Add Flasher sketch

This flashes version 0.06

Author: facchinm

examples/Flasher/Flasher.ino

@@ -0,0 +1,113 @@
+#include "Wire.h"
+#include "fw.h"
+
+#define I2C_ADDRESS 0x09
+
+void setDataRunning(int cmd, uint8_t target, int data) {
+  Wire.beginTransmission(0x66);
+  Wire.write((uint8_t)cmd);
+  Wire.write((uint8_t)target);
+  Wire.write(data);
+  Wire.endTransmission();
+}
+
+
+void setup() {
+  // put your setup code here, to run once:
+  Wire.begin();
+  Wire.setClock(1000000);
+
+  Serial.begin(115200);
+  while (!Serial);
+  pinMode(6, OUTPUT);
+  digitalWrite(6, HIGH);
+
+  int prev_address = -1;
+
+  Wire.beginTransmission(0x66);
+  Wire.write((uint8_t)1);
+  Wire.write((uint8_t)0);
+  Wire.endTransmission();
+
+  Wire.requestFrom(0x66, 5);
+  Wire.read();
+
+  String version = "";
+
+  while (Wire.available()) {
+    version += (char)Wire.read();
+  }
+
+  if (version.c_str()[0] == '0') {
+    Serial.println("Reset D11");
+    setDataRunning(2, 0, 0);
+    delay(10);
+  }
+
+  // reset running D11
+  Serial.println("Erase flash");
+
+  Wire.beginTransmission(I2C_ADDRESS);
+  Wire.write('r');
+  Wire.endTransmission();
+
+  delay(500);
+
+  Serial.println("Starting flash");
+
+  int address = 0;
+  while (address < (I2C_Motor_bridge_D11_ino_bin_len + 0x1000)) {
+    int retry = 0;
+    do {
+      Wire.requestFrom(I2C_ADDRESS, 4);
+      uint8_t buf[4];
+      int k = 0;
+      while (Wire.available()) {
+        buf[k++] = Wire.read();
+      }
+      address = *(uint32_t*)buf;
+      delay(10);
+    } while (prev_address == address && retry++ < 5);
+    prev_address = address;
+    Serial.println(address);
+
+    uint8_t crc = 0;
+    for (int j = 0; j < 64; j++) {
+      crc ^= I2C_Motor_bridge_D11_ino_bin[address - 0x1000 + j];
+    }
+
+    Serial.println(crc, HEX);
+
+    Wire.beginTransmission(I2C_ADDRESS);
+    Wire.write('w');
+    Wire.write(crc);
+    Wire.write(&I2C_Motor_bridge_D11_ino_bin[address - 0x1000], 64);
+    Wire.endTransmission();
+  }
+
+  Serial.println("Booting FW");
+  Wire.beginTransmission(I2C_ADDRESS);
+  Wire.write('x');
+  Wire.endTransmission();
+
+  delay(1000);
+
+  Wire.beginTransmission(0x66);
+  Wire.write((uint8_t)1);
+  Wire.write((uint32_t)0);
+  Wire.endTransmission();
+
+  Wire.requestFrom(0x66, 5);
+  Wire.read();
+
+  Serial.print("New version: ");
+  while (Wire.available()) {
+    Serial.print((char)Wire.read());
+  }
+  Serial.println();
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}