentDataIdx] !== msg.data[4+i]) { console.log(`ERROR: Verify failed at ${this.hexString(this.curAddr)}!`); console.log('Trying to start the app nevertheless ...'); - this.sendStartApp(); + await this.sendStartApp(); return; } this.curAddr++; this.memMapCurrentDataIdx++; } - this.readForVerify(); + await this.readForVerify(); } else { // read whole flash @@ -508,11 +526,11 @@ https://github.com/crycode-de/mcp-can-boot`) if (this.args.r > 0 && this.curAddr > this.args.r) { // reached max read address... - this.readDone(); + await this.readDone(); return; } // request next address - this.can.send({ + await this.can.send({ id: this.args.canIdRemote, ext: !this.args.sff, rtr: false, @@ -537,18 +555,18 @@ https://github.com/crycode-de/mcp-can-boot`) if (this.doVerify) { // hitting the end at verify must be an error... console.log('ERROR: Reading flash failed during verify!'); - this.sendStartApp(); + await this.sendStartApp(); return; } else { // when reading whole flash this is expected - this.readDone(); + await this.readDone(); } break; case CMD_START_APP: console.log('MCU is starting the app. :-)'); - this.exit(0); + await this.exit(0); break; default: @@ -559,7 +577,7 @@ https://github.com/crycode-de/mcp-can-boot`) } } - readForVerify () { + async readForVerify() { // check memory map and get next map key if we reached the end if (!this.memMap.get(this.memMapCurrentKey) || this.memMap.get(this.memMapCurrentKey)[this.memMapCurrentDataIdx] === undefined) { // no more data... goto next memory map key... @@ -568,7 +586,7 @@ https://github.com/crycode-de/mcp-can-boot`) // all keys done... verify complete this.progressStop(); console.log(`Flash and verify done in ${(Date.now() - this.flashStartTs)} ms.`); - this.sendStartApp(); + await this.sendStartApp(); return; } @@ -579,7 +597,7 @@ https://github.com/crycode-de/mcp-can-boot`) } // request next address - this.can.send({ + await this.can.send({ id: this.args.canIdRemote, ext: !this.args.sff, rtr: false, @@ -596,7 +614,7 @@ https://github.com/crycode-de/mcp-can-boot`) }); } - readDone () { + async readDone() { this.progressStop(); // create memory map @@ -617,12 +635,12 @@ https://github.com/crycode-de/mcp-can-boot`) console.log(`Reading flash done in ${Date.now() - this.flashStartTs} ms.`); // start the main application at the MCU - this.sendStartApp(); + await this.sendStartApp(); } - sendStartApp () { + async sendStartApp() { console.log('Starting the app on the MCU ...'); - this.can.send({ + await this.can.send({ id: this.args.canIdRemote, ext: !this.args.sff, rtr: false, @@ -639,11 +657,11 @@ https://github.com/crycode-de/mcp-can-boot`) }); } - sendSetFlashAddress(addr) { + async sendSetFlashAddress(addr) { if (this.args.verbose) { console.log(`Setting flash address to ${this.hexString(addr)} ...`); } - this.can.send({ + await this.can.send({ id: this.args.canIdRemote, ext: !this.args.sff, rtr: false, @@ -660,7 +678,7 @@ https://github.com/crycode-de/mcp-can-boot`) }); } - onFlashReady (msgData) { + async onFlashReady(msgData) { const curAddrRemote = msgData[7] + (msgData[6] << 8) + (msgData[5] << 16) + (msgData[4] << 24); //console.log(`Remote flash address is ${this.hexString(curAddrRemote)}`); @@ -674,7 +692,7 @@ https://github.com/crycode-de/mcp-can-boot`) if (this.doVerify) { // we want to verify... send flash done verify and set own state to read this.state = STATE_READING; - this.can.send({ + await this.can.send({ id: this.args.canIdRemote, ext: !this.args.sff, rtr: false, @@ -692,7 +710,7 @@ https://github.com/crycode-de/mcp-can-boot`) } else { // we don't want to verify... send flash done to start the app - this.can.send({ + await this.can.send({ id: this.args.canIdRemote, ext: !this.args.sff, rtr: false, @@ -725,7 +743,7 @@ https://github.com/crycode-de/mcp-can-boot`) if (this.curAddr !== curAddrRemote) { // need to set the address to flash... console.log(`Setting flash address to ${this.hexString(this.curAddr, 4)} ...`); - this.sendSetFlashAddress(this.curAddr); + await this.sendSetFlashAddress(this.curAddr); return; } @@ -759,7 +777,7 @@ https://github.com/crycode-de/mcp-can-boot`) if (this.args.verbose) { console.log(`Sending flash data ${this.hexString(this.curAddr, 4)} ...`); } - this.can.send({ + await this.can.send({ id: this.args.canIdRemote, ext: !this.args.sff, rtr: false, @@ -877,13 +895,13 @@ https://github.com/crycode-de/mcp-can-boot`) /** * Do a clean exit of the flash app. */ - exit (code) { + async exit(code) { try { if (this.pingInterval) { clearInterval(this.pingInterval); } if (this.can) { - this.can.stop(); + await this.can.close(); } } catch (e) { console.warn('Error at exit cleanup:', e); diff --git a/package-lock.json b/package-lock.json index 4e6cfb2..7fba938 100644 --- a/package-lock.json +++ b/package-lock.json @@ -11,7 +11,6 @@ "dependencies": { "cli-progress": "^3.12.0", "nrf-intel-hex": "^1.3.0", - "socketcan": "^3.0.0", "yargs": "^17.7.2" }, "bin": { @@ -22,6 +21,25 @@ }, "engines": { "node": ">=12" + }, + "optionalDependencies": { + "@csllc/cs-pcan-usb": "^0.3.3", + "socketcan": "^3.0.0" + } + }, + "node_modules/@csllc/cs-pcan-usb": { + "version": "0.3.3", + "resolved": "https://registry.npmjs.org/@csllc/cs-pcan-usb/-/cs-pcan-usb-0.3.3.tgz", + "integrity": "sha512-45FAJiAbMmEyhu3L53HerfMyVGLr/jhN3ZwyJ+wA5r9d/0ETgS0uCZ/Vsx9rXlk2ODeCvVGa9y2zmlv+wFzofw==", + "hasInstallScript": true, + "optional": true, + "os": [ + "win32" + ], + "dependencies": { + "@mapbox/node-pre-gyp": "^1.0.9", + "bindings": "~1.2.1", + "stream": "0.0.2" } }, "node_modules/@eslint-community/eslint-utils": { @@ -113,6 +131,26 @@ "integrity": "sha512-ZnQMnLV4e7hDlUvw8H+U8ASL02SS2Gn6+9Ac3wGGLIe7+je2AeAOxPY+izIPJDfFDb7eDjev0Us8MO1iFRN8hA==", "dev": true }, + "node_modules/@mapbox/node-pre-gyp": { + "version": "1.0.11", + "resolved": "https://registry.npmjs.org/@mapbox/node-pre-gyp/-/node-pre-gyp-1.0.11.tgz", + "integrity": "sha512-Yhlar6v9WQgUp/He7BdgzOz8lqMQ8sU+jkCq7Wx8Myc5YFJLbEe7lgui/V7G1qB1DJykHSGwreceSaD60Y0PUQ==", + "optional": true, + "dependencies": { + "detect-libc": "^2.0.0", + "https-proxy-agent": "^5.0.0", + "make-dir": "^3.1.0", + "node-fetch": "^2.6.7", + "nopt": "^5.0.0", + "npmlog": "^5.0.1", + "rimraf": "^3.0.2", + "semver": "^7.3.5", + "tar": "^6.1.11" + }, + "bin": { + "node-pre-gyp": "bin/node-pre-gyp" + } + }, "node_modules/@nodelib/fs.scandir": { "version": "2.1.5", "resolved": "https://registry.npmjs.org/@nodelib/fs.scandir/-/fs.scandir-2.1.5.tgz", @@ -153,6 +191,12 @@ "resolved": "https://registry.npmjs.org/@types/color-name/-/color-name-1.1.1.tgz", "integrity": "sha512-rr+OQyAjxze7GgWrSaJwydHStIhHq2lvY3BOC2Mj7KnzI7XK0Uw1TOOdI9lDoajEbSWLiYgoo4f1R51erQfhPQ==" }, + "node_modules/abbrev": { + "version": "1.1.1", + "resolved": "https://registry.npmjs.org/abbrev/-/abbrev-1.1.1.tgz", + "integrity": 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